+ python -m lidar_slam --no-model /working/fb341049-c3fd-4313-bdc2-4fc21bcf8eac Lidar SLAM 0.0.14 ===================================================== The recording path: /working/fb341049-c3fd-4313-bdc2-4fc21bcf8eac 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 0.005860169 Adjusted end_distance from 9.223372036854776e+18 to 158.655860169 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.005860169 meters Centerline goodness : 0.397816 Centerline is valid? [0, False] SLAMing on 0.035860169 meters Centerline goodness : 0.171005 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99999996e-01 -7.59386547e-05 -3.80491384e-05 1.46651721e-04] [ 7.59380916e-05 9.99999997e-01 -1.48024116e-05 -1.08211357e-04] [ 3.80502623e-05 1.47995222e-05 9.99999999e-01 -1.44247361e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.065860169 meters Centerline goodness : 0.177244 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99999963e-01 -2.49154800e-04 -1.09444967e-04 1.73195174e-04] [ 2.49139839e-04 9.99999960e-01 -1.36692308e-04 -2.09662420e-04] [ 1.09479020e-04 1.36665035e-04 9.99999985e-01 -1.14006827e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.095860169 meters Centerline goodness : 0.175025 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99999931e-01 -3.05623255e-04 -2.10743700e-04 2.31444465e-04] [ 3.05576603e-04 9.99999929e-01 -2.21363334e-04 -1.95386375e-04] [ 2.10811339e-04 2.21298920e-04 9.99999953e-01 -5.77794377e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.125860169 meters Centerline goodness : 0.857327 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.04, Z:-0.02 [[ 0.99891865 0.04397545 0.01508913 -0.01430213] [-0.04354042 0.99865809 -0.02804016 0.03728026] [-0.01630196 0.02735285 0.99949291 -0.02097388] [ 0. 0. 0. 1. ]] SLAMing on 0.155860169 meters Centerline goodness : 0.858076 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.04, Z:-0.02 [[ 0.9990002 0.04227061 0.01455346 -0.0126258 ] [-0.04183249 0.99869796 -0.02919639 0.03698695] [-0.01576866 0.02855839 0.99946774 -0.02297068] [ 0. 0. 0. 1. ]] SLAMing on 0.185860169 meters Centerline goodness : 0.420894 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.04, Z:-0.02 [[ 0.99907273 0.04071564 0.01399697 -0.01097965] [-0.04027878 0.99873225 -0.0301913 0.03675176] [-0.01520849 0.02959952 0.99944613 -0.02471147] [ 0. 0. 0. 1. ]] SLAMing on 0.215860169 meters Centerline goodness : 0.444849 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.04, Z:-0.02 [[ 0.99907308 0.04072649 0.01394056 -0.01086689] [-0.04029129 0.99873172 -0.03019207 0.03678883] [-0.0151525 0.0296024 0.9994469 -0.02491045] [ 0. 0. 0. 1. ]] SLAMing on 0.245860169 meters Centerline goodness : 0.435690 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.04, Z:-0.02 [[ 0.99907294 0.0407366 0.01392097 -0.01077485] [-0.04030199 0.99873133 -0.03019068 0.0368062 ] [-0.01513317 0.02960165 0.99944721 -0.02496541] [ 0. 0. 0. 1. ]] SLAMing on 0.27586016900000004 meters Centerline goodness : 0.130512 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.04, Z:-0.02 [[ 0.99900112 0.04242302 0.01403727 -0.01179164] [-0.0420066 0.99870394 -0.02873812 0.03694288] [-0.01523824 0.02811975 0.99948841 -0.02416235] [ 0. 0. 0. 1. ]] SLAMing on 0.305860169 meters Centerline goodness : 0.172783 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.03, Z:-0.03 [[ 0.99931851 0.03357949 0.01532737 -0.01317427] [-0.03313554 0.99904861 -0.02835342 0.03311436] [-0.01626488 0.02782621 0.99948044 -0.03175827] [ 0. 0. 0. 1. ]] SLAMing on 0.335860169 meters Centerline goodness : 0.134392 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.03, Z:-0.04 [[ 0.99954759 0.02540948 0.01609287 -0.01358555] [-0.02497125 0.99932697 -0.02687084 0.02903817] [-0.01676481 0.02645682 0.99950937 -0.0410249 ] [ 0. 0. 0. 1. ]] SLAMing on 0.365860169 meters Centerline goodness : 0.187612 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.02, Z:-0.05 [[ 0.9997289 0.01676652 0.01615611 -0.01383217] [-0.01636029 0.99955467 -0.02495596 0.02464876] [-0.01656734 0.02468488 0.99955799 -0.05151797] [ 0. 0. 0. 1. ]] SLAMing on 0.39586016900000004 meters Centerline goodness : 0.866210 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.02, Z:-0.06 [[ 0.99984722 0.0091785 0.01487585 -0.01299395] [-0.00885651 0.99972815 -0.02156843 0.02075595] [-0.01506978 0.02143338 0.9996567 -0.06425703] [ 0. 0. 0. 1. ]] SLAMing on 0.425860169 meters Centerline goodness : 0.163277 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.02, Z:-0.08 [[ 0.9999149 0.0017832 0.01292341 -0.01129058] [-0.00156679 0.99985872 -0.01673591 0.01577035] [-0.01295143 0.01671423 0.99977642 -0.07889662] [ 0. 0. 0. 1. ]] SLAMing on 0.455860169 meters Centerline goodness : 0.163277 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.02, Z:-0.08 [[ 0.9999149 0.0017832 0.01292341 -0.01129058] [-0.00156679 0.99985872 -0.01673591 0.01577035] [-0.01295143 0.01671423 0.99977642 -0.07889662] [ 0. 0. 0. 1. ]] SLAMing on 0.485860169 meters Centerline goodness : 0.867615 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.01, Z:-0.13 [[ 0.99993 -0.00465606 0.01087743 -0.01085165] [ 0.00480103 0.9998995 -0.01333968 0.01103175] [-0.01081422 0.01339097 0.99985186 -0.12673602] [ 0. 0. 0. 1. ]] SLAMing on 0.515860169 meters Centerline goodness : 0.857811 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.01, Z:-0.16 [[ 0.99987932 -0.00585085 0.0143913 -0.01296977] [ 0.00606806 0.99986764 -0.01509579 0.00972616] [-0.01430107 0.01518129 0.99978248 -0.1594213 ] [ 0. 0. 0. 1. ]] SLAMing on 0.545860169 meters Centerline goodness : 0.917192 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.01, Z:-0.24 [[ 0.99987949 -0.00944752 0.01231845 -0.01074918] [ 0.00966135 0.99980165 -0.01741624 0.01022205] [-0.01215147 0.01753315 0.99977244 -0.24350923] [ 0. 0. 0. 1. ]] SLAMing on 0.5758601689999999 meters Centerline goodness : 0.944849 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.02, Z:-0.23 [[ 0.99991589 0.00331523 0.01253902 -0.00911661] [-0.00309129 0.99983612 -0.01783745 0.01725657] [-0.0125961 0.01779719 0.99976227 -0.23491422] [ 0. 0. 0. 1. ]] SLAMing on 0.605860169 meters Centerline goodness : 0.897249 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.00, Z:-0.27 [[ 0.99945092 -0.02615604 0.0203403 -0.01375599] [ 0.02629965 0.9996308 -0.00682535 0.00126478] [-0.02015427 0.00735654 0.99976982 -0.26718024] [ 0. 0. 0. 1. ]] SLAMing on 0.635860169 meters Centerline goodness : 0.897249 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.00, Z:-0.27 [[ 0.99945092 -0.02615604 0.0203403 -0.01375599] [ 0.02629965 0.9996308 -0.00682535 0.00126478] [-0.02015427 0.00735654 0.99976982 -0.26718024] [ 0. 0. 0. 1. ]] SLAMing on 0.6658601689999999 meters Centerline goodness : 0.888392 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.00, Z:-0.27 [[ 0.99956818 -0.02138995 0.02014778 -0.01421663] [ 0.02145411 0.99976541 -0.00297373 0.00283596] [-0.02007945 0.0034047 0.99979259 -0.26665398] [ 0. 0. 0. 1. ]] SLAMing on 0.6958601689999999 meters Centerline goodness : 0.886757 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.42, Z:-0.19 [[ 0.68094958 -0.69953657 0.21669394 -0.09016173] [ 0.72493452 0.68583406 -0.06404358 -0.42233342] [-0.10381526 0.20069936 0.97413662 -0.18581798] [ 0. 0. 0. 1. ]] SLAMing on 0.7258601689999999 meters Centerline goodness : 0.886757 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.40, Z:-0.18 [[ 0.72200251 -0.6559127 0.22020652 -0.10932474] [ 0.68119381 0.729625 -0.06018594 -0.40206392] [-0.12119146 0.19345771 0.97359475 -0.18256318] [ 0. 0. 0. 1. ]] SLAMing on 0.755860169 meters Centerline goodness : 0.877294 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.71, Z:0.51 [[ 0.91479881 0.31978157 0.24674456 -0.34850628] [-0.11233593 0.78822037 -0.60505313 0.70729505] [-0.38797393 0.52578361 0.75698602 0.50762906] [ 0. 0. 0. 1. ]] SLAMing on 0.785860169 meters Centerline goodness : 0.885462 Centerline is valid? [False, False] Translation: X:0.31, Y:0.05, Z:-0.26 [[ 0.99165197 0.04612858 -0.12040986 0.30845945] [-0.07289594 0.97082897 -0.22842348 0.046839 ] [ 0.10636053 0.23529398 0.96608705 -0.25784285] [ 0. 0. 0. 1. ]] SLAMing on 0.8158601689999999 meters Centerline goodness : 0.900524 Centerline is valid? [False, False] Translation: X:0.29, Y:0.03, Z:-0.14 [[ 0.98570505 0.11378104 -0.12425552 0.28976882] [-0.13727083 0.969979 -0.20074227 0.02585625] [ 0.09768458 0.21492932 0.97173201 -0.14050993] [ 0. 0. 0. 1. ]] SLAMing on 0.8458601689999999 meters Centerline goodness : 0.798029 Centerline is valid? [False, False] Translation: X:0.28, Y:0.01, Z:-0.14 [[ 0.98910457 0.08476231 -0.12036402 0.28442383] [-0.10750616 0.97444633 -0.19722263 0.01001941] [ 0.10057123 0.20801368 0.9729418 -0.13957088] [ 0. 0. 0. 1. ]] SLAMing on 0.875860169 meters Centerline goodness : 0.743759 Centerline is valid? [False, False] Translation: X:0.29, Y:0.00, Z:-0.17 [[ 0.99106934 0.04208793 -0.12653129 0.29265035] [-0.06891137 0.97400906 -0.21577205 0.00326785] [ 0.11416122 0.22256451 0.96821085 -0.16659865] [ 0. 0. 0. 1. ]] SLAMing on 0.9058601689999999 meters Centerline goodness : 0.746341 Centerline is valid? [False, False] Translation: X:0.29, Y:0.00, Z:-0.17 [[ 0.99107215 0.04208311 -0.12651088 0.29272253] [-0.06889159 0.97403004 -0.21568362 0.00312027] [ 0.11414876 0.22247356 0.96823322 -0.16680625] [ 0. 0. 0. 1. ]] SLAMing on 0.9358601689999999 meters Centerline goodness : 0.822509 Centerline is valid? [False, False] Translation: X:0.29, Y:0.00, Z:-0.17 [[ 0.99116333 0.04069413 -0.1262507 0.29148021] [-0.06755379 0.97396194 -0.21641311 0.00261593] [ 0.11415663 0.22302945 0.9681044 -0.16595429] [ 0. 0. 0. 1. ]] SLAMing on 0.9658601689999999 meters Centerline goodness : 0.951267 Centerline is valid? [False, True] The specified correction angle seems to be off! The frame is not close to be flat! Translation: X:0.29, Y:0.00, Z:-0.17 [[ 0.99115971 0.04060927 -0.12630643 0.29154848] [-0.06746598 0.97400009 -0.21626874 0.00213191] [ 0.11423996 0.22287824 0.96812939 -0.16616239] [ 0. 0. 0. 1. ]] SLAMing on 0.995860169 meters Centerline goodness : 0.878657 Centerline is valid? [True, False] Translation: X:0.29, Y:0.00, Z:-0.17 [[ 0.99115676 0.04054496 -0.1263502 0.29163565] [-0.06740534 0.97401811 -0.21620647 0.00186701] [ 0.1143013 0.22281118 0.96813759 -0.16632916] [ 0. 0. 0. 1. ]] SLAMing on 1.025860169 meters Centerline goodness : 0.943205 Centerline is valid? [False, False] Translation: X:0.29, Y:0.00, Z:-0.17 [[ 0.9911474 0.04057606 -0.12641363 0.29177717] [-0.06742325 0.97406758 -0.21597791 0.00151741] [ 0.11437188 0.22258917 0.96818032 -0.16659553] [ 0. 0. 0. 1. ]] SLAMing on 1.055860169 meters Centerline goodness : 0.941693 Centerline is valid? [False, False] Translation: X:0.29, Y:0.00, Z:-0.17 [[ 9.91151693e-01 4.05504398e-02 -1.26388224e-01 2.91812435e-01] [-6.73537052e-02 9.74144834e-01 -2.15650925e-01 9.16433010e-04] [ 1.14375696e-01 2.22255495e-01 9.68256523e-01 -1.66929125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.085860169 meters Centerline goodness : 0.450759 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.00, Z:-0.17 [[ 0.99169731 0.03314037 -0.12425039 0.28869898] [-0.05929977 0.97521011 -0.21318721 -0.00219146] [ 0.11410514 0.2187852 0.96907846 -0.17403969] [ 0. 0. 0. 1. ]] SLAMing on 1.1158601689999998 meters Centerline goodness : 0.491817 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.00, Z:-0.17 [[ 0.99182944 0.03116443 -0.12370582 0.28621903] [-0.05736489 0.97508541 -0.21428417 -0.00332643] [ 0.1139457 0.21962972 0.96890617 -0.17264936] [ 0. 0. 0. 1. ]] SLAMing on 1.1458601689999999 meters Centerline goodness : 0.543978 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.01, Z:-0.18 [[ 0.99093432 0.02247264 -0.13245435 0.28591944] [-0.05042994 0.97603591 -0.21168542 -0.00508573] [ 0.12452307 0.21644601 0.96832078 -0.18042735] [ 0. 0. 0. 1. ]] SLAMing on 1.175860169 meters Centerline goodness : 0.392850 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.01, Z:-0.18 [[ 0.98923932 0.01987229 -0.14495058 0.28039713] [-0.04997081 0.97704613 -0.207084 -0.00716016] [ 0.13750817 0.21209893 0.96752548 -0.17811066] [ 0. 0. 0. 1. ]] SLAMing on 1.205860169 meters Centerline goodness : 0.414180 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.01, Z:-0.18 [[ 0.98542133 0.01368859 -0.16958015 0.27573668] [-0.04875896 0.9776686 -0.20441787 -0.01050192] [ 0.162995 0.20970628 0.96408294 -0.18065339] [ 0. 0. 0. 1. ]] SLAMing on 1.235860169 meters Centerline goodness : 0.387687 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.02, Z:-0.17 [[ 0.98318416 0.00123991 -0.1826126 0.26822345] [-0.0415972 0.9752098 -0.21733734 -0.02082479] [ 0.17781612 0.2212788 0.95886241 -0.17347775] [ 0. 0. 0. 1. ]] SLAMing on 1.265860169 meters Centerline goodness : 0.376444 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.02, Z:-0.17 [[ 0.9824925 -0.00462028 -0.18624486 0.26962636] [-0.03845435 0.97313567 -0.22699831 -0.02366274] [ 0.18229031 0.23018606 0.95592082 -0.16948081] [ 0. 0. 0. 1. ]] SLAMing on 1.295860169 meters Centerline goodness : 0.356785 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.02, Z:-0.17 [[ 0.98244849 -0.0029107 -0.1865114 0.27539142] [-0.04056737 0.972612 -0.22886719 -0.01650006] [ 0.18206939 0.2324165 0.9554231 -0.17347961] [ 0. 0. 0. 1. ]] SLAMing on 1.3258601689999998 meters Centerline goodness : 0.337560 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.00, Z:-0.19 [[ 0.98169129 0.02423473 -0.18893093 0.27571083] [-0.06683909 0.97263062 -0.22253588 -0.00140063] [ 0.17836691 0.2310895 0.95644283 -0.18881058] [ 0. 0. 0. 1. ]] SLAMing on 1.3558601689999998 meters Centerline goodness : 0.337560 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.00, Z:-0.19 [[ 0.98169129 0.02423473 -0.18893093 0.27571083] [-0.06683909 0.97263062 -0.22253588 -0.00140063] [ 0.17836691 0.2310895 0.95644283 -0.18881058] [ 0. 0. 0. 1. ]] SLAMing on 1.3858601689999999 meters Centerline goodness : 0.977258 Centerline is valid? [False, True] Translation: X:0.28, Y:-0.00, Z:-0.19 [[ 0.98154073 0.02916126 -0.189017 0.27704179] [-0.07091245 0.97335304 -0.21807172 -0.00237602] [ 0.17762103 0.22744993 0.95745355 -0.19051371] [ 0. 0. 0. 1. ]] SLAMing on 1.415860169 meters Centerline goodness : 0.960332 Centerline is valid? [True, True] Translation: X:0.85, Y:-0.45, Z:-0.20 [[-0.20764775 0.97812429 0.01246141 0.8453436 ] [ 0.97489824 0.20588293 0.08476811 -0.45089336] [ 0.08034815 0.02975052 -0.99632278 -0.19889664] [ 0. 0. 0. 1. ]] SLAMing on 1.445860169 meters Centerline goodness : 0.294999 Centerline is valid? [True, False] Translation: X:-0.03, Y:0.03, Z:-0.69 [[ 0.79786461 -0.20680023 0.56625589 -0.02513798] [ 0.47177282 0.79896064 -0.37295082 0.02871483] [-0.37528985 0.56470839 0.73502514 -0.69297857] [ 0. 0. 0. 1. ]] SLAMing on 1.475860169 meters Centerline goodness : 0.270895 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.03, Z:-0.69 [[ 0.7979297 -0.20676491 0.56617706 -0.02509728] [ 0.4713947 0.79944137 -0.37239836 0.02889486] [-0.37562645 0.56404058 0.7353659 -0.6938255 ] [ 0. 0. 0. 1. ]] SLAMing on 1.505860169 meters Centerline goodness : 0.269898 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.03, Z:-0.69 [[ 0.79787097 -0.20722609 0.56609121 -0.02538263] [ 0.47147965 0.79967491 -0.3717889 0.02871171] [-0.37564458 0.56354006 0.73574028 -0.69451476] [ 0. 0. 0. 1. ]] SLAMing on 1.535860169 meters Centerline goodness : 0.270610 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.03, Z:-0.70 [[ 0.79594458 -0.2109137 0.56743955 -0.02662383] [ 0.47719599 0.79536935 -0.37372662 0.0278069 ] [-0.37249996 0.56824555 0.73371709 -0.69879151] [ 0. 0. 0. 1. ]] SLAMing on 1.565860169 meters Centerline goodness : 0.263742 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.03, Z:-0.71 [[ 0.79114043 -0.22006539 0.57067332 -0.03135542] [ 0.4891696 0.78775548 -0.37437203 0.02512218] [-0.36716471 0.57533689 0.73087451 -0.70771518] [ 0. 0. 0. 1. ]] SLAMing on 1.5958601689999998 meters Centerline goodness : 0.263742 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.03, Z:-0.71 [[ 0.79114043 -0.22006539 0.57067332 -0.03135542] [ 0.4891696 0.78775548 -0.37437203 0.02512218] [-0.36716471 0.57533689 0.73087451 -0.70771518] [ 0. 0. 0. 1. ]] SLAMing on 1.6258601689999999 meters Centerline goodness : 0.262928 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.86, Z:-1.16 [[ 0.80542045 -0.5062875 -0.30817343 0.1494402 ] [ 0.4745856 0.23941014 0.84702497 -0.85600371] [-0.35505831 -0.8284659 0.43310258 -1.1550554 ] [ 0. 0. 0. 1. ]] SLAMing on 1.6558601689999999 meters Centerline goodness : 0.262928 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.70, Z:-1.19 [[ 0.88368426 -0.3669177 -0.29064331 0.03956318] [ 0.41584708 0.33035107 0.84731303 -0.70214449] [-0.21487982 -0.86962036 0.44450769 -1.18967847] [ 0. 0. 0. 1. ]] SLAMing on 1.685860169 meters Centerline goodness : 0.259549 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.27, Z:-1.38 [[ 0.75629101 -0.2660027 0.59771772 -0.88841446] [ 0.32397877 0.94599959 0.01106914 0.27283185] [-0.56838514 0.18527636 0.80163021 -1.37982186] [ 0. 0. 0. 1. ]] SLAMing on 1.715860169 meters Centerline goodness : 0.287354 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.37, Z:-1.23 [[ 0.83307195 -0.127775 0.53820504 -0.98363055] [ 0.05546845 0.98734835 0.1485479 0.37114038] [-0.55037657 -0.09389769 0.8296197 -1.22862319] [ 0. 0. 0. 1. ]] SLAMing on 1.745860169 meters Centerline goodness : 0.980141 Centerline is valid? [False, True] Translation: X:-0.94, Y:0.37, Z:-1.35 [[ 0.83973142 -0.14376656 0.52362422 -0.94374636] [-0.05402132 0.93741087 0.34400955 0.36614964] [-0.5403081 -0.31716249 0.7794069 -1.34978969] [ 0. 0. 0. 1. ]] SLAMing on 1.775860169 meters Centerline goodness : 0.976557 Centerline is valid? [True, True] Translation: X:-0.58, Y:0.69, Z:-1.74 [[-0.04104746 0.86125693 0.50650924 -0.57839489] [-0.90650175 -0.24529649 0.34363382 0.68926737] [ 0.42020195 -0.44504622 0.79079971 -1.73834911] [ 0. 0. 0. 1. ]] SLAMing on 1.8058601689999998 meters Centerline goodness : 0.976557 Centerline is valid? [True, True] Translation: X:-0.94, Y:0.44, Z:-1.37 [[ 0.88319071 -0.05033392 -0.46630534 -0.93521763] [-0.26132441 -0.87840805 -0.40013603 0.44046572] [-0.38946596 0.47525339 -0.78895531 -1.37152142] [ 0. 0. 0. 1. ]] SLAMing on 1.8358601689999998 meters Centerline goodness : 0.973818 Centerline is valid? [True, True] Translation: X:-1.02, Y:0.49, Z:-1.34 [[ 0.90224828 0.10173041 -0.41904531 -1.01774528] [-0.11441472 -0.88046674 -0.46009519 0.48534765] [-0.41576113 0.46306505 -0.78276015 -1.3438083 ] [ 0. 0. 0. 1. ]] SLAMing on 1.8658601689999998 meters Centerline goodness : 0.977784 Centerline is valid? [True, True] Translation: X:-0.42, Y:0.25, Z:-1.76 [[-0.88168952 0.22575713 -0.41431547 -0.41931967] [ 0.42732848 0.75435087 -0.49834238 0.24932765] [ 0.2000349 -0.61643206 -0.76157571 -1.76395032] [ 0. 0. 0. 1. ]] SLAMing on 1.8958601689999999 meters Centerline goodness : 0.978271 Centerline is valid? [True, True] Translation: X:-0.41, Y:0.37, Z:-1.82 [[-0.90929374 -0.04931072 -0.41322312 -0.40743189] [ 0.18072636 0.84764319 -0.49883765 0.36743663] [ 0.37486381 -0.52827027 -0.7618449 -1.81738208] [ 0. 0. 0. 1. ]] SLAMing on 1.925860169 meters Centerline goodness : 0.977533 Centerline is valid? [True, True] Translation: X:-5.03, Y:-0.67, Z:-5.68 [[ 0.52761631 -0.30233829 0.7938593 -5.03020948] [ 0.70778594 -0.36030848 -0.60763218 -0.66599968] [ 0.46974472 0.88247909 0.02388616 -5.67539057] [ 0. 0. 0. 1. ]] SLAMing on 1.955860169 meters Centerline goodness : 0.974098 Centerline is valid? [True, True] Translation: X:-4.74, Y:-0.29, Z:-5.13 [[-0.15790426 0.5780731 0.80056089 -4.73737798] [-0.1496202 0.78736469 -0.59805572 -0.29230534] [-0.9760533 -0.21421563 -0.03783682 -5.12731745] [ 0. 0. 0. 1. ]] SLAMing on 1.985860169 meters Centerline goodness : 0.974042 Centerline is valid? [True, True] Translation: X:-4.58, Y:-0.09, Z:-5.37 [[-0.58921296 0.18960734 0.78541527 -4.58346417] [-0.69306035 0.38107286 -0.61192388 -0.08568035] [-0.4153257 -0.90489366 -0.09312374 -5.36749153] [ 0. 0. 0. 1. ]] SLAMing on 2.0158601689999998 meters Centerline goodness : 0.884898 Centerline is valid? [True, False] Translation: X:-3.91, Y:-1.10, Z:-5.66 [[ 0.85148252 0.49670522 0.16811139 -3.91399574] [-0.43421063 0.48810436 0.75710981 -1.10288757] [ 0.2940045 -0.71766152 0.63128702 -5.65904528] [ 0. 0. 0. 1. ]] SLAMing on 2.045860169 meters Centerline goodness : 0.882426 Centerline is valid? [False, False] Translation: X:-3.94, Y:-1.10, Z:-5.61 [[ 0.9036391 0.39013899 0.1767143 -3.94212593] [-0.37869211 0.53506527 0.75518041 -1.09972861] [ 0.20007164 -0.74933085 0.63124845 -5.60530938] [ 0. 0. 0. 1. ]] SLAMing on 2.075860169 meters Centerline goodness : 0.384231 Centerline is valid? [False, False] Translation: X:-3.96, Y:-1.11, Z:-5.56 [[ 0.93963672 0.28864939 0.18375084 -3.96239909] [-0.32307892 0.57153778 0.75429741 -1.10554938] [ 0.11270694 -0.76813156 0.63029442 -5.55948718] [ 0. 0. 0. 1. ]] SLAMing on 2.105860169 meters Centerline goodness : 0.954361 Centerline is valid? [False, True] Translation: X:-3.98, Y:-1.11, Z:-5.52 [[ 0.96318456 0.19002844 0.19017018 -3.97718313] [-0.26727168 0.60052573 0.75361442 -1.11264224] [ 0.02900609 -0.77669687 0.62920634 -5.51530413] [ 0. 0. 0. 1. ]] SLAMing on 2.135860169 meters Centerline goodness : 0.909168 Centerline is valid? [True, False] Translation: X:-3.99, Y:-1.12, Z:-5.47 [[ 0.97509615 0.09907004 0.19842534 -3.98778301] [-0.21640921 0.62076874 0.75353383 -1.11762109] [-0.04852362 -0.77770901 0.62674888 -5.47178108] [ 0. 0. 0. 1. ]] SLAMing on 2.165860169 meters Centerline goodness : 0.936207 Centerline is valid? [False, False] Translation: X:-3.99, Y:-1.12, Z:-5.43 [[ 0.97830319 0.02751726 0.20534281 -3.99275991] [-0.17610668 0.63252629 0.75425256 -1.11806307] [-0.10912976 -0.77404993 0.62364846 -5.4341066 ] [ 0. 0. 0. 1. ]] SLAMing on 2.195860169 meters Centerline goodness : 0.951082 Centerline is valid? [False, True] Translation: X:-4.00, Y:-1.12, Z:-5.41 [[ 0.9773155 -0.03117049 0.20948226 -3.99523168] [-0.14142839 0.64019916 0.75507817 -1.12308491] [-0.15764652 -0.76757634 0.62126817 -5.4068011 ] [ 0. 0. 0. 1. ]] SLAMing on 2.2258601689999997 meters Centerline goodness : 0.939473 Centerline is valid? [True, False] Translation: X:-4.00, Y:-1.13, Z:-5.38 [[ 0.97246207 -0.09174939 0.21424183 -3.99666354] [-0.10558537 0.64606881 0.75594102 -1.12938685] [-0.2077721 -0.75774477 0.61859002 -5.37876799] [ 0. 0. 0. 1. ]] SLAMing on 2.255860169 meters Centerline goodness : 0.900096 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.14, Z:-5.35 [[ 0.96437898 -0.14779663 0.21938401 -3.99742827] [-0.07249179 0.64993988 0.75652038 -1.13613586] [-0.25439758 -0.74547589 0.61607432 -5.35349724] [ 0. 0. 0. 1. ]] SLAMing on 2.2858601689999998 meters Centerline goodness : 0.900096 Centerline is valid? [False, False] Translation: X:-3.99, Y:-1.13, Z:-5.32 [[ 0.95533665 -0.19420642 0.22274594 -3.99285212] [-0.04396311 0.65195831 0.75697927 -1.1318994 ] [-0.2922313 -0.73296264 0.61430174 -5.32440194] [ 0. 0. 0. 1. ]] SLAMing on 2.315860169 meters Centerline goodness : 0.945456 Centerline is valid? [False, False] Translation: X:-3.99, Y:-1.14, Z:-5.31 [[ 0.94341184 -0.23955662 0.22931795 -3.99371314] [-0.01873905 0.65188679 0.75808474 -1.1408054 ] [-0.33109355 -0.71948332 0.61050865 -5.30518118] [ 0. 0. 0. 1. ]] SLAMing on 2.345860169 meters Centerline goodness : 0.951488 Centerline is valid? [False, True] Translation: X:-4.00, Y:-1.15, Z:-5.30 [[ 9.34649928e-01 -2.69016686e-01 2.32507062e-01 -3.99527209e+00] [-9.87301670e-04 6.51934861e-01 7.58274332e-01 -1.15300644e+00] [-3.55567907e-01 -7.08950605e-01 6.09065270e-01 -5.29788108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.375860169 meters Centerline goodness : 0.251355 Centerline is valid? [True, False] Translation: X:-3.99, Y:-1.16, Z:-5.28 [[ 0.92342158 -0.3020759 0.23673347 -3.99421897] [ 0.0194631 0.65290092 0.75719322 -1.16143178] [-0.38329332 -0.69460099 0.60878214 -5.28496572] [ 0. 0. 0. 1. ]] SLAMing on 2.405860169 meters Centerline goodness : 0.251355 Centerline is valid? [False, False] Translation: X:-3.99, Y:-1.15, Z:-5.26 [[ 0.91471606 -0.32506869 0.24005184 -3.98772855] [ 0.03293666 0.65204318 0.75746608 -1.15179504] [-0.40275267 -0.68495988 0.60714104 -5.26337713] [ 0. 0. 0. 1. ]] SLAMing on 2.4358601689999997 meters Centerline goodness : 0.949205 Centerline is valid? [False, False] Translation: X:-3.99, Y:-1.16, Z:-5.26 [[ 0.90506117 -0.34936157 0.24250932 -3.98810861] [ 0.04826588 0.65092848 0.75760314 -1.16083807] [-0.42253365 -0.67397226 0.60599233 -5.2576263 ] [ 0. 0. 0. 1. ]] SLAMing on 2.465860169 meters Centerline goodness : 0.861171 Centerline is valid? [False, False] Translation: X:-3.99, Y:-1.17, Z:-5.25 [[ 0.89661505 -0.36457377 0.25133127 -3.99050603] [ 0.05239909 0.65094689 0.75731267 -1.16575487] [-0.43969965 -0.66584841 0.60275212 -5.25200291] [ 0. 0. 0. 1. ]] SLAMing on 2.4958601689999997 meters Centerline goodness : 0.249855 Centerline is valid? [False, False] Translation: X:-3.99, Y:-1.18, Z:-5.25 [[ 0.88759435 -0.38168434 0.257863 -3.99369298] [ 0.05889648 0.64925478 0.75828717 -1.17579952] [-0.45684513 -0.65786419 0.59875474 -5.24845759] [ 0. 0. 0. 1. ]] SLAMing on 2.525860169 meters Centerline goodness : 0.968940 Centerline is valid? [False, True] Translation: X:-4.02, Y:-1.23, Z:-5.27 [[ 0.87967718 -0.39727995 0.26141289 -4.01985957] [ 0.06514758 0.64516676 0.76125925 -1.22761004] [-0.47108795 -0.65263197 0.59342031 -5.26856128] [ 0. 0. 0. 1. ]] SLAMing on 2.555860169 meters Centerline goodness : 0.975108 Centerline is valid? [True, True] SLAMing on 2.585860169 meters Centerline goodness : 0.734625 Centerline is valid? [True, False] Translation: X:-4.02, Y:-1.24, Z:-5.26 [[ 0.86821974 -0.42343441 0.25864607 -4.0166633 ] [ 0.08733733 0.64355392 0.76040156 -1.24126386] [-0.48843288 -0.63760619 0.59572785 -5.26254831] [ 0. 0. 0. 1. ]] SLAMing on 2.615860169 meters Centerline goodness : 0.734625 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.22, Z:-5.23 [[ 0.85576615 -0.44774054 0.25921556 -4.00215199] [ 0.10467835 0.64051669 0.76077645 -1.21774376] [-0.50666236 -0.62391248 0.59500124 -5.22750887] [ 0. 0. 0. 1. ]] SLAMing on 2.6458601689999997 meters Centerline goodness : 0.974102 Centerline is valid? [False, True] Translation: X:-3.99, Y:-1.19, Z:-5.19 [[ 0.84412016 -0.46852615 0.26066147 -3.98912646] [ 0.11864191 0.63734556 0.76139 -1.19342257] [-0.52286255 -0.61177928 0.59358307 -5.19345417] [ 0. 0. 0. 1. ]] SLAMing on 2.675860169 meters Centerline goodness : 0.974380 Centerline is valid? [True, True] Translation: X:-3.77, Y:-1.02, Z:-5.13 [[ 0.96619381 -0.19503086 0.16861937 -3.77012797] [-0.0133664 0.61525513 0.78821473 -1.02111949] [-0.25747013 -0.76382202 0.59184884 -5.13372373] [ 0. 0. 0. 1. ]] SLAMing on 2.7058601689999997 meters Centerline goodness : 0.697200 Centerline is valid? [True, False] Translation: X:-3.76, Y:-1.00, Z:-5.07 [[ 0.94668966 -0.27230139 0.17213553 -3.75948089] [ 0.03387969 0.61553195 0.78738338 -1.00215497] [-0.3203605 -0.7395758 0.59194322 -5.07135261] [ 0. 0. 0. 1. ]] SLAMing on 2.735860169 meters Centerline goodness : 0.969641 Centerline is valid? [False, True] Translation: X:-3.75, Y:-0.97, Z:-5.02 [[ 0.93353059 -0.31342967 0.17401863 -3.74869309] [ 0.05872445 0.61254878 0.78824833 -0.96509126] [-0.35365531 -0.72563478 0.59023901 -5.01618102] [ 0. 0. 0. 1. ]] SLAMing on 2.7658601689999998 meters Centerline goodness : 0.702264 Centerline is valid? [True, False] Translation: X:-3.74, Y:-0.93, Z:-4.96 [[ 0.91916161 -0.35229356 0.17615672 -3.73746734] [ 0.08194714 0.60848879 0.78932 -0.92903247] [-0.38526174 -0.7110771 0.58816898 -4.96278383] [ 0. 0. 0. 1. ]] SLAMing on 2.795860169 meters Centerline goodness : 0.970607 Centerline is valid? [False, True] Translation: X:-3.73, Y:-0.90, Z:-4.92 [[ 0.90805392 -0.3784047 0.17957718 -3.72850187] [ 0.09608758 0.60549772 0.79002512 -0.89501076] [-0.40768279 -0.70013027 0.58618457 -4.91889554] [ 0. 0. 0. 1. ]] SLAMing on 2.825860169 meters Centerline goodness : 0.978818 Centerline is valid? [True, True] SLAMing on 2.855860169 meters Centerline goodness : 0.972963 Centerline is valid? [True, True] SLAMing on 2.885860169 meters Centerline goodness : 0.976035 Centerline is valid? [True, True] SLAMing on 2.9158601689999997 meters Centerline goodness : 0.961143 Centerline is valid? [True, True] SLAMing on 2.945860169 meters Centerline goodness : 0.961143 Centerline is valid? [True, True] SLAMing on 2.9758601689999997 meters Centerline goodness : 0.979805 Centerline is valid? [True, True] SLAMing on 3.005860169 meters Centerline goodness : 0.979805 Centerline is valid? [True, True] SLAMing on 3.0358601689999998 meters Centerline goodness : 0.980659 Centerline is valid? [True, True] SLAMing on 3.065860169 meters Centerline goodness : 0.970627 Centerline is valid? [True, True] SLAMing on 3.095860169 meters Centerline goodness : 0.974955 Centerline is valid? [True, True] SLAMing on 3.125860169 meters Centerline goodness : 0.945792 Centerline is valid? [True, False] Translation: X:-3.72, Y:-0.84, Z:-4.86 [[ 0.8988675 -0.3997453 0.17955754 -3.722805 ] [ 0.11355527 0.60821848 0.78560517 -0.83876033] [-0.42325219 -0.68576525 0.59210101 -4.85611716] [ 0. 0. 0. 1. ]] SLAMing on 3.155860169 meters Centerline goodness : 0.471792 Centerline is valid? [False, False] Translation: X:-3.71, Y:-0.77, Z:-4.80 [[ 0.89244887 -0.41277274 0.18208151 -3.70996612] [ 0.12225222 0.60975957 0.78310131 -0.77278638] [-0.43426882 -0.67661801 0.59464163 -4.79638375] [ 0. 0. 0. 1. ]] SLAMing on 3.1858601689999997 meters Centerline goodness : 0.382306 Centerline is valid? [False, False] Translation: X:-3.70, Y:-0.71, Z:-4.74 [[ 0.88542795 -0.42631818 0.18512199 -3.697621 ] [ 0.13157541 0.61192754 0.77989269 -0.71466797] [-0.44576367 -0.66618128 0.59791074 -4.74377828] [ 0. 0. 0. 1. ]] SLAMing on 3.215860169 meters Centerline goodness : 0.201928 Centerline is valid? [False, False] Translation: X:-3.70, Y:-0.66, Z:-4.72 [[ 0.89412243 -0.40809869 0.18439237 -3.69623002] [ 0.12229739 0.61862052 0.77611339 -0.66373402] [-0.43079976 -0.67138968 0.60303189 -4.71823613] [ 0. 0. 0. 1. ]] SLAMing on 3.2458601689999997 meters Centerline goodness : 0.226260 Centerline is valid? [False, False] Translation: X:-3.68, Y:-0.59, Z:-4.65 [[ 0.8882693 -0.42097933 0.18372275 -3.68111256] [ 0.13527136 0.62200592 0.77123946 -0.59011173] [-0.43895251 -0.66021591 0.60945521 -4.65224029] [ 0. 0. 0. 1. ]] SLAMing on 3.275860169 meters Centerline goodness : 0.222312 Centerline is valid? [False, False] Translation: X:-3.67, Y:-0.53, Z:-4.59 [[ 0.88079948 -0.43555191 0.18570624 -3.66559724] [ 0.14490298 0.62134554 0.77002133 -0.52680751] [-0.450772 -0.651325 0.6103936 -4.59211434] [ 0. 0. 0. 1. ]] SLAMing on 3.305860169 meters Centerline goodness : 0.992837 Centerline is valid? [False, True] Translation: X:-3.65, Y:-0.46, Z:-4.54 [[ 0.87802369 -0.4405728 0.18700269 -3.65284973] [ 0.14868463 0.62246387 0.76839548 -0.46426122] [-0.45493656 -0.64686501 0.61204443 -4.53895453] [ 0. 0. 0. 1. ]] SLAMing on 3.335860169 meters Centerline goodness : 0.223380 Centerline is valid? [True, False] Translation: X:-3.64, Y:-0.40, Z:-4.48 [[ 0.87431761 -0.44712658 0.1888029 -3.63865614] [ 0.15285908 0.62287666 0.76724101 -0.39770229] [-0.46065477 -0.64195209 0.61293939 -4.48065442] [ 0. 0. 0. 1. ]] SLAMing on 3.365860169 meters Centerline goodness : 0.227563 Centerline is valid? [False, False] Translation: X:-3.63, Y:-0.36, Z:-4.44 [[ 0.86648946 -0.46171346 0.18978066 -3.62679371] [ 0.16289814 0.62088559 0.76678894 -0.36285317] [-0.47186885 -0.63349962 0.61320308 -4.44310428] [ 0. 0. 0. 1. ]] SLAMing on 3.3958601689999997 meters Centerline goodness : 0.765478 Centerline is valid? [False, False] Translation: X:-3.61, Y:-0.31, Z:-4.39 [[ 0.85703852 -0.47827809 0.19166387 -3.61001863] [ 0.17427699 0.61913623 0.7657009 -0.30591786] [-0.484884 -0.62283256 0.61397647 -4.38647749] [ 0. 0. 0. 1. ]] SLAMing on 3.425860169 meters Centerline goodness : 0.227711 Centerline is valid? [False, False] Translation: X:-3.60, Y:-0.24, Z:-4.33 [[ 0.85533187 -0.48064797 0.19335181 -3.59742415] [ 0.17633409 0.62101262 0.76370781 -0.24271311] [-0.48714852 -0.61912912 0.6159265 -4.33427237] [ 0. 0. 0. 1. ]] SLAMing on 3.4558601689999997 meters Centerline goodness : 0.926568 Centerline is valid? [False, False] Translation: X:-3.58, Y:-0.18, Z:-4.27 [[ 0.84849563 -0.49180249 0.19541105 -3.58087549] [ 0.18407009 0.62047025 0.76232202 -0.17766499] [-0.49615861 -0.61085758 0.61699243 -4.27396547] [ 0. 0. 0. 1. ]] SLAMing on 3.485860169 meters Centerline goodness : 0.919940 Centerline is valid? [False, False] Translation: X:-3.57, Y:-0.12, Z:-4.23 [[ 0.84890297 -0.49099611 0.19566954 -3.56862925] [ 0.18509718 0.62292188 0.76007063 -0.11632303] [-0.49507856 -0.60900834 0.61968223 -4.22549862] [ 0. 0. 0. 1. ]] SLAMing on 3.5158601689999998 meters Centerline goodness : 0.918616 Centerline is valid? [False, False] Translation: X:-3.56, Y:-0.06, Z:-4.18 [[ 0.84722238 -0.49294775 0.19803221 -3.55613218] [ 0.18690014 0.62552758 0.75748504 -0.05648102] [-0.49727516 -0.60474603 0.62209296 -4.17616233] [ 0. 0. 0. 1. ]] SLAMing on 3.545860169 meters Centerline goodness : 0.955739 Centerline is valid? [False, True] Translation: X:-3.54, Y:0.01, Z:-4.12 [[ 0.84323361 -0.49905597 0.19975039 -3.53994855] [ 0.19154628 0.62616108 0.75579913 0.01024438] [-0.50226199 -0.59905378 0.62359239 -4.11693363] [ 0. 0. 0. 1. ]] SLAMing on 3.575860169 meters Centerline goodness : 0.908712 Centerline is valid? [True, False] Translation: X:-3.52, Y:0.07, Z:-4.06 [[ 0.83812833 -0.5064719 0.20255152 -3.5245169 ] [ 0.19624036 0.62643645 0.75436536 0.07369522] [-0.50895051 -0.5925062 0.62442436 -4.05873252] [ 0. 0. 0. 1. ]] SLAMing on 3.6058601689999996 meters Centerline goodness : 0.806103 Centerline is valid? [False, False] Translation: X:-3.51, Y:0.13, Z:-4.01 [[ 0.83668272 -0.50856524 0.20328165 -3.51105603] [ 0.19863069 0.62765876 0.75272195 0.13315023] [-0.51039973 -0.58941147 0.6261679 -4.00729691] [ 0. 0. 0. 1. ]] SLAMing on 3.635860169 meters Centerline goodness : 0.933376 Centerline is valid? [False, False] Translation: X:-3.50, Y:0.20, Z:-3.96 [[ 0.83829978 -0.50588988 0.20329514 -3.49810509] [ 0.19843142 0.63040155 0.75047908 0.1952744 ] [-0.50781734 -0.5887863 0.62884993 -3.95724853] [ 0. 0. 0. 1. ]] SLAMing on 3.6658601689999997 meters Centerline goodness : 0.915025 Centerline is valid? [False, False] Translation: X:-3.48, Y:0.25, Z:-3.91 [[ 0.8384211 -0.50575729 0.20312465 -3.48430042] [ 0.19989148 0.63206385 0.74869132 0.25480849] [-0.50704384 -0.58711571 0.63103224 -3.90645827] [ 0. 0. 0. 1. ]] SLAMing on 3.695860169 meters Centerline goodness : 0.923740 Centerline is valid? [False, False] Translation: X:-3.47, Y:0.32, Z:-3.86 [[ 0.84119044 -0.50123813 0.20287676 -3.47105312] [ 0.19829925 0.63499193 0.74663422 0.31568805] [-0.50306664 -0.58783126 0.63354429 -3.85761231] [ 0. 0. 0. 1. ]] SLAMing on 3.7258601689999997 meters Centerline goodness : 0.921670 Centerline is valid? [False, False] Translation: X:-3.46, Y:0.37, Z:-3.81 [[ 0.83990715 -0.50327795 0.20314351 -3.45674718] [ 0.20102873 0.63616501 0.7449037 0.37302063] [-0.5041264 -0.58481227 0.63549287 -3.80690802] [ 0. 0. 0. 1. ]] SLAMing on 3.755860169 meters Centerline goodness : 0.275412 Centerline is valid? [False, False] Translation: X:-3.44, Y:0.45, Z:-3.75 [[ 0.84015773 -0.50316673 0.20238139 -3.43990469] [ 0.20085844 0.63530624 0.74568215 0.44532737] [-0.50377661 -0.58584061 0.63482274 -3.74744697] [ 0. 0. 0. 1. ]] SLAMing on 3.7858601689999998 meters Centerline goodness : 0.216381 Centerline is valid? [False, False] Translation: X:-3.43, Y:0.51, Z:-3.70 [[ 0.84031078 -0.50260245 0.20314668 -3.42632562] [ 0.20088161 0.63675309 0.74444078 0.50579406] [-0.50351204 -0.58475318 0.63603408 -3.69536351] [ 0. 0. 0. 1. ]] SLAMing on 3.815860169 meters Centerline goodness : 0.227072 Centerline is valid? [False, False] Translation: X:-3.41, Y:0.56, Z:-3.64 [[ 0.83298057 -0.51402172 0.20475605 -3.40834777] [ 0.20913779 0.63510693 0.74357284 0.56490396] [-0.51225457 -0.5765595 0.63653311 -3.63571381] [ 0. 0. 0. 1. ]] SLAMing on 3.845860169 meters Centerline goodness : 0.955213 Centerline is valid? [False, True] Translation: X:-3.40, Y:0.63, Z:-3.59 [[ 0.83733245 -0.50703389 0.20442848 -3.39566901] [ 0.20431112 0.63706813 0.74323695 0.62743846] [-0.50708119 -0.5805694 0.63703048 -3.58540039] [ 0. 0. 0. 1. ]] SLAMing on 3.8758601689999996 meters Centerline goodness : 0.225285 Centerline is valid? [True, False] Translation: X:-3.38, Y:0.69, Z:-3.53 [[ 0.83195321 -0.51511143 0.20618942 -3.37886651] [ 0.21025019 0.63658113 0.74199685 0.68664094] [-0.51346735 -0.57395529 0.63790799 -3.52820199] [ 0. 0. 0. 1. ]] SLAMing on 3.905860169 meters Centerline goodness : 0.500816 Centerline is valid? [False, False] Translation: X:-3.37, Y:0.74, Z:-3.49 [[ 0.84094466 -0.49965129 0.20775145 -3.37225639] [ 0.19708275 0.64036769 0.74235275 0.7427613 ] [-0.50395483 -0.58333336 0.63698644 -3.48759694] [ 0. 0. 0. 1. ]] SLAMing on 3.9358601689999997 meters Centerline goodness : 0.223134 Centerline is valid? [False, False] Translation: X:-3.36, Y:0.80, Z:-3.43 [[ 0.8350045 -0.50847886 0.21027777 -3.35518958] [ 0.20268505 0.63951593 0.74157815 0.80329713] [-0.51155279 -0.57660093 0.63705974 -3.42793471] [ 0. 0. 0. 1. ]] SLAMing on 3.965860169 meters Centerline goodness : 0.211842 Centerline is valid? [False, False] Translation: X:-3.34, Y:0.86, Z:-3.37 [[ 0.8343005 -0.50911242 0.21153538 -3.34041453] [ 0.20375208 0.64126887 0.73976978 0.86409823] [-0.51227704 -0.57408953 0.63874365 -3.37461454] [ 0. 0. 0. 1. ]] SLAMing on 3.9958601689999997 meters Centerline goodness : 0.993600 Centerline is valid? [False, True] Translation: X:-3.34, Y:0.92, Z:-3.34 [[ 0.846877 -0.48856123 0.21001732 -3.33702129] [ 0.19230992 0.64955865 0.73558851 0.92037236] [-0.49579859 -0.58256457 0.64405145 -3.34196681] [ 0. 0. 0. 1. ]] SLAMing on 4.0258601689999995 meters Centerline goodness : 0.202186 Centerline is valid? [True, False] Translation: X:-3.32, Y:0.97, Z:-3.29 [[ 0.84009677 -0.49928623 0.21201572 -3.32010923] [ 0.20026158 0.64872763 0.73419872 0.97471625] [-0.50411577 -0.57433937 0.64498184 -3.28624868] [ 0. 0. 0. 1. ]] SLAMing on 4.055860169 meters Centerline goodness : 0.200712 Centerline is valid? [False, False] Translation: X:-3.30, Y:1.03, Z:-3.23 [[ 0.83719092 -0.50355274 0.21341509 -3.30395201] [ 0.20348142 0.64899374 0.73307737 1.03349601] [-0.50764817 -0.57029972 0.6457953 -3.23066582] [ 0. 0. 0. 1. ]] SLAMing on 4.085860169 meters Centerline goodness : 0.187535 Centerline is valid? [False, False] Translation: X:-3.29, Y:1.09, Z:-3.17 [[ 0.83036468 -0.5139764 0.21522722 -3.28593993] [ 0.21168662 0.64826596 0.73139594 1.089216 ] [-0.51544474 -0.56176463 0.64709908 -3.17416347] [ 0. 0. 0. 1. ]] SLAMing on 4.115860168999999 meters Centerline goodness : 0.196482 Centerline is valid? [False, False] Translation: X:-3.27, Y:1.14, Z:-3.13 [[ 0.83096891 -0.51301442 0.2151903 -3.27120279] [ 0.21214092 0.64979072 0.72990975 1.14472197] [-0.51428289 -0.56088165 0.64878724 -3.12518135] [ 0. 0. 0. 1. ]] SLAMing on 4.145860169 meters Centerline goodness : 0.196482 Centerline is valid? [False, False] Translation: X:-3.26, Y:1.20, Z:-3.08 [[ 0.83179674 -0.5117528 0.21499594 -3.25616157] [ 0.21228839 0.65116522 0.72864086 1.20181329] [-0.51288188 -0.56043995 0.65027629 -3.07502079] [ 0. 0. 0. 1. ]] SLAMing on 4.175860169 meters Centerline goodness : 0.202202 Centerline is valid? [False, False] Translation: X:-3.24, Y:1.26, Z:-3.03 [[ 0.83646557 -0.50414603 0.21485373 -3.24429018] [ 0.20750561 0.65423134 0.72727077 1.25875324] [-0.50721472 -0.56375361 0.65185512 -3.02841882] [ 0. 0. 0. 1. ]] SLAMing on 4.205860169 meters Centerline goodness : 0.501815 Centerline is valid? [False, False] Translation: X:-3.24, Y:1.30, Z:-3.00 [[ 0.85052817 -0.4791711 0.21678765 -3.24392091] [ 0.18726306 0.66110033 0.72655275 1.30416673] [-0.49146146 -0.57735727 0.6520155 -3.0029909 ] [ 0. 0. 0. 1. ]] SLAMing on 4.2358601689999995 meters Centerline goodness : 0.198060 Centerline is valid? [False, False] Translation: X:-3.23, Y:1.35, Z:-2.95 [[ 0.84003618 -0.49634618 0.21904266 -3.22600245] [ 0.20017287 0.65881304 0.72518701 1.34990377] [-0.50425196 -0.56533693 0.65278183 -2.94978406] [ 0. 0. 0. 1. ]] SLAMing on 4.265860169 meters Centerline goodness : 0.200908 Centerline is valid? [False, False] Translation: X:-3.21, Y:1.40, Z:-2.90 [[ 0.83990521 -0.49653969 0.21910632 -3.21114263] [ 0.20119199 0.65979966 0.72400704 1.40474529] [-0.5040645 -0.56401484 0.65406898 -2.8991668 ] [ 0. 0. 0. 1. ]] SLAMing on 4.295860169 meters Centerline goodness : 0.192861 Centerline is valid? [False, False] Translation: X:-3.19, Y:1.46, Z:-2.84 [[ 0.83420241 -0.50513018 0.22124612 -3.19329921] [ 0.20760743 0.65935339 0.72260103 1.46011417] [-0.51088697 -0.55686319 0.65490297 -2.84284539] [ 0. 0. 0. 1. ]] SLAMing on 4.325860169 meters Centerline goodness : 0.191042 Centerline is valid? [False, False] Translation: X:-3.18, Y:1.51, Z:-2.79 [[ 0.83146067 -0.51014577 0.22005555 -3.1767254 ] [ 0.21366653 0.65922996 0.72094554 1.51185923] [-0.51285453 -0.55241935 0.65712486 -2.79139218] [ 0. 0. 0. 1. ]] SLAMing on 4.355860169 meters Centerline goodness : 0.196581 Centerline is valid? [False, False] Translation: X:-3.17, Y:1.56, Z:-2.75 [[ 0.8349667 -0.50493116 0.21880388 -3.16535213] [ 0.2116128 0.66164248 0.71933946 1.56289524] [-0.50798685 -0.55432279 0.65929933 -2.7483938 ] [ 0. 0. 0. 1. ]] SLAMing on 4.385860169 meters Centerline goodness : 0.993137 Centerline is valid? [False, True] Translation: X:-3.15, Y:1.61, Z:-2.70 [[ 0.83546678 -0.50426955 0.21842042 -3.15058867] [ 0.21251313 0.66300572 0.71781723 1.61451517] [-0.50678736 -0.55329524 0.66108316 -2.7011609 ] [ 0. 0. 0. 1. ]] SLAMing on 4.415860169 meters Centerline goodness : 0.198958 Centerline is valid? [True, False] Translation: X:-3.13, Y:1.67, Z:-2.65 [[ 0.83245968 -0.50874991 0.21950949 -3.13442902] [ 0.21651949 0.66334888 0.71630131 1.66787497] [-0.5100296 -0.54876388 0.66236547 -2.64888047] [ 0. 0. 0. 1. ]] SLAMing on 4.4458601689999995 meters Centerline goodness : 0.198098 Centerline is valid? [False, False] Translation: X:-3.12, Y:1.72, Z:-2.60 [[ 0.83629435 -0.50260675 0.21908493 -3.12223719] [ 0.2130972 0.66613057 0.71474446 1.72101989] [-0.50517456 -0.55105037 0.66418532 -2.60249016] [ 0. 0. 0. 1. ]] SLAMing on 4.475860169 meters Centerline goodness : 0.203857 Centerline is valid? [False, False] Translation: X:-3.11, Y:1.76, Z:-2.57 [[ 0.84823287 -0.48474914 0.21335247 -3.10855881] [ 0.20760119 0.67491856 0.70808664 1.76247485] [-0.48723993 -0.55633013 0.6731226 -2.5679918 ] [ 0. 0. 0. 1. ]] SLAMing on 4.505860169 meters Centerline goodness : 0.204458 Centerline is valid? [False, False] Translation: X:-3.10, Y:1.82, Z:-2.53 [[ 0.85902487 -0.46502427 0.2140764 -3.09979894] [ 0.19135145 0.67952726 0.70825653 1.81939297] [-0.47482723 -0.56744615 0.67271389 -2.52735597] [ 0. 0. 0. 1. ]] SLAMing on 4.535860169 meters Centerline goodness : 0.205647 Centerline is valid? [False, False] Translation: X:-3.09, Y:1.88, Z:-2.48 [[ 0.86671335 -0.45089956 0.21330155 -3.085438 ] [ 0.18104053 0.68282288 0.70779746 1.88468122] [-0.46479274 -0.57484128 0.6734428 -2.47643757] [ 0. 0. 0. 1. ]] SLAMing on 4.565860169 meters Centerline goodness : 0.205647 Centerline is valid? [False, False] Translation: X:-3.07, Y:1.95, Z:-2.43 [[ 0.87290141 -0.43931764 0.2122337 -3.07114943] [ 0.17352626 0.68610088 0.70650847 1.94562334] [-0.45599537 -0.57988412 0.67513157 -2.42872874] [ 0. 0. 0. 1. ]] SLAMing on 4.595860169 meters Centerline goodness : 0.205926 Centerline is valid? [False, False] Translation: X:-3.05, Y:2.01, Z:-2.38 [[ 0.8773255 -0.43136769 0.21028998 -3.0546178 ] [ 0.16999533 0.68913688 0.70440894 2.00870017] [-0.44877784 -0.58224761 0.67792785 -2.37726927] [ 0. 0. 0. 1. ]] SLAMing on 4.625860169 meters Centerline goodness : 0.204493 Centerline is valid? [False, False] Translation: X:-3.04, Y:2.06, Z:-2.34 [[ 0.882113 -0.42209965 0.20906587 -3.04243361] [ 0.16474728 0.69227729 0.70257419 2.05945991] [-0.44128787 -0.58530679 0.68020657 -2.33779569] [ 0. 0. 0. 1. ]] SLAMing on 4.655860168999999 meters Centerline goodness : 0.203944 Centerline is valid? [False, False] Translation: X:-3.03, Y:2.11, Z:-2.30 [[ 0.88721798 -0.41196176 0.20768187 -3.02971131] [ 0.15888018 0.6954563 0.70078357 2.11294398] [-0.4331297 -0.58875126 0.6824739 -2.29566577] [ 0. 0. 0. 1. ]] SLAMing on 4.685860169 meters Centerline goodness : 0.203691 Centerline is valid? [False, False] Translation: X:-3.01, Y:2.17, Z:-2.24 [[ 0.89028831 -0.40684967 0.20459734 -3.01245002] [ 0.1584305 0.69791618 0.69843595 2.17348483] [-0.42695023 -0.5893949 0.68580402 -2.24453911] [ 0. 0. 0. 1. ]] SLAMing on 4.715860169 meters Centerline goodness : 0.206491 Centerline is valid? [False, False] Translation: X:-2.99, Y:2.23, Z:-2.19 [[ 0.89106558 -0.40662262 0.20164368 -2.99371071] [ 0.16181236 0.69968293 0.69588832 2.23445718] [-0.42405057 -0.58745369 0.68925995 -2.18910142] [ 0. 0. 0. 1. ]] SLAMing on 4.745860169 meters Centerline goodness : 0.204320 Centerline is valid? [False, False] Translation: X:-2.98, Y:2.28, Z:-2.15 [[ 0.89306329 -0.40375164 0.19855118 -2.97873229] [ 0.16329594 0.7020599 0.69314236 2.28429718] [-0.41925219 -0.5865974 0.69291493 -2.14583261] [ 0. 0. 0. 1. ]] SLAMing on 4.7758601689999995 meters Centerline goodness : 0.204182 Centerline is valid? [False, False] Translation: X:-2.97, Y:2.32, Z:-2.12 [[ 0.89593416 -0.39828252 0.19665454 -2.97010691] [ 0.1612839 0.70420686 0.69143344 2.31683281] [-0.41387133 -0.58776163 0.69515954 -2.11919178] [ 0. 0. 0. 1. ]] SLAMing on 4.805860169 meters Centerline goodness : 0.203787 Centerline is valid? [False, False] Translation: X:-2.96, Y:2.36, Z:-2.08 [[ 0.89771299 -0.39594906 0.19322456 -2.95685508] [ 0.16293883 0.70584035 0.68937677 2.35828086] [-0.40934378 -0.5873787 0.69815753 -2.08259619] [ 0. 0. 0. 1. ]] SLAMing on 4.835860169 meters Centerline goodness : 0.204336 Centerline is valid? [False, False] Translation: X:-2.94, Y:2.41, Z:-2.03 [[ 0.8991979 -0.39482193 0.18857037 -2.93897621] [ 0.16631925 0.70705774 0.68731889 2.4116796 ] [-0.40469871 -0.58667282 0.70145132 -2.03447607] [ 0. 0. 0. 1. ]] SLAMing on 4.865860168999999 meters Centerline goodness : 0.985771 Centerline is valid? [False, True] Translation: X:-2.92, Y:2.47, Z:-1.98 [[ 0.89936607 -0.39656513 0.18405643 -2.91932133] [ 0.17171439 0.7075705 0.68546201 2.46780967] [-0.40206323 -0.58487613 0.70446083 -1.97983418] [ 0. 0. 0. 1. ]] SLAMing on 4.895860169 meters Centerline goodness : 0.203436 Centerline is valid? [True, False] Translation: X:-2.91, Y:2.51, Z:-1.94 [[ 0.90296439 -0.39067611 0.17896225 -2.90686037] [ 0.17105851 0.70883853 0.68431493 2.51372362] [-0.39420083 -0.587299 0.70688442 -1.94234118] [ 0. 0. 0. 1. ]] SLAMing on 4.925860169 meters Centerline goodness : 0.203085 Centerline is valid? [False, False] Translation: X:-2.89, Y:2.56, Z:-1.90 [[ 0.90477611 -0.3881679 0.17523089 -2.89220896] [ 0.17273909 0.71055875 0.68210517 2.56033917] [-0.38928317 -0.58688324 0.70994836 -1.901186 ] [ 0. 0. 0. 1. ]] SLAMing on 4.955860169 meters Centerline goodness : 0.202251 Centerline is valid? [False, False] Translation: X:-2.88, Y:2.61, Z:-1.86 [[ 0.90662385 -0.38567015 0.17114828 -2.877968 ] [ 0.17439943 0.7118737 0.68030925 2.61064179] [-0.38421093 -0.58693643 0.71266233 -1.85586817] [ 0. 0. 0. 1. ]] SLAMing on 4.9858601689999995 meters Centerline goodness : 0.199964 Centerline is valid? [False, False] Translation: X:-2.86, Y:2.66, Z:-1.81 [[ 0.9090622 -0.38178731 0.1668663 -2.86386566] [ 0.17490991 0.71316413 0.67882504 2.65902427] [-0.37816984 -0.58790762 0.71508894 -1.81288599] [ 0. 0. 0. 1. ]] SLAMing on 5.015860169 meters Centerline goodness : 0.199900 Centerline is valid? [False, False] Translation: X:-2.85, Y:2.71, Z:-1.76 [[ 0.91040807 -0.3797711 0.16410686 -2.84841426] [ 0.17590241 0.7143615 0.6773079 2.70989987] [-0.37445359 -0.58775978 0.71716312 -1.76452219] [ 0. 0. 0. 1. ]] SLAMing on 5.045860169 meters Centerline goodness : 0.947864 Centerline is valid? [False, False] Translation: X:-2.83, Y:2.76, Z:-1.72 [[ 0.91311398 -0.37511368 0.15972661 -2.83465833] [ 0.17571823 0.71560394 0.67604298 2.7566003 ] [-0.36789396 -0.58923742 0.71934227 -1.7232742 ] [ 0. 0. 0. 1. ]] SLAMing on 5.075860168999999 meters Centerline goodness : 0.988075 Centerline is valid? [False, True] Translation: X:-2.82, Y:2.80, Z:-1.68 [[ 0.91548192 -0.37060701 0.15666304 -2.82095438] [ 0.17537656 0.71797094 0.67361768 2.80309248] [-0.36212695 -0.58920978 0.7222852 -1.68020326] [ 0. 0. 0. 1. ]] SLAMing on 5.105860169 meters Centerline goodness : 0.978068 Centerline is valid? [True, True] Translation: X:-2.76, Y:3.25, Z:-1.87 [[ 0.53553609 0.81172957 0.23301545 -2.7630406 ] [-0.69754785 0.26963398 0.66387086 3.24840621] [ 0.47605472 -0.51806623 0.71061894 -1.87069213] [ 0. 0. 0. 1. ]] SLAMing on 5.135860169 meters Centerline goodness : 0.971598 Centerline is valid? [True, True] Translation: X:-2.64, Y:3.35, Z:-1.88 [[ 0.19307978 0.94890417 0.24960183 -2.6449318 ] [-0.76368288 -0.01438407 0.64543129 3.34894124] [ 0.61604274 -0.31523638 0.7218846 -1.87648657] [ 0. 0. 0. 1. ]] SLAMing on 5.165860169 meters Centerline goodness : 0.944724 Centerline is valid? [True, False] Translation: X:-1.60, Y:4.48, Z:-1.59 [[ 0.6079879 -0.09425594 -0.78833149 -1.60040302] [-0.41531652 0.80848429 -0.41697163 4.47601554] [ 0.67665568 0.58092079 0.45240261 -1.58746328] [ 0. 0. 0. 1. ]] SLAMing on 5.1958601689999995 meters Centerline goodness : 0.918382 Centerline is valid? [False, False] Translation: X:-1.68, Y:4.42, Z:-1.55 [[ 0.60104565 -0.12567906 -0.78927112 -1.67715273] [-0.37532942 0.8274958 -0.41758656 4.41500298] [ 0.70560042 0.54722525 0.45019171 -1.55392891] [ 0. 0. 0. 1. ]] SLAMing on 5.225860169 meters Centerline goodness : 0.909711 Centerline is valid? [False, False] Translation: X:-1.76, Y:4.36, Z:-1.52 [[ 0.59443869 -0.15234265 -0.7895786 -1.75553714] [-0.34122566 0.84132044 -0.41921947 4.35620884] [ 0.72815362 0.51862475 0.4481302 -1.51767655] [ 0. 0. 0. 1. ]] SLAMing on 5.255860169 meters Centerline goodness : 0.903149 Centerline is valid? [False, False] Translation: X:-1.84, Y:4.30, Z:-1.48 [[ 0.58700688 -0.17606383 -0.79020532 -1.83804858] [-0.31016281 0.85268462 -0.42039026 4.29785029] [ 0.74781145 0.49186428 0.44592328 -1.47831793] [ 0. 0. 0. 1. ]] SLAMing on 5.285860168999999 meters Centerline goodness : 0.939228 Centerline is valid? [False, False] Translation: X:-1.92, Y:4.24, Z:-1.44 [[ 0.58204946 -0.19495489 -0.78943715 -1.91851652] [-0.28425633 0.86080157 -0.42215991 4.24401825] [ 0.76185088 0.47012046 0.44561193 -1.44024049] [ 0. 0. 0. 1. ]] SLAMing on 5.315860169 meters Centerline goodness : 0.993503 Centerline is valid? [False, True] Translation: X:-2.00, Y:4.19, Z:-1.40 [[ 0.5786379 -0.21063379 -0.78791598 -2.00123878] [-0.26348668 0.86599244 -0.42500807 4.19146464] [ 0.77185034 0.45353114 0.44559685 -1.39972662] [ 0. 0. 0. 1. ]] SLAMing on 5.345860169 meters Centerline goodness : 0.801525 Centerline is valid? [True, False] Translation: X:-2.09, Y:4.14, Z:-1.36 [[ 0.57555172 -0.22432831 -0.78639496 -2.08858631] [-0.24370428 0.8708923 -0.42679599 4.13794718] [ 0.78060774 0.43729099 0.44657379 -1.35710224] [ 0. 0. 0. 1. ]] SLAMing on 5.375860169 meters Centerline goodness : 0.932334 Centerline is valid? [False, False] Translation: X:-2.18, Y:4.09, Z:-1.31 [[ 0.57276519 -0.23667445 -0.78480905 -2.17510564] [-0.22603891 0.8746902 -0.42874639 4.08656274] [ 0.7879381 0.42296839 0.44749446 -1.31470062] [ 0. 0. 0. 1. ]] SLAMing on 5.405860168999999 meters Centerline goodness : 0.168607 Centerline is valid? [False, False] Translation: X:-2.26, Y:4.04, Z:-1.27 [[ 0.57062612 -0.24734122 -0.78307608 -2.25835388] [-0.2111197 0.87732932 -0.43095445 4.03725201] [ 0.79360841 0.41123665 0.44840842 -1.27293788] [ 0. 0. 0. 1. ]] SLAMing on 5.435860169 meters Centerline goodness : 0.760470 Centerline is valid? [False, False] Translation: X:-2.34, Y:3.99, Z:-1.23 [[ 0.56834337 -0.25754107 -0.78144636 -2.34362387] [-0.19762956 0.87921649 -0.43349848 3.98615066] [ 0.79870418 0.40081288 0.44879913 -1.22972452] [ 0. 0. 0. 1. ]] SLAMing on 5.465860169 meters Centerline goodness : 0.996354 Centerline is valid? [False, True] Translation: X:-2.43, Y:3.94, Z:-1.18 [[ 0.56708441 -0.26427805 -0.78011049 -2.4304921 ] [-0.18810355 0.88054389 -0.43503968 3.93613192] [ 0.80189296 0.39344577 0.44963107 -1.18422027] [ 0. 0. 0. 1. ]] SLAMing on 5.495860169 meters Centerline goodness : 0.996335 Centerline is valid? [True, True] SLAMing on 5.5258601689999995 meters Centerline goodness : 0.996427 Centerline is valid? [True, True] SLAMing on 5.555860169 meters Centerline goodness : 0.996861 Centerline is valid? [True, True] SLAMing on 5.585860169 meters Centerline goodness : 0.993199 Centerline is valid? [True, True] SLAMing on 5.615860168999999 meters Centerline goodness : 0.996623 Centerline is valid? [True, True] SLAMing on 5.645860169 meters Centerline goodness : 0.996852 Centerline is valid? [True, True] SLAMing on 5.675860169 meters Centerline goodness : 0.707733 Centerline is valid? [True, False] Translation: X:-2.51, Y:3.89, Z:-1.14 [[ 0.5670952 -0.27116399 -0.7777359 -2.51408962] [-0.17748906 0.88183643 -0.43687772 3.88985949] [ 0.80430135 0.38579087 0.45195656 -1.1425738 ] [ 0. 0. 0. 1. ]] SLAMing on 5.705860169 meters Centerline goodness : 0.997522 Centerline is valid? [False, True] Translation: X:-2.60, Y:3.84, Z:-1.09 [[ 0.56809338 -0.27046572 -0.77725042 -2.60450288] [-0.17877303 0.88134156 -0.43735256 3.84168274] [ 0.80331197 0.3874085 0.45233233 -1.09310721] [ 0. 0. 0. 1. ]] SLAMing on 5.7358601689999995 meters Centerline goodness : 0.997837 Centerline is valid? [True, True] SLAMing on 5.765860169 meters Centerline goodness : 0.997741 Centerline is valid? [True, True] SLAMing on 5.795860169 meters Centerline goodness : 0.997771 Centerline is valid? [True, True] SLAMing on 5.825860168999999 meters Centerline goodness : 0.997856 Centerline is valid? [True, True] SLAMing on 5.855860169 meters Centerline goodness : 0.996535 Centerline is valid? [True, True] SLAMing on 5.885860169 meters Centerline goodness : 0.997078 Centerline is valid? [True, True] SLAMing on 5.915860169 meters Centerline goodness : 0.216652 Centerline is valid? [True, False] Translation: X:-2.70, Y:3.79, Z:-1.04 [[ 0.57181377 -0.27239131 -0.77384235 -2.6980335 ] [-0.17427486 0.88140807 -0.43903085 3.79047935] [ 0.80165908 0.38590515 0.45653032 -1.04366798] [ 0. 0. 0. 1. ]] SLAMing on 5.9458601689999995 meters Centerline goodness : 0.223331 Centerline is valid? [False, False] Translation: X:-2.78, Y:3.74, Z:-1.00 [[ 0.57122346 -0.27668077 -0.77275579 -2.78443266] [-0.1693092 0.88150676 -0.44077231 3.7403872 ] [ 0.80314267 0.38261414 0.45669274 -0.99649927] [ 0. 0. 0. 1. ]] SLAMing on 5.975860169 meters Centerline goodness : 0.218735 Centerline is valid? [False, False] Translation: X:-2.86, Y:3.70, Z:-0.96 [[ 0.57142024 -0.27734055 -0.7723737 -2.86141096] [-0.16887507 0.88128338 -0.44138511 3.69926637] [ 0.80309409 0.38265105 0.45674725 -0.95556719] [ 0. 0. 0. 1. ]] SLAMing on 6.005860169 meters Centerline goodness : 0.217531 Centerline is valid? [False, False] Translation: X:-2.95, Y:3.65, Z:-0.90 [[ 0.56993841 -0.27787631 -0.77327548 -2.95254834] [-0.16995844 0.88086446 -0.4418053 3.64849957] [ 0.80391811 0.38322651 0.45481107 -0.90472126] [ 0. 0. 0. 1. ]] SLAMing on 6.035860168999999 meters Centerline goodness : 0.999240 Centerline is valid? [False, True] Translation: X:-3.04, Y:3.60, Z:-0.85 [[ 0.56970431 -0.27884662 -0.77309868 -3.04208372] [-0.16972643 0.88048393 -0.44265222 3.59820868] [ 0.80413304 0.38339616 0.45428784 -0.85428909] [ 0. 0. 0. 1. ]] SLAMing on 6.065860169 meters Centerline goodness : 0.217719 Centerline is valid? [True, False] Translation: X:-3.13, Y:3.55, Z:-0.81 [[ 0.57073832 -0.27625214 -0.77326744 -3.12557391] [-0.1738493 0.87970831 -0.4425943 3.55386187] [ 0.80251741 0.38703753 0.454057 -0.80794203] [ 0. 0. 0. 1. ]] SLAMing on 6.095860169 meters Centerline goodness : 0.217719 Centerline is valid? [False, False] Translation: X:-3.21, Y:3.51, Z:-0.76 [[ 0.57116403 -0.27694578 -0.77270479 -3.21141062] [-0.17328553 0.8794651 -0.44329816 3.50662487] [ 0.80233645 0.38709452 0.45432813 -0.76089217] [ 0. 0. 0. 1. ]] SLAMing on 6.125860169 meters Centerline goodness : 0.216764 Centerline is valid? [False, False] Translation: X:-3.29, Y:3.46, Z:-0.72 [[ 0.57060178 -0.27897462 -0.7723903 -3.2941201 ] [-0.17119213 0.87946283 -0.44411528 3.46017846] [ 0.80318545 0.38564011 0.4540648 -0.71577695] [ 0. 0. 0. 1. ]] SLAMing on 6.155860168999999 meters Centerline goodness : 0.216869 Centerline is valid? [False, False] Translation: X:-3.38, Y:3.41, Z:-0.67 [[ 0.57086648 -0.27989472 -0.77186165 -3.38143247] [-0.17046807 0.87920759 -0.44489847 3.41176427] [ 0.80315135 0.3855554 0.45419703 -0.66778334] [ 0. 0. 0. 1. ]] SLAMing on 6.185860169 meters Centerline goodness : 0.216869 Centerline is valid? [False, False] Translation: X:-3.47, Y:3.36, Z:-0.62 [[ 0.57082923 -0.28072607 -0.77158724 -3.46753292] [-0.16973981 0.87908777 -0.4454134 3.36358917] [ 0.80333205 0.38522406 0.4541586 -0.62016631] [ 0. 0. 0. 1. ]] SLAMing on 6.215860169 meters Centerline goodness : 0.213730 Centerline is valid? [False, False] Translation: X:-3.55, Y:3.32, Z:-0.57 [[ 0.570672 -0.28215988 -0.77118044 -3.54980629] [-0.16825606 0.87901321 -0.44612294 3.31714072] [ 0.80375579 0.38434566 0.45415312 -0.57468141] [ 0. 0. 0. 1. ]] SLAMing on 6.245860169 meters Centerline goodness : 0.212702 Centerline is valid? [False, False] Translation: X:-3.63, Y:3.27, Z:-0.53 [[ 0.57058368 -0.28129358 -0.77156218 -3.63267727] [-0.16952813 0.87892949 -0.4458062 3.2714777 ] [ 0.80355117 0.38517123 0.45381564 -0.52852257] [ 0. 0. 0. 1. ]] SLAMing on 6.2758601689999995 meters Centerline goodness : 0.215047 Centerline is valid? [False, False] Translation: X:-3.72, Y:3.22, Z:-0.48 [[ 0.56978429 -0.28183895 -0.7719538 -3.71956097] [-0.16985882 0.87867724 -0.44617743 3.22362759] [ 0.80404841 0.38534805 0.45278365 -0.47971182] [ 0. 0. 0. 1. ]] SLAMing on 6.305860169 meters Centerline goodness : 0.211500 Centerline is valid? [False, False] Translation: X:-3.80, Y:3.18, Z:-0.43 [[ 0.57141066 -0.28050157 -0.77123843 -3.80318929] [-0.17155733 0.8781813 -0.44650384 3.1781808 ] [ 0.8025322 0.38744866 0.45368006 -0.43389915] [ 0. 0. 0. 1. ]] SLAMing on 6.335860169 meters Centerline goodness : 0.216310 Centerline is valid? [False, False] Translation: X:-3.89, Y:3.13, Z:-0.38 [[ 0.57124293 -0.27975814 -0.77163262 -3.89097903] [-0.17314522 0.87789063 -0.44646251 3.12953346] [ 0.80231057 0.38864305 0.45305003 -0.38484986] [ 0. 0. 0. 1. ]] SLAMing on 6.365860168999999 meters Centerline goodness : 0.214837 Centerline is valid? [False, False] Translation: X:-3.97, Y:3.08, Z:-0.34 [[ 0.56980675 -0.28740303 -0.76988295 -3.9733675 ] [-0.16190425 0.87922577 -0.44805029 3.07919408] [ 0.80567194 0.3799494 0.45445701 -0.34177035] [ 0. 0. 0. 1. ]] SLAMing on 6.395860169 meters Centerline goodness : 0.215953 Centerline is valid? [False, False] Translation: X:-4.07, Y:3.02, Z:-0.29 [[ 0.57428035 -0.29729218 -0.7627709 -4.0693578 ] [-0.15249339 0.87657887 -0.45645947 3.02212076] [ 0.80433068 0.37845322 0.45806693 -0.28687927] [ 0. 0. 0. 1. ]] SLAMing on 6.425860169 meters Centerline goodness : 0.215953 Centerline is valid? [False, False] Translation: X:-4.15, Y:2.99, Z:-0.24 [[ 0.58224906 -0.28519639 -0.76134687 -4.14969118] [-0.16937591 0.87335524 -0.45668635 2.98711199] [ 0.79517158 0.39485902 0.46020487 -0.24165897] [ 0. 0. 0. 1. ]] SLAMing on 6.455860169 meters Centerline goodness : 0.988895 Centerline is valid? [False, True] Translation: X:-4.23, Y:2.96, Z:-0.19 [[ 0.59428814 -0.26829549 -0.75818147 -4.22502485] [-0.19662407 0.86563973 -0.460442 2.95991436] [ 0.77984651 0.42271195 0.46168607 -0.19422951] [ 0. 0. 0. 1. ]] SLAMing on 6.4858601689999995 meters Centerline goodness : 0.998662 Centerline is valid? [True, True] Translation: X:-4.08, Y:2.71, Z:-0.26 [[ 0.33308999 -0.56313276 -0.75626223 -4.08116541] [ 0.36676082 0.81628078 -0.44628711 2.70695515] [ 0.86864121 -0.12871359 0.47842999 -0.26451989] [ 0. 0. 0. 1. ]] SLAMing on 6.515860169 meters Centerline goodness : 0.223993 Centerline is valid? [True, False] Translation: X:-4.16, Y:2.72, Z:-0.24 [[ 0.40342686 -0.516976 -0.75497191 -4.16480136] [ 0.26523973 0.85574158 -0.4442457 2.72388389] [ 0.87572522 -0.02102789 0.48235171 -0.24449286] [ 0. 0. 0. 1. ]] SLAMing on 6.545860169 meters Centerline goodness : 0.997003 Centerline is valid? [False, True] Translation: X:-4.23, Y:2.73, Z:-0.22 [[ 0.4431052 -0.48414864 -0.7544918 -4.23006496] [ 0.19977907 0.87378999 -0.44337273 2.72780662] [ 0.87392568 0.0457291 0.48390366 -0.21919529] [ 0. 0. 0. 1. ]] SLAMing on 6.575860168999999 meters Centerline goodness : 0.872054 Centerline is valid? [True, False] Translation: X:-4.30, Y:2.72, Z:-0.18 [[ 0.474458 -0.45495564 -0.7535947 -4.30267721] [ 0.14223092 0.88445902 -0.44441265 2.72258099] [ 0.86871167 0.10367067 0.48434742 -0.18329788] [ 0. 0. 0. 1. ]] SLAMing on 6.605860169 meters Centerline goodness : 0.999029 Centerline is valid? [False, True] Translation: X:-4.37, Y:2.73, Z:-0.15 [[ 0.51238076 -0.41323898 -0.75279446 -4.37404568] [ 0.06745738 0.89326713 -0.44443597 2.72804617] [ 0.85610482 0.1769389 0.48556891 -0.14753944] [ 0. 0. 0. 1. ]] SLAMing on 6.635860169 meters Centerline goodness : 0.210199 Centerline is valid? [True, False] Translation: X:-4.45, Y:2.72, Z:-0.11 [[ 0.53957261 -0.38029273 -0.75115833 -4.44989402] [ 0.0101927 0.89506171 -0.44582579 2.7212961 ] [ 0.84187737 0.23289906 0.48682699 -0.10666346] [ 0. 0. 0. 1. ]] SLAMing on 6.665860169 meters Centerline goodness : 0.210777 Centerline is valid? [False, False] Translation: X:-4.52, Y:2.71, Z:-0.07 [[ 0.56180377 -0.35078156 -0.74921881 -4.52114412] [-0.03988393 0.89311356 -0.44805964 2.71235984] [ 0.82630854 0.28160339 0.48776401 -0.06501474] [ 0. 0. 0. 1. ]] SLAMing on 6.6958601689999995 meters Centerline goodness : 0.213437 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.69, Z:-0.02 [[ 0.57471621 -0.32838923 -0.74957441 -4.59705453] [-0.07647303 0.89039597 -0.44871693 2.68990497] [ 0.81477185 0.31520712 0.48661208 -0.01717693] [ 0. 0. 0. 1. ]] SLAMing on 6.725860169 meters Centerline goodness : 0.999591 Centerline is valid? [False, True] Translation: X:-4.68, Y:2.66, Z:0.04 [[ 0.58886087 -0.30240515 -0.74952918 -4.68425512] [-0.11844197 0.88506699 -0.45014212 2.66463571] [ 0.79950883 0.35384679 0.48536386 0.03864826] [ 0. 0. 0. 1. ]] SLAMing on 6.755860169 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:-4.53, Y:2.42, Z:-0.00 [[ 3.08142610e-01 -5.79571339e-01 -7.54417123e-01 -4.53213758e+00] [ 4.21948117e-01 7.93999674e-01 -4.37634898e-01 2.41870924e+00] [ 8.52647593e-01 -1.83470925e-01 4.89214167e-01 -8.77750715e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.785860168999999 meters Centerline goodness : 0.212592 Centerline is valid? [True, False] Translation: X:-4.61, Y:2.44, Z:0.01 [[ 0.37159101 -0.54181364 -0.75389528 -4.60779061] [ 0.33110085 0.83598354 -0.43761142 2.43502627] [ 0.86734788 -0.0870029 0.49003893 0.01378269] [ 0. 0. 0. 1. ]] SLAMing on 6.815860169 meters Centerline goodness : 0.864511 Centerline is valid? [False, False] Translation: X:-4.68, Y:2.44, Z:0.04 [[ 0.4215903 -0.50450815 -0.75348069 -4.68118119] [ 0.25142794 0.86339226 -0.43742176 2.44480781] [ 0.87123224 -0.00503332 0.49084524 0.03750548] [ 0. 0. 0. 1. ]] SLAMing on 6.845860169 meters Centerline goodness : 0.826242 Centerline is valid? [False, False] Translation: X:-4.75, Y:2.45, Z:0.07 [[ 0.46396191 -0.46685531 -0.75285156 -4.75301555] [ 0.17649289 0.88153585 -0.43788674 2.45115014] [ 0.86809539 0.07028982 0.4913957 0.06682783] [ 0. 0. 0. 1. ]] SLAMing on 6.875860169 meters Centerline goodness : 0.210768 Centerline is valid? [False, False] Translation: X:-4.82, Y:2.45, Z:0.10 [[ 0.49630121 -0.4394743 -0.74869716 -4.82223455] [ 0.11851975 0.88862936 -0.44304732 2.4458682 ] [ 0.86002219 0.13114952 0.49311422 0.10151947] [ 0. 0. 0. 1. ]] SLAMing on 6.905860168999999 meters Centerline goodness : 0.999142 Centerline is valid? [False, True] Translation: X:-4.89, Y:2.44, Z:0.14 [[ 0.51939613 -0.41133784 -0.74901859 -4.89474147] [ 0.06663101 0.8933493 -0.44439548 2.43675783] [ 0.8519319 0.18090943 0.49141002 0.14252187] [ 0. 0. 0. 1. ]] SLAMing on 6.935860169 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] SLAMing on 6.965860169 meters Centerline goodness : 0.208615 Centerline is valid? [True, False] Translation: X:-4.97, Y:2.42, Z:0.19 [[ 0.53587543 -0.38822457 -0.7497461 -4.97281183] [ 0.02595946 0.89516857 -0.44497117 2.41678222] [ 0.84389788 0.21898611 0.48977694 0.18919652] [ 0. 0. 0. 1. ]] SLAMing on 6.995860168999999 meters Centerline goodness : 0.206831 Centerline is valid? [False, False] Translation: X:-5.05, Y:2.39, Z:0.23 [[ 0.54894231 -0.36929403 -0.74985616 -5.04697836] [-0.00574147 0.89542002 -0.44518539 2.39381941] [ 0.83584052 0.24868638 0.48941364 0.23348556] [ 0. 0. 0. 1. ]] SLAMing on 7.0258601689999995 meters Centerline goodness : 0.208877 Centerline is valid? [False, False] Translation: X:-5.13, Y:2.36, Z:0.28 [[ 0.5603183 -0.35375695 -0.74893219 -5.13050238] [-0.03121636 0.89454293 -0.44589067 2.36308142] [ 0.82768892 0.27321963 0.49018577 0.28327237] [ 0. 0. 0. 1. ]] SLAMing on 7.055860169 meters Centerline goodness : 0.999210 Centerline is valid? [False, True] Translation: X:-5.22, Y:2.33, Z:0.34 [[ 0.57023424 -0.3393199 -0.7481276 -5.21705352] [-0.05340219 0.89346655 -0.44594363 2.32799023] [ 0.81974454 0.29424399 0.4913648 0.33525372] [ 0. 0. 0. 1. ]] SLAMing on 7.085860169 meters Centerline goodness : 0.781721 Centerline is valid? [True, False] Translation: X:-5.30, Y:2.29, Z:0.38 [[ 0.57699407 -0.32956345 -0.74730568 -5.29969066] [-0.06679049 0.89287298 -0.44532783 2.29001164] [ 0.81401282 0.30686443 0.49317071 0.38431533] [ 0. 0. 0. 1. ]] SLAMing on 7.115860168999999 meters Centerline goodness : 0.990479 Centerline is valid? [False, True] Translation: X:-5.38, Y:2.25, Z:0.43 [[ 0.58243402 -0.32105599 -0.7467889 -5.38069967] [-0.07924063 0.89189736 -0.44524153 2.25204768] [ 0.80900651 0.31849984 0.49403068 0.43366185] [ 0. 0. 0. 1. ]] SLAMing on 7.145860169 meters Centerline goodness : 0.990479 Centerline is valid? [True, True] Translation: X:-5.17, Y:1.94, Z:0.43 [[ 0.19187298 -0.62910201 -0.75326982 -5.17437869] [ 0.58783793 0.68828717 -0.42509685 1.94418644] [ 0.78589524 -0.36123597 0.50187373 0.4300257 ] [ 0. 0. 0. 1. ]] SLAMing on 7.175860169 meters Centerline goodness : 0.209013 Centerline is valid? [True, False] Translation: X:-5.24, Y:1.97, Z:0.42 [[ 0.26549154 -0.60132371 -0.75360735 -5.23554323] [ 0.50273157 0.75332306 -0.42398742 1.96599368] [ 0.82266349 -0.26629713 0.50230531 0.42414782] [ 0. 0. 0. 1. ]] SLAMing on 7.205860168999999 meters Centerline goodness : 0.968501 Centerline is valid? [False, True] Translation: X:-5.31, Y:1.98, Z:0.43 [[ 0.33227107 -0.56674557 -0.75392002 -5.30873198] [ 0.41313007 0.80602884 -0.42384084 1.98315991] [ 0.84789119 -0.17063698 0.5019597 0.43398795] [ 0. 0. 0. 1. ]] SLAMing on 7.2358601689999995 meters Centerline goodness : 0.208888 Centerline is valid? [True, False] Translation: X:-5.38, Y:2.00, Z:0.45 [[ 0.387785 -0.52861657 -0.75510749 -5.37782196] [ 0.32106598 0.84537166 -0.42692318 1.99831638] [ 0.86402513 -0.07688492 0.49754324 0.44548539] [ 0. 0. 0. 1. ]] SLAMing on 7.265860169 meters Centerline goodness : 0.208888 Centerline is valid? [False, False] Translation: X:-5.45, Y:2.01, Z:0.47 [[ 4.33860541e-01 -4.90817593e-01 -7.55554843e-01 -5.44642770e+00] [ 2.42519072e-01 8.71260282e-01 -4.26720073e-01 2.01007442e+00] [ 8.67726645e-01 1.90054232e-03 4.97038085e-01 4.69381568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.295860169 meters Centerline goodness : 0.986538 Centerline is valid? [False, True] Translation: X:-5.48, Y:2.02, Z:0.48 [[ 0.44259333 -0.46998972 -0.76368894 -5.47881429] [ 0.21498444 0.88242135 -0.41846656 2.01938862] [ 0.87057041 0.02102927 0.49159428 0.47525557] [ 0. 0. 0. 1. ]] SLAMing on 7.325860168999999 meters Centerline goodness : 0.995533 Centerline is valid? [True, True] Translation: X:-5.32, Y:1.83, Z:0.51 [[ 0.15905263 -0.62285611 -0.76599773 -5.32097941] [ 0.6195769 0.66704027 -0.41374114 1.83096322] [ 0.76865254 -0.40878789 0.49200177 0.51041645] [ 0. 0. 0. 1. ]] SLAMing on 7.355860169 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:-5.24, Y:1.79, Z:0.54 [[ 0.02975544 -0.64241409 -0.76577983 -5.24172069] [ 0.7419344 0.52757785 -0.41375712 1.78790102] [ 0.66981188 -0.55584688 0.49232742 0.54289461] [ 0. 0. 0. 1. ]] SLAMing on 7.385860169 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:-5.21, Y:1.79, Z:0.54 [[ 0.00618913 -0.64296938 -0.76586688 -5.20974216] [ 0.76009204 0.50069344 -0.41420546 1.78907152] [ 0.64978595 -0.57956575 0.49181477 0.53948524] [ 0. 0. 0. 1. ]] SLAMing on 7.415860169 meters Centerline goodness : 0.212154 Centerline is valid? [True, False] Translation: X:-5.27, Y:1.82, Z:0.51 [[ 0.10574714 -0.62635826 -0.77232951 -5.27105737] [ 0.67625433 0.61472444 -0.4059482 1.815409 ] [ 0.72903884 -0.47936331 0.48858284 0.50917098] [ 0. 0. 0. 1. ]] SLAMing on 7.4458601689999995 meters Centerline goodness : 0.999746 Centerline is valid? [False, True] Translation: X:-5.34, Y:1.84, Z:0.49 [[ 0.20015498 -0.59539159 -0.77810465 -5.34142423] [ 0.57940943 0.71234983 -0.39603338 1.84228561] [ 0.79007765 -0.37157312 0.48755587 0.49371124] [ 0. 0. 0. 1. ]] SLAMing on 7.475860169 meters Centerline goodness : 0.815922 Centerline is valid? [True, False] Translation: X:-5.40, Y:1.87, Z:0.49 [[ 0.28208675 -0.55588444 -0.78193322 -5.40452197] [ 0.47737917 0.7882991 -0.38819281 1.87396306] [ 0.83218759 -0.26377458 0.48773639 0.48688577] [ 0. 0. 0. 1. ]] SLAMing on 7.505860169 meters Centerline goodness : 0.815922 Centerline is valid? [False, False] Translation: X:-5.45, Y:1.91, Z:0.48 [[ 0.35099452 -0.51322913 -0.78319775 -5.45212386] [ 0.37700185 0.8430811 -0.38351514 1.91154494] [ 0.85713036 -0.16065529 0.48940517 0.47992608] [ 0. 0. 0. 1. ]] SLAMing on 7.535860168999999 meters Centerline goodness : 0.979905 Centerline is valid? [False, True] Translation: X:-5.51, Y:1.94, Z:0.49 [[ 0.40498676 -0.46736869 -0.78584492 -5.50874947] [ 0.27911345 0.88165202 -0.38050676 1.94194673] [ 0.87067871 -0.06523969 0.48750628 0.49223511] [ 0. 0. 0. 1. ]] SLAMing on 7.565860169 meters Centerline goodness : 0.891744 Centerline is valid? [True, False] Translation: X:-5.57, Y:1.96, Z:0.52 [[ 0.44788045 -0.42354604 -0.78740831 -5.57083374] [ 0.19067339 0.90566522 -0.37870064 1.96443281] [ 0.87352548 0.0194748 0.4863887 0.51684716] [ 0. 0. 0. 1. ]] SLAMing on 7.595860169 meters Centerline goodness : 0.999703 Centerline is valid? [False, True] Translation: X:-5.63, Y:1.98, Z:0.55 [[ 0.47930192 -0.38486415 -0.78876439 -5.62665522] [ 0.11683298 0.91870381 -0.37727095 1.98112143] [ 0.86983891 0.08867299 0.48530132 0.54520663] [ 0. 0. 0. 1. ]] SLAMing on 7.625860169 meters Centerline goodness : 0.876247 Centerline is valid? [True, False] Translation: X:-5.69, Y:1.99, Z:0.58 [[ 0.50326951 -0.35181097 -0.78927108 -5.68896154] [ 0.05277341 0.92417958 -0.37829495 1.98755307] [ 0.86251653 0.14873179 0.48367767 0.58115889] [ 0. 0. 0. 1. ]] SLAMing on 7.655860168999999 meters Centerline goodness : 0.876928 Centerline is valid? [False, False] Translation: X:-5.74, Y:1.99, Z:0.62 [[ 0.51832296 -0.32738475 -0.79003831 -5.74463574] [ 0.00596565 0.92518329 -0.37947371 1.98748507] [ 0.85516415 0.19197684 0.4814968 0.61692277] [ 0. 0. 0. 1. ]] SLAMing on 7.685860169 meters Centerline goodness : 0.857827 Centerline is valid? [False, False] Translation: X:-5.81, Y:1.97, Z:0.66 [[ 0.5272281 -0.30773644 -0.79204092 -5.81116258] [-0.02807593 0.92529785 -0.37820052 1.97248996] [ 0.84925984 0.22163522 0.47920304 0.66082475] [ 0. 0. 0. 1. ]] SLAMing on 7.715860169 meters Centerline goodness : 0.787070 Centerline is valid? [False, False] Translation: X:-5.88, Y:1.95, Z:0.71 [[ 0.5355313 -0.29020872 -0.79308583 -5.88239546] [-0.05745634 0.92440536 -0.37705902 1.95360898] [ 0.8425586 0.24749471 0.47837367 0.70617771] [ 0. 0. 0. 1. ]] SLAMing on 7.745860168999999 meters Centerline goodness : 0.769365 Centerline is valid? [False, False] Translation: X:-5.96, Y:1.93, Z:0.76 [[ 0.54201572 -0.27323682 -0.79470787 -5.96185692] [-0.08088291 0.92431418 -0.3729628 1.92635762] [ 0.83646692 0.26642999 0.47889263 0.75753666] [ 0. 0. 0. 1. ]] SLAMing on 7.7758601689999995 meters Centerline goodness : 0.769764 Centerline is valid? [False, False] Translation: X:-6.04, Y:1.90, Z:0.80 [[ 0.54739909 -0.26187129 -0.79484442 -6.03662474] [-0.09679628 0.9235937 -0.37095168 1.89935419] [ 0.8312549 0.2799966 0.48022619 0.80192409] [ 0. 0. 0. 1. ]] SLAMing on 7.805860169 meters Centerline goodness : 0.388024 Centerline is valid? [False, False] Translation: X:-6.11, Y:1.87, Z:0.85 [[ 0.54986656 -0.25422987 -0.79562173 -6.10733733] [-0.10828089 0.92281703 -0.36970797 1.87175839] [ 0.82820409 0.28944068 0.47989799 0.84508871] [ 0. 0. 0. 1. ]] SLAMing on 7.835860169 meters Centerline goodness : 0.695571 Centerline is valid? [False, False] Translation: X:-6.18, Y:1.84, Z:0.89 [[ 0.55027292 -0.24947178 -0.796846 -6.17569232] [-0.11654057 0.92203622 -0.36914428 1.84380593] [ 0.82681196 0.29599498 0.47829798 0.88738463] [ 0. 0. 0. 1. ]] SLAMing on 7.865860168999999 meters Centerline goodness : 0.254628 Centerline is valid? [False, False] Translation: X:-6.25, Y:1.81, Z:0.93 [[ 0.54819335 -0.24771807 -0.79882401 -6.24961014] [-0.11990595 0.92198392 -0.36819589 1.80988568] [ 0.82771167 0.29762629 0.47572259 0.93329384] [ 0. 0. 0. 1. ]] SLAMing on 7.895860169 meters Centerline goodness : 0.768738 Centerline is valid? [False, False] Translation: X:-6.32, Y:1.78, Z:0.98 [[ 0.54565691 -0.24614056 -0.80104517 -6.32374621] [-0.12237396 0.92224008 -0.36673948 1.77522115] [ 0.82902542 0.298141 0.47310548 0.97907521] [ 0. 0. 0. 1. ]] SLAMing on 7.925860169 meters Centerline goodness : 0.998930 Centerline is valid? [False, True] Translation: X:-6.38, Y:1.75, Z:1.02 [[ 0.54340902 -0.24490035 -0.80295109 -6.38340449] [-0.12475196 0.9223201 -0.36573566 1.7476662 ] [ 0.83014673 0.29891378 0.47064526 1.01613243] [ 0. 0. 0. 1. ]] SLAMing on 7.955860168999999 meters Centerline goodness : 0.259936 Centerline is valid? [True, False] Translation: X:-6.46, Y:1.71, Z:1.06 [[ 0.54057456 -0.24408424 -0.80510995 -6.45653604] [-0.12690239 0.92238029 -0.36484295 1.71386205] [ 0.83166997 0.29939519 0.46764044 1.06070268] [ 0. 0. 0. 1. ]] SLAMing on 7.9858601689999995 meters Centerline goodness : 0.974058 Centerline is valid? [False, True] Translation: X:-6.53, Y:1.68, Z:1.11 [[ 0.53737164 -0.24413372 -0.8072363 -6.53205236] [-0.12733204 0.92272323 -0.36382468 1.67782846] [ 0.83367756 0.29829611 0.46475925 1.1053324 ] [ 0. 0. 0. 1. ]] SLAMing on 8.015860169 meters Centerline goodness : 0.998083 Centerline is valid? [True, True] SLAMing on 8.045860169 meters Centerline goodness : 0.209326 Centerline is valid? [True, False] Translation: X:-6.59, Y:1.65, Z:1.14 [[ 0.53481144 -0.2426702 -0.809375 -6.59118943] [-0.12980394 0.92290773 -0.36248071 1.65013071] [ 0.83494171 0.29891889 0.46208206 1.14180935] [ 0. 0. 0. 1. ]] SLAMing on 8.075860169 meters Centerline goodness : 0.999886 Centerline is valid? [False, True] Translation: X:-6.67, Y:1.62, Z:1.19 [[ 0.53246493 -0.24227589 -0.81103853 -6.66800693] [-0.13056164 0.92318778 -0.36149409 1.61593821] [ 0.83632216 0.29837345 0.45993318 1.18592808] [ 0. 0. 0. 1. ]] SLAMing on 8.105860169 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:-6.58, Y:1.43, Z:1.14 [[ 0.38542242 -0.43933003 -0.81144235 -6.57618193] [ 0.27036259 0.89455635 -0.35591151 1.43111704] [ 0.88224352 -0.08220738 0.46356048 1.14455042] [ 0. 0. 0. 1. ]] SLAMing on 8.135860168999999 meters Centerline goodness : 0.848533 Centerline is valid? [True, False] Translation: X:-6.64, Y:1.45, Z:1.17 [[ 4.27208170e-01 -3.97346338e-01 -8.12163203e-01 -6.64394454e+00] [ 1.81626572e-01 9.17662146e-01 -3.53423223e-01 1.45180981e+00] [ 8.85722851e-01 3.47486970e-03 4.64201419e-01 1.16754363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.165860169 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:-6.71, Y:1.46, Z:1.20 [[ 0.45894999 -0.35933526 -0.81255343 -6.71234322] [ 0.10635871 0.93020574 -0.35129062 1.46452036] [ 0.88207297 0.0748027 0.46513635 1.19734755] [ 0. 0. 0. 1. ]] SLAMing on 8.195860169 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:-6.73, Y:1.60, Z:1.22 [[ 0.53449136 -0.22351028 -0.81508413 -6.72529937] [-0.15473904 0.92221797 -0.35435836 1.59871998] [ 0.83088797 0.31552682 0.45833177 1.22129098] [ 0. 0. 0. 1. ]] SLAMing on 8.225860168999999 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] SLAMing on 8.255860169 meters Centerline goodness : 0.208324 Centerline is valid? [True, False] Translation: X:-6.80, Y:1.56, Z:1.26 [[ 0.5324338 -0.23359865 -0.81360059 -6.79586118] [-0.13835964 0.92422301 -0.3559051 1.56139357] [ 0.83508734 0.30206538 0.45976694 1.25743145] [ 0. 0. 0. 1. ]] SLAMing on 8.285860169 meters Centerline goodness : 0.208228 Centerline is valid? [False, False] Translation: X:-6.87, Y:1.53, Z:1.30 [[ 0.52935218 -0.23578435 -0.81497976 -6.86807736] [-0.13464176 0.92508423 -0.35509262 1.52723186] [ 0.83765021 0.29769936 0.45794893 1.29730662] [ 0. 0. 0. 1. ]] SLAMing on 8.315860169 meters Centerline goodness : 0.999068 Centerline is valid? [False, True] Translation: X:-6.93, Y:1.50, Z:1.33 [[ 0.52731918 -0.23680885 -0.81600003 -6.93253086] [-0.13409422 0.92514605 -0.35513874 1.49835195] [ 0.8390192 0.29669235 0.45609256 1.33267778] [ 0. 0. 0. 1. ]] SLAMing on 8.345860169 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] SLAMing on 8.375860169 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:-6.51, Y:1.77, Z:2.13 [[-0.04154317 0.51799575 -0.85437379 -6.50865113] [-0.68938147 -0.6338173 -0.35075464 1.7656669 ] [-0.7232063 0.574418 0.38342745 2.12844847] [ 0. 0. 0. 1. ]] SLAMing on 8.405860169 meters Centerline goodness : 0.998662 Centerline is valid? [True, True] Translation: X:-6.80, Y:1.54, Z:1.26 [[ 0.49321779 -0.30644869 -0.8141409 -6.79676352] [-0.03207557 0.9288524 -0.36905878 1.5422663 ] [ 0.86931431 0.20814039 0.44829701 1.25615953] [ 0. 0. 0. 1. ]] SLAMing on 8.435860169 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:-6.77, Y:1.51, Z:1.23 [[ 0.47349343 -0.34693748 -0.80959147 -6.76621271] [ 0.05021228 0.92829489 -0.36843904 1.51458127] [ 0.87936494 0.13380203 0.45696206 1.22691439] [ 0. 0. 0. 1. ]] SLAMing on 8.465860168999999 meters Centerline goodness : 0.998593 Centerline is valid? [True, True] Translation: X:-6.76, Y:1.59, Z:1.24 [[ 0.51151245 -0.27732067 -0.81329469 -6.76143334] [-0.08783763 0.92465491 -0.37053723 1.59050145] [ 0.85477457 0.26097229 0.44861331 1.23955906] [ 0. 0. 0. 1. ]] SLAMing on 8.495860169 meters Centerline goodness : 0.212045 Centerline is valid? [True, False] Translation: X:-6.84, Y:1.57, Z:1.28 [[ 0.51912724 -0.26495129 -0.81259321 -6.83785478] [-0.10759381 0.92291677 -0.36965958 1.56701545] [ 0.84789768 0.27933036 0.45060412 1.27880417] [ 0. 0. 0. 1. ]] SLAMing on 8.525860169 meters Centerline goodness : 0.210829 Centerline is valid? [False, False] Translation: X:-6.91, Y:1.54, Z:1.32 [[ 0.51968631 -0.26071818 -0.81360443 -6.91217946] [-0.11608269 0.92192126 -0.36957544 1.53860859] [ 0.84643426 0.28650869 0.44884499 1.31888828] [ 0. 0. 0. 1. ]] SLAMing on 8.555860168999999 meters Centerline goodness : 0.203897 Centerline is valid? [False, False] Translation: X:-6.99, Y:1.51, Z:1.36 [[ 0.52335054 -0.25206619 -0.81398209 -6.98775742] [-0.13056064 0.92024669 -0.36891728 1.51243495] [ 0.8420559 0.29934707 0.44870168 1.35979496] [ 0. 0. 0. 1. ]] SLAMing on 8.585860169 meters Centerline goodness : 0.999863 Centerline is valid? [False, True] Translation: X:-7.07, Y:1.48, Z:1.40 [[ 0.52905264 -0.24176534 -0.81342045 -7.0679299 ] [-0.14551704 0.9185106 -0.36764529 1.4834868 ] [ 0.8360192 0.31287025 0.45075948 1.40087193] [ 0. 0. 0. 1. ]] SLAMing on 8.615860169 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:-7.02, Y:1.41, Z:1.37 [[ 0.47177268 -0.33776813 -0.81445886 -7.01895583] [ 0.03520719 0.93019548 -0.36537216 1.40640044] [ 0.88101702 0.14369779 0.45073268 1.36641616] [ 0. 0. 0. 1. ]] SLAMing on 8.645860169 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:-7.02, Y:1.46, Z:1.36 [[ 0.50847841 -0.2859185 -0.81221938 -7.01590205] [-0.05996976 0.92921307 -0.36464599 1.46319073] [ 0.8589839 0.23412321 0.45533832 1.36031847] [ 0. 0. 0. 1. ]] SLAMing on 8.675860169 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:-6.99, Y:1.47, Z:1.35 [[ 0.49933853 -0.29678901 -0.81398852 -6.98924997] [-0.04373602 0.92966675 -0.36579625 1.46572353] [ 0.86530237 0.21825679 0.45123806 1.35136488] [ 0. 0. 0. 1. ]] SLAMing on 8.705860169 meters Centerline goodness : 0.996356 Centerline is valid? [True, True] Translation: X:-6.97, Y:1.49, Z:1.34 [[ 0.51009657 -0.28503962 -0.81151334 -6.97373573] [-0.06162679 0.92895488 -0.36502735 1.48508092] [ 0.85790654 0.23621016 0.45629062 1.33528377] [ 0. 0. 0. 1. ]] SLAMing on 8.735860169 meters Centerline goodness : 0.218056 Centerline is valid? [True, False] Translation: X:-7.04, Y:1.46, Z:1.37 [[ 0.51854209 -0.27216813 -0.81057918 -7.04486784] [-0.08105285 0.92807324 -0.36347007 1.46483447] [ 0.85120182 0.25417428 0.45918504 1.37193093] [ 0. 0. 0. 1. ]] SLAMing on 8.765860169 meters Centerline goodness : 0.999728 Centerline is valid? [False, True] Translation: X:-7.13, Y:1.44, Z:1.42 [[ 0.52577603 -0.26049207 -0.80975518 -7.12675868] [-0.09907005 0.92672415 -0.36244652 1.43802459] [ 0.84483412 0.27078818 0.46144238 1.41533591] [ 0. 0. 0. 1. ]] SLAMing on 8.795860169 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:-7.11, Y:1.47, Z:1.41 [[ 0.53711633 -0.23748452 -0.8093869 -7.11141039] [-0.13985738 0.92119369 -0.36310067 1.4674292 ] [ 0.83183289 0.30822603 0.46157421 1.4098081 ] [ 0. 0. 0. 1. ]] SLAMing on 8.825860169 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:-7.09, Y:1.46, Z:1.39 [[ 0.52601726 -0.26145668 -0.80928749 -7.08607061] [-0.09858354 0.92641302 -0.36337336 1.4577797 ] [ 0.84474086 0.27092309 0.46153391 1.39170352] [ 0. 0. 0. 1. ]] SLAMing on 8.855860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-7.07, Y:1.48, Z:1.38 [[ 0.53261113 -0.25145495 -0.80814342 -7.06777883] [-0.11451476 0.92465516 -0.36317929 1.47638419] [ 0.83857722 0.28597769 0.46368633 1.38076008] [ 0. 0. 0. 1. ]] SLAMing on 8.885860168999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-7.04, Y:1.46, Z:1.36 [[ 0.51723525 -0.28266632 -0.80781647 -7.03798241] [-0.05937455 0.92975796 -0.36335217 1.46044191] [ 0.85378121 0.23590229 0.46412041 1.36055624] [ 0. 0. 0. 1. ]] SLAMing on 8.915860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-7.02, Y:1.47, Z:1.35 [[ 0.51725475 -0.28297242 -0.80769681 -7.01570335] [-0.05920426 0.92966484 -0.36361812 1.4709647 ] [ 0.85378122 0.23590229 0.46412039 1.3480928 ] [ 0. 0. 0. 1. ]] SLAMing on 8.945860169 meters Centerline goodness : 0.202201 Centerline is valid? [True, False] Translation: X:-7.08, Y:1.45, Z:1.39 [[ 0.52521913 -0.27544015 -0.80515687 -7.08462454] [-0.07054858 0.92881593 -0.36376348 1.44715225] [ 0.84803759 0.24785822 0.46839999 1.38558205] [ 0. 0. 0. 1. ]] SLAMing on 8.975860168999999 meters Centerline goodness : 0.999977 Centerline is valid? [False, True] Translation: X:-7.17, Y:1.42, Z:1.44 [[ 0.53866107 -0.26918702 -0.79836245 -7.17085745] [-0.0879034 0.92445815 -0.37101228 1.41996995] [ 0.83792437 0.27002865 0.47430716 1.43519973] [ 0. 0. 0. 1. ]] SLAMing on 9.005860169 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:-7.06, Y:1.22, Z:1.41 [[ 0.35085603 -0.48201291 -0.80284719 -7.06039473] [ 0.35825139 0.86121885 -0.36049693 1.21577136] [ 0.8651913 -0.1611386 0.47484562 1.40866865] [ 0. 0. 0. 1. ]] SLAMing on 9.035860169 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:-7.05, Y:1.25, Z:1.39 [[ 0.38399133 -0.45818299 -0.80163521 -7.05291303] [ 0.30086133 0.88289949 -0.36051484 1.25360778] [ 0.87294509 -0.10274646 0.47687529 1.39144354] [ 0. 0. 0. 1. ]] SLAMing on 9.065860169 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:-7.03, Y:1.26, Z:1.38 [[ 0.38171051 -0.45942119 -0.80201575 -7.02975995] [ 0.3038118 0.88186727 -0.36056693 1.26318296] [ 0.87292352 -0.10602966 0.47619558 1.37930789] [ 0. 0. 0. 1. ]] SLAMing on 9.095860169 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:-7.03, Y:1.31, Z:1.36 [[ 0.4266619 -0.42107412 -0.80041002 -7.02750902] [ 0.21654812 0.90682646 -0.36162505 1.31477623] [ 0.87810394 -0.01903565 0.47809111 1.36317737] [ 0. 0. 0. 1. ]] SLAMing on 9.125860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-6.99, Y:1.29, Z:1.35 [[ 0.38663745 -0.45641123 -0.80137399 -6.98617336] [ 0.29620098 0.8843689 -0.36077226 1.28746608] [ 0.87337075 -0.09787969 0.47711959 1.35350485] [ 0. 0. 0. 1. ]] SLAMing on 9.155860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-6.96, Y:1.29, Z:1.34 [[ 0.3825362 -0.45959847 -0.80152062 -6.9620153 ] [ 0.30334082 0.88188939 -0.36090921 1.2944142 ] [ 0.87272585 -0.10507308 0.47676959 1.34075328] [ 0. 0. 0. 1. ]] SLAMing on 9.185860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-6.94, Y:1.31, Z:1.33 [[ 0.38402938 -0.45837578 -0.80150675 -6.94129593] [ 0.3000758 0.88290674 -0.36115123 1.30627018] [ 0.87319869 -0.1018201 0.4766096 1.32848643] [ 0. 0. 0. 1. ]] SLAMing on 9.215860168999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-6.92, Y:1.32, Z:1.32 [[ 0.38532055 -0.45715566 -0.80158392 -6.91934757] [ 0.29658819 0.88392327 -0.36154543 1.31852159] [ 0.87382122 -0.09842944 0.47618077 1.31561343] [ 0. 0. 0. 1. ]] SLAMing on 9.245860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-6.92, Y:1.37, Z:1.30 [[ 0.43021808 -0.41806941 -0.80008148 -6.91774034] [ 0.20720204 0.90836532 -0.36323512 1.37174687] [ 0.87862377 -0.0095082 0.47742002 1.3010695 ] [ 0. 0. 0. 1. ]] SLAMing on 9.275860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-6.89, Y:1.37, Z:1.29 [[ 0.42187121 -0.42618262 -0.80024562 -6.8913492 ] [ 0.22454375 0.90424988 -0.36319728 1.37394931] [ 0.87841037 -0.02646768 0.47717364 1.2883676 ] [ 0. 0. 0. 1. ]] SLAMing on 9.305860168999999 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:-6.88, Y:1.41, Z:1.28 [[ 0.44901256 -0.398892 -0.79954543 -6.88181605] [ 0.16440064 0.91642572 -0.36487851 1.41357664] [ 0.87827111 0.03238926 0.47706476 1.27595597] [ 0. 0. 0. 1. ]] SLAMing on 9.335860169 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:-6.85, Y:1.40, Z:1.26 [[ 0.42353056 -0.42455112 -0.80023635 -6.84724235] [ 0.22032668 0.90512877 -0.36359052 1.39732655] [ 0.8786797 -0.02232172 0.47688963 1.26261409] [ 0. 0. 0. 1. ]] SLAMing on 9.365860169 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:-6.81, Y:1.36, Z:1.25 [[ 0.38069865 -0.4628031 -0.80055095 -6.80500362] [ 0.30694418 0.87990151 -0.36271009 1.36442355] [ 0.87226934 -0.10764121 0.47703204 1.25231813] [ 0. 0. 0. 1. ]] SLAMing on 9.395860168999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-6.81, Y:1.42, Z:1.24 [[ 0.42679902 -0.42441856 -0.7985684 -6.80507731] [ 0.21824525 0.90527256 -0.36448677 1.41632271] [ 0.87761701 -0.01872116 0.47899677 1.23514437] [ 0. 0. 0. 1. ]] SLAMing on 9.425860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-6.80, Y:1.46, Z:1.22 [[ 0.45695043 -0.39225475 -0.79833108 -6.79704586] [ 0.14783704 0.91852183 -0.36669041 1.46035822] [ 0.87712058 0.04953643 0.47770873 1.22496281] [ 0. 0. 0. 1. ]] SLAMing on 9.455860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-6.73, Y:1.39, Z:1.21 [[ 0.37278656 -0.46944149 -0.80040919 -6.73490752] [ 0.32081612 0.87459697 -0.36353426 1.38847506] [ 0.87069352 -0.12126349 0.47664239 1.21374099] [ 0. 0. 0. 1. ]] SLAMing on 9.485860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-6.73, Y:1.44, Z:1.20 [[ 0.41819811 -0.43297839 -0.79852367 -6.73298158] [ 0.2356441 0.90070354 -0.36497258 1.44014771] [ 0.87725834 -0.03553655 0.47870132 1.19718053] [ 0. 0. 0. 1. ]] SLAMing on 9.515860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-6.71, Y:1.45, Z:1.18 [[ 0.41265296 -0.43822398 -0.79854698 -6.70757902] [ 0.24696622 0.89765711 -0.36499234 1.44541424] [ 0.87676976 -0.04659896 0.47864738 1.18455575] [ 0. 0. 0. 1. ]] SLAMing on 9.545860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-6.69, Y:1.47, Z:1.17 [[ 0.42676575 -0.42575019 -0.79787704 -6.69171221] [ 0.2190399 0.90464631 -0.36556336 1.46901896] [ 0.87743519 -0.01875699 0.47932834 1.17081521] [ 0. 0. 0. 1. ]] SLAMing on 9.575860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-6.66, Y:1.47, Z:1.16 [[ 0.41521893 -0.43623829 -0.79830408 -6.66367633] [ 0.24158956 0.89889302 -0.36554867 1.46880633] [ 0.87705628 -0.0410792 0.47862801 1.15893746] [ 0. 0. 0. 1. ]] SLAMing on 9.605860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-6.64, Y:1.48, Z:1.15 [[ 0.41585106 -0.43625053 -0.79796828 -6.64161742] [ 0.24053349 0.89894938 -0.36610607 1.47952656] [ 0.87704705 -0.03969249 0.47876192 1.146421 ] [ 0. 0. 0. 1. ]] SLAMing on 9.635860168999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-6.63, Y:1.51, Z:1.14 [[ 4.32390335e-01 -4.19196307e-01 -7.98318892e-01 -6.62788388e+00] [ 2.02140119e-01 9.07891961e-01 -3.67248635e-01 1.50821938e+00] [ 8.78736576e-01 -2.57751553e-03 4.77300101e-01 1.13552957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.665860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-6.60, Y:1.52, Z:1.12 [[ 0.43023835 -0.4215568 -0.79823857 -6.6039324 ] [ 0.20697761 0.90677354 -0.36731731 1.51672374] [ 0.87866673 -0.00718352 0.47738158 1.12256759] [ 0. 0. 0. 1. ]] SLAMing on 9.695860169 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:-6.58, Y:1.52, Z:1.10 [[ 0.41298541 -0.42725231 -0.80430001 -6.58486247] [ 0.21910323 0.90380289 -0.36760591 1.52200907] [ 0.88398915 -0.02440885 0.46686977 1.10008186] [ 0. 0. 0. 1. ]] SLAMing on 9.725860168999999 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:-6.60, Y:1.62, Z:1.09 [[ 0.48473153 -0.34855941 -0.80221049 -6.60029075] [ 0.06020844 0.92828672 -0.36695873 1.61512693] [ 0.87258827 0.12957663 0.47095606 1.08896689] [ 0. 0. 0. 1. ]] SLAMing on 9.755860169 meters Centerline goodness : 0.959616 Centerline is valid? [True, True] Translation: X:-6.59, Y:1.65, Z:1.08 [[ 0.50103418 -0.32494738 -0.80210595 -6.58756773] [ 0.01514514 0.92998237 -0.367292 1.64766655] [ 0.86529497 0.17187784 0.47087433 1.07978801] [ 0. 0. 0. 1. ]] SLAMing on 9.785860169 meters Centerline goodness : 0.940861 Centerline is valid? [True, False] Translation: X:-6.65, Y:1.64, Z:1.12 [[ 0.51081206 -0.3004881 -0.80546753 -6.64525636] [-0.02469085 0.93141087 -0.36313105 1.63780723] [ 0.85933777 0.2053794 0.46835659 1.11845981] [ 0. 0. 0. 1. ]] SLAMing on 9.815860169 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:-6.71, Y:1.62, Z:1.16 [[ 0.51914289 -0.27995773 -0.80753596 -6.70551401] [-0.05795027 0.93112781 -0.36005939 1.62417123] [ 0.8527206 0.2337192 0.46716476 1.157048 ] [ 0. 0. 0. 1. ]] SLAMing on 9.845860169 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:-6.71, Y:1.73, Z:1.18 [[ 0.56777106 -0.16768977 -0.80592565 -6.70713794] [-0.25033617 0.89749008 -0.3631024 1.72968218] [ 0.78419884 0.40791138 0.46759009 1.18170152] [ 0. 0. 0. 1. ]] SLAMing on 9.875860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-6.68, Y:1.74, Z:1.17 [[ 0.56578674 -0.17281762 -0.80623783 -6.68382359] [-0.24257104 0.8996352 -0.36306445 1.73611085] [ 0.78806387 0.400987 0.46708112 1.16814504] [ 0. 0. 0. 1. ]] SLAMing on 9.905860169 meters Centerline goodness : 0.999815 Centerline is valid? [True, True] Translation: X:-6.67, Y:1.77, Z:1.17 [[ 0.575096 -0.14200219 -0.8056674 -6.66695397] [-0.29141774 0.88465896 -0.3639426 1.76983972] [ 0.76442154 0.44408771 0.46738188 1.16771577] [ 0. 0. 0. 1. ]] SLAMing on 9.935860169 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:-6.64, Y:1.77, Z:1.15 [[ 0.57220861 -0.15440943 -0.8054409 -6.64481794] [-0.27224901 0.89065614 -0.36415947 1.77061972] [ 0.77360053 0.42765567 0.46760329 1.15109544] [ 0. 0. 0. 1. ]] SLAMing on 9.965860168999999 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:-6.62, Y:1.78, Z:1.15 [[ 0.57257889 -0.14451774 -0.80701179 -6.61910553] [-0.28817524 0.88605237 -0.36313391 1.78426904] [ 0.767534 0.44048363 0.46568845 1.14674399] [ 0. 0. 0. 1. ]] SLAMing on 9.995860169 meters Centerline goodness : 0.973298 Centerline is valid? [True, True] Translation: X:-6.60, Y:1.77, Z:1.11 [[ 0.56652309 -0.17909095 -0.80434944 -6.59840349] [-0.23215893 0.90187207 -0.36431992 1.77187587] [ 0.79066669 0.39313256 0.46935379 1.11444121] [ 0. 0. 0. 1. ]] SLAMing on 10.025860169 meters Centerline goodness : 0.982351 Centerline is valid? [True, True] Translation: X:-6.58, Y:1.78, Z:1.10 [[ 0.56558812 -0.18305402 -0.80411523 -6.57547195] [-0.22666964 0.90299455 -0.3649955 1.77928784] [ 0.79292556 0.38870563 0.46923021 1.1001893 ] [ 0. 0. 0. 1. ]] SLAMing on 10.055860168999999 meters Centerline goodness : 0.979432 Centerline is valid? [True, True] Translation: X:-6.53, Y:1.69, Z:1.05 [[ 0.51216693 -0.30287339 -0.80371186 -6.52749509] [-0.01832442 0.93169459 -0.3627801 1.68779061] [ 0.85869043 0.20053152 0.47163318 1.05001257] [ 0. 0. 0. 1. ]] SLAMing on 10.085860169 meters Centerline goodness : 0.966538 Centerline is valid? [True, True] Translation: X:-6.53, Y:1.79, Z:1.07 [[ 0.55940124 -0.20061952 -0.80425248 -6.52930012] [-0.19822128 0.9097387 -0.36480654 1.7861751 ] [ 0.80484693 0.36349319 0.4691419 1.06760226] [ 0. 0. 0. 1. ]] SLAMing on 10.115860169 meters Centerline goodness : 0.766344 Centerline is valid? [True, False] Translation: X:-6.58, Y:1.75, Z:1.10 [[ 0.55377105 -0.21379672 -0.80475374 -6.58195961] [-0.17773321 0.91385185 -0.36508315 1.74874798] [ 0.81347928 0.34520394 0.46806592 1.09620644] [ 0. 0. 0. 1. ]] SLAMing on 10.145860168999999 meters Centerline goodness : 0.752262 Centerline is valid? [False, False] Translation: X:-6.65, Y:1.71, Z:1.14 [[ 0.54824072 -0.220042 -0.80685415 -6.6502319 ] [-0.16650666 0.91673371 -0.36314575 1.70711667] [ 0.81957772 0.33343788 0.4659523 1.13616621] [ 0. 0. 0. 1. ]] SLAMing on 10.175860169 meters Centerline goodness : 0.943517 Centerline is valid? [False, False] Translation: X:-6.72, Y:1.66, Z:1.18 [[ 0.54201337 -0.23020383 -0.80822503 -6.71964442] [-0.15069191 0.91953678 -0.36296564 1.66365246] [ 0.82674873 0.3185252 0.46371138 1.17628812] [ 0. 0. 0. 1. ]] SLAMing on 10.205860169 meters Centerline goodness : 0.999291 Centerline is valid? [False, True] Translation: X:-6.78, Y:1.63, Z:1.21 [[ 0.53856675 -0.23373794 -0.8095137 -6.78222053] [-0.14448816 0.92090138 -0.36202737 1.62873247] [ 0.83010182 0.31194105 0.4621945 1.21491653] [ 0. 0. 0. 1. ]] SLAMing on 10.235860169 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:-6.76, Y:1.63, Z:1.20 [[ 0.53425307 -0.24359334 -0.80946646 -6.75793567] [-0.12741932 0.92343361 -0.36198713 1.63090914] [ 0.83566619 0.2965344 0.46230874 1.199476 ] [ 0. 0. 0. 1. ]] SLAMing on 10.265860169 meters Centerline goodness : 0.739573 Centerline is valid? [True, False] Translation: X:-6.83, Y:1.60, Z:1.24 [[ 0.53388639 -0.23836191 -0.81126378 -6.82534379] [-0.13743784 0.92222214 -0.36140998 1.60448503] [ 0.83431179 0.30445021 0.4596019 1.24206281] [ 0. 0. 0. 1. ]] SLAMing on 10.295860169 meters Centerline goodness : 0.865039 Centerline is valid? [False, False] Translation: X:-6.89, Y:1.57, Z:1.28 [[ 0.53077566 -0.240931 -0.81254505 -6.88901949] [-0.13486482 0.92251357 -0.36163544 1.57347019] [ 0.83671302 0.30153102 0.45715464 1.27858574] [ 0. 0. 0. 1. ]] SLAMing on 10.325860169 meters Centerline goodness : 0.766128 Centerline is valid? [False, False] Translation: X:-6.95, Y:1.55, Z:1.32 [[ 0.52872414 -0.23991327 -0.81418205 -6.95347022] [-0.13891899 0.921829 -0.36184639 1.54509107] [ 0.83734837 0.30442226 0.45406474 1.31708656] [ 0. 0. 0. 1. ]] SLAMing on 10.355860169 meters Centerline goodness : 0.784295 Centerline is valid? [False, False] Translation: X:-7.03, Y:1.51, Z:1.36 [[ 0.52665228 -0.23808624 -0.81605902 -7.02835323] [-0.14372806 0.9212184 -0.36152304 1.51180429] [ 0.83784224 0.30768752 0.45094209 1.36102703] [ 0. 0. 0. 1. ]] SLAMing on 10.385860168999999 meters Centerline goodness : 0.812175 Centerline is valid? [False, False] Translation: X:-7.11, Y:1.48, Z:1.41 [[ 0.52518602 -0.2357832 -0.81767104 -7.10513824] [-0.1487765 0.92061181 -0.36102555 1.47856258] [ 0.83788137 0.31125581 0.44841346 1.40519727] [ 0. 0. 0. 1. ]] SLAMing on 10.415860169 meters Centerline goodness : 0.809593 Centerline is valid? [False, False] Translation: X:-7.18, Y:1.44, Z:1.45 [[ 0.5221419 -0.23727237 -0.81918842 -7.17988343] [-0.14918311 0.92030206 -0.36164696 1.44406445] [ 0.83970961 0.31104011 0.44513123 1.44783611] [ 0. 0. 0. 1. ]] SLAMing on 10.445860169 meters Centerline goodness : 0.780098 Centerline is valid? [False, False] Translation: X:-7.24, Y:1.42, Z:1.48 [[ 0.5202097 -0.23662971 -0.82060237 -7.2411711 ] [-0.15134072 0.92010109 -0.36126164 1.416643 ] [ 0.84052237 0.31212237 0.44283379 1.48257056] [ 0. 0. 0. 1. ]] SLAMing on 10.475860168999999 meters Centerline goodness : 0.369131 Centerline is valid? [False, False] Translation: X:-7.32, Y:1.38, Z:1.52 [[ 0.51679796 -0.23752729 -0.8224966 -7.31602747] [-0.152227 0.91993407 -0.36131462 1.38222208] [ 0.84246472 0.31193285 0.43926198 1.52432941] [ 0. 0. 0. 1. ]] SLAMing on 10.505860169 meters Centerline goodness : 0.385847 Centerline is valid? [False, False] Translation: X:-7.39, Y:1.35, Z:1.56 [[ 0.51425596 -0.2360574 -0.82451059 -7.38678549] [-0.15742446 0.91905917 -0.36131396 1.35222659] [ 0.84306485 0.31560599 0.43547045 1.56458612] [ 0. 0. 0. 1. ]] SLAMing on 10.535860169 meters Centerline goodness : 0.999954 Centerline is valid? [False, True] Translation: X:-7.46, Y:1.32, Z:1.60 [[ 0.51146957 -0.23637074 -0.82615238 -7.46144271] [-0.1591241 0.91874235 -0.36137516 1.31792395] [ 0.8444397 0.31629316 0.43229647 1.60441039] [ 0. 0. 0. 1. ]] SLAMing on 10.565860168999999 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:-7.43, Y:1.31, Z:1.59 [[ 0.49792073 -0.25647886 -0.82842836 -7.42796661] [-0.12028362 0.92560824 -0.35886103 1.3066539 ] [ 0.85884038 0.27833071 0.43002932 1.59112323] [ 0. 0. 0. 1. ]] SLAMing on 10.595860169 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:-7.44, Y:1.47, Z:1.66 [[ 0.5601426 -0.06139614 -0.8261179 -7.43634732] [-0.44578962 0.81819957 -0.36307172 1.47016417] [ 0.69822051 0.57164673 0.43093867 1.65782927] [ 0. 0. 0. 1. ]] SLAMing on 10.625860169 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:-7.42, Y:1.54, Z:1.69 [[ 0.56551146 0.0222802 -0.82443944 -7.41856057] [-0.56137566 0.74272198 -0.36499511 1.5389936 ] [ 0.60419713 0.66922915 0.43252535 1.69085249] [ 0. 0. 0. 1. ]] SLAMing on 10.655860169 meters Centerline goodness : 0.991655 Centerline is valid? [True, True] Translation: X:-7.40, Y:1.55, Z:1.68 [[ 0.56602114 0.01957262 -0.82415835 -7.39777644] [-0.5573459 0.74571495 -0.36506815 1.54718289] [ 0.60744186 0.66597757 0.43299914 1.67780609] [ 0. 0. 0. 1. ]] SLAMing on 10.685860169 meters Centerline goodness : 0.992936 Centerline is valid? [True, True] Translation: X:-7.33, Y:1.31, Z:1.53 [[ 0.47931741 -0.29187473 -0.82768591 -7.33371246] [-0.04899573 0.9327098 -0.35728399 1.31078014] [ 0.87627292 0.21180551 0.43276343 1.52693265] [ 0. 0. 0. 1. ]] SLAMing on 10.715860168999999 meters Centerline goodness : 0.987338 Centerline is valid? [True, True] Translation: X:-7.36, Y:1.57, Z:1.65 [[ 0.567767 0.01982693 -0.8229505 -7.35552147] [-0.55697603 0.74538286 -0.36630873 1.56890229] [ 0.60615042 0.66634172 0.43424691 1.65453707] [ 0. 0. 0. 1. ]] SLAMing on 10.745860169 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:-7.33, Y:1.48, Z:1.56 [[ 0.55175962 -0.12484963 -0.8246053 -7.32551814] [-0.34497746 0.86601523 -0.36195051 1.47525087] [ 0.75931013 0.48417992 0.43476193 1.56482394] [ 0. 0. 0. 1. ]] SLAMing on 10.775860169 meters Centerline goodness : 0.993878 Centerline is valid? [True, True] Translation: X:-7.31, Y:1.57, Z:1.62 [[ 5.68984609e-01 -3.75144770e-03 -8.22339614e-01 -7.31185631e+00] [-5.25131048e-01 7.67894014e-01 -3.66846243e-01 1.57396668e+00] [ 6.32845872e-01 6.40565930e-01 4.34949874e-01 1.62050431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.805860168999999 meters Centerline goodness : 0.995359 Centerline is valid? [True, True] Translation: X:-7.29, Y:1.58, Z:1.61 [[ 0.56747783 -0.00947809 -0.82333413 -7.2902218 ] [-0.5202871 0.77088301 -0.36747887 1.58085435] [ 0.63817729 0.63690623 0.43252769 1.60699789] [ 0. 0. 0. 1. ]] SLAMing on 10.835860169 meters Centerline goodness : 0.996357 Centerline is valid? [True, True] Translation: X:-7.23, Y:1.39, Z:1.48 [[ 0.49722595 -0.2660583 -0.8258204 -7.23447416] [-0.10300761 0.92698697 -0.36067241 1.3871121 ] [ 0.86148464 0.26440147 0.43351594 1.47926712] [ 0. 0. 0. 1. ]] SLAMing on 10.865860169 meters Centerline goodness : 0.998604 Centerline is valid? [True, True] Translation: X:-7.22, Y:1.42, Z:1.47 [[ 0.50911933 -0.24520234 -0.82502928 -7.21805302] [-0.14260481 0.92128068 -0.36180903 1.41786711] [ 0.84879996 0.30185711 0.43407477 1.47381386] [ 0. 0. 0. 1. ]] SLAMing on 10.895860168999999 meters Centerline goodness : 0.989032 Centerline is valid? [True, True] Translation: X:-7.23, Y:1.62, Z:1.58 [[ 5.71106928e-01 6.88477981e-03 -8.20846805e-01 -7.22758541e+00] [-5.40434654e-01 7.55827113e-01 -3.69669797e-01 1.62340681e+00] [ 6.17873176e-01 6.54735041e-01 4.35378874e-01 1.57728558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.925860169 meters Centerline goodness : 0.995902 Centerline is valid? [True, True] Translation: X:-7.21, Y:1.60, Z:1.54 [[ 0.57017161 -0.03615845 -0.8207295 -7.2055224 ] [-0.48170867 0.79455163 -0.36965451 1.60463712] [ 0.66547809 0.60611903 0.43561294 1.54240791] [ 0. 0. 0. 1. ]] SLAMing on 10.955860169 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:-7.18, Y:1.63, Z:1.54 [[ 0.5699647 -0.02191148 -0.82137697 -7.18292411] [-0.50381294 0.7803599 -0.37041997 1.62584005] [ 0.6490861 0.62494665 0.43373831 1.54252636] [ 0. 0. 0. 1. ]] SLAMing on 10.985860169 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:-7.16, Y:1.63, Z:1.52 [[ 0.57020067 -0.03487514 -0.82076484 -7.16225058] [-0.4850536 0.7920578 -0.37063114 1.62669355] [ 0.66301901 0.60944906 0.43471558 1.52212615] [ 0. 0. 0. 1. ]] SLAMing on 11.015860169 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:-7.14, Y:1.63, Z:1.51 [[ 0.56898663 -0.04870461 -0.82090321 -7.14032385] [-0.46657912 0.80289394 -0.37103268 1.62833635] [ 0.67716921 0.59412893 0.43411136 1.5056691 ] [ 0. 0. 0. 1. ]] SLAMing on 11.045860169 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:-7.12, Y:1.63, Z:1.49 [[ 0.56781015 -0.05907671 -0.82103689 -7.11740056] [-0.45295457 0.81041433 -0.37156529 1.63207431] [ 0.68733092 0.58287096 0.43340241 1.48915058] [ 0. 0. 0. 1. ]] SLAMing on 11.075860169 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:-7.10, Y:1.68, Z:1.51 [[ 0.57195855 -0.0080779 -0.82024275 -7.09878393] [-0.52409244 0.76563969 -0.37299192 1.67717853] [ 0.6310234 0.64321894 0.4336806 1.50560803] [ 0. 0. 0. 1. ]] SLAMing on 11.105860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-7.07, Y:1.64, Z:1.46 [[ 0.56574636 -0.08270112 -0.82042159 -7.07213709] [-0.41852803 0.82846867 -0.37212087 1.6371406 ] [ 0.7104684 0.55389546 0.4340904 1.45630323] [ 0. 0. 0. 1. ]] SLAMing on 11.135860168999999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:-7.05, Y:1.65, Z:1.45 [[ 0.56665469 -0.07889088 -0.82016992 -7.05025689] [-0.42420651 0.82541389 -0.3724792 1.65058321] [ 0.70636485 0.5589885 0.43425863 1.44693414] [ 0. 0. 0. 1. ]] SLAMing on 11.165860169 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:-7.03, Y:1.66, Z:1.44 [[ 0.56772163 -0.07710781 -0.81960145 -7.0282956 ] [-0.42608137 0.82435113 -0.37269275 1.66289246] [ 0.7043769 0.56080265 0.43514777 1.43655993] [ 0. 0. 0. 1. ]] SLAMing on 11.195860169 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:-7.01, Y:1.66, Z:1.42 [[ 0.56338253 -0.10157163 -0.81992886 -7.00523632] [-0.39151198 0.84109208 -0.37320568 1.65649136] [ 0.72754278 0.53126953 0.43409007 1.41503303] [ 0. 0. 0. 1. ]] SLAMing on 11.225860168999999 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:-6.98, Y:1.67, Z:1.40 [[ 0.56362884 -0.10306325 -0.81957337 -6.98321971] [-0.38915107 0.84205079 -0.37351294 1.66663742] [ 0.72861785 0.52946052 0.43449693 1.40305244] [ 0. 0. 0. 1. ]] SLAMing on 11.255860169 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:-6.96, Y:1.66, Z:1.38 [[ 0.55856324 -0.12805836 -0.81951703 -6.95831545] [-0.35198004 0.85804927 -0.37398062 1.65877461] [ 0.75107734 0.49734546 0.43420079 1.38186933] [ 0. 0. 0. 1. ]] SLAMing on 11.285860169 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:-6.93, Y:1.62, Z:1.35 [[ 0.53591621 -0.1914298 -0.82228246 -6.92599261] [-0.25860971 0.88991781 -0.37572238 1.62416388] [ 0.80368827 0.41400594 0.42741578 1.35321828] [ 0. 0. 0. 1. ]] SLAMing on 11.315860168999999 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:-6.93, Y:1.80, Z:1.45 [[ 0.57205133 0.04937461 -0.81873037 -6.92586454] [-0.59724526 0.70924464 -0.37452656 1.79897973] [ 0.56218803 0.70323125 0.43521309 1.45002881] [ 0. 0. 0. 1. ]] SLAMing on 11.345860169 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:-6.90, Y:1.83, Z:1.46 [[ 0.56887775 0.07773058 -0.81874054 -6.9038878 ] [-0.63228201 0.6779573 -0.37495781 1.8279879 ] [ 0.52592543 0.73098007 0.43482247 1.45723521] [ 0. 0. 0. 1. ]] SLAMing on 11.375860169 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:-6.88, Y:1.85, Z:1.46 [[ 0.56527477 0.09665265 -0.81922079 -6.88075225] [-0.65625868 0.65439477 -0.37562218 1.85002723] [ 0.49978892 0.7499505 0.433342 1.46278149] [ 0. 0. 0. 1. ]] SLAMing on 11.405860169 meters Centerline goodness : 0.993538 Centerline is valid? [True, True] Translation: X:-6.86, Y:1.87, Z:1.45 [[ 0.56501991 0.10700761 -0.81810872 -6.86093597] [-0.66584723 0.64468508 -0.37553778 1.8662565 ] [ 0.48723708 0.75692174 0.43551062 1.45405867] [ 0. 0. 0. 1. ]] SLAMing on 11.435860169 meters Centerline goodness : 0.995576 Centerline is valid? [True, True] Translation: X:-6.84, Y:1.88, Z:1.45 [[ 0.56306487 0.11807867 -0.8179336 -6.83915595] [-0.67842597 0.63121651 -0.37590414 1.88271431] [ 0.47190694 0.76656581 0.43552348 1.45137242] [ 0. 0. 0. 1. ]] SLAMing on 11.465860168999999 meters Centerline goodness : 0.997349 Centerline is valid? [True, True] Translation: X:-6.82, Y:1.90, Z:1.45 [[ 0.56107941 0.1265752 -0.81802727 -6.81682959] [-0.68859443 0.61980826 -0.37639797 1.89825827] [ 0.45937741 0.77447817 0.43492063 1.44757825] [ 0. 0. 0. 1. ]] SLAMing on 11.495860169 meters Centerline goodness : 0.989107 Centerline is valid? [True, True] Translation: X:-6.80, Y:1.91, Z:1.43 [[ 0.56295235 0.1228387 -0.8173098 -6.79783418] [-0.68319113 0.62567584 -0.37653635 1.90677722] [ 0.46511776 0.77035083 0.43614799 1.43298039] [ 0. 0. 0. 1. ]] SLAMing on 11.525860169 meters Centerline goodness : 0.748500 Centerline is valid? [True, False] Translation: X:-6.89, Y:1.85, Z:1.44 [[ 0.57187724 0.06904801 -0.81742816 -6.88530765] [-0.62519066 0.6818315 -0.37979263 1.84600512] [ 0.53112435 0.72824321 0.43309209 1.44145765] [ 0. 0. 0. 1. ]] SLAMing on 11.555860168999999 meters Centerline goodness : 0.999383 Centerline is valid? [False, True] Translation: X:-6.96, Y:1.79, Z:1.45 [[ 0.57496658 0.02592633 -0.81776602 -6.96169175] [-0.57431252 0.72466572 -0.38082113 1.7894582 ] [ 0.5827337 0.68861268 0.43154838 1.45328527] [ 0. 0. 0. 1. ]] SLAMing on 11.585860169 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:-6.94, Y:1.86, Z:1.51 [[ 0.56410184 0.13891 -0.81393681 -6.9371066 ] [-0.70163594 0.60032616 -0.38381704 1.86373017] [ 0.43531153 0.78759921 0.43610933 1.50834255] [ 0. 0. 0. 1. ]] SLAMing on 11.615860169 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:-6.90, Y:1.91, Z:1.56 [[ 0.53999399 0.20839252 -0.81546248 -6.90187882] [-0.77488295 0.50132293 -0.38500875 1.90841837] [ 0.32857709 0.83979038 0.43219118 1.55819713] [ 0. 0. 0. 1. ]] SLAMing on 11.645860168999999 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:-6.88, Y:1.91, Z:1.54 [[ 0.54547881 0.19491799 -0.81514406 -6.88399234] [-0.76170679 0.52103587 -0.38512905 1.91267449] [ 0.34965072 0.8309805 0.43268439 1.53767094] [ 0. 0. 0. 1. ]] SLAMing on 11.675860169 meters Centerline goodness : 0.998414 Centerline is valid? [True, True] Translation: X:-6.87, Y:1.90, Z:1.49 [[ 0.56139274 0.1524306 -0.81338989 -6.87347844] [-0.71572446 0.58283588 -0.38476074 1.9034666 ] [ 0.41542351 0.79816492 0.43629814 1.4868665 ] [ 0. 0. 0. 1. ]] SLAMing on 11.705860169 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:-6.85, Y:1.92, Z:1.49 [[ 0.5558871 0.16881615 -0.81393528 -6.85019542] [-0.73419292 0.55887554 -0.38551119 1.92452621] [ 0.389808 0.81188622 0.43461533 1.48946472] [ 0. 0. 0. 1. ]] SLAMing on 11.735860169 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:-6.82, Y:1.96, Z:1.52 [[ 0.53446514 0.22690516 -0.8141628 -6.82078789] [-0.79014081 0.47610582 -0.38600615 1.96358034] [ 0.30004086 0.84961008 0.43374899 1.5243005 ] [ 0. 0. 0. 1. ]] SLAMing on 11.765860169 meters Centerline goodness : 0.999815 Centerline is valid? [True, True] Translation: X:-6.77, Y:2.01, Z:1.62 [[ 0.47029144 0.33718071 -0.81555817 -6.76515278] [-0.87649487 0.28618319 -0.38711229 2.01214483] [ 0.10287224 0.89688815 0.43012667 1.61731335] [ 0. 0. 0. 1. ]] SLAMing on 11.795860169 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:-6.77, Y:2.00, Z:1.52 [[ 0.52386407 0.25079193 -0.81404536 -6.77281981] [-0.81114484 0.43860509 -0.38687159 1.99578234] [ 0.26002017 0.86297682 0.43319802 1.52352025] [ 0. 0. 0. 1. ]] SLAMing on 11.825860169 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:-6.75, Y:2.01, Z:1.51 [[ 0.52380101 0.25319261 -0.81334249 -6.75346263] [-0.81208251 0.4367174 -0.38703993 2.00696922] [ 0.25720517 0.86323312 0.43436631 1.51305894] [ 0. 0. 0. 1. ]] SLAMing on 11.855860169 meters Centerline goodness : 0.996155 Centerline is valid? [True, True] Translation: X:-6.73, Y:2.02, Z:1.50 [[ 0.52492745 0.25139827 -0.81317285 -6.73398474] [-0.81048748 0.439396 -0.38735151 2.01705578] [ 0.2599254 0.86239786 0.43440617 1.50065072] [ 0. 0. 0. 1. ]] SLAMing on 11.885860168999999 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:-6.71, Y:2.03, Z:1.50 [[ 0.52019516 0.26144568 -0.8130456 -6.71016141] [-0.81878749 0.4233891 -0.38772246 2.0319006 ] [ 0.24286628 0.86740292 0.43431342 1.49826254] [ 0. 0. 0. 1. ]] SLAMing on 11.915860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-6.68, Y:2.05, Z:1.52 [[ 0.50171733 0.29072817 -0.81471274 -6.67722253] [-0.84471913 0.36756554 -0.38903107 2.05499345] [ 0.18635804 0.88338706 0.42999765 1.51981989] [ 0. 0. 0. 1. ]] SLAMing on 11.945860169 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:-6.66, Y:2.06, Z:1.50 [[ 0.50836943 0.28452222 -0.81277772 -6.66123664] [-0.83696119 0.38533381 -0.38860496 2.06341076] [ 0.20262399 0.87781829 0.43402599 1.49658484] [ 0. 0. 0. 1. ]] SLAMing on 11.975860168999999 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] SLAMing on 12.005860169 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] SLAMing on 12.035860169 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] SLAMing on 12.065860168999999 meters Centerline goodness : 0.998520 Centerline is valid? [True, True] Translation: X:-6.63, Y:2.09, Z:1.53 [[ 0.47885751 0.33176833 -0.81278857 -6.62512361] [-0.87006743 0.30269538 -0.38904777 2.09159355] [ 0.11695362 0.89347931 0.43360877 1.53051673] [ 0. 0. 0. 1. ]] SLAMing on 12.095860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 12.125860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 12.155860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 12.185860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 12.215860168999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 12.245860169 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:-6.63, Y:2.05, Z:1.43 [[ 0.5322524 0.22489251 -0.81616833 -6.62674911] [-0.7953907 0.46300889 -0.39112199 2.05330119] [ 0.28993278 0.85734831 0.425315 1.43026859] [ 0. 0. 0. 1. ]] SLAMing on 12.275860169 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:-6.61, Y:2.06, Z:1.41 [[ 0.53528118 0.21721121 -0.81626794 -6.60828741] [-0.78912265 0.47326462 -0.39154315 2.06246244] [ 0.30126317 0.8537212 0.42473593 1.41198588] [ 0. 0. 0. 1. ]] SLAMing on 12.305860168999999 meters Centerline goodness : 0.988339 Centerline is valid? [True, True] Translation: X:-6.61, Y:2.00, Z:1.29 [[ 0.57501462 0.06704572 -0.81539135 -6.60757012] [-0.63308602 0.66775242 -0.39154668 1.99863927] [ 0.51822801 0.74135793 0.42641311 1.29174728] [ 0. 0. 0. 1. ]] SLAMing on 12.335860169 meters Centerline goodness : 0.976637 Centerline is valid? [True, True] Translation: X:-6.59, Y:2.00, Z:1.26 [[ 0.57762097 0.04308855 -0.81516709 -6.58905203] [-0.60474287 0.69334438 -0.39186685 1.99616899] [ 0.54830654 0.719317 0.42654775 1.26473194] [ 0. 0. 0. 1. ]] SLAMing on 12.365860169 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:-6.57, Y:1.99, Z:1.24 [[ 0.57876608 0.02280406 -0.81517471 -6.56668941] [-0.58066918 0.71338196 -0.39231299 1.99412023] [ 0.5725846 0.70040428 0.42612289 1.24360115] [ 0. 0. 0. 1. ]] SLAMing on 12.395860168999999 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:-6.54, Y:2.01, Z:1.24 [[ 0.57606778 0.03824505 -0.81650672 -6.54452473] [-0.59871692 0.69980326 -0.38963245 2.01075129] [ 0.55649255 0.71331109 0.42603207 1.24211971] [ 0. 0. 0. 1. ]] SLAMing on 12.425860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-6.52, Y:2.01, Z:1.22 [[ 0.57867976 0.01050837 -0.81548716 -6.52394689] [-0.56580262 0.72531549 -0.39215411 2.00638602] [ 0.58736456 0.68833641 0.42567106 1.2161932 ] [ 0. 0. 0. 1. ]] SLAMing on 12.455860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-6.48, Y:2.14, Z:1.36 [[ 0.52752239 0.23443533 -0.81655386 -6.47899504] [-0.80635985 0.44071196 -0.39440683 2.13507445] [ 0.26740216 0.86649469 0.42152467 1.36308042] [ 0. 0. 0. 1. ]] SLAMing on 12.485860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-6.48, Y:2.01, Z:1.18 [[ 0.57895169 -0.01841083 -0.81515396 -6.4817876 ] [-0.52949385 0.75176597 -0.39304476 2.01035611] [ 0.62004128 0.65917294 0.42548776 1.17776405] [ 0. 0. 0. 1. ]] SLAMing on 12.515860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-6.31, Y:1.58, Z:1.04 [[ 0.26468396 -0.51298674 -0.81657027 -6.30893155] [ 0.39184645 0.83092592 -0.39499174 1.57667242] [ 0.88113492 -0.21542219 0.4209448 1.04286909] [ 0. 0. 0. 1. ]] SLAMing on 12.545860169 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:-6.42, Y:1.89, Z:1.06 [[ 0.52958754 -0.23020164 -0.81642161 -6.41553393] [-0.22173392 0.89143837 -0.39518565 1.88503163] [ 0.81876193 0.39031376 0.42105114 1.06315353] [ 0. 0. 0. 1. ]] SLAMing on 12.575860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-6.26, Y:1.59, Z:1.02 [[ 0.25574158 -0.51780643 -0.81637782 -6.26145942] [ 0.40572363 0.82398069 -0.39553022 1.59195576] [ 0.87748765 -0.23007025 0.42081243 1.02218418] [ 0. 0. 0. 1. ]] SLAMing on 12.605860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-6.37, Y:1.90, Z:1.04 [[ 0.52604279 -0.238794 -0.81624531 -6.37061977] [-0.20802382 0.89448824 -0.3957485 1.90053934] [ 0.8246242 0.37797911 0.42086425 1.03801404] [ 0. 0. 0. 1. ]] SLAMing on 12.635860168999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-6.35, Y:1.93, Z:1.03 [[ 0.53537567 -0.21770561 -0.81607424 -6.35365126] [-0.24348932 0.88540651 -0.39593973 1.92851708] [ 0.80875574 0.41068186 0.42101611 1.03445615] [ 0. 0. 0. 1. ]] SLAMing on 12.665860169 meters Centerline goodness : 0.711915 Centerline is valid? [True, False] Translation: X:-6.44, Y:1.88, Z:1.08 [[ 0.53060772 -0.23121229 -0.81547307 -6.44137493] [-0.22608173 0.88861737 -0.39905667 1.87929913] [ 0.81691034 0.39610611 0.41923436 1.07825747] [ 0. 0. 0. 1. ]] SLAMing on 12.695860169 meters Centerline goodness : 0.999886 Centerline is valid? [False, True] Translation: X:-6.51, Y:1.84, Z:1.11 [[ 0.52569814 -0.24608089 -0.81430072 -6.51327332] [-0.20497002 0.89239978 -0.40200737 1.83514356] [ 0.82560811 0.37824176 0.4186937 1.11161546] [ 0. 0. 0. 1. ]] SLAMing on 12.725860168999999 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:-6.29, Y:1.46, Z:1.12 [[ 0.10407354 -0.57202296 -0.81360828 -6.28815988] [ 0.60338725 0.68661954 -0.40555818 1.45885118] [ 0.79062793 -0.44871299 0.41661028 1.12050034] [ 0. 0. 0. 1. ]] SLAMing on 12.755860169 meters Centerline goodness : 0.733677 Centerline is valid? [True, False] Translation: X:-6.35, Y:1.49, Z:1.10 [[ 0.1829135 -0.54558371 -0.8178515 -6.35278552] [ 0.5063107 0.7653612 -0.39733074 1.48615268] [ 0.84272897 -0.34140981 0.41622977 1.10466903] [ 0. 0. 0. 1. ]] SLAMing on 12.785860169 meters Centerline goodness : 0.999021 Centerline is valid? [False, True] Translation: X:-6.43, Y:1.51, Z:1.10 [[ 0.25675497 -0.51079627 -0.82046576 -6.43200097] [ 0.39884108 0.82926639 -0.39146271 1.51385625] [ 0.88034236 -0.22672546 0.4166448 1.10394277] [ 0. 0. 0. 1. ]] SLAMing on 12.815860168999999 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:-6.04, Y:1.54, Z:1.79 [[-0.61593312 0.01671178 -0.78762117 -6.03662039] [ 0.57260408 -0.67715452 -0.462154 1.54203426] [-0.54106465 -0.73565105 0.40751266 1.78886849] [ 0. 0. 0. 1. ]] SLAMing on 12.845860169 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:-6.62, Y:2.09, Z:1.23 [[ 0.62156429 -0.03101232 -0.78274905 -6.6182436 ] [-0.54421085 0.7016306 -0.45994463 2.09304064] [ 0.56346463 0.71186568 0.41923128 1.2319758 ] [ 0. 0. 0. 1. ]] SLAMing on 12.875860169 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:-6.56, Y:1.93, Z:1.10 [[ 0.54186469 -0.30581329 -0.78285432 -6.55723412] [-0.17403593 0.87043776 -0.46048844 1.9292153 ] [ 0.82224945 0.3857672 0.41843699 1.09852122] [ 0. 0. 0. 1. ]] SLAMing on 12.905860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-6.57, Y:2.05, Z:1.15 [[ 0.60372419 -0.15406724 -0.78216391 -6.56603722] [-0.39361987 0.79559532 -0.46053392 2.04689539] [ 0.69323914 0.58591072 0.41967621 1.14832624] [ 0. 0. 0. 1. ]] SLAMing on 12.935860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-6.52, Y:1.96, Z:1.08 [[ 0.54815159 -0.29541414 -0.78247065 -6.51917175] [-0.1913505 0.86643712 -0.46116343 1.9642112 ] [ 0.81419582 0.40251362 0.41841124 1.0813903 ] [ 0. 0. 0. 1. ]] SLAMing on 12.965860168999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-6.46, Y:1.88, Z:1.03 [[ 0.46369514 -0.4159498 -0.78228676 -6.45787151] [ 0.0170757 0.8869789 -0.46149416 1.876873 ] [ 0.88583025 0.2006345 0.41839044 1.03428488] [ 0. 0. 0. 1. ]] SLAMing on 12.995860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-6.47, Y:1.96, Z:1.05 [[ 0.52982535 -0.32869161 -0.78182282 -6.46897964] [-0.13753845 0.876342 -0.46163608 1.96434328] [ 0.83688008 0.3521172 0.41910048 1.04597458] [ 0. 0. 0. 1. ]] SLAMing on 13.025860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-6.30, Y:1.71, Z:1.02 [[ 0.22008313 -0.58278939 -0.78225312 -6.29867457] [ 0.4219055 0.77989906 -0.46233451 1.71015983] [ 0.87952212 -0.22828487 0.41752468 1.0165156 ] [ 0. 0. 0. 1. ]] SLAMing on 13.055860168999999 meters Centerline goodness : 0.985863 Centerline is valid? [True, True] Translation: X:-6.42, Y:1.98, Z:1.02 [[ 0.52499241 -0.33763412 -0.78127215 -6.42451706] [-0.12303651 0.8781993 -0.4621991 1.98378322] [ 0.84216684 0.33877602 0.41950664 1.01956603] [ 0. 0. 0. 1. ]] SLAMing on 13.085860169 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:-6.27, Y:1.75, Z:0.99 [[ 0.24590586 -0.5739739 -0.78107891 -6.268963 ] [ 0.38991901 0.79632391 -0.46241906 1.75097733] [ 0.88740829 -0.19084596 0.41962405 0.99104914] [ 0. 0. 0. 1. ]] SLAMing on 13.115860169 meters Centerline goodness : 0.999839 Centerline is valid? [True, True] Translation: X:-6.26, Y:1.78, Z:0.97 [[ 0.27341307 -0.56152003 -0.78098691 -6.26136263] [ 0.35053024 0.81425691 -0.4627248 1.78390399] [ 0.89575323 -0.14724452 0.41945823 0.97483067] [ 0. 0. 0. 1. ]] SLAMing on 13.145860168999999 meters Centerline goodness : 0.999839 Centerline is valid? [True, True] Translation: X:-6.24, Y:1.80, Z:0.96 [[ 0.27329335 -0.56179806 -0.78082885 -6.2392243 ] [ 0.35062355 0.81406511 -0.46299149 1.79746896] [ 0.89575324 -0.14724448 0.41945821 0.96305626] [ 0. 0. 0. 1. ]] SLAMing on 13.175860169 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:-6.27, Y:1.89, Z:0.95 [[ 0.37935684 -0.49749205 -0.78012182 -6.26964474] [ 0.1848365 0.86689905 -0.46294872 1.89084655] [ 0.90660016 0.03142778 0.42081877 0.94599199] [ 0. 0. 0. 1. ]] SLAMing on 13.205860169 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:-6.28, Y:1.96, Z:0.94 [[ 0.43600641 -0.44874114 -0.7800832 -6.27583111] [ 0.07946244 0.88262427 -0.46331428 1.95680728] [ 0.89642854 0.14002068 0.4204879 0.94239588] [ 0. 0. 0. 1. ]] SLAMing on 13.235860168999999 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:-6.24, Y:1.95, Z:0.93 [[ 0.41071085 -0.4728761 -0.77955423 -6.24260991] [ 0.12973283 0.87660351 -0.46339581 1.94577631] [ 0.90248878 0.08918791 0.42137813 0.92750652] [ 0. 0. 0. 1. ]] SLAMing on 13.265860169 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:-6.22, Y:1.96, Z:0.92 [[ 0.41507407 -0.46940404 -0.77934162 -6.2238648 ] [ 0.12207483 0.8776084 -0.46357441 1.96182528] [ 0.90156046 0.09727973 0.4215749 0.91732645] [ 0. 0. 0. 1. ]] SLAMing on 13.295860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-6.19, Y:1.94, Z:0.90 [[ 0.38107451 -0.49907767 -0.77826968 -6.18752801] [ 0.18788149 0.86602557 -0.4633576 1.9418088 ] [ 0.90525288 0.0303513 0.42378772 0.90003188] [ 0. 0. 0. 1. ]] SLAMing on 13.325860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-6.15, Y:1.93, Z:0.89 [[ 0.35361752 -0.51785443 -0.77896177 -6.15350958] [ 0.2300892 0.85533566 -0.46417655 1.93462 ] [ 0.90664966 -0.01508973 0.42161439 0.8918734 ] [ 0. 0. 0. 1. ]] SLAMing on 13.355860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-6.12, Y:1.93, Z:0.88 [[ 0.3303696 -0.53334365 -0.7787172 -6.12183266] [ 0.26800723 0.84409092 -0.46441646 1.92985888] [ 0.90500169 -0.05527276 0.42180193 0.880846 ] [ 0. 0. 0. 1. ]] SLAMing on 13.385860168999999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:-6.24, Y:2.27, Z:0.99 [[ 0.61175846 -0.13934842 -0.77867426 -6.23607739] [-0.41595669 0.78062012 -0.46648929 2.27018046] [ 0.67285334 0.60927354 0.41958806 0.98562437] [ 0. 0. 0. 1. ]] SLAMing on 13.415860169 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:-6.11, Y:2.01, Z:0.86 [[ 0.40070964 -0.48372715 -0.77810014 -6.11444075] [ 0.15005017 0.8724456 -0.46510604 2.01278048] [ 0.90383446 0.06961842 0.4221807 0.86117744] [ 0. 0. 0. 1. ]] SLAMing on 13.445860169 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:-6.09, Y:2.01, Z:0.85 [[ 0.38865529 -0.49381722 -0.77787635 -6.0868297 ] [ 0.17200227 0.86829267 -0.46527739 2.01474139] [ 0.90518632 0.04703602 0.42240423 0.84909743] [ 0. 0. 0. 1. ]] SLAMing on 13.475860168999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-6.06, Y:2.02, Z:0.84 [[ 0.38028815 -0.50058849 -0.7776838 -6.06250923] [ 0.18676791 0.86510152 -0.46552884 2.02039005] [ 0.90581382 0.03178872 0.42248172 0.83757384] [ 0. 0. 0. 1. ]] SLAMing on 13.505860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-6.16, Y:2.40, Z:1.02 [[ 0.62822405 0.00771378 -0.77799424 -6.16040929] [-0.58862551 0.65860845 -0.46878025 2.40199619] [ 0.50877751 0.75244629 0.41829419 1.02062865] [ 0. 0. 0. 1. ]] SLAMing on 13.535860169 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:-6.03, Y:2.05, Z:0.81 [[ 0.38837266 -0.49720393 -0.77585754 -6.0252646 ] [ 0.17999422 0.86666169 -0.46529517 2.04893802] [ 0.9037526 0.04105805 0.42608154 0.81011944] [ 0. 0. 0. 1. ]] SLAMing on 13.565860168999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-6.01, Y:2.08, Z:0.80 [[ 0.41141221 -0.47881158 -0.77555107 -6.01468871] [ 0.13973591 0.87397406 -0.46544948 2.08263424] [ 0.90067412 0.08311927 0.42647077 0.80206682] [ 0. 0. 0. 1. ]] SLAMing on 13.595860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-5.99, Y:2.09, Z:0.79 [[ 0.40758386 -0.4826279 -0.77520688 -5.99207484] [ 0.14760434 0.87257696 -0.46564194 2.09214227] [ 0.90115945 0.07536423 0.42688625 0.7909742 ] [ 0. 0. 0. 1. ]] SLAMing on 13.625860169 meters Centerline goodness : 0.988240 Centerline is valid? [True, True] Translation: X:-5.98, Y:2.11, Z:0.78 [[ 0.41583123 -0.4762579 -0.77476629 -5.97651915] [ 0.13393232 0.87469496 -0.4658013 2.11147583] [ 0.89952572 0.08992849 0.4275118 0.77933899] [ 0. 0. 0. 1. ]] SLAMing on 13.655860169 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:-5.96, Y:2.13, Z:0.77 [[ 0.41771047 -0.47461287 -0.77476486 -5.95656958] [ 0.12963464 0.87512849 -0.46620274 2.12689102] [ 0.89928462 0.0943014 0.4270766 0.76870498] [ 0. 0. 0. 1. ]] SLAMing on 13.685860169 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:-5.96, Y:2.20, Z:0.77 [[ 4.75481349e-01 -4.13397535e-01 -7.76543601e-01 -5.96396784e+00] [ 3.75615830e-03 8.83656912e-01 -4.68120020e-01 2.19969868e+00] [ 8.79717783e-01 2.19665518e-01 4.21715167e-01 7.72878328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.715860168999999 meters Centerline goodness : 0.996571 Centerline is valid? [True, True] Translation: X:-5.90, Y:2.13, Z:0.74 [[ 0.38908163 -0.50086508 -0.77314272 -5.90084564] [ 0.18723568 0.86475342 -0.46598748 2.12664268] [ 0.90197466 0.03654727 0.43023948 0.74108187] [ 0. 0. 0. 1. ]] SLAMing on 13.745860169 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:-5.88, Y:2.14, Z:0.74 [[ 0.38603201 -0.50000419 -0.77522583 -5.87798448] [ 0.18124581 0.86509656 -0.46771561 2.14269511] [ 0.90450497 0.04004676 0.42457863 0.73749736] [ 0. 0. 0. 1. ]] SLAMing on 13.775860169 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:-5.86, Y:2.16, Z:0.73 [[ 0.39317073 -0.49447699 -0.77518338 -5.86166114] [ 0.1682375 0.86753576 -0.46805752 2.16132351] [ 0.90394298 0.0536116 0.42427924 0.72683927] [ 0. 0. 0. 1. ]] SLAMing on 13.805860168999999 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:-5.84, Y:2.17, Z:0.71 [[ 0.39352437 -0.49664929 -0.77361363 -5.84152932] [ 0.17463459 0.86657435 -0.46749509 2.17066055] [ 0.90257483 0.04887101 0.42775027 0.70887205] [ 0. 0. 0. 1. ]] SLAMing on 13.835860169 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:-5.84, Y:2.22, Z:0.70 [[ 0.43181639 -0.46371197 -0.77363157 -5.83923546] [ 0.10418057 0.87762286 -0.46789371 2.21808345] [ 0.89592467 0.1214468 0.42728172 0.70203954] [ 0. 0. 0. 1. ]] SLAMing on 13.865860169 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:-5.80, Y:2.19, Z:0.69 [[ 0.38476389 -0.50400201 -0.77326498 -5.79660063] [ 0.18981971 0.86305959 -0.46807758 2.18892427] [ 0.90328579 0.03331842 0.42774368 0.68689068] [ 0. 0. 0. 1. ]] SLAMing on 13.895860168999999 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:-5.80, Y:2.26, Z:0.68 [[ 0.43727157 -0.45492359 -0.77578225 -5.80342232] [ 0.08064759 0.87898297 -0.46998393 2.25510171] [ 0.89570617 0.14294565 0.42104276 0.68305746] [ 0. 0. 0. 1. ]] SLAMing on 13.925860169 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] SLAMing on 13.955860169 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] SLAMing on 13.985860168999999 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] SLAMing on 14.015860169 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] SLAMing on 14.045860169 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] SLAMing on 14.075860169 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] SLAMing on 14.105860169 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:-5.91, Y:2.80, Z:1.16 [[ 0.5603511 0.37968466 -0.73610203 -5.90701502] [-0.82484033 0.17519397 -0.53753651 2.80477433] [-0.07513373 0.90837582 0.41134935 1.15503266] [ 0. 0. 0. 1. ]] SLAMing on 14.135860168999999 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] SLAMing on 14.165860169 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:-5.64, Y:2.74, Z:1.54 [[-0.11667467 0.71603778 -0.6882419 -5.63605116] [-0.46407479 -0.65197608 -0.59963471 2.74374469] [-0.87807836 0.24943354 0.40836418 1.53513117] [ 0. 0. 0. 1. ]] SLAMing on 14.195860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-5.57, Y:2.19, Z:0.76 [[-0.22298312 -0.6925038 -0.6860882 -5.57412828] [ 0.71443623 0.36274191 -0.59833033 2.18626672] [ 0.66321897 -0.62358383 0.41386448 0.76329047] [ 0. 0. 0. 1. ]] SLAMing on 14.225860168999999 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] SLAMing on 14.255860169 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] SLAMing on 14.285860169 meters Centerline goodness : 0.987418 Centerline is valid? [True, True] Translation: X:-5.76, Y:2.36, Z:0.64 [[ 0.18676564 -0.70334241 -0.68587758 -5.75813298] [ 0.40486934 0.69122176 -0.59857605 2.3551506 ] [ 0.89509743 -0.16589736 0.41385826 0.6389246 ] [ 0. 0. 0. 1. ]] SLAMing on 14.315860168999999 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:-5.41, Y:2.17, Z:0.90 [[-0.49541276 -0.53275204 -0.68610602 -5.40524004] [ 0.800104 0.02768309 -0.59922219 2.17362483] [ 0.33823038 -0.84581849 0.41254249 0.90056237] [ 0. 0. 0. 1. ]] SLAMing on 14.345860169 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] SLAMing on 14.375860169 meters Centerline goodness : 0.992167 Centerline is valid? [True, True] Translation: X:-5.35, Y:2.19, Z:0.95 [[-0.56310009 -0.46125914 -0.68568091 -5.35142377] [ 0.79638742 -0.08135071 -0.59929052 2.18718336] [ 0.2206476 -0.8835282 0.41314957 0.94711961] [ 0. 0. 0. 1. ]] SLAMing on 14.405860168999999 meters Centerline goodness : 0.996483 Centerline is valid? [True, True] Translation: X:-5.30, Y:2.22, Z:1.00 [[-0.62621494 -0.37166183 -0.68536292 -5.30200792] [ 0.7749453 -0.20028603 -0.59945416 2.21520676] [ 0.08552561 -0.90650592 0.41343969 1.00321623] [ 0. 0. 0. 1. ]] SLAMing on 14.435860169 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] SLAMing on 14.465860168999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 14.495860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 14.525860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 14.555860168999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 14.585860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 14.615860169 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] SLAMing on 14.645860168999999 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:-5.88, Y:3.06, Z:1.29 [[ 0.43792789 0.63828762 -0.63309405 -5.8805085 ] [-0.73897532 -0.14547671 -0.65783888 3.06134062] [-0.51199086 0.75592687 0.4079705 1.29488702] [ 0. 0. 0. 1. ]] SLAMing on 14.675860169 meters Centerline goodness : 0.998800 Centerline is valid? [True, True] Translation: X:-5.73, Y:3.03, Z:1.45 [[ 0.01857359 0.81776694 -0.57524974 -5.73494284] [-0.50611314 -0.48850014 -0.71078626 3.02974607] [-0.86226708 0.30434331 0.40480939 1.44661059] [ 0. 0. 0. 1. ]] SLAMing on 14.705860169 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:-5.74, Y:2.59, Z:0.60 [[ 0.03697416 -0.81946641 -0.57193332 -5.74244033] [ 0.48348431 0.51555069 -0.7074252 2.58627494] [ 0.8745718 -0.25036433 0.41526121 0.59899947] [ 0. 0. 0. 1. ]] SLAMing on 14.735860168999999 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:-5.79, Y:2.65, Z:0.57 [[ 0.16824878 -0.80423459 -0.56999919 -5.78737657] [ 0.40130658 0.58403772 -0.70558697 2.6452994 ] [ 0.90035847 -0.11003028 0.42100826 0.57264099] [ 0. 0. 0. 1. ]] SLAMing on 14.765860169 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:-5.73, Y:2.64, Z:0.57 [[ 0.07969669 -0.81724197 -0.5707574 -5.73243642] [ 0.45824007 0.53852834 -0.70710909 2.63801684] [ 0.88524826 -0.20518965 0.41741194 0.5733136 ] [ 0. 0. 0. 1. ]] SLAMing on 14.795860169 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:-5.77, Y:2.69, Z:0.55 [[ 0.19095683 -0.79935833 -0.56970322 -5.76990189] [ 0.38347563 0.59501202 -0.70633359 2.69170694] [ 0.90359389 -0.08358808 0.42015605 0.55016334] [ 0. 0. 0. 1. ]] SLAMing on 14.825860169 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:-5.78, Y:2.73, Z:0.54 [[ 0.23614961 -0.78722116 -0.56966324 -5.77728715] [ 0.3479483 0.61587631 -0.70684394 2.72836214] [ 0.9072846 -0.03129244 0.41935121 0.53852829] [ 0. 0. 0. 1. ]] SLAMing on 14.855860169 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:-5.82, Y:2.80, Z:0.53 [[ 0.34991595 -0.74349187 -0.56989356 -5.81790998] [ 0.25085331 0.66050316 -0.70767803 2.79538285] [ 0.90256936 0.10466814 0.41762799 0.53185941] [ 0. 0. 0. 1. ]] SLAMing on 14.885860168999999 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:-5.79, Y:2.80, Z:0.52 [[ 0.32020027 -0.7562476 -0.57057984 -5.79022798] [ 0.27275647 0.65038064 -0.70894917 2.80378036] [ 0.90723519 0.07137637 0.41452348 0.52174942] [ 0. 0. 0. 1. ]] SLAMing on 14.915860169 meters Centerline goodness : 0.995405 Centerline is valid? [True, True] Translation: X:-5.76, Y:2.81, Z:0.51 [[ 0.29708725 -0.76695678 -0.56878507 -5.76208214] [ 0.29931124 0.64045858 -0.70726627 2.81004882] [ 0.90672595 0.03987602 0.41983087 0.50551409] [ 0. 0. 0. 1. ]] SLAMing on 14.945860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-5.72, Y:2.81, Z:0.50 [[ 0.23660533 -0.78782239 -0.56864207 -5.7191191 ] [ 0.34610387 0.61520922 -0.70832883 2.80668961] [ 0.90787115 -0.02921484 0.41823016 0.49636204] [ 0. 0. 0. 1. ]] SLAMing on 14.975860168999999 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:-5.67, Y:2.80, Z:0.49 [[ 0.17264279 -0.80445173 -0.56837653 -5.67292481] [ 0.39495374 0.58515851 -0.708238 2.80243848] [ 0.90233365 -0.10221025 0.41874461 0.48697228] [ 0. 0. 0. 1. ]] SLAMing on 15.005860169 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:-5.70, Y:2.85, Z:0.47 [[ 2.61809634e-01 -7.80304094e-01 -5.67962355e-01 -5.70064204e+00] [ 3.28553362e-01 6.25398923e-01 -7.07763290e-01 2.85338672e+00] [ 9.07473638e-01 -1.30669336e-03 4.20106997e-01 4.70499744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.035860169 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:-5.66, Y:2.86, Z:0.46 [[ 0.2153266 -0.79406524 -0.56841433 -5.66491543] [ 0.36171655 0.60552054 -0.70887659 2.85777952] [ 0.90708081 -0.05296488 0.41761121 0.46369438] [ 0. 0. 0. 1. ]] SLAMing on 15.065860168999999 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:-5.68, Y:2.90, Z:0.45 [[ 0.28107267 -0.77344126 -0.56814327 -5.68127881] [ 0.30993855 0.63344355 -0.70900449 2.90280467] [ 0.90826001 0.02319228 0.41776293 0.45192031] [ 0. 0. 0. 1. ]] SLAMing on 15.095860169 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:-5.67, Y:2.93, Z:0.44 [[ 0.29529047 -0.76842031 -0.56774446 -5.67281329] [ 0.29898208 0.63871854 -0.70897696 2.92824523] [ 0.90742121 0.03960872 0.4183514 0.44148692] [ 0. 0. 0. 1. ]] SLAMing on 15.125860169 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:-5.66, Y:2.95, Z:0.43 [[ 0.29369376 -0.76932921 -0.56734164 -5.65695291] [ 0.30131877 0.63776665 -0.70884462 2.94689484] [ 0.90716645 0.03723256 0.41912142 0.43066587] [ 0. 0. 0. 1. ]] SLAMing on 15.155860168999999 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:-5.67, Y:2.99, Z:0.42 [[ 0.34905631 -0.74592206 -0.5672389 -5.668494 ] [ 0.25355266 0.65791059 -0.70912954 2.98882463] [ 0.90214785 0.10370122 0.41877836 0.42250148] [ 0. 0. 0. 1. ]] SLAMing on 15.185860169 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:-5.67, Y:3.02, Z:0.41 [[ 0.3867752 -0.72728648 -0.56697382 -5.67139621] [ 0.2197607 0.66980216 -0.70927449 3.02468898] [ 0.89560604 0.14973122 0.41889185 0.41474683] [ 0. 0. 0. 1. ]] SLAMing on 15.215860168999999 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:-5.65, Y:3.04, Z:0.40 [[ 0.36769182 -0.73743523 -0.56656157 -5.64791072] [ 0.23797208 0.6635682 -0.70925774 3.03506774] [ 0.89898388 0.12596243 0.4194776 0.40157695] [ 0. 0. 0. 1. ]] SLAMing on 15.245860169 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:-5.63, Y:3.05, Z:0.39 [[ 0.35678905 -0.74313177 -0.56608899 -5.62787271] [ 0.24888274 0.65968462 -0.7091358 3.04958385] [ 0.90042154 0.1121221 0.42032092 0.38925495] [ 0. 0. 0. 1. ]] SLAMing on 15.275860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-5.60, Y:3.06, Z:0.38 [[ 0.32376713 -0.75832493 -0.56578984 -5.59737078] [ 0.27792892 0.6478453 -0.70926158 3.05518923] [ 0.90439502 0.07238623 0.42051144 0.37583658] [ 0. 0. 0. 1. ]] SLAMing on 15.305860168999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-5.60, Y:3.09, Z:0.37 [[ 0.36363181 -0.74029713 -0.56544855 -5.6018027 ] [ 0.24352752 0.66143901 -0.70936083 3.09165389] [ 0.89914752 0.12024388 0.42080299 0.36783543] [ 0. 0. 0. 1. ]] SLAMing on 15.335860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-5.60, Y:3.12, Z:0.36 [[ 0.3804772 -0.7320678 -0.56507861 -5.59604218] [ 0.22885812 0.6665633 -0.70944861 3.11790907] [ 0.89602515 0.14060619 0.4211518 0.35807935] [ 0. 0. 0. 1. ]] SLAMing on 15.365860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-5.57, Y:3.13, Z:0.34 [[ 0.35493622 -0.74517084 -0.56457125 -5.56835446] [ 0.25297388 0.65791424 -0.70933283 3.12609977] [ 0.90001361 0.10894613 0.42202636 0.34490384] [ 0. 0. 0. 1. ]] SLAMing on 15.395860168999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-5.56, Y:3.15, Z:0.33 [[ 0.35801894 -0.74415555 -0.5639636 -5.55503292] [ 0.25185511 0.65857757 -0.70911536 3.14558177] [ 0.89910591 0.11183961 0.42320263 0.33331243] [ 0. 0. 0. 1. ]] SLAMing on 15.425860169 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:-5.55, Y:3.17, Z:0.32 [[ 0.37436696 -0.7366894 -0.56315016 -5.54771847] [ 0.23977237 0.6635652 -0.70865396 3.17055537] [ 0.89574471 0.13026878 0.42505465 0.31827769] [ 0. 0. 0. 1. ]] SLAMing on 15.455860169 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:-5.51, Y:3.18, Z:0.31 [[ 0.33649015 -0.75465685 -0.56326496 -5.51426515] [ 0.27136164 0.65047814 -0.70939485 3.17567206] [ 0.90174123 0.08585588 0.42366441 0.30854439] [ 0. 0. 0. 1. ]] SLAMing on 15.485860168999999 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:-5.56, Y:3.25, Z:0.31 [[ 0.46417594 -0.68508496 -0.56142612 -5.55828714] [ 0.15417294 0.68666324 -0.71043951 3.25036681] [ 0.8722221 0.24321222 0.42435412 0.31026874] [ 0. 0. 0. 1. ]] SLAMing on 15.515860169 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:-5.47, Y:3.20, Z:0.28 [[ 0.30375382 -0.76969921 -0.56151291 -5.46638283] [ 0.30462411 0.63688339 -0.70822574 3.199208 ] [ 0.90273904 0.0440759 0.42792469 0.27957249] [ 0. 0. 0. 1. ]] SLAMing on 15.545860169 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:-5.48, Y:3.24, Z:0.27 [[ 0.35700655 -0.74692379 -0.56093777 -5.47833755] [ 0.26056199 0.65630415 -0.70807648 3.23975483] [ 0.89702496 0.10662888 0.42892483 0.26859734] [ 0. 0. 0. 1. ]] SLAMing on 15.575860169 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:-5.46, Y:3.26, Z:0.26 [[ 0.34963568 -0.75066402 -0.56058757 -5.45919522] [ 0.2674577 0.65342531 -0.70816788 3.25718983] [ 0.89789825 0.09766729 0.42923167 0.25657281] [ 0. 0. 0. 1. ]] SLAMing on 15.605860169 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:-5.44, Y:3.28, Z:0.25 [[ 0.33925553 -0.75508397 -0.56102931 -5.43878845] [ 0.27329308 0.64978945 -0.70928454 3.27554737] [ 0.90012031 0.08730327 0.42680389 0.2512898 ] [ 0. 0. 0. 1. ]] SLAMing on 15.635860168999999 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:-5.48, Y:3.34, Z:0.25 [[ 0.44956301 -0.69572772 -0.56022856 -5.4763457 ] [ 0.17128935 0.68268696 -0.71035095 3.34359171] [ 0.87667158 0.22338632 0.42608155 0.2496549 ] [ 0. 0. 0. 1. ]] SLAMing on 15.665860169 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:-5.43, Y:3.33, Z:0.22 [[ 0.37962172 -0.7365645 -0.55978576 -5.42738227] [ 0.24238783 0.66313154 -0.70816997 3.32986851] [ 0.89282445 0.13315145 0.4302734 0.22321306] [ 0. 0. 0. 1. ]] SLAMing on 15.695860169 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:-5.42, Y:3.36, Z:0.21 [[ 0.40078808 -0.72541858 -0.55958628 -5.42308843] [ 0.2224566 0.66956357 -0.70865908 3.35924856] [ 0.88875304 0.15953845 0.42972725 0.21410227] [ 0. 0. 0. 1. ]] SLAMing on 15.725860168999999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:-5.41, Y:3.38, Z:0.20 [[ 0.3983468 -0.72697912 -0.5593042 -5.40746382] [ 0.2247974 0.66855278 -0.70887468 3.37816648] [ 0.88926147 0.15664784 0.42973888 0.20397212] [ 0. 0. 0. 1. ]] SLAMing on 15.755860169 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:-5.39, Y:3.39, Z:0.19 [[ 0.39030364 -0.73140304 -0.55920717 -5.38819689] [ 0.23151608 0.66583241 -0.70927252 3.39464041] [ 0.89110234 0.14736619 0.42920838 0.19140316] [ 0. 0. 0. 1. ]] SLAMing on 15.785860169 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:-5.37, Y:3.41, Z:0.18 [[ 0.38659928 -0.73361268 -0.55888588 -5.37244713] [ 0.23505256 0.66436969 -0.70948094 3.41212117] [ 0.89179106 0.14291726 0.42928239 0.18005552] [ 0. 0. 0. 1. ]] SLAMing on 15.815860168999999 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:-5.35, Y:3.42, Z:0.17 [[ 0.36825865 -0.74330658 -0.55846297 -5.34879518] [ 0.25213601 0.65801095 -0.70954142 3.42273298] [ 0.89488155 0.12048614 0.42973258 0.16662351] [ 0. 0. 0. 1. ]] SLAMing on 15.845860169 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:-5.32, Y:3.44, Z:0.16 [[ 0.35163219 -0.7513002 -0.5584826 -5.32478178] [ 0.2655229 0.65212401 -0.71009285 3.4360504 ] [ 0.89769282 0.10140159 0.4287952 0.15503487] [ 0. 0. 0. 1. ]] SLAMing on 15.875860169 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:-5.33, Y:3.48, Z:0.15 [[ 0.39978823 -0.72741786 -0.55770299 -5.3338954 ] [ 0.22489984 0.66768949 -0.70965542 3.47609969] [ 0.88858845 0.15828457 0.43053056 0.14662993] [ 0. 0. 0. 1. ]] SLAMing on 15.905860168999999 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:-5.32, Y:3.50, Z:0.14 [[ 0.39970419 -0.72767903 -0.55742246 -5.31881189] [ 0.22505333 0.66740343 -0.70987581 3.49629104] [ 0.8885874 0.15829055 0.43053053 0.13532483] [ 0. 0. 0. 1. ]] SLAMing on 15.935860169 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:-5.30, Y:3.52, Z:0.13 [[ 0.39096981 -0.73164214 -0.5584285 -5.29973925] [ 0.22719822 0.66466296 -0.71176128 3.515724 ] [ 0.89192128 0.15140322 0.42609094 0.1324484 ] [ 0. 0. 0. 1. ]] SLAMing on 15.965860168999999 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:-5.28, Y:3.54, Z:0.12 [[ 0.39086769 -0.73185929 -0.55821541 -5.28451422] [ 0.22734618 0.66443332 -0.71192843 3.53581431] [ 0.89192834 0.15136167 0.42609093 0.12113879] [ 0. 0. 0. 1. ]] SLAMing on 15.995860169 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:-5.27, Y:3.55, Z:0.10 [[ 0.39356597 -0.73153873 -0.55673775 -5.27090708] [ 0.23080023 0.66484426 -0.71043181 3.55093806] [ 0.88985228 0.15110658 0.43049938 0.10098583] [ 0. 0. 0. 1. ]] SLAMing on 16.025860169 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:-5.26, Y:3.58, Z:0.09 [[ 0.40640781 -0.7246546 -0.5565145 -5.26244408] [ 0.21883604 0.66855488 -0.71073565 3.5766321 ] [ 0.88709835 0.16706309 0.43028647 0.09172949] [ 0. 0. 0. 1. ]] SLAMing on 16.055860169000002 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:-5.25, Y:3.60, Z:0.08 [[ 0.40631991 -0.72492166 -0.55623082 -5.24738933] [ 0.21899867 0.66826546 -0.7109577 3.59684187] [ 0.88709848 0.16706246 0.43028644 0.0804239 ] [ 0. 0. 0. 1. ]] SLAMing on 16.085860169 meters Centerline goodness : 0.981659 Centerline is valid? [True, True] Translation: X:-5.24, Y:3.62, Z:0.07 [[ 0.41240342 -0.72188689 -0.55570023 -5.23693518] [ 0.2145764 0.66979875 -0.71086329 3.61900581] [ 0.8853702 0.1739223 0.43112718 0.06959584] [ 0. 0. 0. 1. ]] SLAMing on 16.115860169 meters Centerline goodness : 0.998385 Centerline is valid? [True, True] Translation: X:-5.22, Y:3.63, Z:0.06 [[ 0.39920261 -0.72943348 -0.55548545 -5.21574859] [ 0.22659891 0.66555239 -0.71112091 3.63331995] [ 0.88842007 0.15800893 0.43097908 0.05644721] [ 0. 0. 0. 1. ]] SLAMing on 16.145860169000002 meters Centerline goodness : 0.998385 Centerline is valid? [True, True] Translation: X:-5.20, Y:3.65, Z:0.04 [[ 0.39911986 -0.72967362 -0.55522945 -5.20018372] [ 0.22674361 0.66528943 -0.71132082 3.65410313] [ 0.88842032 0.15800754 0.43097906 0.04480031] [ 0. 0. 0. 1. ]] SLAMing on 16.175860169 meters Centerline goodness : 0.984293 Centerline is valid? [True, True] Translation: X:-5.18, Y:3.67, Z:0.03 [[ 0.39336657 -0.73291825 -0.55506179 -5.18334446] [ 0.23144347 0.6632324 -0.71172797 3.67089835] [ 0.88977338 0.15150456 0.4305226 0.03300095] [ 0. 0. 0. 1. ]] SLAMing on 16.205860169 meters Centerline goodness : 0.979606 Centerline is valid? [True, True] Translation: X:-5.17, Y:3.69, Z:0.02 [[ 0.38612048 -0.73686715 -0.55492142 -5.16543588] [ 0.23740323 0.66069112 -0.71212846 3.68742834] [ 0.89137572 0.14322725 0.43004101 0.02088013] [ 0. 0. 0. 1. ]] SLAMing on 16.235860169000002 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:-5.16, Y:3.71, Z:0.01 [[ 0.39505069 -0.73223594 -0.55476615 -5.15591039] [ 0.22886115 0.66329225 -0.71250682 3.71200006] [ 0.88969519 0.15451189 0.42961442 0.01174703] [ 0. 0. 0. 1. ]] SLAMing on 16.265860169 meters Centerline goodness : 0.995396 Centerline is valid? [True, True] Translation: X:-5.14, Y:3.73, Z:0.00 [[ 3.96319501e-01 -7.31413737e-01 -5.54945762e-01 -5.14279140e+00] [ 2.25982864e-01 6.63558767e-01 -7.13177052e-01 3.73116448e+00] [ 8.89866618e-01 1.57237740e-01 4.28268250e-01 4.68377894e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.295860169 meters Centerline goodness : 0.991641 Centerline is valid? [True, True] Translation: X:-5.15, Y:3.77, Z:-0.01 [[ 0.43341752 -0.71030646 -0.5546296 -5.14729345] [ 0.19177909 0.67403941 -0.71336642 3.76685775] [ 0.88055099 0.20281914 0.42836242 -0.00549126] [ 0. 0. 0. 1. ]] SLAMing on 16.325860169000002 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:-5.13, Y:3.79, Z:-0.01 [[ 0.43284484 -0.71082574 -0.5544115 -5.1315028 ] [ 0.19217713 0.67363233 -0.71364378 3.7870283 ] [ 0.88074588 0.20235181 0.42818273 -0.01457626] [ 0. 0. 0. 1. ]] SLAMing on 16.355860169 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:-5.10, Y:3.79, Z:-0.03 [[ 0.39937812 -0.73031239 -0.55420296 -5.10011344] [ 0.22306101 0.66374729 -0.71392109 3.79168366] [ 0.88923613 0.1615034 0.42799037 -0.02988441] [ 0. 0. 0. 1. ]] SLAMing on 16.385860169 meters Centerline goodness : 0.982274 Centerline is valid? [True, True] Translation: X:-5.10, Y:3.83, Z:-0.04 [[ 0.43113831 -0.71242475 -0.5536883 -5.1023686 ] [ 0.19491798 0.67270003 -0.71377983 3.82515629] [ 0.88098055 0.19981403 0.42889115 -0.0394393 ] [ 0. 0. 0. 1. ]] SLAMing on 16.415860169000002 meters Centerline goodness : 0.993892 Centerline is valid? [True, True] Translation: X:-5.09, Y:3.84, Z:-0.05 [[ 0.4265511 -0.71555008 -0.55321085 -5.08572301] [ 0.20022214 0.6711737 -0.71374853 3.84203893] [ 0.88202339 0.19368516 0.42955885 -0.04975621] [ 0. 0. 0. 1. ]] SLAMing on 16.445860169 meters Centerline goodness : 0.990358 Centerline is valid? [True, True] Translation: X:-5.04, Y:3.84, Z:-0.07 [[ 0.37083913 -0.74674471 -0.55213285 -5.04352588] [ 0.25438902 0.65346352 -0.71293173 3.83571731] [ 0.89317667 0.12392645 0.4322935 -0.06674109] [ 0. 0. 0. 1. ]] SLAMing on 16.475860169 meters Centerline goodness : 0.989388 Centerline is valid? [True, True] Translation: X:-5.03, Y:3.85, Z:-0.08 [[ 0.36350821 -0.75052019 -0.55188878 -5.02501384] [ 0.2608058 0.65071274 -0.71312921 3.85274863] [ 0.89433893 0.11529253 0.43227944 -0.07833539] [ 0. 0. 0. 1. ]] SLAMing on 16.505860169 meters Centerline goodness : 0.988247 Centerline is valid? [True, True] Translation: X:-5.00, Y:3.87, Z:-0.09 [[ 0.34891004 -0.7577268 -0.5514634 -5.00243333] [ 0.27415836 0.64522887 -0.71310371 3.86671392] [ 0.8961579 0.09762075 0.43286397 -0.09020909] [ 0. 0. 0. 1. ]] SLAMing on 16.535860169000003 meters Centerline goodness : 0.990567 Centerline is valid? [True, True] Translation: X:-4.98, Y:3.88, Z:-0.10 [[ 0.33220649 -0.76532467 -0.55128668 -4.97977474] [ 0.28793487 0.63886874 -0.71340048 3.87998268] [ 0.89818281 0.07826161 0.4326 -0.10226826] [ 0. 0. 0. 1. ]] SLAMing on 16.565860169 meters Centerline goodness : 0.987443 Centerline is valid? [True, True] Translation: X:-4.95, Y:3.89, Z:-0.12 [[ 0.31039901 -0.77455446 -0.55110601 -4.95409237] [ 0.30561074 0.6302739 -0.71369243 3.89094996] [ 0.90014139 0.05310551 0.43234856 -0.11530758] [ 0. 0. 0. 1. ]] SLAMing on 16.595860169 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:-4.92, Y:3.90, Z:-0.12 [[ 0.27826212 -0.78674892 -0.55099576 -4.92257904] [ 0.33057418 0.61705076 -0.71412119 3.8995033 ] [ 0.90182643 0.01656791 0.43178073 -0.12362609] [ 0. 0. 0. 1. ]] SLAMing on 16.625860169000003 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:-4.90, Y:3.91, Z:-0.14 [[ 0.25709649 -0.79435176 -0.55036958 -4.89763079] [ 0.34845738 0.60740214 -0.71389082 3.90970278] [ 0.90137609 -0.00824152 0.43295869 -0.1355039 ] [ 0. 0. 0. 1. ]] SLAMing on 16.655860169 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:-4.88, Y:3.93, Z:-0.14 [[ 0.24220286 -0.79903303 -0.55034897 -4.8755059 ] [ 0.35879379 0.60079021 -0.71436555 3.9252496 ] [ 0.90144594 -0.02444041 0.4322012 -0.14478585] [ 0. 0. 0. 1. ]] SLAMing on 16.685860169 meters Centerline goodness : 0.998346 Centerline is valid? [True, True] Translation: X:-4.87, Y:3.95, Z:-0.16 [[ 2.63588713e-01 -7.92713084e-01 -5.49660765e-01 -4.87130141e+00] [ 3.44434476e-01 6.09593879e-01 -7.13974926e-01 3.95194364e+00] [ 9.01047103e-01 -1.12638582e-03 4.33719782e-01 -1.58568848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.715860169000003 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:-4.87, Y:3.98, Z:-0.17 [[ 0.28219263 -0.78667748 -0.54909549 -4.8659913 ] [ 0.32923222 0.61700948 -0.7147765 3.97893774] [ 0.9010957 0.02092474 0.4331151 -0.16730038] [ 0. 0. 0. 1. ]] SLAMing on 16.745860169 meters Centerline goodness : 0.988592 Centerline is valid? [True, True] Translation: X:-4.85, Y:3.99, Z:-0.18 [[ 0.27408707 -0.78961599 -0.54898348 -4.8472516 ] [ 0.33654355 0.61350185 -0.71439059 3.99458928] [ 0.90089662 0.01104837 0.43389309 -0.18158607] [ 0. 0. 0. 1. ]] SLAMing on 16.775860169 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:-4.83, Y:4.02, Z:-0.19 [[ 0.27752835 -0.78899345 -0.54814903 -4.83425316] [ 0.33428393 0.61421478 -0.71483876 4.01514522] [ 0.90068433 0.0151506 0.43420985 -0.18981461] [ 0. 0. 0. 1. ]] SLAMing on 16.805860169000002 meters Centerline goodness : 0.984605 Centerline is valid? [True, True] Translation: X:-4.80, Y:4.02, Z:-0.20 [[ 0.24511456 -0.79969682 -0.5480911 -4.80251434] [ 0.3600281 0.59999292 -0.71441463 4.02143828] [ 0.90016589 -0.02221477 0.43498032 -0.20332591] [ 0. 0. 0. 1. ]] SLAMing on 16.835860169 meters Centerline goodness : 0.986037 Centerline is valid? [True, True] Translation: X:-4.80, Y:4.05, Z:-0.21 [[ 0.25905323 -0.7951603 -0.54828051 -4.796079 ] [ 0.34855242 0.60637006 -0.71472132 4.046239 ] [ 0.90077891 -0.00595363 0.43423717 -0.21482718] [ 0. 0. 0. 1. ]] SLAMing on 16.865860169 meters Centerline goodness : 0.981393 Centerline is valid? [True, True] Translation: X:-4.77, Y:4.06, Z:-0.23 [[ 0.23642956 -0.80243572 -0.54790326 -4.7708603 ] [ 0.36600302 0.59590478 -0.71480017 4.05773052] [ 0.90007936 -0.03153436 0.4345834 -0.22614702] [ 0. 0. 0. 1. ]] SLAMing on 16.895860169000002 meters Centerline goodness : 0.988328 Centerline is valid? [True, True] Translation: X:-4.76, Y:4.08, Z:-0.24 [[ 0.25110621 -0.79818071 -0.54758855 -4.76328963] [ 0.35516538 0.60223249 -0.71496405 4.08448397] [ 0.90044613 -0.01495259 0.43471047 -0.23601658] [ 0. 0. 0. 1. ]] SLAMing on 16.925860169 meters Centerline goodness : 0.978172 Centerline is valid? [True, True] Translation: X:-4.75, Y:4.11, Z:-0.25 [[ 0.25409702 -0.7975017 -0.54719809 -4.74986009] [ 0.35344714 0.60320272 -0.71499762 4.10566745] [ 0.90028319 -0.01172683 0.43514671 -0.24813414] [ 0. 0. 0. 1. ]] SLAMing on 16.955860169 meters Centerline goodness : 0.978701 Centerline is valid? [True, True] Translation: X:-4.75, Y:4.14, Z:-0.26 [[ 0.27729942 -0.78991289 -0.54693936 -4.74675487] [ 0.33563891 0.61304157 -0.71521085 4.13558413] [ 0.90025083 0.01475343 0.43512157 -0.25974791] [ 0. 0. 0. 1. ]] SLAMing on 16.985860169000002 meters Centerline goodness : 0.985758 Centerline is valid? [True, True] Translation: X:-4.73, Y:4.16, Z:-0.27 [[ 0.27983562 -0.78911608 -0.5467978 -4.73334322] [ 0.33307652 0.61397657 -0.7156066 4.15755344] [ 0.90041771 0.01812671 0.43464855 -0.26950203] [ 0. 0. 0. 1. ]] SLAMing on 17.015860169 meters Centerline goodness : 0.994963 Centerline is valid? [True, True] Translation: X:-4.73, Y:4.18, Z:-0.28 [[ 0.29340904 -0.78426238 -0.54666594 -4.725005 ] [ 0.3218624 0.61949007 -0.71598648 4.18432344] [ 0.90017539 0.0341257 0.43418856 -0.2794962 ] [ 0. 0. 0. 1. ]] SLAMing on 17.045860169 meters Centerline goodness : 0.990062 Centerline is valid? [True, True] Translation: X:-4.70, Y:4.20, Z:-0.29 [[ 0.27367597 -0.79150399 -0.54646399 -4.69950033] [ 0.33701716 0.61104896 -0.71626713 4.19685553] [ 0.90084455 0.01185735 0.43397984 -0.29117705] [ 0. 0. 0. 1. ]] SLAMing on 17.075860169000002 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:-4.68, Y:4.22, Z:-0.30 [[ 0.27018328 -0.79278339 -0.54634741 -4.68201714] [ 0.33900716 0.60944528 -0.71669421 4.21788556] [ 0.90115212 0.0084231 0.43342117 -0.29965439] [ 0. 0. 0. 1. ]] SLAMing on 17.105860169 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:-4.68, Y:4.24, Z:-0.31 [[ 0.28639119 -0.78756741 -0.5456351 -4.67508175] [ 0.3256215 0.6155986 -0.71764127 4.24459629] [ 0.90108308 0.02785561 0.4327509 -0.3084138 ] [ 0. 0. 0. 1. ]] SLAMing on 17.135860169 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:-4.62, Y:4.23, Z:-0.32 [[ 0.19135032 -0.815436 -0.54630503 -4.61504781] [ 0.39512151 0.57349428 -0.71762337 4.2324219 ] [ 0.89847874 -0.07853941 0.43193462 -0.31576159] [ 0. 0. 0. 1. ]] SLAMing on 17.165860169000002 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:-4.56, Y:4.23, Z:-0.32 [[ 0.10889598 -0.83026959 -0.5466206 -4.56042188] [ 0.44909126 0.53166521 -0.71808714 4.22576556] [ 0.88682507 -0.16728573 0.43076301 -0.32107939] [ 0. 0. 0. 1. ]] SLAMing on 17.195860169 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:-4.61, Y:4.29, Z:-0.35 [[ 0.24080914 -0.80328903 -0.54473635 -4.60992764] [ 0.35891611 0.59516899 -0.7189945 4.28588646] [ 0.90177058 -0.0223742 0.43163551 -0.34571923] [ 0. 0. 0. 1. ]] SLAMing on 17.225860169 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:-4.64, Y:4.34, Z:-0.35 [[ 0.32683417 -0.77131856 -0.54612005 -4.63976937] [ 0.28887211 0.63173146 -0.71935267 4.34203769] [ 0.89985128 0.07735018 0.42928385 -0.3539714 ] [ 0. 0. 0. 1. ]] SLAMing on 17.255860169 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:-4.61, Y:4.35, Z:-0.37 [[ 0.29391613 -0.78466836 -0.54581028 -4.60919837] [ 0.31730538 0.61874776 -0.71865744 4.34767449] [ 0.90162664 0.03803648 0.43083944 -0.37203411] [ 0. 0. 0. 1. ]] SLAMing on 17.285860169000003 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:-4.58, Y:4.36, Z:-0.38 [[ 2.54449365e-01 -7.97311343e-01 -5.47311742e-01 -4.57771359e+00] [ 3.40513793e-01 6.03561165e-01 -7.20946792e-01 4.35839458e+00] [ 9.05155168e-01 -2.92274441e-03 4.25071265e-01 -3.75868148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.315860169 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:-4.61, Y:4.41, Z:-0.39 [[ 0.35295909 -0.75979111 -0.54601955 -4.61044285] [ 0.26491085 0.64085214 -0.7205073 4.414377 ] [ 0.89735284 0.1096631 0.4274715 -0.38554412] [ 0. 0. 0. 1. ]] SLAMing on 17.345860169 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:-4.58, Y:4.42, Z:-0.40 [[ 0.32379741 -0.7721605 -0.54673888 -4.58292594] [ 0.28625765 0.6307406 -0.72126476 4.4234143 ] [ 0.90178257 0.07703548 0.42526902 -0.39882327] [ 0. 0. 0. 1. ]] SLAMing on 17.375860169000003 meters Centerline goodness : 0.986838 Centerline is valid? [True, True] Translation: X:-4.57, Y:4.45, Z:-0.41 [[ 0.33735645 -0.76670624 -0.54621623 -4.57497918] [ 0.27689247 0.63538072 -0.72084805 4.44729632] [ 0.89973395 0.09193958 0.42664497 -0.41350546] [ 0. 0. 0. 1. ]] SLAMing on 17.405860169 meters Centerline goodness : 0.954499 Centerline is valid? [True, True] Translation: X:-4.57, Y:4.47, Z:-0.43 [[ 0.35736844 -0.75815774 -0.54542153 -4.57046613] [ 0.26254513 0.64198651 -0.72036337 4.47393876] [ 0.89630232 0.11423736 0.42847634 -0.42608628] [ 0. 0. 0. 1. ]] SLAMing on 17.435860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-4.54, Y:4.48, Z:-0.44 [[ 0.3166733 -0.7758056 -0.54575057 -4.53556903] [ 0.29348245 0.62726704 -0.7213904 4.4799705 ] [ 0.90199006 0.06827687 0.42632405 -0.43528277] [ 0. 0. 0. 1. ]] SLAMing on 17.465860169000003 meters Centerline goodness : 0.943837 Centerline is valid? [True, False] Translation: X:-4.66, Y:4.41, Z:-0.37 [[ 0.3979451 -0.73508538 -0.54889815 -4.65554497] [ 0.2255777 0.65834708 -0.71811825 4.40519051] [ 0.88924372 0.16195245 0.42780487 -0.37228297] [ 0. 0. 0. 1. ]] SLAMing on 17.495860169 meters Centerline goodness : 0.965389 Centerline is valid? [False, True] Translation: X:-4.76, Y:4.34, Z:-0.31 [[ 0.4649129 -0.69229693 -0.55188854 -4.76498117] [ 0.16258408 0.67950957 -0.71542516 4.33585446] [ 0.87030019 0.2428821 0.42846922 -0.30904563] [ 0. 0. 0. 1. ]] SLAMing on 17.525860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-4.71, Y:4.32, Z:-0.33 [[ 0.37346989 -0.74374767 -0.55440025 -4.70597525] [ 0.24424322 0.6553961 -0.71470357 4.315042 ] [ 0.89491089 0.13151176 0.42642603 -0.32854478] [ 0. 0. 0. 1. ]] SLAMing on 17.555860169000002 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:-4.72, Y:4.36, Z:-0.34 [[ 0.43987643 -0.70639725 -0.55453734 -4.72397348] [ 0.18291653 0.67501389 -0.71477114 4.36108431] [ 0.87923277 0.21297694 0.42613443 -0.33502687] [ 0. 0. 0. 1. ]] SLAMing on 17.585860169 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:-4.71, Y:4.39, Z:-0.35 [[ 0.44888655 -0.70107682 -0.55406873 -4.71349901] [ 0.17471581 0.67694033 -0.71500082 4.38524656] [ 0.87634197 0.22414968 0.42635861 -0.34537142] [ 0. 0. 0. 1. ]] SLAMing on 17.615860169 meters Centerline goodness : 0.993332 Centerline is valid? [True, True] Translation: X:-4.71, Y:4.42, Z:-0.35 [[ 0.47507406 -0.68329889 -0.55444321 -4.71158325] [ 0.14780222 0.68310019 -0.7152123 4.41682912] [ 0.86744403 0.25783087 0.42551627 -0.35462468] [ 0. 0. 0. 1. ]] SLAMing on 17.645860169000002 meters Centerline goodness : 0.976323 Centerline is valid? [True, True] Translation: X:-4.65, Y:4.39, Z:-0.38 [[ 0.37905024 -0.74169025 -0.55336831 -4.6505294 ] [ 0.23927162 0.65621217 -0.71563586 4.39414052] [ 0.89390716 0.13885661 0.42620281 -0.37603846] [ 0. 0. 0. 1. ]] SLAMing on 17.675860169 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:-4.68, Y:4.45, Z:-0.38 [[ 0.4659911 -0.69020532 -0.55359634 -4.67936317] [ 0.1576658 0.68044339 -0.71563838 4.45074838] [ 0.87062839 0.24619791 0.42590234 -0.37957429] [ 0. 0. 0. 1. ]] SLAMing on 17.705860169 meters Centerline goodness : 0.968997 Centerline is valid? [True, True] Translation: X:-4.65, Y:4.46, Z:-0.40 [[ 0.43476302 -0.710716 -0.55304962 -4.64881996] [ 0.18788449 0.67219923 -0.7161338 4.45569033] [ 0.88072728 0.20743905 0.42577988 -0.39531109] [ 0. 0. 0. 1. ]] SLAMing on 17.735860169000002 meters Centerline goodness : 0.412863 Centerline is valid? [True, False] Translation: X:-4.76, Y:4.38, Z:-0.33 [[ 0.49866155 -0.66540986 -0.55548752 -4.76207194] [ 0.12335891 0.68880713 -0.71437197 4.38276772] [ 0.85797392 0.2877055 0.42556586 -0.32721387] [ 0. 0. 0. 1. ]] SLAMing on 17.765860169 meters Centerline goodness : 0.999794 Centerline is valid? [False, True] Translation: X:-4.87, Y:4.31, Z:-0.26 [[ 0.55160327 -0.62080306 -0.55707935 -4.87024704] [ 0.06606295 0.69829328 -0.71275674 4.30668053] [ 0.83148633 0.35635664 0.42619294 -0.25590881] [ 0. 0. 0. 1. ]] SLAMing on 17.795860169 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:-4.82, Y:4.29, Z:-0.28 [[ 0.48635666 -0.67269621 -0.55761726 -4.82268233] [ 0.13732207 0.68909789 -0.7115383 4.28989628] [ 0.86290199 0.26948823 0.42752339 -0.28309719] [ 0. 0. 0. 1. ]] SLAMing on 17.825860169000002 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:-4.80, Y:4.30, Z:-0.30 [[ 0.46071421 -0.69064364 -0.55745294 -4.79616857] [ 0.16452005 0.68365073 -0.71102379 4.29587014] [ 0.87216717 0.23586657 0.42859233 -0.30073258] [ 0. 0. 0. 1. ]] SLAMing on 17.855860169 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:-4.78, Y:4.32, Z:-0.31 [[ 0.46172069 -0.69024748 -0.55711078 -4.78176019] [ 0.16396905 0.68365859 -0.71114351 4.31613499] [ 0.87173858 0.23700075 0.42883854 -0.31249185] [ 0. 0. 0. 1. ]] SLAMing on 17.885860169 meters Centerline goodness : 0.994229 Centerline is valid? [True, True] Translation: X:-4.70, Y:4.28, Z:-0.33 [[ 0.32718644 -0.76297073 -0.55751654 -4.70083949] [ 0.28556278 0.64223746 -0.71132618 4.27844446] [ 0.90077907 0.0735303 0.42800743 -0.33429799] [ 0. 0. 0. 1. ]] SLAMing on 17.915860169000002 meters Centerline goodness : 0.992938 Centerline is valid? [True, True] Translation: X:-4.75, Y:4.35, Z:-0.34 [[ 0.44671767 -0.69972869 -0.5575151 -4.74549772] [ 0.17888147 0.68042067 -0.71065402 4.34843001] [ 0.8766098 0.21773259 0.42912443 -0.33859857] [ 0. 0. 0. 1. ]] SLAMing on 17.945860169 meters Centerline goodness : 0.978694 Centerline is valid? [True, True] Translation: X:-4.75, Y:4.38, Z:-0.34 [[ 0.48148669 -0.67683943 -0.55682937 -4.74818549] [ 0.14558809 0.6882591 -0.71070635 4.38435909] [ 0.86427697 0.26112793 0.42992736 -0.34434861] [ 0. 0. 0. 1. ]] SLAMing on 17.975860169 meters Centerline goodness : 0.326819 Centerline is valid? [True, False] Translation: X:-4.86, Y:4.31, Z:-0.27 [[ 0.53796953 -0.6318657 -0.55797359 -4.85830865] [ 0.08619844 0.69968346 -0.70923401 4.30841836] [ 0.83854554 0.33344983 0.43087422 -0.272745 ] [ 0. 0. 0. 1. ]] SLAMing on 18.005860169 meters Centerline goodness : 0.977504 Centerline is valid? [False, True] Translation: X:-4.97, Y:4.22, Z:-0.19 [[ 0.58763006 -0.58510602 -0.55887553 -4.97411735] [ 0.03014556 0.70606399 -0.70750611 4.22174399] [ 0.80856797 0.39890424 0.43254277 -0.19257651] [ 0. 0. 0. 1. ]] SLAMing on 18.035860169 meters Centerline goodness : 0.975169 Centerline is valid? [True, True] Translation: X:-4.89, Y:4.17, Z:-0.24 [[ 0.44728674 -0.69642315 -0.56118568 -4.88999383] [ 0.18154017 0.68508226 -0.70548243 4.16627244] [ 0.87577265 0.2136752 0.43285699 -0.23831806] [ 0. 0. 0. 1. ]] SLAMing on 18.065860169 meters Centerline goodness : 0.991815 Centerline is valid? [True, True] Translation: X:-4.89, Y:4.20, Z:-0.25 [[ 0.47356471 -0.67933053 -0.56057693 -4.88788924] [ 0.15636126 0.69120501 -0.70554007 4.19958219] [ 0.86676849 0.24646637 0.43355128 -0.24599362] [ 0. 0. 0. 1. ]] SLAMing on 18.095860169 meters Centerline goodness : 0.992768 Centerline is valid? [True, True] Translation: X:-4.88, Y:4.23, Z:-0.26 [[ 0.48426218 -0.67137727 -0.56101935 -4.87750055] [ 0.14388537 0.69360264 -0.70584161 4.22527646] [ 0.86301051 0.26108992 0.43248689 -0.25589311] [ 0. 0. 0. 1. ]] SLAMing on 18.125860169000003 meters Centerline goodness : 0.983972 Centerline is valid? [True, True] Translation: X:-4.86, Y:4.24, Z:-0.27 [[ 0.47988432 -0.67467287 -0.56082757 -4.86176873] [ 0.14908198 0.69265424 -0.70569446 4.24223817] [ 0.8645725 0.25504242 0.43297547 -0.26872545] [ 0. 0. 0. 1. ]] SLAMing on 18.155860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-4.85, Y:4.27, Z:-0.27 [[ 0.48979388 -0.66739779 -0.56096536 -4.85062403] [ 0.13735677 0.69446391 -0.70629526 4.26797363] [ 0.8609501 0.26888671 0.43181578 -0.27263734] [ 0. 0. 0. 1. ]] SLAMing on 18.185860169 meters Centerline goodness : 0.982623 Centerline is valid? [True, True] Translation: X:-4.84, Y:4.29, Z:-0.29 [[ 0.49160043 -0.66746433 -0.55930348 -4.83659225] [ 0.13889993 0.69415008 -0.70630198 4.28741986] [ 0.85967193 0.26953114 0.43395523 -0.29023461] [ 0. 0. 0. 1. ]] SLAMing on 18.215860169000003 meters Centerline goodness : 0.310478 Centerline is valid? [True, False] Translation: X:-4.94, Y:4.22, Z:-0.22 [[ 0.54786327 -0.62056873 -0.56101719 -4.94448958] [ 0.0795274 0.70621514 -0.70351657 4.21802267] [ 0.83277922 0.34081465 0.43626156 -0.22234573] [ 0. 0. 0. 1. ]] SLAMing on 18.245860169 meters Centerline goodness : 0.992345 Centerline is valid? [False, True] Translation: X:-5.06, Y:4.13, Z:-0.14 [[ 0.59582686 -0.57411026 -0.56159395 -5.06220661] [ 0.02429009 0.7118338 -0.7019278 4.12914905] [ 0.8027455 0.40458627 0.43807489 -0.14157656] [ 0. 0. 0. 1. ]] SLAMing on 18.275860169 meters Centerline goodness : 0.982283 Centerline is valid? [True, True] Translation: X:-4.99, Y:4.08, Z:-0.19 [[ 0.4778004 -0.67476128 -0.56249799 -4.99096546] [ 0.16126622 0.69680806 -0.69889322 4.07891272] [ 0.86353922 0.24321953 0.44175137 -0.19175743] [ 0. 0. 0. 1. ]] SLAMing on 18.305860169000002 meters Centerline goodness : 0.997627 Centerline is valid? [True, True] Translation: X:-4.95, Y:4.07, Z:-0.21 [[ 0.42076362 -0.71143097 -0.56287117 -4.94631749] [ 0.21351221 0.68070229 -0.70075454 4.0738751 ] [ 0.88168618 0.17467215 0.43831396 -0.20529835] [ 0. 0. 0. 1. ]] SLAMing on 18.335860169 meters Centerline goodness : 0.992662 Centerline is valid? [True, True] Translation: X:-4.97, Y:4.13, Z:-0.20 [[ 0.49981521 -0.65861175 -0.56250807 -4.97061584] [ 0.13473281 0.70066392 -0.7006548 4.13339415] [ 0.85558858 0.27440963 0.43893909 -0.20388507] [ 0. 0. 0. 1. ]] SLAMing on 18.365860169 meters Centerline goodness : 0.998648 Centerline is valid? [True, True] Translation: X:-4.95, Y:4.15, Z:-0.22 [[ 0.49092463 -0.66516765 -0.56262333 -4.95190002] [ 0.14246878 0.69840292 -0.7013815 4.14891088] [ 0.85947406 0.2641692 0.43762882 -0.21632973] [ 0. 0. 0. 1. ]] SLAMing on 18.395860169000002 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:-4.96, Y:4.19, Z:-0.22 [[ 0.52777985 -0.63644851 -0.56247819 -4.95520882] [ 0.10220661 0.70499652 -0.70180746 4.18714947] [ 0.84320949 0.31291085 0.4371322 -0.21956414] [ 0. 0. 0. 1. ]] SLAMing on 18.425860169 meters Centerline goodness : 0.998645 Centerline is valid? [True, True] Translation: X:-4.91, Y:4.18, Z:-0.24 [[ 0.47612534 -0.67626618 -0.56211095 -4.91417179] [ 0.15782556 0.69455071 -0.70191909 4.17886753] [ 0.86509869 0.24548599 0.43742528 -0.24157188] [ 0. 0. 0. 1. ]] SLAMing on 18.455860169 meters Centerline goodness : 0.986349 Centerline is valid? [True, True] Translation: X:-4.88, Y:4.17, Z:-0.26 [[ 0.43020618 -0.70650027 -0.56194307 -4.87608704] [ 0.20314761 0.68229348 -0.70228673 4.17476371] [ 0.87957586 0.1879707 0.43705071 -0.26237377] [ 0. 0. 0. 1. ]] SLAMing on 18.485860169000002 meters Centerline goodness : 0.993154 Centerline is valid? [True, True] Translation: X:-4.85, Y:4.19, Z:-0.28 [[ 0.41236757 -0.71731866 -0.56161101 -4.85373127] [ 0.22047721 0.67671917 -0.70245353 4.18580555] [ 0.88393596 0.16584662 0.43720946 -0.27701859] [ 0. 0. 0. 1. ]] SLAMing on 18.515860169 meters Centerline goodness : 0.995061 Centerline is valid? [True, True] Translation: X:-4.86, Y:4.23, Z:-0.28 [[ 0.46039603 -0.68762089 -0.56143834 -4.86347122] [ 0.17335672 0.68992016 -0.70282119 4.22990517] [ 0.87062216 0.22624698 0.4368402 -0.28077506] [ 0. 0. 0. 1. ]] SLAMing on 18.545860169 meters Centerline goodness : 0.995475 Centerline is valid? [True, True] Translation: X:-4.87, Y:4.27, Z:-0.28 [[ 0.49729247 -0.661709 -0.56110729 -4.86700691] [ 0.13573401 0.69812323 -0.70299377 4.26853728] [ 0.85689934 0.27343216 0.43698784 -0.284971 ] [ 0. 0. 0. 1. ]] SLAMing on 18.575860169000002 meters Centerline goodness : 0.996775 Centerline is valid? [True, True] Translation: X:-4.85, Y:4.28, Z:-0.30 [[ 0.48685559 -0.66972928 -0.56074443 -4.84701291] [ 0.14709276 0.69565746 -0.7031532 4.28149853] [ 0.86100834 0.25985262 0.43719705 -0.29811339] [ 0. 0. 0. 1. ]] SLAMing on 18.605860169 meters Centerline goodness : 0.998467 Centerline is valid? [True, True] Translation: X:-4.86, Y:4.33, Z:-0.30 [[ 0.54030786 -0.62736689 -0.56078356 -4.85904129] [ 0.08816798 0.70497533 -0.7037302 4.32994276] [ 0.8368356 0.33078781 0.43621739 -0.29762125] [ 0. 0. 0. 1. ]] SLAMing on 18.635860169 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:-4.84, Y:4.34, Z:-0.31 [[ 0.52286733 -0.64198211 -0.56077511 -4.83513704] [ 0.10647134 0.70190152 -0.70427133 4.34064345] [ 0.8457385 0.30853399 0.43535407 -0.31061277] [ 0. 0. 0. 1. ]] SLAMing on 18.665860169000002 meters Centerline goodness : 0.993089 Centerline is valid? [True, True] Translation: X:-4.84, Y:4.38, Z:-0.32 [[ 0.5618522 -0.60894817 -0.55991449 -4.83970298] [ 0.06547995 0.70746255 -0.70371096 4.38012062] [ 0.82464204 0.35871838 0.43736328 -0.31511453] [ 0. 0. 0. 1. ]] SLAMing on 18.695860169 meters Centerline goodness : 0.993612 Centerline is valid? [True, True] Translation: X:-4.91, Y:4.52, Z:-0.24 [[ 0.74027588 -0.37300696 -0.55933659 -4.91084368] [-0.18696186 0.68493564 -0.70420766 4.52254511] [ 0.64578393 0.62588256 0.43730326 -0.23815001] [ 0. 0. 0. 1. ]] SLAMing on 18.725860169 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:-4.84, Y:4.46, Z:-0.32 [[ 0.62643559 -0.5430174 -0.55920528 -4.84028865] [-0.01288966 0.71009975 -0.70398309 4.45963512] [ 0.77936661 0.44820803 0.43783245 -0.31525327] [ 0. 0. 0. 1. ]] SLAMing on 18.755860169 meters Centerline goodness : 0.998422 Centerline is valid? [True, True] Translation: X:-4.82, Y:4.48, Z:-0.33 [[ 6.20897094e-01 -5.49733094e-01 -5.58820476e-01 -4.82123950e+00] [-4.73948247e-03 7.10233686e-01 -7.03950033e-01 4.47555191e+00] [ 7.83877756e-01 4.39729049e-01 4.38376581e-01 -3.29746893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.785860169 meters Centerline goodness : 0.991484 Centerline is valid? [True, True] Translation: X:-4.80, Y:4.48, Z:-0.35 [[ 0.60303811 -0.56968682 -0.55839231 -4.79864608] [ 0.0187303 0.70991095 -0.70404234 4.48281685] [ 0.79749245 0.4141055 0.43877376 -0.34864946] [ 0. 0. 0. 1. ]] SLAMing on 18.815860169 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:-4.75, Y:4.46, Z:-0.38 [[ 0.53128068 -0.63718358 -0.55833496 -4.74823501] [ 0.1019967 0.70235201 -0.70448444 4.46174114] [ 0.8410336 0.31733065 0.43813667 -0.38119416] [ 0. 0. 0. 1. ]] SLAMing on 18.845860169 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:-4.76, Y:4.51, Z:-0.38 [[ 0.57750191 -0.59578939 -0.55814563 -4.75628357] [ 0.04889892 0.70769189 -0.70482699 4.50809752] [ 0.81492358 0.37974621 0.43782687 -0.37978035] [ 0. 0. 0. 1. ]] SLAMing on 18.875860169000003 meters Centerline goodness : 0.998166 Centerline is valid? [True, True] Translation: X:-4.75, Y:4.54, Z:-0.39 [[ 0.59430368 -0.57906813 -0.55810683 -4.7504391 ] [ 0.02774664 0.70830489 -0.70536112 4.53864437] [ 0.80376194 0.40371312 0.4370154 -0.3866354 ] [ 0. 0. 0. 1. ]] SLAMing on 18.905860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-4.75, Y:4.58, Z:-0.39 [[ 0.6221471 -0.54931272 -0.55784275 -4.74894267] [-0.00712843 0.70852937 -0.70564532 4.57554287] [ 0.78286792 0.44299173 0.43689375 -0.38634509] [ 0. 0. 0. 1. ]] SLAMing on 18.935860169 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:-4.73, Y:4.59, Z:-0.40 [[ 6.17048928e-01 -5.55102706e-01 -5.57773796e-01 -4.73169677e+00] [-9.86020878e-04 7.08255961e-01 -7.05955042e-01 4.59164291e+00] [ 7.86924170e-01 4.36158778e-01 4.36481238e-01 -4.00573035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.965860169000003 meters Centerline goodness : 0.992761 Centerline is valid? [True, True] Translation: X:-4.72, Y:4.62, Z:-0.41 [[ 0.63006707 -0.54144888 -0.55664045 -4.72378771] [-0.01360496 0.70901381 -0.70506334 4.6173506 ] [ 0.77642153 0.45181027 0.43935987 -0.40881794] [ 0. 0. 0. 1. ]] SLAMing on 18.995860169 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:-4.51, Y:4.45, Z:-0.47 [[ 0.23162008 -0.79852336 -0.5556191 -4.51308932] [ 0.3791915 0.60008337 -0.70435343 4.4511763 ] [ 0.89586045 -0.04754364 0.44178463 -0.47372637] [ 0. 0. 0. 1. ]] SLAMing on 19.025860169 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:-4.60, Y:4.55, Z:-0.48 [[ 0.43829012 -0.70753031 -0.55434883 -4.59630293] [ 0.20742119 0.67971216 -0.7035395 4.55373043] [ 0.87457317 0.19337072 0.4446679 -0.47630184] [ 0. 0. 0. 1. ]] SLAMing on 19.055860169000002 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:-4.64, Y:4.64, Z:-0.46 [[ 0.57376873 -0.60551483 -0.55149001 -4.64474462] [ 0.06412625 0.70450182 -0.70679913 4.64137288] [ 0.81650307 0.37017426 0.44305051 -0.4568302 ] [ 0. 0. 0. 1. ]] SLAMing on 19.085860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-4.55, Y:4.58, Z:-0.51 [[ 0.40091685 -0.73034975 -0.55304152 -4.5481991 ] [ 0.24545544 0.66724635 -0.70323107 4.57572849] [ 0.88261957 0.14619013 0.44677863 -0.5082796 ] [ 0. 0. 0. 1. ]] SLAMing on 19.115860169 meters Centerline goodness : 0.989821 Centerline is valid? [True, True] Translation: X:-4.53, Y:4.59, Z:-0.52 [[ 0.39725791 -0.73237736 -0.5530005 -4.53193088] [ 0.24808458 0.66585707 -0.70362519 4.59347598] [ 0.88353845 0.14232978 0.44620852 -0.52146587] [ 0. 0. 0. 1. ]] SLAMing on 19.145860169000002 meters Centerline goodness : 0.988489 Centerline is valid? [True, True] Translation: X:-4.52, Y:4.62, Z:-0.53 [[ 0.40921417 -0.72583696 -0.55290549 -4.52305757] [ 0.23634382 0.66960293 -0.70411187 4.61890826] [ 0.88129755 0.15745676 0.44555808 -0.53355587] [ 0. 0. 0. 1. ]] SLAMing on 19.175860169 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:-4.47, Y:4.61, Z:-0.54 [[ 0.33528717 -0.76187026 -0.55419872 -4.47332518] [ 0.29470638 0.64354364 -0.70639913 4.61228797] [ 0.89483555 0.07352067 0.44029995 -0.5424207 ] [ 0. 0. 0. 1. ]] SLAMing on 19.205860169 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:-4.46, Y:4.63, Z:-0.55 [[ 0.34297438 -0.7585787 -0.55400986 -4.46230441] [ 0.28790243 0.646289 -0.70669846 4.63474094] [ 0.89413688 0.08287869 0.44005722 -0.55297258] [ 0. 0. 0. 1. ]] SLAMing on 19.235860169000002 meters Centerline goodness : 0.991682 Centerline is valid? [True, True] Translation: X:-4.49, Y:4.69, Z:-0.57 [[ 0.42959014 -0.71446998 -0.55225443 -4.48916552] [ 0.21664166 0.67524317 -0.70506244 4.68714229] [ 0.87665199 0.18324656 0.44486177 -0.56507811] [ 0. 0. 0. 1. ]] SLAMing on 19.265860169 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:-4.47, Y:4.70, Z:-0.58 [[ 0.4170916 -0.72187484 -0.55220586 -4.46868912] [ 0.22730578 0.67112168 -0.70563997 4.70207955] [ 0.87998107 0.16879692 0.44400554 -0.57766503] [ 0. 0. 0. 1. ]] SLAMing on 19.295860169 meters Centerline goodness : 0.992114 Centerline is valid? [True, True] Translation: X:-4.45, Y:4.72, Z:-0.59 [[ 0.4097248 -0.72642369 -0.55175557 -4.44955177] [ 0.23492882 0.66848253 -0.70564832 4.71822846] [ 0.88143862 0.15949833 0.44455174 -0.59151853] [ 0. 0. 0. 1. ]] SLAMing on 19.325860169000002 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:-4.41, Y:4.71, Z:-0.61 [[ 0.34979101 -0.75710185 -0.55176358 -4.40536094] [ 0.28686557 0.64723938 -0.70625019 4.71383818] [ 0.89182644 0.08875799 0.44358497 -0.60570292] [ 0. 0. 0. 1. ]] SLAMing on 19.355860169 meters Centerline goodness : 0.996151 Centerline is valid? [True, True] Translation: X:-4.46, Y:4.80, Z:-0.60 [[ 0.48802218 -0.6769077 -0.5510266 -4.45681881] [ 0.15703927 0.68910258 -0.7074435 4.7952575 ] [ 0.8585878 0.2587153 0.44259844 -0.60192511] [ 0. 0. 0. 1. ]] SLAMing on 19.385860169 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:-4.38, Y:4.76, Z:-0.63 [[ 0.3557793 -0.75489052 -0.55096406 -4.37675311] [ 0.28284391 0.64886364 -0.70638184 4.75563544] [ 0.8907415 0.09547921 0.44436844 -0.62991887] [ 0. 0. 0. 1. ]] SLAMing on 19.415860169000002 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:-4.36, Y:4.77, Z:-0.64 [[ 0.34353972 -0.76053415 -0.5509703 -4.35640106] [ 0.29253571 0.64414768 -0.70675075 4.77090039] [ 0.89241432 0.08161847 0.44377371 -0.64167404] [ 0. 0. 0. 1. ]] SLAMing on 19.445860169 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:-4.33, Y:4.78, Z:-0.65 [[ 0.3155916 -0.7727911 -0.55063224 -4.32725632] [ 0.31608776 0.63276285 -0.70689441 4.78056355] [ 0.89470133 0.04904182 0.44396444 -0.65373176] [ 0. 0. 0. 1. ]] SLAMing on 19.475860169 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:-4.50, Y:5.00, Z:-0.57 [[ 0.70409169 -0.4557676 -0.54454641 -4.50107247] [-0.10358874 0.69272304 -0.71372555 5.00101234] [ 0.70251283 0.55893711 0.44052814 -0.56883455] [ 0. 0. 0. 1. ]] SLAMing on 19.505860169 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:-4.51, Y:5.07, Z:-0.54 [[ 0.75922979 -0.35796218 -0.54353767 -4.51271368] [-0.19587031 0.67075847 -0.7153446 5.06529053] [ 0.62064881 0.64957382 0.43914565 -0.54134755] [ 0. 0. 0. 1. ]] SLAMing on 19.535860169 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:-4.49, Y:5.07, Z:-0.56 [[ 0.74510666 -0.3848563 -0.54470331 -4.48867349] [-0.17253089 0.67768812 -0.71482299 5.07325481] [ 0.64424309 0.62659752 0.43855033 -0.56490714] [ 0. 0. 0. 1. ]] SLAMing on 19.565860169 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:-4.28, Y:4.87, Z:-0.70 [[ 0.34017523 -0.76240787 -0.55046803 -4.2766907 ] [ 0.29508972 0.64235734 -0.70731825 4.86725741] [ 0.89286218 0.07817469 0.44349278 -0.70398915] [ 0. 0. 0. 1. ]] SLAMing on 19.595860169 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:-4.23, Y:4.86, Z:-0.72 [[ 0.27969633 -0.7869639 -0.54996162 -4.23150483] [ 0.34491972 0.61694504 -0.70739608 4.86387791] [ 0.89599127 0.00816348 0.44399663 -0.71664182] [ 0. 0. 0. 1. ]] SLAMing on 19.625860169000003 meters Centerline goodness : 0.996225 Centerline is valid? [True, True] Translation: X:-4.21, Y:4.88, Z:-0.73 [[ 0.25968472 -0.7942513 -0.54929839 -4.20681583] [ 0.36190824 0.60740036 -0.70716845 4.87558323] [ 0.89531351 -0.01515477 0.44517868 -0.72706809] [ 0. 0. 0. 1. ]] SLAMing on 19.655860169 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:-4.21, Y:4.91, Z:-0.74 [[ 0.29858241 -0.78065717 -0.54901997 -4.21205445] [ 0.33139899 0.62427315 -0.70743038 4.91085539] [ 0.89499902 0.0292816 0.44510598 -0.73748229] [ 0. 0. 0. 1. ]] SLAMing on 19.685860169 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:-4.13, Y:4.89, Z:-0.74 [[ 0.15607895 -0.82029105 -0.55023809 -4.12941621] [ 0.43048941 0.55786641 -0.70955192 4.88604936] [ 0.88899844 -0.12612555 0.44019782 -0.73835121] [ 0. 0. 0. 1. ]] SLAMing on 19.715860169000003 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:-4.06, Y:4.87, Z:-0.74 [[ 0.0406727 -0.83382155 -0.5505337 -4.05753932] [ 0.50198812 0.49345639 -0.71028777 4.86812178] [ 0.86391762 -0.24747205 0.43863872 -0.73875319] [ 0. 0. 0. 1. ]] SLAMing on 19.745860169 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:-3.83, Y:4.79, Z:-0.64 [[-0.39454194 -0.73468122 -0.55188781 -3.82989587] [ 0.68081873 0.16963688 -0.71253715 4.7924551 ] [ 0.61710819 -0.65686135 0.43325587 -0.63713781] [ 0. 0. 0. 1. ]] SLAMing on 19.775860169 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:-3.81, Y:4.81, Z:-0.65 [[-0.39477487 -0.73473936 -0.55164379 -3.81437138] [ 0.68068353 0.16938547 -0.7127261 4.81315705] [ 0.61710837 -0.6568612 0.43325585 -0.64931121] [ 0. 0. 0. 1. ]] SLAMing on 19.805860169000002 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:-4.34, Y:5.22, Z:-0.71 [[ 0.68959051 -0.46827266 -0.5524361 -4.34079185] [-0.10174704 0.69261054 -0.71409956 5.22352363] [ 0.71701636 0.54864502 0.4299723 -0.70900497] [ 0. 0. 0. 1. ]] SLAMing on 19.835860169 meters Centerline goodness : 0.995226 Centerline is valid? [True, True] Translation: X:-4.25, Y:5.14, Z:-0.79 [[ 0.52422218 -0.64889189 -0.55148021 -4.24508782] [ 0.1066659 0.69252863 -0.71346092 5.13794812] [ 0.84487483 0.31518791 0.43225351 -0.7904118 ] [ 0. 0. 0. 1. ]] SLAMing on 19.865860169 meters Centerline goodness : 0.984100 Centerline is valid? [True, True] Translation: X:-4.29, Y:5.23, Z:-0.76 [[ 0.6438337 -0.53068523 -0.55122714 -4.28988625] [-0.03447516 0.69955196 -0.71374962 5.22862719] [ 0.76438841 0.4785397 0.43209966 -0.76005006] [ 0. 0. 0. 1. ]] SLAMing on 19.895860169000002 meters Centerline goodness : 0.995648 Centerline is valid? [True, True] Translation: X:-4.16, Y:5.56, Z:-0.10 [[ 0.43537895 0.71326329 -0.54927283 -4.16309257] [-0.68434543 -0.13419435 -0.71670302 5.56499895] [-0.58490727 0.68792976 0.42969308 -0.09656843] [ 0. 0. 0. 1. ]] SLAMing on 19.925860169 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:-4.19, Y:5.18, Z:-0.83 [[ 0.49534746 -0.67185923 -0.55066875 -4.18507932] [ 0.13790267 0.68668234 -0.71375782 5.18341111] [ 0.85767928 0.27761943 0.43279753 -0.83038038] [ 0. 0. 0. 1. ]] SLAMing on 19.955860169 meters Centerline goodness : 0.996022 Centerline is valid? [True, True] Translation: X:-4.20, Y:5.61, Z:-0.19 [[ 0.55936336 0.62184773 -0.54810404 -4.19585144] [-0.69637997 -0.00613625 -0.71764705 5.61341341] [-0.44963049 0.78311413 0.42960991 -0.18817554] [ 0. 0. 0. 1. ]] SLAMing on 19.985860169000002 meters Centerline goodness : 0.984198 Centerline is valid? [True, True] Translation: X:-3.80, Y:5.47, Z:0.01 [[-0.37901156 0.78678635 -0.48715241 -3.80058441] [-0.25928237 -0.59563059 -0.76026104 5.47322441] [-0.88832589 -0.1618377 0.42975071 0.00794086] [ 0. 0. 0. 1. ]] SLAMing on 20.015860169 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:-3.87, Y:5.55, Z:-0.01 [[-0.41747728 0.80565756 -0.42027208 -3.86642714] [-0.24973713 -0.54642177 -0.79940892 5.54584307] [-0.87369565 -0.22877752 0.42932128 -0.01097021] [ 0. 0. 0. 1. ]] SLAMing on 20.045860169 meters Centerline goodness : 0.987561 Centerline is valid? [True, True] Translation: X:-4.28, Y:5.32, Z:-0.90 [[ 0.42063205 -0.8055291 -0.4173626 -4.28410311] [ 0.2603136 0.54785855 -0.79503952 5.31736146] [ 0.86908314 0.22577395 0.44013704 -0.89620038] [ 0. 0. 0. 1. ]] SLAMing on 20.075860169000002 meters Centerline goodness : 0.995996 Centerline is valid? [True, True] Translation: X:-4.23, Y:5.31, Z:-0.92 [[ 0.33210571 -0.84606815 -0.41698259 -4.22832344] [ 0.31781482 0.51659544 -0.79506156 5.31146015] [ 0.88808757 0.13152124 0.4404573 -0.91782363] [ 0. 0. 0. 1. ]] SLAMing on 20.105860169 meters Centerline goodness : 0.993992 Centerline is valid? [True, True] Translation: X:-4.23, Y:5.34, Z:-0.93 [[ 0.36099156 -0.83426479 -0.41675815 -4.23254097] [ 0.2993976 0.52691379 -0.79543883 5.34284503] [ 0.88320223 0.16237031 0.43998831 -0.92752834] [ 0. 0. 0. 1. ]] SLAMing on 20.135860169 meters Centerline goodness : 0.862681 Centerline is valid? [True, False] Translation: X:-4.35, Y:5.23, Z:-0.85 [[ 0.45031547 -0.78704284 -0.42163911 -4.35116259] [ 0.24338812 0.56254878 -0.79012727 5.22607071] [ 0.85905658 0.25318459 0.44488129 -0.84512802] [ 0. 0. 0. 1. ]] SLAMing on 20.165860169000002 meters Centerline goodness : 0.996123 Centerline is valid? [False, True] Translation: X:-4.47, Y:5.11, Z:-0.76 [[ 0.53032447 -0.73274567 -0.42642672 -4.46709953] [ 0.18567881 0.59115848 -0.78489173 5.11069358] [ 0.82721179 0.33706888 0.44956115 -0.75688799] [ 0. 0. 0. 1. ]] SLAMing on 20.195860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-4.36, Y:5.06, Z:-0.79 [[ 0.33572756 -0.83861539 -0.42896531 -4.35780849] [ 0.31973792 0.5298156 -0.78553364 5.06463769] [ 0.8860331 0.12656882 0.44601084 -0.79374489] [ 0. 0. 0. 1. ]] SLAMing on 20.225860169 meters Centerline goodness : 0.348090 Centerline is valid? [True, False] Translation: X:-4.48, Y:4.96, Z:-0.71 [[ 0.42878897 -0.79173523 -0.43508085 -4.47712207] [ 0.25986802 0.56934263 -0.77994717 4.95607058] [ 0.86522173 0.22136915 0.4498745 -0.71490953] [ 0. 0. 0. 1. ]] SLAMing on 20.255860169 meters Centerline goodness : 0.999355 Centerline is valid? [False, True] Translation: X:-4.59, Y:4.85, Z:-0.63 [[ 0.51244643 -0.73716937 -0.44043159 -4.59366194] [ 0.1993446 0.60100402 -0.77398701 4.85166542] [ 0.83526067 0.30882922 0.4549331 -0.63195234] [ 0. 0. 0. 1. ]] SLAMing on 20.285860169 meters Centerline goodness : 0.347776 Centerline is valid? [True, False] Translation: X:-4.70, Y:4.76, Z:-0.55 [[ 0.58245569 -0.68088488 -0.4440058 -4.69871013] [ 0.14217716 0.62314072 -0.76907822 4.75591398] [ 0.80033182 0.3848265 0.45975814 -0.54877554] [ 0. 0. 0. 1. ]] SLAMing on 20.315860169 meters Centerline goodness : 0.999153 Centerline is valid? [False, True] Translation: X:-4.80, Y:4.66, Z:-0.46 [[ 0.64228234 -0.62305407 -0.44640455 -4.80140061] [ 0.08658764 0.63767123 -0.76542666 4.65919129] [ 0.76156154 0.45296691 0.46351375 -0.46067156] [ 0. 0. 0. 1. ]] SLAMing on 20.345860169 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:-4.75, Y:4.65, Z:-0.50 [[ 0.57235223 -0.6877369 -0.44657685 -4.75338038] [ 0.15403998 0.62507973 -0.76521044 4.64699424] [ 0.80540959 0.36917921 0.46370476 -0.49598305] [ 0. 0. 0. 1. ]] SLAMing on 20.375860169000003 meters Centerline goodness : 0.990876 Centerline is valid? [True, True] Translation: X:-4.71, Y:4.64, Z:-0.53 [[ 0.50564906 -0.73848129 -0.44605427 -4.7085264 ] [ 0.21274954 0.60778715 -0.7650702 4.6396364 ] [ 0.83609608 0.29195918 0.46443856 -0.52627658] [ 0. 0. 0. 1. ]] SLAMing on 20.405860169 meters Centerline goodness : 0.981873 Centerline is valid? [True, True] Translation: X:-4.75, Y:4.71, Z:-0.51 [[ 0.62134099 -0.64446916 -0.44563984 -4.75381016] [ 0.10943174 0.63455347 -0.76509254 4.71270219] [ 0.77586085 0.42661622 0.46479946 -0.50775828] [ 0. 0. 0. 1. ]] SLAMing on 20.435860169 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:-4.75, Y:4.74, Z:-0.51 [[ 0.63634831 -0.62982999 -0.44539309 -4.74546981] [ 0.09423601 0.63652769 -0.76547506 4.74084718] [ 0.76562419 0.4451367 0.46440599 -0.51280512] [ 0. 0. 0. 1. ]] SLAMing on 20.465860169000003 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:-4.73, Y:4.76, Z:-0.52 [[ 0.63788143 -0.62857532 -0.4449723 -4.73398266] [ 0.09323289 0.63656353 -0.76556809 4.76302163] [ 0.76447034 0.44685561 0.46465595 -0.52464007] [ 0. 0. 0. 1. ]] SLAMing on 20.495860169 meters Centerline goodness : 0.996249 Centerline is valid? [True, True] Translation: X:-4.76, Y:4.82, Z:-0.51 [[ 0.70609856 -0.55120868 -0.44451526 -4.75622899] [ 0.02011205 0.64310351 -0.76551511 4.82046242] [ 0.7078279 0.531589 0.46518039 -0.50909329] [ 0. 0. 0. 1. ]] SLAMing on 20.525860169 meters Centerline goodness : 0.450076 Centerline is valid? [True, False] Translation: X:-4.85, Y:4.71, Z:-0.41 [[ 0.74432448 -0.49833836 -0.44456714 -4.85358465] [-0.02407363 0.64524604 -0.76359545 4.7122888 ] [ 0.66738409 0.57906513 0.46827561 -0.41496956] [ 0. 0. 0. 1. ]] SLAMing on 20.555860169000002 meters Centerline goodness : 0.999384 Centerline is valid? [False, True] Translation: X:-4.95, Y:4.60, Z:-0.32 [[ 0.77566793 -0.44861335 -0.44394294 -4.95106556] [-0.06345802 0.64439802 -0.76205267 4.59650985] [ 0.62794295 0.61927156 0.47137076 -0.31704432] [ 0. 0. 0. 1. ]] SLAMing on 20.585860169 meters Centerline goodness : 0.995189 Centerline is valid? [True, True] Translation: X:-4.95, Y:4.64, Z:-0.31 [[ 0.80147206 -0.40206681 -0.44270173 -4.95377083] [-0.10022395 0.63948994 -0.76223866 4.63642514] [ 0.58957417 0.65528231 0.47223659 -0.31250821] [ 0. 0. 0. 1. ]] SLAMing on 20.615860169 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:-4.95, Y:4.68, Z:-0.30 [[ 0.82777619 -0.34482953 -0.4425824 -4.95262992] [-0.14534446 0.63011094 -0.76278122 4.68013588] [ 0.5419055 0.69573903 0.47147177 -0.29991297] [ 0. 0. 0. 1. ]] SLAMing on 20.645860169000002 meters Centerline goodness : 0.996826 Centerline is valid? [True, True] Translation: X:-4.92, Y:4.67, Z:-0.35 [[ 0.78628977 -0.43176034 -0.44196313 -4.92119426] [-0.07574527 0.64255928 -0.76248294 4.66836866] [ 0.6131974 0.63300914 0.47253398 -0.34999413] [ 0. 0. 0. 1. ]] SLAMing on 20.675860169 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:-4.92, Y:4.70, Z:-0.35 [[ 0.80453113 -0.39703068 -0.44169706 -4.91721927] [-0.10386694 0.63818881 -0.7628412 4.70281853] [ 0.58475748 0.65960722 0.4722044 -0.34761575] [ 0. 0. 0. 1. ]] SLAMing on 20.705860169 meters Centerline goodness : 0.997688 Centerline is valid? [True, True] Translation: X:-4.92, Y:4.76, Z:-0.32 [[ 0.84300532 -0.30698696 -0.44170243 -4.9230792 ] [-0.17382698 0.62162135 -0.76378732 4.75825779] [ 0.50904441 0.72065657 0.47066749 -0.32166596] [ 0. 0. 0. 1. ]] SLAMing on 20.735860169000002 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:-4.93, Y:4.84, Z:-0.25 [[ 0.88909261 -0.11870133 -0.44206824 -4.93046157] [-0.30478622 0.56701888 -0.76524176 4.84217488] [ 0.34149625 0.8151071 0.46795377 -0.24708349] [ 0. 0. 0. 1. ]] SLAMing on 20.765860169 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:-4.88, Y:4.76, Z:-0.39 [[ 0.79438002 -0.41767207 -0.44103337 -4.87638091] [-0.08794439 0.63934016 -0.76387822 4.75834705] [ 0.60102094 0.64559601 0.47114713 -0.39288141] [ 0. 0. 0. 1. ]] SLAMing on 20.795860169 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:-4.90, Y:4.84, Z:-0.33 [[ 0.86293512 -0.24561855 -0.44160447 -4.89512325] [-0.21947274 0.60500896 -0.76537303 4.84368285] [ 0.45516447 0.75738741 0.4681769 -0.32804736] [ 0. 0. 0. 1. ]] SLAMing on 20.825860169000002 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:-4.86, Y:4.81, Z:-0.41 [[ 0.80061205 -0.40628381 -0.44040187 -4.85611755] [-0.09651041 0.6379676 -0.76399154 4.80545392] [ 0.59135953 0.6541642 0.47155394 -0.41303782] [ 0. 0. 0. 1. ]] SLAMing on 20.855860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-4.83, Y:4.80, Z:-0.45 [[ 0.76272782 -0.47382089 -0.4401591 -4.82604666] [-0.04119444 0.64362542 -0.76423121 4.79983551] [ 0.64540629 0.60103251 0.47139223 -0.45423706] [ 0. 0. 0. 1. ]] SLAMing on 20.885860169 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:-4.80, Y:4.81, Z:-0.48 [[ 0.74419468 -0.50277113 -0.43976753 -4.80309592] [-0.01606453 0.64470923 -0.76425908 4.80967088] [ 0.66776958 0.57582219 0.4717124 -0.47706344] [ 0. 0. 0. 1. ]] SLAMing on 20.915860169000002 meters Centerline goodness : 0.995934 Centerline is valid? [True, True] Translation: X:-4.80, Y:4.83, Z:-0.49 [[ 0.74938087 -0.49549894 -0.4392142 -4.79506973] [-0.02134517 0.6449035 -0.76396588 4.83348715] [ 0.66179505 0.58187652 0.47270183 -0.49056102] [ 0. 0. 0. 1. ]] SLAMing on 20.945860169 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:-4.78, Y:4.85, Z:-0.51 [[ 0.74311991 -0.50486419 -0.4391867 -4.78084056] [-0.01422948 0.64425624 -0.76467733 4.8513196 ] [ 0.66900697 0.57449634 0.47157568 -0.50611351] [ 0. 0. 0. 1. ]] SLAMing on 20.975860169 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:-4.72, Y:4.81, Z:-0.56 [[ 0.63430525 -0.63644451 -0.43885674 -4.71547585] [ 0.1084266 0.63529924 -0.76461661 4.81332165] [ 0.76544139 0.43741658 0.47198115 -0.56401235] [ 0. 0. 0. 1. ]] SLAMing on 21.005860169 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:-4.70, Y:4.83, Z:-0.58 [[ 0.6235093 -0.6473282 -0.4384089 -4.69884006] [ 0.11990122 0.63329732 -0.76456406 4.82859152] [ 0.77256706 0.42414704 0.47248221 -0.57995918] [ 0. 0. 0. 1. ]] SLAMing on 21.035860169 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:-4.73, Y:4.89, Z:-0.56 [[ 0.70163961 -0.56202641 -0.43798193 -4.72614751] [ 0.03817967 0.64345557 -0.76453074 4.88967169] [ 0.71150837 0.51970304 0.4729319 -0.56278194] [ 0. 0. 0. 1. ]] SLAMing on 21.065860169 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:-4.71, Y:4.91, Z:-0.57 [[ 0.70195088 -0.56186834 -0.43768588 -4.71390395] [ 0.03810198 0.64327754 -0.76468441 4.91161644] [ 0.71120545 0.5200942 0.47295754 -0.5743684 ] [ 0. 0. 0. 1. ]] SLAMing on 21.095860169 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:-4.71, Y:4.93, Z:-0.59 [[ 0.70667498 -0.55630487 -0.43719031 -4.70553236] [ 0.03375274 0.64370572 -0.76452841 4.93402798] [ 0.70673278 0.52551673 0.47366754 -0.58700152] [ 0. 0. 0. 1. ]] SLAMing on 21.125860169 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:-4.69, Y:4.95, Z:-0.60 [[ 0.70060519 -0.56415918 -0.43689449 -4.69102003] [ 0.04095548 0.64306785 -0.76471327 4.95205909] [ 0.71237281 0.51786886 0.47364208 -0.60161864] [ 0. 0. 0. 1. ]] SLAMing on 21.155860169 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:-4.64, Y:4.94, Z:-0.64 [[ 0.61934182 -0.65183162 -0.43764284 -4.63945774] [ 0.12171607 0.63039635 -0.76667179 4.93524768] [ 0.77562936 0.42156373 0.46976921 -0.63973037] [ 0. 0. 0. 1. ]] SLAMing on 21.185860169 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:-4.64, Y:4.97, Z:-0.64 [[ 0.64101611 -0.63075645 -0.43731527 -4.63862023] [ 0.10070259 0.63396286 -0.76677903 4.96610536] [ 0.76089246 0.44747893 0.46989921 -0.64452623] [ 0. 0. 0. 1. ]] SLAMing on 21.215860169000003 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:-4.65, Y:5.01, Z:-0.65 [[ 0.68419321 -0.58469983 -0.4358965 -4.64822257] [ 0.0606959 0.64126925 -0.7649116 5.0068753 ] [ 0.7267707 0.49689019 0.47424095 -0.64709956] [ 0. 0. 0. 1. ]] SLAMing on 21.245860169 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:-4.59, Y:4.98, Z:-0.69 [[ 0.59455104 -0.6760184 -0.43532538 -4.59219074] [ 0.15222377 0.62625521 -0.76461254 4.98380488] [ 0.78951693 0.38833431 0.47524675 -0.69110435] [ 0. 0. 0. 1. ]] SLAMing on 21.275860169 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:-4.51, Y:4.94, Z:-0.73 [[ 0.44293137 -0.78401278 -0.43489742 -4.50652834] [ 0.27831876 0.58135073 -0.76457177 4.94495381] [ 0.85226197 0.21761271 0.47570394 -0.73387046] [ 0. 0. 0. 1. ]] SLAMing on 21.305860169000002 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:-4.51, Y:4.97, Z:-0.74 [[ 0.46863831 -0.76922667 -0.43435984 -4.50768242] [ 0.26000477 0.59002384 -0.76437516 4.97484375] [ 0.84426042 0.24527985 0.47651038 -0.74427881] [ 0. 0. 0. 1. ]] SLAMing on 21.335860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-4.47, Y:4.98, Z:-0.76 [[ 0.41099246 -0.80158414 -0.43422121 -4.46783612] [ 0.30184352 0.56909439 -0.76486735 4.975981 ] [ 0.86021839 0.18328785 0.47584648 -0.76478176] [ 0. 0. 0. 1. ]] SLAMing on 21.365860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-4.45, Y:4.99, Z:-0.78 [[ 0.38974229 -0.81215218 -0.43417713 -4.44656098] [ 0.3155917 0.56069645 -0.76552033 4.99183759] [ 0.86516058 0.16133295 0.47483561 -0.77961695] [ 0. 0. 0. 1. ]] SLAMing on 21.395860169000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-4.36, Y:4.96, Z:-0.80 [[ 0.22718927 -0.87172102 -0.43415147 -4.35706546] [ 0.41579112 0.48996013 -0.76619633 4.96273491] [ 0.88062636 -0.00644474 0.47376754 -0.80073278] [ 0. 0. 0. 1. ]] SLAMing on 21.425860169 meters Centerline goodness : 0.994033 Centerline is valid? [True, True] Translation: X:-4.17, Y:4.91, Z:-0.78 [[-0.12822939 -0.89201139 -0.43344309 -4.16948899] [ 0.57436367 0.28949968 -0.76569988 4.90513281] [ 0.80849465 -0.34713919 0.47521657 -0.78036283] [ 0. 0. 0. 1. ]] SLAMing on 21.455860169 meters Centerline goodness : 0.997601 Centerline is valid? [True, True] Translation: X:-4.35, Y:5.51, Z:0.03 [[ 0.05476268 0.92792267 -0.36872831 -4.34519893] [-0.50809769 -0.29199934 -0.810292 5.5093759 ] [-0.85955674 0.23172377 0.4554847 0.0328109 ] [ 0. 0. 0. 1. ]] SLAMing on 21.485860169000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-4.49, Y:5.58, Z:0.01 [[ 0.15607877 0.94237475 -0.29592102 -4.48886746] [-0.51158172 -0.17915395 -0.84034993 5.57565397] [-0.84493997 0.28254857 0.45413957 0.01440703] [ 0. 0. 0. 1. ]] SLAMing on 21.515860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-4.31, Y:5.09, Z:-0.82 [[-0.20080181 -0.93494747 -0.29249248 -4.3080644 ] [ 0.53397055 0.14586188 -0.83282637 5.0855193 ] [ 0.82131241 -0.32341542 0.46994509 -0.8182762 ] [ 0. 0. 0. 1. ]] SLAMing on 21.545860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-4.36, Y:5.12, Z:-0.85 [[-0.08123358 -0.95290594 -0.2921838 -4.35823681] [ 0.51107969 0.21185398 -0.83301588 5.11928585] [ 0.85568608 -0.21699807 0.46980121 -0.8489516 ] [ 0. 0. 0. 1. ]] SLAMing on 21.575860169000002 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:-4.54, Y:5.21, Z:-0.87 [[ 0.30701433 -0.90570435 -0.29230434 -4.54184121] [ 0.38133912 0.39847527 -0.83414503 5.20532563] [ 0.87196484 0.1446274 0.46771812 -0.86816594] [ 0. 0. 0. 1. ]] SLAMing on 21.605860169 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:-4.65, Y:5.29, Z:-0.85 [[ 0.54199688 -0.78804365 -0.29193593 -4.64957672] [ 0.25862651 0.48693725 -0.83426881 5.28932786] [ 0.79959472 0.37666872 0.46772745 -0.84580419] [ 0. 0. 0. 1. ]] SLAMing on 21.635860169 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:-4.64, Y:5.31, Z:-0.86 [[ 0.54188375 -0.78825862 -0.29156535 -4.64174953] [ 0.25886608 0.48658775 -0.83439841 5.3132487 ] [ 0.79959387 0.37667056 0.46772741 -0.85897411] [ 0. 0. 0. 1. ]] SLAMing on 21.665860169000002 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:-4.73, Y:5.41, Z:-0.80 [[ 0.74590593 -0.59888439 -0.29148213 -4.73313587] [ 0.10672927 0.539444 -0.83522993 5.41240915] [ 0.65744445 0.59189329 0.46629297 -0.79569192] [ 0. 0. 0. 1. ]] SLAMing on 21.695860169 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:-4.73, Y:5.44, Z:-0.81 [[ 0.74584852 -0.59908294 -0.29122089 -4.72519355] [ 0.10698413 0.53925237 -0.83532106 5.43627279] [ 0.65746815 0.59186697 0.46629295 -0.80887401] [ 0. 0. 0. 1. ]] SLAMing on 21.725860169 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:-4.70, Y:5.44, Z:-0.85 [[ 0.69642607 -0.656365 -0.29013051 -4.6952165 ] [ 0.15358854 0.5312491 -0.83317762 5.43587557] [ 0.7010002 0.5356859 0.47078587 -0.84979972] [ 0. 0. 0. 1. ]] SLAMing on 21.755860169 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:-4.72, Y:5.48, Z:-0.84 [[ 0.75355755 -0.59000672 -0.28990187 -4.71611338] [ 0.10413241 0.54255982 -0.83353781 5.48338696] [ 0.64908202 0.59793053 0.47028886 -0.83668853] [ 0. 0. 0. 1. ]] SLAMing on 21.785860169 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:-4.71, Y:5.51, Z:-0.85 [[ 0.75537402 -0.5878482 -0.28955931 -4.7096282 ] [ 0.10277992 0.54269082 -0.83362039 5.50641949] [ 0.64718342 0.5999343 0.47035354 -0.84878983] [ 0. 0. 0. 1. ]] SLAMing on 21.815860169 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:-4.79, Y:5.65, Z:-0.70 [[ 0.93434556 -0.20724174 -0.28991245 -4.78726175] [-0.14137771 0.53120253 -0.83536591 5.64815056] [ 0.32712491 0.8215076 0.46702737 -0.69848472] [ 0. 0. 0. 1. ]] SLAMing on 21.845860169 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:-4.73, Y:5.59, Z:-0.83 [[ 0.83047381 -0.47608977 -0.28922616 -4.73270296] [ 0.02515934 0.55072977 -0.83430434 5.59096683] [ 0.55648922 0.68559117 0.46934475 -0.82842877] [ 0. 0. 0. 1. ]] SLAMing on 21.875860169 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:-4.67, Y:5.56, Z:-0.90 [[ 0.72188449 -0.62871923 -0.28912784 -4.67109235] [ 0.1309758 0.5343877 -0.83503002 5.56232961] [ 0.67950579 0.56492647 0.46811319 -0.90137536] [ 0. 0. 0. 1. ]] SLAMing on 21.905860169 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:-4.66, Y:5.59, Z:-0.91 [[ 0.72183529 -0.62891902 -0.288816 -4.6633438 ] [ 0.13124554 0.53415281 -0.83513794 5.58624886] [ 0.67950601 0.56492623 0.46811317 -0.91454544] [ 0. 0. 0. 1. ]] SLAMing on 21.935860169 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:-4.59, Y:5.56, Z:-0.98 [[ 0.58084815 -0.76107961 -0.28874428 -4.58572503] [ 0.23456136 0.49616213 -0.83594504 5.55785286] [ 0.7794847 0.41782888 0.46671472 -0.97876171] [ 0. 0. 0. 1. ]] SLAMing on 21.965860169000003 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:-4.69, Y:5.67, Z:-0.90 [[ 0.80849047 -0.51301074 -0.28838022 -4.69268869] [ 0.04865887 0.5466119 -0.83597114 5.67286586] [ 0.58649423 0.66184244 0.46689303 -0.89583723] [ 0. 0. 0. 1. ]] SLAMing on 21.995860169 meters Centerline goodness : 0.997845 Centerline is valid? [True, True] Translation: X:-4.62, Y:5.64, Z:-0.97 [[ 0.68188263 -0.67240254 -0.28794252 -4.62318022] [ 0.16383628 0.52405158 -0.83577964 5.63805039] [ 0.71287709 0.52272819 0.46750561 -0.9726512 ] [ 0. 0. 0. 1. ]] SLAMing on 22.025860169 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:-4.69, Y:5.73, Z:-0.91 [[ 0.83027128 -0.47721495 -0.28795051 -4.68810697] [ 0.02413639 0.54693347 -0.83682807 5.73105619] [ 0.55683663 0.68784422 0.4656214 -0.90511672] [ 0. 0. 0. 1. ]] SLAMing on 22.055860169000002 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:-4.70, Y:5.77, Z:-0.90 [[ 0.85812937 -0.42535623 -0.28755184 -4.69574459] [-0.00899487 0.54751599 -0.83674688 5.77153453] [ 0.51335472 0.72062357 0.46601352 -0.89714071] [ 0. 0. 0. 1. ]] SLAMing on 22.085860169 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:-4.70, Y:5.81, Z:-0.89 [[ 0.88328411 -0.37064116 -0.28711376 -4.70233863] [-0.04277336 0.54613411 -0.83660503 5.81160736] [ 0.46688288 0.75124075 0.46653802 -0.88681311] [ 0. 0. 0. 1. ]] SLAMing on 22.115860169 meters Centerline goodness : 0.996156 Centerline is valid? [True, True] Translation: X:-4.69, Y:5.82, Z:-0.92 [[ 0.86238661 -0.41735462 -0.28653875 -4.6871572 ] [-0.01225196 0.5486303 -0.83597529 5.82027183] [ 0.50610199 0.72444456 0.46801801 -0.92054112] [ 0. 0. 0. 1. ]] SLAMing on 22.145860169000002 meters Centerline goodness : 0.998114 Centerline is valid? [True, True] Translation: X:-4.68, Y:5.85, Z:-0.93 [[ 0.86396345 -0.41435191 -0.28614622 -4.67991096] [-0.01367635 0.54873487 -0.83588456 5.84543278] [ 0.50336877 0.72608714 0.46842005 -0.93114625] [ 0. 0. 0. 1. ]] SLAMing on 22.175860169 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:-4.67, Y:5.87, Z:-0.94 [[ 0.86711717 -0.40790689 -0.28586672 -4.67437479] [-0.01779624 0.54817269 -0.83617582 5.87022732] [ 0.4977862 0.73014976 0.46807074 -0.94049225] [ 0. 0. 0. 1. ]] SLAMing on 22.205860169 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:-4.68, Y:5.92, Z:-0.92 [[ 0.8952794 -0.34214631 -0.28532562 -4.68141355] [-0.05755851 0.54625334 -0.83564006 5.91533026] [ 0.44177123 0.76455425 0.46935592 -0.92248612] [ 0. 0. 0. 1. ]] SLAMing on 22.235860169000002 meters Centerline goodness : 0.998647 Centerline is valid? [True, True] Translation: X:-4.69, Y:5.98, Z:-0.88 [[ 0.93459173 -0.21341975 -0.28458796 -4.69391039] [-0.13196124 0.53493498 -0.83452429 5.97779932] [ 0.33034002 0.81749408 0.47178267 -0.87757477] [ 0. 0. 0. 1. ]] SLAMing on 22.265860169 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:-4.67, Y:5.97, Z:-0.94 [[ 0.90083785 -0.32815442 -0.28426369 -4.66653896] [-0.06408578 0.54707135 -0.83462923 5.96850933] [ 0.42939979 0.77008286 0.47179255 -0.93690482] [ 0. 0. 0. 1. ]] SLAMing on 22.295860169 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:-4.55, Y:5.87, Z:-1.09 [[ 0.67563273 -0.67962753 -0.2857041 -4.54571073] [ 0.17267884 0.52263582 -0.83488552 5.87412697] [ 0.71673038 0.51474093 0.47046715 -1.09336521] [ 0. 0. 0. 1. ]] SLAMing on 22.325860169000002 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:-4.45, Y:5.84, Z:-1.16 [[ 0.4988501 -0.81876059 -0.28421764 -4.44816658] [ 0.28686534 0.46543462 -0.83730454 5.83918586] [ 0.81783669 0.33615726 0.46705615 -1.15602524] [ 0. 0. 0. 1. ]] SLAMing on 22.355860169 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:-4.37, Y:5.82, Z:-1.20 [[ 0.34996562 -0.89290704 -0.28326857 -4.36659515] [ 0.36704667 0.4089173 -0.83550187 5.82054783] [ 0.86185893 0.18842414 0.47084555 -1.19887152] [ 0. 0. 0. 1. ]] SLAMing on 22.385860169 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:-4.34, Y:5.84, Z:-1.21 [[ 0.31542134 -0.90563299 -0.28344007 -4.34293234] [ 0.37935041 0.3941193 -0.83711603 5.83719376] [ 0.86982909 0.15652115 0.46786588 -1.21165446] [ 0. 0. 0. 1. ]] SLAMing on 22.415860169000002 meters Centerline goodness : 0.982850 Centerline is valid? [True, True] Translation: X:-4.38, Y:5.88, Z:-1.22 [[ 0.40515113 -0.86939532 -0.28285037 -4.37951317] [ 0.3396218 0.43036132 -0.83632898 5.87927371] [ 0.84882837 0.24277748 0.46962698 -1.21906648] [ 0. 0. 0. 1. ]] SLAMing on 22.445860169 meters Centerline goodness : 0.982850 Centerline is valid? [True, True] Translation: X:-4.37, Y:5.90, Z:-1.23 [[ 0.40503511 -0.86955102 -0.28253774 -4.37193153] [ 0.33976777 0.4300406 -0.83643466 5.90330922] [ 0.84882532 0.24278819 0.46962695 -1.23225335] [ 0. 0. 0. 1. ]] SLAMing on 22.475860169 meters Centerline goodness : 0.995800 Centerline is valid? [True, True] Translation: X:-4.30, Y:5.90, Z:-1.26 [[ 0.28085377 -0.91730627 -0.28225941 -4.3029432 ] [ 0.39573258 0.37861507 -0.83668773 5.89893134] [ 0.87436656 0.12328766 0.46934345 -1.25757281] [ 0. 0. 0. 1. ]] SLAMing on 22.505860169 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:-4.33, Y:5.94, Z:-1.26 [[ 0.34747124 -0.89429241 -0.28196599 -4.32774094] [ 0.36726381 0.4064732 -0.83659837 5.93557491] [ 0.86277519 0.18713797 0.46967899 -1.26351892] [ 0. 0. 0. 1. ]] SLAMing on 22.535860169 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:-4.28, Y:5.94, Z:-1.28 [[ 0.25861306 -0.92433997 -0.28056176 -4.27589814] [ 0.40509513 0.36744639 -0.83718641 5.93960994] [ 0.87693627 0.10285314 0.46947205 -1.2807539 ] [ 0. 0. 0. 1. ]] SLAMing on 22.565860169 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:-4.28, Y:5.97, Z:-1.29 [[ 0.2838326 -0.91705104 -0.28010077 -4.28077845] [ 0.39541306 0.37806025 -0.83708957 5.96761178] [ 0.87354883 0.12683781 0.46991979 -1.29246328] [ 0. 0. 0. 1. ]] SLAMing on 22.595860169 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:-4.28, Y:5.99, Z:-1.30 [[ 0.29409604 -0.91370309 -0.28045352 -4.27918656] [ 0.38997248 0.38260822 -0.83757532 5.9930275 ] [ 0.87259898 0.13695843 0.46884262 -1.30445867] [ 0. 0. 0. 1. ]] SLAMing on 22.625860169 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:-4.31, Y:6.03, Z:-1.31 [[ 0.36509084 -0.88780922 -0.28018469 -4.30773584] [ 0.3590741 0.41195887 -0.83746981 6.03269502] [ 0.85893799 0.20514549 0.46919171 -1.30972861] [ 0. 0. 0. 1. ]] SLAMing on 22.655860169 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:-4.30, Y:6.06, Z:-1.32 [[ 0.36520433 -0.88784238 -0.27993162 -4.30014839] [ 0.35917425 0.41180256 -0.83750373 6.05660267] [ 0.85884786 0.20531576 0.4692822 -1.32307354] [ 0. 0. 0. 1. ]] SLAMing on 22.685860169 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:-4.30, Y:6.08, Z:-1.33 [[ 0.37015 -0.88607028 -0.27904916 -4.29630424] [ 0.35956391 0.41362405 -0.83643825 6.0816904 ] [ 0.85656452 0.20927161 0.47170183 -1.33444154] [ 0. 0. 0. 1. ]] SLAMing on 22.715860169000003 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:-4.30, Y:6.11, Z:-1.34 [[ 0.40019438 -0.87305451 -0.27860418 -4.30284649] [ 0.34655913 0.42560954 -0.83591464 6.11254079] [ 0.84837564 0.23797552 0.47289156 -1.34360372] [ 0. 0. 0. 1. ]] SLAMing on 22.745860169 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:-4.30, Y:6.14, Z:-1.36 [[ 0.400266 -0.87310497 -0.27834303 -4.29526313] [ 0.34671715 0.42544208 -0.83593436 6.13639351] [ 0.84827728 0.2380898 0.47301046 -1.3570071 ] [ 0. 0. 0. 1. ]] SLAMing on 22.775860169 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:-4.32, Y:6.17, Z:-1.36 [[ 0.4571454 -0.84454868 -0.27884692 -4.315745 ] [ 0.31714104 0.44770624 -0.83605064 6.17361282] [ 0.83092698 0.2937629 0.4725079 -1.36166686] [ 0. 0. 0. 1. ]] SLAMing on 22.805860169000002 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:-4.15, Y:6.13, Z:-1.40 [[ 0.12584437 -0.95172063 -0.279984 -4.15030086] [ 0.45261661 0.30622331 -0.83747567 6.13226144] [ 0.88278049 -0.02133381 0.46930104 -1.39662319] [ 0. 0. 0. 1. ]] SLAMing on 22.835860169 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:-4.27, Y:6.21, Z:-1.40 [[ 0.39958857 -0.87306942 -0.27942579 -4.27423388] [ 0.34485981 0.42559749 -0.83662326 6.20698951] [ 0.8493531 0.23794236 0.47115045 -1.39754489] [ 0. 0. 0. 1. ]] SLAMing on 22.865860169 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:-3.97, Y:6.14, Z:-1.39 [[-0.22233795 -0.93407033 -0.27942523 -3.96753323] [ 0.53184241 0.12400558 -0.83771491 6.14020297] [ 0.81713493 -0.334866 0.46920707 -1.39183408] [ 0. 0. 0. 1. ]] SLAMing on 22.895860169000002 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:-3.95, Y:6.61, Z:-0.60 [[-0.4661612 0.86027772 -0.20643637 -3.94958353] [-0.32122293 -0.38200103 -0.86653969 6.61345699] [-0.8243237 -0.33763508 0.45441499 -0.60086356] [ 0. 0. 0. 1. ]] SLAMing on 22.925860169 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:-4.23, Y:6.26, Z:-1.45 [[ 0.1289488 -0.97056544 -0.20340832 -4.23388552] [ 0.45590017 0.24018061 -0.85701127 6.25563721] [ 0.88064025 0.01777669 0.47345195 -1.45351826] [ 0. 0. 0. 1. ]] SLAMing on 22.955860169 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:-4.29, Y:6.30, Z:-1.46 [[ 0.24776209 -0.94730506 -0.20304451 -4.29021637] [ 0.42282108 0.29429543 -0.8570954 6.29583783] [ 0.87168588 0.12650425 0.4734558 -1.46274833] [ 0. 0. 0. 1. ]] SLAMing on 22.985860169000002 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:-4.28, Y:6.32, Z:-1.48 [[ 0.24758226 -0.94742255 -0.2027154 -4.28489851] [ 0.42292158 0.29392388 -0.85717332 6.32049783] [ 0.87168823 0.12648819 0.47345578 -1.47592993] [ 0. 0. 0. 1. ]] SLAMing on 23.015860169 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:-4.40, Y:6.39, Z:-1.46 [[ 0.48901086 -0.84872405 -0.20133522 -4.3975396 ] [ 0.33068256 0.39396555 -0.85757809 6.38906607] [ 0.80716629 0.35278696 0.47331167 -1.45773916] [ 0. 0. 0. 1. ]] SLAMing on 23.045860169 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:-4.26, Y:6.36, Z:-1.50 [[ 0.21359984 -0.95575092 -0.20227528 -4.2576679 ] [ 0.43338652 0.27826899 -0.85717122 6.36468761] [ 0.87552912 0.09542826 0.47364778 -1.50391615] [ 0. 0. 0. 1. ]] SLAMing on 23.075860169000002 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:-4.22, Y:6.38, Z:-1.52 [[ 0.14848293 -0.96805997 -0.20202158 -4.21992278] [ 0.45170101 0.24812184 -0.85697244 6.37992951] [ 0.87972667 0.03599243 0.47411552 -1.51774926] [ 0. 0. 0. 1. ]] SLAMing on 23.105860169 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:-4.21, Y:6.40, Z:-1.53 [[ 0.1483553 -0.96814201 -0.20172198 -4.21462433] [ 0.45174511 0.24779753 -0.85704302 6.40461341] [ 0.87972556 0.03601996 0.4741155 -1.53093262] [ 0. 0. 0. 1. ]] SLAMing on 23.135860169 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:-4.21, Y:6.43, Z:-1.54 [[ 0.14968358 -0.96800518 -0.20139713 -4.21085193] [ 0.45143407 0.24813076 -0.8571105 6.42977153] [ 0.87966022 0.03737784 0.47413162 -1.54289698] [ 0. 0. 0. 1. ]] SLAMing on 23.165860169000002 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:-4.39, Y:6.52, Z:-1.51 [[ 0.53311487 -0.82224356 -0.19925877 -4.39127795] [ 0.31083459 0.40940295 -0.85777099 6.52064095] [ 0.78687381 0.39535395 0.47384055 -1.51269511] [ 0. 0. 0. 1. ]] SLAMing on 23.195860169 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:-4.23, Y:6.49, Z:-1.57 [[ 0.21612695 -0.95566085 -0.2000037 -4.23303052] [ 0.43404096 0.27753245 -0.85707887 6.48760718] [ 0.87458424 0.09842804 0.4747782 -1.56642491] [ 0. 0. 0. 1. ]] SLAMing on 23.225860169 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:-4.18, Y:6.50, Z:-1.58 [[ 0.11849364 -0.97251724 -0.20042326 -4.17809071] [ 0.46117623 0.23265566 -0.85626388 6.49836614] [ 0.87936099 0.00903138 0.47607005 -1.58497256] [ 0. 0. 0. 1. ]] SLAMing on 23.255860169 meters Centerline goodness : 0.998542 Centerline is valid? [True, True] Translation: X:-4.18, Y:6.52, Z:-1.60 [[ 0.12170334 -0.9721565 -0.20024994 -4.17540364] [ 0.46089775 0.2340308 -0.85603905 6.52199356] [ 0.87906858 0.01188806 0.47654707 -1.59869659] [ 0. 0. 0. 1. ]] SLAMing on 23.285860169 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:-4.18, Y:6.55, Z:-1.61 [[ 0.13639236 -0.97029486 -0.19981243 -4.17850155] [ 0.45821381 0.24061476 -0.85565451 6.54856208] [ 0.87831499 0.02514792 0.47742052 -1.61133686] [ 0. 0. 0. 1. ]] SLAMing on 23.315860169 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:-4.15, Y:6.57, Z:-1.62 [[ 0.09226442 -0.97555113 -0.19946745 -4.15101413] [ 0.46865798 0.21929182 -0.85572822 6.56581393] [ 0.87854822 -0.01452875 0.47743266 -1.62463854] [ 0. 0. 0. 1. ]] SLAMing on 23.345860169 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:-4.10, Y:6.58, Z:-1.63 [[ 0.00747542 -0.97995704 -0.19906861 -4.10340282] [ 0.48644433 0.1774956 -0.85549239 6.58146318] [ 0.87367959 -0.09044063 0.4780214 -1.63494616] [ 0. 0. 0. 1. ]] SLAMing on 23.375860169 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:-4.12, Y:6.61, Z:-1.65 [[ 0.05143348 -0.97870968 -0.19870067 -4.12012196] [ 0.478334 0.19879951 -0.85538023 6.61007936] [ 0.87667051 -0.0510501 0.47837507 -1.64828779] [ 0. 0. 0. 1. ]] SLAMing on 23.405860169 meters Centerline goodness : 0.994984 Centerline is valid? [True, True] Translation: X:-4.14, Y:6.64, Z:-1.66 [[ 1.09066406e-01 -9.74063508e-01 -1.98254386e-01 -4.14443984e+00] [ 4.66658327e-01 2.26273600e-01 -8.55003078e-01 6.63887614e+00] [ 8.77687031e-01 7.35052744e-04 4.79233695e-01 -1.66397831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.435860169 meters Centerline goodness : 0.992265 Centerline is valid? [True, True] Translation: X:-4.10, Y:6.66, Z:-1.68 [[ 0.04107803 -0.97937106 -0.19785074 -4.1049399 ] [ 0.48180132 0.1928908 -0.85478689 6.65653588] [ 0.87531713 -0.06021179 0.47978584 -1.67540404] [ 0. 0. 0. 1. ]] SLAMing on 23.465860169000003 meters Centerline goodness : 0.992265 Centerline is valid? [True, True] Translation: X:-4.10, Y:6.68, Z:-1.69 [[ 0.04088892 -0.97944683 -0.19751458 -4.09975525] [ 0.48181734 0.19250583 -0.85486464 6.68126197] [ 0.87531717 -0.06021145 0.47978582 -1.68859336] [ 0. 0. 0. 1. ]] SLAMing on 23.495860169 meters Centerline goodness : 0.988300 Centerline is valid? [True, True] Translation: X:-4.08, Y:6.70, Z:-1.70 [[ 0.01387643 -0.98025605 -0.1972448 -4.08079367] [ 0.48713324 0.17889825 -0.85480794 6.70150864] [ 0.87321741 -0.08422282 0.47999778 -1.70096233] [ 0. 0. 0. 1. ]] SLAMing on 23.525860169 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:-4.09, Y:6.73, Z:-1.71 [[ 0.03491983 -0.97981292 -0.19684318 -4.08843803] [ 0.48373958 0.18892381 -0.85457815 6.72859122] [ 0.87451508 -0.06537911 0.48057148 -1.71449528] [ 0. 0. 0. 1. ]] SLAMing on 23.555860169000002 meters Centerline goodness : 0.998657 Centerline is valid? [True, True] Translation: X:-4.10, Y:6.76, Z:-1.73 [[ 0.06445023 -0.97839753 -0.19642924 -4.09927096] [ 0.47839344 0.20303816 -0.85435076 6.75532294] [ 0.8757773 -0.03890735 0.48114481 -1.72725636] [ 0. 0. 0. 1. ]] SLAMing on 23.585860169 meters Centerline goodness : 0.998657 Centerline is valid? [True, True] Translation: X:-4.09, Y:6.78, Z:-1.74 [[ 0.06425884 -0.97847387 -0.19611143 -4.09410566] [ 0.47842014 0.20266764 -0.85442378 6.78004661] [ 0.87577678 -0.03891937 0.48114479 -1.74044549] [ 0. 0. 0. 1. ]] SLAMing on 23.615860169 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:-4.10, Y:6.81, Z:-1.75 [[ 0.08583388 -0.97687908 -0.19580553 -4.10062952] [ 0.47371249 0.21291003 -0.85455591 6.80759257] [ 0.87648675 -0.01940568 0.48103471 -1.75310444] [ 0. 0. 0. 1. ]] SLAMing on 23.645860169000002 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:-4.10, Y:6.83, Z:-1.77 [[ 0.08565681 -0.97695848 -0.19548669 -4.09548833] [ 0.47374452 0.21254539 -0.85462892 6.83231693] [ 0.87648676 -0.01940596 0.48103469 -1.76629391] [ 0. 0. 0. 1. ]] SLAMing on 23.675860169 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:-4.07, Y:6.85, Z:-1.78 [[ 0.04565142 -0.97970611 -0.19517143 -4.0704954 ] [ 0.48195799 0.19273305 -0.85473415 6.85187547] [ 0.87500425 -0.0550446 0.48097573 -1.77880438] [ 0. 0. 0. 1. ]] SLAMing on 23.705860169 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:-4.09, Y:6.88, Z:-1.79 [[ 0.08892747 -0.97680336 -0.19480016 -4.08575339] [ 0.47338048 0.21352321 -0.8545869 6.87974056] [ 0.87635771 -0.01621834 0.48138772 -1.79419532] [ 0. 0. 0. 1. ]] SLAMing on 23.735860169000002 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:-4.09, Y:6.91, Z:-1.80 [[ 0.11520685 -0.97413202 -0.19440727 -4.09351044] [ 0.46791738 0.22585618 -0.85442513 6.90762723] [ 0.87623097 0.00746908 0.48183349 -1.80440876] [ 0. 0. 0. 1. ]] SLAMing on 23.765860169 meters Centerline goodness : 0.992716 Centerline is valid? [True, True] Translation: X:-4.15, Y:6.95, Z:-1.82 [[ 0.23810319 -0.95193397 -0.1926878 -4.14739199] [ 0.43441326 0.28182352 -0.85548853 6.94586435] [ 0.86867255 0.11998841 0.48063581 -1.81560043] [ 0. 0. 0. 1. ]] SLAMing on 23.795860169 meters Centerline goodness : 0.994080 Centerline is valid? [True, True] Translation: X:-4.09, Y:6.96, Z:-1.83 [[ 0.12031615 -0.97364519 -0.19375001 -4.08770645] [ 0.46638182 0.2277263 -0.85476823 6.95630125] [ 0.87636295 0.01248094 0.48148957 -1.83196372] [ 0. 0. 0. 1. ]] SLAMing on 23.825860169000002 meters Centerline goodness : 0.989566 Centerline is valid? [True, True] Translation: X:-4.08, Y:6.98, Z:-1.85 [[ 0.11525583 -0.97425372 -0.19376735 -4.07980644] [ 0.46588603 0.22529978 -0.85568114 6.97940765] [ 0.87730628 0.00834874 0.47985831 -1.84630697] [ 0. 0. 0. 1. ]] SLAMing on 23.855860169 meters Centerline goodness : 0.992818 Centerline is valid? [True, True] Translation: X:-4.17, Y:7.03, Z:-1.85 [[ 0.30531222 -0.93247686 -0.19305793 -4.16756937] [ 0.41006645 0.31172283 -0.85713148 7.02931262] [ 0.85943583 0.18252613 0.47755027 -1.84989286] [ 0. 0. 0. 1. ]] SLAMing on 23.885860169 meters Centerline goodness : 0.994102 Centerline is valid? [True, True] Translation: X:-4.08, Y:7.03, Z:-1.87 [[ 0.13037593 -0.97242381 -0.19337543 -4.0774692 ] [ 0.46165258 0.23214756 -0.85614509 7.03023841] [ 0.8774275 0.02234845 0.47918841 -1.87183365] [ 0. 0. 0. 1. ]] SLAMing on 23.915860169000002 meters Centerline goodness : 0.984132 Centerline is valid? [True, True] Translation: X:-4.07, Y:7.05, Z:-1.88 [[ 0.13289468 -0.97211026 -0.19323726 -4.07376265] [ 0.46041351 0.23320309 -0.85652538 7.05450184] [ 0.87770064 0.02485862 0.47856415 -1.88493462] [ 0. 0. 0. 1. ]] SLAMing on 23.945860169 meters Centerline goodness : 0.987700 Centerline is valid? [True, True] Translation: X:-4.03, Y:7.07, Z:-1.90 [[ 0.06083255 -0.97931411 -0.19298516 -4.03330779] [ 0.47561393 0.19842236 -0.85698306 7.06986265] [ 0.87754817 -0.03965396 0.47784597 -1.89809328] [ 0. 0. 0. 1. ]] SLAMing on 23.975860169 meters Centerline goodness : 0.987700 Centerline is valid? [True, True] Translation: X:-4.03, Y:7.09, Z:-1.91 [[ 0.06064545 -0.9793879 -0.19266935 -4.02826408] [ 0.47563868 0.19805573 -0.85705413 7.09461029] [ 0.87754771 -0.03966457 0.47784594 -1.91128506] [ 0. 0. 0. 1. ]] SLAMing on 24.005860169 meters Centerline goodness : 0.989909 Centerline is valid? [True, True] Translation: X:-4.11, Y:7.14, Z:-1.92 [[ 0.24542824 -0.95015097 -0.19229694 -4.11472995] [ 0.43066778 0.28458047 -0.85646904 7.14057875] [ 0.86849885 0.1273856 0.47904349 -1.92068309] [ 0. 0. 0. 1. ]] SLAMing on 24.035860169 meters Centerline goodness : 0.977612 Centerline is valid? [True, True] Translation: X:-4.14, Y:7.17, Z:-1.93 [[ 0.29902077 -0.93475009 -0.19190846 -4.13582424] [ 0.41459562 0.308399 -0.8561545 7.17386389] [ 0.85947487 0.17644357 0.47976099 -1.92863936] [ 0. 0. 0. 1. ]] SLAMing on 24.065860169 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:-4.17, Y:7.21, Z:-1.93 [[ 0.37177118 -0.90835765 -0.19150085 -4.1678165 ] [ 0.38973362 0.33994851 -0.85588709 7.21193099] [ 0.84255201 0.24355983 0.48040058 -1.93084881] [ 0. 0. 0. 1. ]] SLAMing on 24.095860169 meters Centerline goodness : 0.994835 Centerline is valid? [True, True] Translation: X:-4.16, Y:7.23, Z:-1.95 [[ 0.36622558 -0.91069767 -0.19107216 -4.16071631] [ 0.39279424 0.33744405 -0.85547893 7.23348835] [ 0.84355884 0.23824622 0.48129744 -1.94632192] [ 0. 0. 0. 1. ]] SLAMing on 24.125860169 meters Centerline goodness : 0.991921 Centerline is valid? [True, True] Translation: X:-4.18, Y:7.26, Z:-1.95 [[ 0.40681997 -0.89335826 -0.1908102 -4.17689746] [ 0.37678513 0.35437673 -0.85583298 7.2646103 ] [ 0.83218416 0.2762755 0.48077164 -1.95292236] [ 0. 0. 0. 1. ]] SLAMing on 24.155860169 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:-4.16, Y:7.29, Z:-1.97 [[ 0.38769133 -0.90188042 -0.19054432 -4.16217171] [ 0.38387021 0.34589764 -0.8561533 7.28503328] [ 0.83805673 0.25877893 0.48030655 -1.96795775] [ 0. 0. 0. 1. ]] SLAMing on 24.185860169 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:-4.13, Y:7.30, Z:-1.99 [[ 0.34093373 -0.92064353 -0.19020957 -4.13303945] [ 0.40133338 0.32550529 -0.85614124 7.30063231] [ 0.85011512 0.21554997 0.48046071 -1.9875356 ] [ 0. 0. 0. 1. ]] SLAMing on 24.215860169000003 meters Centerline goodness : 0.998287 Centerline is valid? [True, True] Translation: X:-4.13, Y:7.32, Z:-2.00 [[ 0.33807163 -0.92176263 -0.18989795 -4.12690314] [ 0.40223828 0.32394113 -0.85630982 7.32322186] [ 0.85083014 0.21310984 0.48028352 -2.00180303] [ 0. 0. 0. 1. ]] SLAMing on 24.245860169 meters Centerline goodness : 0.984479 Centerline is valid? [True, True] Translation: X:-4.13, Y:7.35, Z:-2.01 [[ 0.35062755 -0.9171412 -0.18950553 -4.1294717 ] [ 0.39840907 0.32920498 -0.85609245 7.3492914 ] [ 0.84754382 0.22466888 0.48082571 -2.01462794] [ 0. 0. 0. 1. ]] SLAMing on 24.275860169 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:-4.14, Y:7.38, Z:-2.02 [[ 0.37514227 -0.90742816 -0.18932091 -4.13751068] [ 0.38815566 0.33924392 -0.85688316 7.38013303] [ 0.84178588 0.24796711 0.47948811 -2.02048075] [ 0. 0. 0. 1. ]] SLAMing on 24.305860169000002 meters Centerline goodness : 0.979381 Centerline is valid? [True, True] Translation: X:-4.16, Y:7.41, Z:-2.03 [[ 0.42231155 -0.88655121 -0.18889124 -4.15717658] [ 0.37142409 0.35933426 -0.85610924 7.4108206 ] [ 0.82685978 0.29138607 0.48103748 -2.02913578] [ 0. 0. 0. 1. ]] SLAMing on 24.335860169 meters Centerline goodness : 0.995907 Centerline is valid? [True, True] Translation: X:-4.19, Y:7.45, Z:-2.03 [[ 0.48501844 -0.85394489 -0.18850794 -4.18505136] [ 0.34518937 0.38500466 -0.85592973 7.44961914] [ 0.80349325 0.35007077 0.48150706 -2.0293259 ] [ 0. 0. 0. 1. ]] SLAMing on 24.365860169 meters Centerline goodness : 0.986885 Centerline is valid? [True, True] Translation: X:-4.18, Y:7.48, Z:-2.04 [[ 0.49426459 -0.84870109 -0.18817275 -4.18474069] [ 0.3411638 0.38847215 -0.85597702 7.47580336] [ 0.7995685 0.3588814 0.48155411 -2.04041802] [ 0. 0. 0. 1. ]] SLAMing on 24.395860169000002 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:-4.21, Y:7.51, Z:-2.04 [[ 0.54475599 -0.81729506 -0.1878023 -4.20524313] [ 0.31734363 0.40820669 -0.8559558 7.51168607] [ 0.7762306 0.40668918 0.48173641 -2.04001807] [ 0. 0. 0. 1. ]] SLAMing on 24.425860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-4.21, Y:7.54, Z:-2.05 [[ 0.56412558 -0.80406522 -0.18772706 -4.2093982 ] [ 0.30634376 0.414949 -0.85672097 7.54011091] [ 0.76675669 0.42578921 0.48040371 -2.0462501 ] [ 0. 0. 0. 1. ]] SLAMing on 24.455860169 meters Centerline goodness : 0.985665 Centerline is valid? [True, True] Translation: X:-4.20, Y:7.56, Z:-2.06 [[ 0.56083911 -0.80644374 -0.18737128 -4.20314399] [ 0.30840553 0.41352115 -0.85667164 7.56209211] [ 0.76833946 0.42266862 0.48063054 -2.06391417] [ 0. 0. 0. 1. ]] SLAMing on 24.485860169000002 meters Centerline goodness : 0.986432 Centerline is valid? [True, True] Translation: X:-4.20, Y:7.58, Z:-2.08 [[ 0.55562498 -0.81010482 -0.18711245 -4.19544435] [ 0.31132912 0.41139141 -0.85663953 7.58399575] [ 0.77094427 0.41771676 0.48078856 -2.07791199] [ 0. 0. 0. 1. ]] SLAMing on 24.515860169 meters Centerline goodness : 0.988125 Centerline is valid? [True, True] Translation: X:-4.17, Y:7.60, Z:-2.10 [[ 0.51114847 -0.83897643 -0.18667027 -4.16745471] [ 0.33408404 0.39404857 -0.85622052 7.59698864] [ 0.79190599 0.37529225 0.48170596 -2.10053756] [ 0. 0. 0. 1. ]] SLAMing on 24.545860169 meters Centerline goodness : 0.989570 Centerline is valid? [True, True] Translation: X:-4.15, Y:7.62, Z:-2.12 [[ 0.49166455 -0.85063314 -0.18625044 -4.15317687] [ 0.34414996 0.38629282 -0.85576788 7.61677028] [ 0.79989173 0.35665264 0.48267185 -2.11718582] [ 0. 0. 0. 1. ]] SLAMing on 24.575860169000002 meters Centerline goodness : 0.993362 Centerline is valid? [True, True] Translation: X:-4.14, Y:7.64, Z:-2.13 [[ 0.47471643 -0.86029016 -0.18586326 -4.14048584] [ 0.35243773 0.37931079 -0.85551796 7.63752388] [ 0.80649362 0.34062321 0.48326377 -2.13298936] [ 0. 0. 0. 1. ]] SLAMing on 24.605860169 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:-4.12, Y:7.66, Z:-2.15 [[ 0.45054551 -0.87326872 -0.1855006 -4.12358414] [ 0.36336598 0.36917232 -0.85538118 7.65780597] [ 0.81545932 0.31798355 0.48364507 -2.14937344] [ 0. 0. 0. 1. ]] SLAMing on 24.635860169 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:-4.11, Y:7.68, Z:-2.17 [[ 0.42857647 -0.88432539 -0.18517778 -4.10774595] [ 0.37257993 0.35969799 -0.855454 7.67744685] [ 0.82310777 0.29763393 0.48363999 -2.16588295] [ 0. 0. 0. 1. ]] SLAMing on 24.665860169000002 meters Centerline goodness : 0.994337 Centerline is valid? [True, True] Translation: X:-4.10, Y:7.70, Z:-2.18 [[ 0.41592931 -0.89040864 -0.18486553 -4.09649663] [ 0.37768803 0.35405805 -0.85556686 7.69874128] [ 0.82725725 0.28603384 0.48355981 -2.18179272] [ 0. 0. 0. 1. ]] SLAMing on 24.695860169 meters Centerline goodness : 0.990338 Centerline is valid? [True, True] Translation: X:-4.10, Y:7.73, Z:-2.19 [[ 0.44066526 -0.87853683 -0.18435606 -4.10430696] [ 0.36930976 0.36461502 -0.85479014 7.72786286] [ 0.81818362 0.30859183 0.4851254 -2.18998896] [ 0. 0. 0. 1. ]] SLAMing on 24.725860169 meters Centerline goodness : 0.989470 Centerline is valid? [True, True] Translation: X:-4.13, Y:7.76, Z:-2.19 [[ 0.49637514 -0.84842607 -0.18380679 -4.12852349] [ 0.34688696 0.38794338 -0.85391415 7.76369903] [ 0.79578965 0.36010157 0.48687338 -2.19015397] [ 0. 0. 0. 1. ]] SLAMing on 24.755860169 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:-4.04, Y:7.76, Z:-2.23 [[ 0.3364621 -0.9233346 -0.18505802 -4.03935294] [ 0.40753205 0.3199294 -0.85531445 7.75698138] [ 0.84894693 0.21236382 0.48393256 -2.22559843] [ 0. 0. 0. 1. ]] SLAMing on 24.785860169 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:-4.03, Y:7.78, Z:-2.24 [[ 0.32518027 -0.9274338 -0.18472773 -4.02842652] [ 0.41133195 0.31461589 -0.85546646 7.77694706] [ 0.85150679 0.2021964 0.48379004 -2.2430573 ] [ 0. 0. 0. 1. ]] SLAMing on 24.815860169 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:-4.02, Y:7.80, Z:-2.26 [[ 0.31528616 -0.93098604 -0.18400985 -4.01869555] [ 0.4150841 0.30965462 -0.85546432 7.79840059] [ 0.85340484 0.1933365 0.48406732 -2.25742183] [ 0. 0. 0. 1. ]] SLAMing on 24.845860169 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:-4.00, Y:7.82, Z:-2.27 [[ 0.29710951 -0.93702829 -0.18358627 -4.00415317] [ 0.42108701 0.30114319 -0.85556912 7.82052626] [ 0.85697822 0.17689193 0.48404294 -2.27139035] [ 0. 0. 0. 1. ]] SLAMing on 24.875860169 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:-4.02, Y:7.85, Z:-2.28 [[ 0.33391369 -0.92466636 -0.18301304 -4.01814144] [ 0.40888815 0.31702918 -0.85574703 7.85002441] [ 0.84930096 0.21091379 0.4839455 -2.28121744] [ 0. 0. 0. 1. ]] SLAMing on 24.905860169 meters Centerline goodness : 0.994322 Centerline is valid? [True, True] Translation: X:-3.99, Y:7.87, Z:-2.30 [[ 0.28772559 -0.94021336 -0.18224384 -3.99022442] [ 0.42434185 0.29574789 -0.85584297 7.86615434] [ 0.85857323 0.16891423 0.48406611 -2.30217547] [ 0. 0. 0. 1. ]] SLAMing on 24.935860169 meters Centerline goodness : 0.979038 Centerline is valid? [True, True] Translation: X:-4.01, Y:7.90, Z:-2.31 [[ 0.34152639 -0.9220431 -0.18219838 -4.01344108] [ 0.40663857 0.31973092 -0.85581377 7.89745437] [ 0.84735164 0.2181941 0.48413484 -2.31178308] [ 0. 0. 0. 1. ]] SLAMing on 24.965860169000003 meters Centerline goodness : 0.996709 Centerline is valid? [True, True] Translation: X:-3.97, Y:7.91, Z:-2.33 [[ 0.26428076 -0.94712427 -0.1819651 -3.96964438] [ 0.43084649 0.28474173 -0.85632555 7.90923429] [ 0.86285977 0.14791134 0.48331693 -2.33190822] [ 0. 0. 0. 1. ]] SLAMing on 24.995860169 meters Centerline goodness : 0.984737 Centerline is valid? [True, True] Translation: X:-3.96, Y:7.93, Z:-2.35 [[ 0.25025451 -0.95099525 -0.18160595 -3.95743723] [ 0.43552285 0.27810038 -0.85614253 7.93106965] [ 0.86469216 0.13515999 0.48377603 -2.34700516] [ 0. 0. 0. 1. ]] SLAMing on 25.025860169 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:-3.95, Y:7.96, Z:-2.36 [[ 0.24811866 -0.95160365 -0.18134943 -3.95222491] [ 0.43537158 0.27677152 -0.85664994 7.9559578 ] [ 0.86538357 0.13359644 0.48297336 -2.35725237] [ 0. 0. 0. 1. ]] SLAMing on 25.055860169000002 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:-3.86, Y:7.96, Z:-2.37 [[ 0.07257912 -0.98070236 -0.18153557 -3.8644833 ] [ 0.47349523 0.19407713 -0.85914861 7.96295087] [ 0.87780097 -0.02359998 0.47844384 -2.36774479] [ 0. 0. 0. 1. ]] SLAMing on 25.085860169 meters Centerline goodness : 0.998659 Centerline is valid? [True, True] Translation: X:-3.94, Y:8.00, Z:-2.38 [[ 0.24105199 -0.95357832 -0.18050573 -3.93910085] [ 0.43946717 0.27307779 -0.85574361 8.00228576] [ 0.86531066 0.12695235 0.48489231 -2.38454094] [ 0. 0. 0. 1. ]] SLAMing on 25.115860169 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:-3.84, Y:8.01, Z:-2.39 [[ 0.04342286 -0.98255725 -0.18081953 -3.84161062] [ 0.47974726 0.17926451 -0.8588986 8.00808081] [ 0.87633157 -0.04945184 0.47916332 -2.39244797] [ 0. 0. 0. 1. ]] SLAMing on 25.145860169000002 meters Centerline goodness : 0.997660 Centerline is valid? [True, True] Translation: X:-3.95, Y:8.05, Z:-2.41 [[ 0.28498112 -0.9414242 -0.18029489 -3.95186927] [ 0.4269679 0.29307927 -0.85545482 8.05452997] [ 0.85818656 0.16680834 0.48547998 -2.4098653 ] [ 0. 0. 0. 1. ]] SLAMing on 25.175860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-3.84, Y:8.06, Z:-2.42 [[ 0.06031789 -0.98180686 -0.18004732 -3.84083272] [ 0.47721291 0.18679061 -0.85870665 8.05805441] [ 0.87671523 -0.03412554 0.47979772 -2.4181205 ] [ 0. 0. 0. 1. ]] SLAMing on 25.205860169 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:-3.94, Y:8.10, Z:-2.43 [[ 0.26966027 -0.94608471 -0.17946325 -3.93518795] [ 0.42979261 0.28502229 -0.8567617 8.10247741] [ 0.86172017 0.15390261 0.4834794 -2.42977272] [ 0. 0. 0. 1. ]] SLAMing on 25.235860169000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-3.92, Y:8.12, Z:-2.45 [[ 0.25025671 -0.95145652 -0.17917051 -3.92075254] [ 0.43550305 0.27590546 -0.85686246 8.12381983] [ 0.86470149 0.13640628 0.48340941 -2.44535105] [ 0. 0. 0. 1. ]] SLAMing on 25.265860169 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:-3.84, Y:8.13, Z:-2.46 [[ 0.08287421 -0.98028476 -0.17937016 -3.83886857] [ 0.4726672 0.1971213 -0.85891147 8.13181872] [ 0.8773355 -0.01360078 0.47968472 -2.45644873] [ 0. 0. 0. 1. ]] SLAMing on 25.295860169 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:-3.92, Y:8.17, Z:-2.47 [[ 0.26173703 -0.94846844 -0.17860948 -3.91813183] [ 0.43277958 0.28075107 -0.85666836 8.17280815] [ 0.8626677 0.1469233 0.48396072 -2.47134375] [ 0. 0. 0. 1. ]] SLAMing on 25.325860169000002 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:-3.90, Y:8.19, Z:-2.48 [[ 0.22506044 -0.95786562 -0.17844117 -3.89723225] [ 0.44211261 0.26359553 -0.85735281 8.19306097] [ 0.86826507 0.11406511 0.4828094 -2.48491884] [ 0. 0. 0. 1. ]] SLAMing on 25.355860169 meters Centerline goodness : 0.997991 Centerline is valid? [True, True] Translation: X:-3.91, Y:8.22, Z:-2.50 [[ 0.26120742 -0.94873637 -0.17796061 -3.90889845] [ 0.43359086 0.28003469 -0.85649258 8.21995476] [ 0.86242081 0.14656013 0.48451056 -2.4989158 ] [ 0. 0. 0. 1. ]] SLAMing on 25.385860169 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:-3.88, Y:8.24, Z:-2.51 [[ 0.19802656 -0.96396716 -0.17763106 -3.87535748] [ 0.45116913 0.25052114 -0.85655448 8.23609149] [ 0.87019072 0.08947888 0.48452207 -2.51482087] [ 0. 0. 0. 1. ]] SLAMing on 25.415860169000002 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:-3.85, Y:8.26, Z:-2.53 [[ 0.15883742 -0.9712319 -0.17742399 -3.85320916] [ 0.4599771 0.23180717 -0.85713856 8.25663657] [ 0.87360846 0.05453471 0.48356408 -2.5282244 ] [ 0. 0. 0. 1. ]] SLAMing on 25.445860169 meters Centerline goodness : 0.995672 Centerline is valid? [True, True] Translation: X:-3.87, Y:8.28, Z:-2.54 [[ 0.19853812 -0.96395925 -0.17710217 -3.86758444] [ 0.45019335 0.25020306 -0.85716065 8.28401284] [ 0.87057944 0.09044885 0.48364289 -2.54090444] [ 0. 0. 0. 1. ]] SLAMing on 25.475860169 meters Centerline goodness : 0.995672 Centerline is valid? [True, True] Translation: X:-3.86, Y:8.31, Z:-2.55 [[ 0.19837373 -0.9640493 -0.17679594 -3.86298489] [ 0.45026515 0.24985701 -0.85722388 8.30880525] [ 0.87057979 0.09044565 0.48364287 -2.55412629] [ 0. 0. 0. 1. ]] SLAMing on 25.505860169 meters Centerline goodness : 0.991030 Centerline is valid? [True, True] Translation: X:-3.86, Y:8.33, Z:-2.57 [[ 0.20126778 -0.9635039 -0.1764979 -3.8605178 ] [ 0.44932415 0.25092259 -0.85740636 8.33282631] [ 0.87040168 0.09326351 0.4834282 -2.56824694] [ 0. 0. 0. 1. ]] SLAMing on 25.535860169 meters Centerline goodness : 0.994703 Centerline is valid? [True, True] Translation: X:-3.84, Y:8.35, Z:-2.58 [[ 0.17461044 -0.96874661 -0.17618513 -3.84338697] [ 0.45600456 0.23814885 -0.85752257 8.35417187] [ 0.87268037 0.06939117 0.48333615 -2.5818278 ] [ 0. 0. 0. 1. ]] SLAMing on 25.565860169 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:-3.83, Y:8.38, Z:-2.59 [[ 0.14452402 -0.97372107 -0.17601158 -3.82551048] [ 0.4626184 0.22373265 -0.85786241 8.37560444] [ 0.87469825 0.04255553 0.48279602 -2.59367745] [ 0. 0. 0. 1. ]] SLAMing on 25.595860169 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:-3.81, Y:8.40, Z:-2.61 [[ 0.13094221 -0.97568468 -0.17576557 -3.81437848] [ 0.46511686 0.21702847 -0.85823362 8.39840624] [ 0.87551153 0.03062748 0.48222559 -2.6063966 ] [ 0. 0. 0. 1. ]] SLAMing on 25.625860169 meters Centerline goodness : 0.997877 Centerline is valid? [True, True] Translation: X:-3.82, Y:8.42, Z:-2.62 [[ 0.15219727 -0.97263834 -0.17552961 -3.82042895] [ 0.46065648 0.22693784 -0.85807623 8.42447506] [ 0.87443216 0.049738 0.48259147 -2.6203455 ] [ 0. 0. 0. 1. ]] SLAMing on 25.655860169 meters Centerline goodness : 0.993608 Centerline is valid? [True, True] Translation: X:-3.81, Y:8.45, Z:-2.63 [[ 0.1455467 -0.97372565 -0.17514141 -3.81263822] [ 0.46275773 0.22347044 -0.85785561 8.44840867] [ 0.87445494 0.04381001 0.48312445 -2.63394429] [ 0. 0. 0. 1. ]] SLAMing on 25.685860169 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:-3.80, Y:8.47, Z:-2.65 [[ 0.12135056 -0.9770859 -0.17486333 -3.79704659] [ 0.46752797 0.21166366 -0.85826342 8.4694528 ] [ 0.8756093 0.02239725 0.48250049 -2.64581206] [ 0. 0. 0. 1. ]] SLAMing on 25.715860169 meters Centerline goodness : 0.987607 Centerline is valid? [True, True] Translation: X:-3.80, Y:8.49, Z:-2.66 [[ 0.13867932 -0.97482482 -0.17459847 -3.80148712] [ 0.46339449 0.21968478 -0.85848945 8.49481062] [ 0.87523345 0.03814677 0.48219419 -2.66038243] [ 0. 0. 0. 1. ]] SLAMing on 25.745860169 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:-3.79, Y:8.52, Z:-2.67 [[ 0.1161256 -0.97781523 -0.17433365 -3.78639366] [ 0.46773015 0.20867734 -0.85888432 8.51730196] [ 0.87620965 0.01819735 0.48158645 -2.67226083] [ 0. 0. 0. 1. ]] SLAMing on 25.775860169 meters Centerline goodness : 0.997481 Centerline is valid? [True, True] Translation: X:-3.80, Y:8.55, Z:-2.68 [[ 0.15945635 -0.97172914 -0.17411535 -3.80383646] [ 0.45783654 0.22904961 -0.85902385 8.54581199] [ 0.87461956 0.05726044 0.48141652 -2.68434017] [ 0. 0. 0. 1. ]] SLAMing on 25.805860169000002 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:-3.77, Y:8.57, Z:-2.70 [[ 0.10900258 -0.97872094 -0.17384984 -3.77442706] [ 0.46859234 0.2048325 -0.85933978 8.56519608] [ 0.87666393 0.01220555 0.48094841 -2.69732636] [ 0. 0. 0. 1. ]] SLAMing on 25.835860169 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:-3.77, Y:8.59, Z:-2.71 [[ 0.11854516 -0.97767302 -0.17350073 -3.77439215] [ 0.466856 0.20909394 -0.85925852 8.59019879] [ 0.87635183 0.02086108 0.48121959 -2.71093447] [ 0. 0. 0. 1. ]] SLAMing on 25.865860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-3.75, Y:8.61, Z:-2.71 [[ 0.08075572 -0.98147556 -0.1737361 -3.75312158] [ 0.46914616 0.19121853 -0.86217014 8.61446422] [ 0.87942049 -0.01188245 0.47589749 -2.71456911] [ 0. 0. 0. 1. ]] SLAMing on 25.895860169000002 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:-3.76, Y:8.64, Z:-2.73 [[ 0.10904838 -0.97886753 -0.1729937 -3.76253505] [ 0.4678031 0.20409135 -0.85994592 8.63869071] [ 0.87707965 0.01284872 0.48017309 -2.7339123 ] [ 0. 0. 0. 1. ]] SLAMing on 25.925860169 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:-3.73, Y:8.66, Z:-2.75 [[ 0.05192049 -0.98360985 -0.17267291 -3.72955829] [ 0.47895741 0.17624874 -0.8599629 8.65695456] [ 0.87630136 -0.03805327 0.48025814 -2.74772407] [ 0. 0. 0. 1. ]] SLAMing on 25.955860169 meters Centerline goodness : 0.995579 Centerline is valid? [True, True] Translation: X:-3.75, Y:8.68, Z:-2.76 [[ 9.83680256e-02 -9.80125355e-01 -1.72273098e-01 -3.74773339e+00] [ 4.70886521e-01 1.98349383e-01 -8.59606542e-01 8.68402518e+00] [ 8.76692430e-01 3.43671861e-03 4.81039055e-01 -2.76222441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.985860169000002 meters Centerline goodness : 0.995579 Centerline is valid? [True, True] Translation: X:-3.74, Y:8.71, Z:-2.78 [[ 9.81952609e-02 -9.80198042e-01 -1.71957814e-01 -3.74328183e+00] [ 4.70922553e-01 1.97989869e-01 -8.59669681e-01 8.70886137e+00] [ 8.76692443e-01 3.43667584e-03 4.81039031e-01 -2.77544609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.015860169 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:-3.74, Y:8.73, Z:-2.79 [[ 9.50531837e-02 -9.80573063e-01 -1.71584849e-01 -3.73750720e+00] [ 4.71884465e-01 1.96152814e-01 -8.59563334e-01 8.73361156e+00] [ 8.76521502e-01 7.36006928e-04 4.81362145e-01 -2.78707233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.045860169 meters Centerline goodness : 0.998514 Centerline is valid? [True, True] Translation: X:-3.75, Y:8.76, Z:-2.80 [[ 0.1381617 -0.9754735 -0.17135577 -3.75432786] [ 0.46265662 0.2165444 -0.85968446 8.7617439 ] [ 0.87570554 0.03949659 0.48122741 -2.79989842] [ 0. 0. 0. 1. ]] SLAMing on 26.075860169000002 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:-3.77, Y:8.79, Z:-2.81 [[ 0.17011452 -0.97047079 -0.17101899 -3.76585771] [ 0.45542047 0.23132913 -0.85969706 8.78977616] [ 0.87387256 0.06836141 0.4813247 -2.81105537] [ 0. 0. 0. 1. ]] SLAMing on 26.105860169 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:-3.75, Y:8.81, Z:-2.82 [[ 0.15504543 -0.97304832 -0.17069821 -3.75410787] [ 0.45893309 0.22395465 -0.85978179 8.81296219] [ 0.87483789 0.05496617 0.48128722 -2.8234675 ] [ 0. 0. 0. 1. ]] SLAMing on 26.135860169 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:-3.74, Y:8.83, Z:-2.84 [[ 0.14358092 -0.97486847 -0.17034082 -3.74448569] [ 0.46171822 0.21823105 -0.85976247 8.83464906] [ 0.87532897 0.04479603 0.48144834 -2.83644547] [ 0. 0. 0. 1. ]] SLAMing on 26.165860169000002 meters Centerline goodness : 0.995348 Centerline is valid? [True, True] Translation: X:-3.74, Y:8.86, Z:-2.85 [[ 0.14472504 -0.97476072 -0.1699888 -3.74056086] [ 0.46190252 0.21848545 -0.85959884 8.85864987] [ 0.87504327 0.04588723 0.48186475 -2.8505095 ] [ 0. 0. 0. 1. ]] SLAMing on 26.195860169 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:-3.71, Y:8.88, Z:-2.86 [[ 9.58000343e-02 -9.80829535e-01 -1.69693186e-01 -3.71197150e+00] [ 4.71985492e-01 1.94854412e-01 -8.59803148e-01 8.87861482e+00] [ 8.76385788e-01 2.27644922e-03 4.81604370e-01 -2.86273714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.225860169 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:-3.69, Y:8.90, Z:-2.88 [[ 0.06125903 -0.98365337 -0.16933214 -3.6914433 ] [ 0.47876271 0.17781827 -0.85974818 8.89887504] [ 0.87580454 -0.02840257 0.48182953 -2.87557375] [ 0. 0. 0. 1. ]] SLAMing on 26.255860169 meters Centerline goodness : 0.990484 Centerline is valid? [True, True] Translation: X:-3.69, Y:8.92, Z:-2.89 [[ 0.06621072 -0.9833889 -0.16900417 -3.69025997] [ 0.47780963 0.17994113 -0.8598367 8.92241158] [ 0.87596467 -0.02382142 0.48178672 -2.88906045] [ 0. 0. 0. 1. ]] SLAMing on 26.285860169 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:-3.67, Y:8.94, Z:-2.90 [[ 0.0260619 -0.98530479 -0.16880534 -3.66617874] [ 0.48363336 0.16021285 -0.86048278 8.9442571 ] [ 0.87488259 -0.05921407 0.48070172 -2.89910307] [ 0. 0. 0. 1. ]] SLAMing on 26.315860169 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:-3.68, Y:8.97, Z:-2.91 [[ 0.05366018 -0.9842306 -0.16855476 -3.67554448] [ 0.47840611 0.17350398 -0.86082749 8.97155769] [ 0.87649768 -0.03444547 0.48017219 -2.91180271] [ 0. 0. 0. 1. ]] SLAMing on 26.345860169 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:-3.68, Y:9.00, Z:-2.93 [[ 0.06765023 -0.98342802 -0.16820459 -3.67840673] [ 0.47618525 0.17997536 -0.8607302 8.99676297] [ 0.87673888 -0.02186795 0.48046929 -2.9258428 ] [ 0. 0. 0. 1. ]] SLAMing on 26.375860169 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:-3.67, Y:9.02, Z:-2.94 [[ 0.06485495 -0.98363534 -0.16809327 -3.67320721] [ 0.47551581 0.17855637 -0.86139558 9.02094892] [ 0.87731326 -0.02406524 0.47931442 -2.93655825] [ 0. 0. 0. 1. ]] SLAMing on 26.405860169 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:-3.66, Y:9.04, Z:-2.95 [[ 0.05365596 -0.9843699 -0.16774071 -3.66321072] [ 0.47795889 0.17280731 -0.86121596 9.04262893] [ 0.87674189 -0.0339638 0.47976048 -2.95087841] [ 0. 0. 0. 1. ]] SLAMing on 26.435860169 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:-3.65, Y:9.07, Z:-2.96 [[ 0.02791409 -0.98547387 -0.16751733 -3.64599692] [ 0.48152533 0.16011394 -0.86168259 9.06620747] [ 0.87598754 -0.05661075 0.47900006 -2.96166373] [ 0. 0. 0. 1. ]] SLAMing on 26.465860169 meters Centerline goodness : 0.988667 Centerline is valid? [True, True] Translation: X:-3.64, Y:9.09, Z:-2.98 [[ 0.03329297 -0.98537823 -0.16709673 -3.64382071] [ 0.48172534 0.16230834 -0.86116009 9.08907309] [ 0.8756896 -0.05182415 0.4800854 -2.97802218] [ 0. 0. 0. 1. ]] SLAMing on 26.495860169 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:-3.62, Y:9.11, Z:-2.99 [[-6.89550902e-03 -9.85954138e-01 -1.66873872e-01 -3.62020848e+00] [ 4.87023692e-01 1.42436888e-01 -8.61695803e-01 9.11223449e+00] [ 8.73361538e-01 -8.72133605e-02 4.79200850e-01 -2.98676205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.525860169 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:-3.61, Y:9.13, Z:-3.00 [[-0.02376764 -0.9858213 -0.16610679 -3.60599901] [ 0.49379834 0.13289365 -0.85936167 9.13377343] [ 0.86925157 -0.10244826 0.48363835 -2.99901778] [ 0. 0. 0. 1. ]] SLAMing on 26.555860169000002 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:-3.67, Y:9.17, Z:-3.01 [[ 0.12425724 -0.97831964 -0.16568289 -3.67427612] [ 0.46932756 0.20506544 -0.85888288 9.17111705] [ 0.87423783 0.02896287 0.48463324 -3.01344174] [ 0. 0. 0. 1. ]] SLAMing on 26.585860169 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:-3.65, Y:9.19, Z:-3.03 [[ 0.07521972 -0.98332274 -0.16558496 -3.64598604] [ 0.47676652 0.18131027 -0.86012806 9.18969674] [ 0.87580573 -0.01424677 0.48245347 -3.02772301] [ 0. 0. 0. 1. ]] SLAMing on 26.615860169 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:-3.61, Y:9.21, Z:-3.04 [[ 0.01767285 -0.9860962 -0.16523304 -3.61293587] [ 0.48658604 0.15285098 -0.86015731 9.2082048 ] [ 0.87345389 -0.06519866 0.48252195 -3.03833419] [ 0. 0. 0. 1. ]] SLAMing on 26.645860169000002 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:-3.61, Y:9.23, Z:-3.05 [[ 0.0210269 -0.98604662 -0.16513609 -3.60996286] [ 0.48383048 0.15457892 -0.86140201 9.23483963] [ 0.8749091 -0.06178526 0.48032972 -3.0472598 ] [ 0. 0. 0. 1. ]] SLAMing on 26.675860169 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:-3.63, Y:9.26, Z:-3.07 [[ 0.06204954 -0.98439379 -0.16467762 -3.62730105] [ 0.47831599 0.17414302 -0.86074852 9.26111302] [ 0.87599296 -0.02535889 0.48165679 -3.06500905] [ 0. 0. 0. 1. ]] SLAMing on 26.705860169 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:-3.64, Y:9.29, Z:-3.08 [[ 8.53761642e-02 -9.82700116e-01 -1.64351431e-01 -3.63512035e+00] [ 4.74938387e-01 1.85146614e-01 -8.60322184e-01 9.28641981e+00] [ 8.75867821e-01 -4.60579545e-03 4.82529116e-01 -3.07752187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.735860169000002 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:-3.63, Y:9.31, Z:-3.09 [[ 8.06040305e-02 -9.83158622e-01 -1.64018642e-01 -3.62863998e+00] [ 4.75889101e-01 1.82546750e-01 -8.60352397e-01 9.30882126e+00] [ 8.75803947e-01 -8.70681303e-03 4.82588477e-01 -3.09030260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.765860169 meters Centerline goodness : 0.997810 Centerline is valid? [True, True] Translation: X:-3.61, Y:9.33, Z:-3.10 [[ 0.04492396 -0.98547761 -0.16375508 -3.60647765] [ 0.48151619 0.16498281 -0.86076874 9.3298463 ] [ 0.87528509 -0.04018157 0.4819351 -3.10364075] [ 0. 0. 0. 1. ]] SLAMing on 26.795860169 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:-3.62, Y:9.36, Z:-3.11 [[ 8.96485384e-02 -9.82449985e-01 -1.63570068e-01 -3.62409857e+00] [ 4.72955208e-01 1.86526140e-01 -8.61116351e-01 9.35841498e+00] [ 8.76513839e-01 -1.63493108e-04 4.81376633e-01 -3.11469236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.825860169000002 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:-3.60, Y:9.38, Z:-3.13 [[ 0.04296969 -0.98563085 -0.16335678 -3.59696669] [ 0.48018716 0.16375836 -0.86174445 9.37931481] [ 0.87611295 -0.04141294 0.48032392 -3.12665087] [ 0. 0. 0. 1. ]] SLAMing on 26.855860169 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:-3.63, Y:9.41, Z:-3.14 [[ 0.11534343 -0.97986531 -0.16297198 -3.62930937] [ 0.46727809 0.19830427 -0.86158378 9.40788525] [ 0.87655409 0.02322479 0.48074269 -3.14243456] [ 0. 0. 0. 1. ]] SLAMing on 26.885860169 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:-3.62, Y:9.43, Z:-3.15 [[ 0.11173885 -0.98032329 -0.16272885 -3.62346096] [ 0.46734491 0.19635547 -0.86199377 9.43304459] [ 0.87698527 0.0202677 0.48008963 -3.15395877] [ 0. 0. 0. 1. ]] SLAMing on 26.915860169000002 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:-3.64, Y:9.46, Z:-3.17 [[ 0.15042613 -0.97518096 -0.16246253 -3.63914444] [ 0.45875701 0.21442259 -0.86230213 9.46127255] [ 0.87573625 0.05518195 0.47962587 -3.16725274] [ 0. 0. 0. 1. ]] SLAMing on 26.945860169 meters Centerline goodness : 0.754051 Centerline is valid? [True, False] Translation: X:-3.76, Y:9.24, Z:-3.05 [[ 0.29815292 -0.94029923 -0.1641408 -3.7593685 ] [ 0.42720932 0.2852323 -0.85798295 9.24427957] [ 0.85357896 0.18568764 0.48674743 -3.05113754] [ 0. 0. 0. 1. ]] SLAMing on 26.975860169 meters Centerline goodness : 0.999588 Centerline is valid? [False, True] Translation: X:-3.88, Y:9.07, Z:-2.94 [[ 0.4456374 -0.88030033 -0.16272258 -3.87654559] [ 0.38353805 0.35198695 -0.85381717 9.06613548] [ 0.80889176 0.31808256 0.49448722 -2.93541141] [ 0. 0. 0. 1. ]] SLAMing on 27.005860169 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:-3.70, Y:9.04, Z:-2.98 [[ 0.1070847 -0.98000412 -0.16770449 -3.70463346] [ 0.48439145 0.19872578 -0.8519818 9.03973217] [ 0.86827288 0.00999959 0.4959861 -2.97754542] [ 0. 0. 0. 1. ]] SLAMing on 27.035860169 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:-3.69, Y:9.06, Z:-2.99 [[ 0.07380468 -0.98311977 -0.16741684 -3.68515316] [ 0.49047705 0.18195148 -0.85224757 9.06135705] [ 0.86832317 -0.01921426 0.49562656 -2.99067862] [ 0. 0. 0. 1. ]] SLAMing on 27.065860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-3.67, Y:9.08, Z:-3.00 [[ 0.05492029 -0.98439075 -0.16720828 -3.67260802] [ 0.49260209 0.17237522 -0.85301229 9.08489607] [ 0.86851997 -0.03551947 0.49437984 -3.00251095] [ 0. 0. 0. 1. ]] SLAMing on 27.095860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-4.10, Y:9.34, Z:-2.75 [[ 0.94299665 -0.29375131 -0.15642088 -4.10260203] [ 0.0157998 0.50899719 -0.86062316 9.34029415] [ 0.33242697 0.80909334 0.48462386 -2.74524834] [ 0. 0. 0. 1. ]] SLAMing on 27.125860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-3.69, Y:9.14, Z:-3.03 [[ 9.92898294e-02 -9.81049515e-01 -1.66383229e-01 -3.68627872e+00] [ 4.84290618e-01 1.93713052e-01 -8.53192740e-01 9.13723271e+00] [ 8.69254927e-01 4.13552482e-03 4.94346811e-01 -3.02970053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.155860169 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:-3.31, Y:9.48, Z:-2.40 [[-0.89404421 0.43657608 -0.10043045 -3.30628464] [-0.12899704 -0.46558053 -0.87555385 9.47630962] [-0.42900433 -0.76982862 0.47256659 -2.4003652 ] [ 0. 0. 0. 1. ]] SLAMing on 27.185860169 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:-3.86, Y:9.67, Z:-2.19 [[ 8.96105874e-03 9.99881843e-01 -1.24900031e-02 -3.86371503e+00] [-4.69863617e-01 -6.81541432e-03 -8.82712712e-01 9.67282446e+00] [-8.82693537e-01 1.37786385e-02 4.69747026e-01 -2.19211710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.215860169 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:-3.94, Y:9.70, Z:-2.20 [[-0.07013706 0.99536319 0.06582487 -3.94440346] [-0.46785124 0.02545668 -0.88344053 9.69833659] [-0.88101987 -0.09275817 0.46389644 -2.19864501] [ 0. 0. 0. 1. ]] SLAMing on 27.245860169 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] SLAMing on 27.275860169 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] SLAMing on 27.305860169000002 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] SLAMing on 27.335860169 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] SLAMing on 27.365860169 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] SLAMing on 27.395860169000002 meters Centerline goodness : 0.997599 Centerline is valid? [True, True] SLAMing on 27.425860169 meters Centerline goodness : 0.997599 Centerline is valid? [True, True] SLAMing on 27.455860169 meters Centerline goodness : 0.998156 Centerline is valid? [True, True] SLAMing on 27.485860169000002 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] SLAMing on 27.515860169 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] SLAMing on 27.545860169 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] SLAMing on 27.575860169000002 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] SLAMing on 27.605860169 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] SLAMing on 27.635860169 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] SLAMing on 27.665860169000002 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] SLAMing on 27.695860169 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] SLAMing on 27.725860169 meters Centerline goodness : 0.998440 Centerline is valid? [True, True] SLAMing on 27.755860169 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] SLAMing on 27.785860169 meters Centerline goodness : 0.996160 Centerline is valid? [True, True] SLAMing on 27.815860169 meters Centerline goodness : 0.738812 Centerline is valid? [True, False] Translation: X:-3.96, Y:9.09, Z:-2.14 [[ 0.0830112 -0.9862183 0.14311747 -3.96095259] [ 0.95197551 0.03600604 -0.30404965 9.09262692] [ 0.29470623 0.16148386 0.94184457 -2.13525701] [ 0. 0. 0. 1. ]] SLAMing on 27.845860169 meters Centerline goodness : 0.999154 Centerline is valid? [False, True] Translation: X:-4.05, Y:9.08, Z:-2.07 [[ 0.28390398 -0.95039837 0.1270491 -4.04765102] [ 0.92496134 0.23653787 -0.29748336 9.07804988] [ 0.25267577 0.20197222 0.94623579 -2.06776234] [ 0. 0. 0. 1. ]] SLAMing on 27.875860169 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] SLAMing on 27.905860169 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] SLAMing on 27.935860169 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] SLAMing on 27.965860169 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] SLAMing on 27.995860169 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] SLAMing on 28.025860169 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] SLAMing on 28.055860169000002 meters Centerline goodness : 0.993886 Centerline is valid? [True, True] SLAMing on 28.085860169 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] SLAMing on 28.115860169 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] SLAMing on 28.145860169000002 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] SLAMing on 28.175860169 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] SLAMing on 28.205860169 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] SLAMing on 28.235860169000002 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] SLAMing on 28.265860169 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] SLAMing on 28.295860169 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] SLAMing on 28.325860169000002 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] SLAMing on 28.355860169 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] SLAMing on 28.385860169 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] SLAMing on 28.415860169000002 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] SLAMing on 28.445860169 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] SLAMing on 28.475860169 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] SLAMing on 28.505860169 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] SLAMing on 28.535860169 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] SLAMing on 28.565860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 28.595860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 28.625860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 28.655860169 meters Centerline goodness : 0.983001 Centerline is valid? [True, True] SLAMing on 28.685860169 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] SLAMing on 28.715860169 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] SLAMing on 28.745860169 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] SLAMing on 28.775860169 meters Centerline goodness : 0.992656 Centerline is valid? [True, True] SLAMing on 28.805860169 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] SLAMing on 28.835860169 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] SLAMing on 28.865860169 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] SLAMing on 28.895860169000002 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] SLAMing on 28.925860169 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] SLAMing on 28.955860169 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] SLAMing on 28.985860169000002 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] SLAMing on 29.015860169 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] SLAMing on 29.045860169 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] SLAMing on 29.075860169000002 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] SLAMing on 29.105860169 meters Centerline goodness : 0.998783 Centerline is valid? [True, True] SLAMing on 29.135860169 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] SLAMing on 29.165860169000002 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] SLAMing on 29.195860169 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] SLAMing on 29.225860169 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:-4.40, Y:9.11, Z:-1.88 [[ 0.72343777 -0.66368247 0.1901667 -4.40343166] [ 0.68786538 0.66937667 -0.28067079 9.11462552] [ 0.05898313 0.33385693 0.94077656 -1.88123151] [ 0. 0. 0. 1. ]] SLAMing on 29.255860169 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:-3.76, Y:9.83, Z:-1.77 [[-0.57189475 0.79928317 0.18461531 -3.75765917] [-0.8114139 -0.51808434 -0.27054777 9.83122953] [-0.12059798 -0.30452428 0.94483919 -1.76517032] [ 0. 0. 0. 1. ]] SLAMing on 29.285860169 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:-3.75, Y:9.82, Z:-1.74 [[-0.5721403 0.79905368 0.18484775 -3.75265031] [-0.8112941 -0.5183547 -0.27038913 9.82301134] [-0.12023873 -0.30466641 0.94483915 -1.73849083] [ 0. 0. 0. 1. ]] SLAMing on 29.315860169 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:-3.65, Y:9.16, Z:-1.92 [[-0.79171461 -0.57873594 0.19558296 -3.64763023] [ 0.52267843 -0.80746237 -0.27351743 9.16358522] [ 0.31622025 -0.11432075 0.94177254 -1.92356187] [ 0. 0. 0. 1. ]] SLAMing on 29.345860169 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] SLAMing on 29.375860169 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:-3.91, Y:9.87, Z:-1.63 [[-0.23548264 0.95404836 0.18530959 -3.90737566] [-0.94566998 -0.18094733 -0.27012284 9.87460167] [-0.22417898 -0.23885096 0.94482485 -1.6331273 ] [ 0. 0. 0. 1. ]] SLAMing on 29.405860169 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] SLAMing on 29.435860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-4.07, Y:9.87, Z:-1.57 [[ 0.11288714 0.97659526 0.18307976 -4.07327897] [-0.94863997 0.16073699 -0.27248086 9.87291971] [-0.29553121 -0.1429172 0.94458244 -1.57061054] [ 0. 0. 0. 1. ]] SLAMing on 29.465860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-4.08, Y:9.86, Z:-1.54 [[ 0.12784928 0.97478111 0.18291077 -4.0759099 ] [-0.94627274 0.17512037 -0.27184694 9.86365416] [-0.29702267 -0.13832804 0.9447978 -1.54349984] [ 0. 0. 0. 1. ]] SLAMing on 29.495860169 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:-4.08, Y:9.85, Z:-1.52 [[ 0.14771295 0.97217955 0.18179055 -4.07975061] [-0.94224161 0.19419295 -0.27289165 9.85313301] [-0.30060213 -0.13098099 0.94471284 -1.51514552] [ 0. 0. 0. 1. ]] SLAMing on 29.525860169 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:-3.88, Y:9.84, Z:-1.53 [[-0.2561209 0.94877651 0.18500057 -3.87723634] [-0.94188427 -0.20190772 -0.26849076 9.84402942] [-0.21738468 -0.24301522 0.94535047 -1.53008992] [ 0. 0. 0. 1. ]] SLAMing on 29.555860169 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:-4.12, Y:9.83, Z:-1.46 [[ 0.24586613 0.95177301 0.18351562 -4.1175706 ] [-0.91753873 0.28957005 -0.27252865 9.82588238] [-0.31252604 -0.10137713 0.94448406 -1.45702941] [ 0. 0. 0. 1. ]] SLAMing on 29.585860169 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:-4.08, Y:9.83, Z:-1.44 [[ 0.18660287 0.96498338 0.18435413 -4.0830493 ] [-0.93411826 0.23239783 -0.27095078 9.82531873] [-0.3043065 -0.12164836 0.9447747 -1.4351907 ] [ 0. 0. 0. 1. ]] SLAMing on 29.615860169 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:-4.09, Y:9.81, Z:-1.41 [[ 0.21186484 0.95984502 0.1838772 -4.09018624] [-0.92781744 0.25665497 -0.27070838 9.81473497] [-0.30703109 -0.11325088 0.94493711 -1.40672783] [ 0. 0. 0. 1. ]] SLAMing on 29.645860169000002 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:-4.11, Y:9.80, Z:-1.38 [[ 0.27298554 0.94435137 0.18351946 -4.11437856] [-0.90986759 0.31540189 -0.26956003 9.79759609] [-0.31244176 -0.09339242 0.94533486 -1.37644211] [ 0. 0. 0. 1. ]] SLAMing on 29.675860169 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:-3.75, Y:9.77, Z:-1.43 [[-0.46230645 0.86585167 0.19124235 -3.75181381] [-0.8739561 -0.40846564 -0.26335632 9.76643826] [-0.14991158 -0.28888874 0.94555265 -1.43031948] [ 0. 0. 0. 1. ]] SLAMing on 29.705860169 meters Centerline goodness : 0.998431 Centerline is valid? [True, True] Translation: X:-4.14, Y:9.77, Z:-1.32 [[ 0.34122673 0.92191786 0.18338967 -4.13830107] [-0.88462141 0.38092496 -0.26896308 9.76990578] [-0.31781957 -0.07045303 0.94553006 -1.31949451] [ 0. 0. 0. 1. ]] SLAMing on 29.735860169000002 meters Centerline goodness : 0.998243 Centerline is valid? [True, True] Translation: X:-4.12, Y:9.77, Z:-1.29 [[ 0.31895802 0.92965912 0.18439009 -4.120912 ] [-0.89351388 0.35983388 -0.26861222 9.76570317] [-0.3160676 -0.07907908 0.94543523 -1.2937802 ] [ 0. 0. 0. 1. ]] SLAMing on 29.765860169 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:-3.53, Y:9.52, Z:-1.46 [[-0.90158107 0.38525569 0.19679843 -3.52537099] [-0.42736314 -0.86379015 -0.26688449 9.52171983] [ 0.06717378 -0.3247224 0.94342093 -1.4558397 ] [ 0. 0. 0. 1. ]] SLAMing on 29.795860169 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:-4.08, Y:9.76, Z:-1.24 [[ 0.26265061 0.94694988 0.18520413 -4.08113322] [-0.91212106 0.30627635 -0.27245178 9.75525758] [-0.31472183 -0.09736896 0.9441766 -1.2423876 ] [ 0. 0. 0. 1. ]] SLAMing on 29.825860169000002 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:-3.81, Y:9.76, Z:-1.27 [[-0.27932699 0.94186473 0.1867278 -3.81342763] [-0.93659596 -0.22440947 -0.26912526 9.75596872] [-0.2115761 -0.25006245 0.94483031 -1.2670838 ] [ 0. 0. 0. 1. ]] SLAMing on 29.855860169 meters Centerline goodness : 0.997991 Centerline is valid? [True, True] Translation: X:-4.04, Y:9.75, Z:-1.19 [[ 0.20364461 0.96151872 0.18441969 -4.04248916] [-0.929747 0.24894805 -0.27128471 9.74542803] [-0.30675625 -0.11621798 0.94466607 -1.19392787] [ 0. 0. 0. 1. ]] SLAMing on 29.885860169 meters Centerline goodness : 0.998790 Centerline is valid? [True, True] Translation: X:-3.59, Y:9.62, Z:-1.30 [[-0.72497777 0.66142709 0.19214954 -3.59009728] [-0.68718477 -0.67566071 -0.26694514 9.61521116] [-0.04673685 -0.32557152 0.94436161 -1.2950662 ] [ 0. 0. 0. 1. ]] SLAMing on 29.915860169000002 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:-3.98, Y:9.74, Z:-1.15 [[ 0.10208221 0.97749286 0.18462648 -3.98059215] [-0.95159002 0.15004521 -0.26825896 9.7374279 ] [-0.28992354 -0.14830425 0.94548939 -1.14819416] [ 0. 0. 0. 1. ]] SLAMing on 29.945860169 meters Centerline goodness : 0.998401 Centerline is valid? [True, True] Translation: X:-3.87, Y:9.74, Z:-1.14 [[-0.10857617 0.9768054 0.18456008 -3.87354787] [-0.96187655 -0.05635289 -0.26761511 9.73749169] [-0.25100739 -0.20658063 0.94568479 -1.14135667] [ 0. 0. 0. 1. ]] SLAMing on 29.975860169 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:-4.02, Y:9.72, Z:-1.09 [[ 0.20568648 0.96100326 0.18483996 -4.02240772] [-0.92895459 0.25113952 -0.27197851 9.71711388] [-0.30779285 -0.11576563 0.94438439 -1.08696361] [ 0. 0. 0. 1. ]] SLAMing on 30.005860169 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:-4.05, Y:9.70, Z:-1.06 [[ 0.27226786 0.94426815 0.18500776 -4.04868204] [-0.90969057 0.31526109 -0.27032113 9.69803679] [-0.31358138 -0.09470005 0.94482729 -1.05950828] [ 0. 0. 0. 1. ]] SLAMing on 30.035860169 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:-4.06, Y:9.69, Z:-1.03 [[ 0.29941334 0.93591907 0.18549161 -4.05618363] [-0.90011944 0.34155496 -0.27041673 9.68579631] [-0.31644375 -0.08599822 0.94470506 -1.03151948] [ 0. 0. 0. 1. ]] SLAMing on 30.065860169 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:-4.02, Y:9.69, Z:-1.01 [[ 0.22819786 0.95551015 0.18688525 -4.01638021] [-0.92302446 0.27338733 -0.27071243 9.68849238] [-0.30976053 -0.11072366 0.94434564 -1.01030961] [ 0. 0. 0. 1. ]] SLAMing on 30.095860169 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:-4.04, Y:9.67, Z:-0.98 [[ 0.27754182 0.94236753 0.18685281 -4.03564966] [-0.90717719 0.32109042 -0.2719016 9.67307513] [-0.31622789 -0.09404454 0.94401035 -0.98094993] [ 0. 0. 0. 1. ]] SLAMing on 30.125860169 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:-4.03, Y:9.67, Z:-0.96 [[ 0.27142281 0.94413618 0.18691315 -4.02751528] [-0.9093176 0.31519281 -0.27165235 9.66615982] [-0.31539049 -0.09623077 0.94407017 -0.95554247] [ 0. 0. 0. 1. ]] SLAMing on 30.155860169 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:-3.96, Y:9.67, Z:-0.94 [[ 0.13953031 0.9724825 0.18657192 -3.95612051] [-0.94515021 0.18698971 -0.26781697 9.67363788] [-0.29533434 -0.1389699 0.94523277 -0.93897434] [ 0. 0. 0. 1. ]] SLAMing on 30.185860169 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:-3.96, Y:9.66, Z:-0.91 [[ 0.15561362 0.97002919 0.18662202 -3.95873804] [-0.94193251 0.20262415 -0.2677809 9.6642254 ] [-0.29756941 -0.13411499 0.9452331 -0.91099807] [ 0. 0. 0. 1. ]] SLAMing on 30.215860169 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:-4.00, Y:9.64, Z:-0.88 [[ 0.25291452 0.94906337 0.18791747 -4.00160205] [-0.91614792 0.29736402 -0.26878919 9.64450473] [-0.31097786 -0.10417951 0.94469011 -0.8786779 ] [ 0. 0. 0. 1. ]] SLAMing on 30.245860169 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:-4.02, Y:9.63, Z:-0.85 [[ 0.30860183 0.93248032 0.18773746 -4.02229861] [-0.89712727 0.350929 -0.26834958 9.62737152] [-0.31611322 -0.08561123 0.94485086 -0.84980277] [ 0. 0. 0. 1. ]] SLAMing on 30.275860169 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:-3.98, Y:9.63, Z:-0.83 [[ 0.21948036 0.9571713 0.18881597 -3.97531107] [-0.92588865 0.26535518 -0.26891789 9.63243411] [-0.30750378 -0.11580037 0.9444743 -0.82904664] [ 0. 0. 0. 1. ]] SLAMing on 30.305860169 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:-3.82, Y:9.64, Z:-0.83 [[-0.0994626 0.97674141 0.18995632 -3.81669732] [-0.96250096 -0.04601903 -0.2673465 9.63872068] [-0.25238679 -0.20942411 0.94469172 -0.83019571] [ 0. 0. 0. 1. ]] SLAMing on 30.335860169 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:-3.88, Y:9.63, Z:-0.79 [[ 0.04009848 0.98137278 0.18788182 -3.87849059] [-0.95866328 0.09079785 -0.26966734 9.63109251] [-0.28170345 -0.16930215 0.9444469 -0.78944875] [ 0. 0. 0. 1. ]] SLAMing on 30.365860169 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:-3.91, Y:9.62, Z:-0.76 [[ 0.11252491 0.97555021 0.18878544 -3.90798412] [-0.94924804 0.16169827 -0.26978107 9.61973747] [-0.29371125 -0.14884712 0.94423421 -0.75760683] [ 0. 0. 0. 1. ]] SLAMing on 30.395860169000002 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:-3.92, Y:9.61, Z:-0.73 [[ 0.15021034 0.97043081 0.18894681 -3.920891 ] [-0.94244662 0.19829484 -0.26920909 9.60900392] [-0.29871597 -0.13763429 0.94436517 -0.72889541] [ 0. 0. 0. 1. ]] SLAMing on 30.425860169 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:-3.98, Y:9.59, Z:-0.69 [[ 0.28342626 0.94011199 0.18936475 -3.98006604] [-0.90598739 0.3272279 -0.26853071 9.58548889] [-0.31441437 -0.09545342 0.94447459 -0.69475536] [ 0. 0. 0. 1. ]] SLAMing on 30.455860169 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:-4.00, Y:9.57, Z:-0.67 [[ 0.3445161 0.91936237 0.1899513 -4.00423602] [-0.88257893 0.38614986 -0.26822139 9.56672764] [-0.31994232 -0.07524042 0.9444447 -0.66564947] [ 0. 0. 0. 1. ]] SLAMing on 30.485860169000002 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:-3.99, Y:9.56, Z:-0.64 [[ 0.32072269 0.92794735 0.18987012 -3.98745815] [-0.89202483 0.36332074 -0.26886752 9.5631963 ] [-0.31847866 -0.08313694 0.94427729 -0.63923271] [ 0. 0. 0. 1. ]] SLAMing on 30.515860169 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:-3.97, Y:9.56, Z:-0.62 [[ 0.28923012 0.93814015 0.19036545 -3.96717277] [-0.90359018 0.33321326 -0.26924655 9.56017266] [-0.31602329 -0.09413814 0.94406954 -0.61513178] [ 0. 0. 0. 1. ]] SLAMing on 30.545860169 meters Centerline goodness : 0.998700 Centerline is valid? [True, True] SLAMing on 30.575860169000002 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] SLAMing on 30.605860169 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] SLAMing on 30.635860169 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:-3.92, Y:9.56, Z:-0.59 [[ 0.19672958 0.96198315 0.18943569 -3.91850323] [-0.93180375 0.24355278 -0.26911672 9.56477873] [-0.30502335 -0.12357367 0.94429355 -0.59391391] [ 0. 0. 0. 1. ]] SLAMing on 30.665860169000002 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:-3.94, Y:9.55, Z:-0.56 [[ 0.24902074 0.94969567 0.18991266 -3.93903933] [-0.91711924 0.29425172 -0.26890188 9.55102063] [-0.31125707 -0.10721041 0.94425895 -0.56360442] [ 0. 0. 0. 1. ]] SLAMing on 30.695860169 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] SLAMing on 30.725860169 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:-3.74, Y:9.56, Z:-0.57 [[-0.15091904 0.96999088 0.1906335 -3.74005473] [-0.95880383 -0.09668306 -0.26710973 9.56032655] [-0.24066298 -0.22309207 0.94462228 -0.57325912] [ 0. 0. 0. 1. ]] SLAMing on 30.755860169 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] SLAMing on 30.785860169 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] SLAMing on 30.815860169 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:-3.61, Y:9.52, Z:-0.58 [[-0.40439237 0.89437458 0.19120908 -3.61396314] [-0.89813477 -0.34886803 -0.2676659 9.52118003] [-0.17268684 -0.27997358 0.94434848 -0.58150519] [ 0. 0. 0. 1. ]] SLAMing on 30.845860169 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] SLAMing on 30.875860169 meters Centerline goodness : 0.998611 Centerline is valid? [True, True] Translation: X:-3.60, Y:9.51, Z:-0.56 [[-0.41771319 0.88811702 0.19173904 -3.60336415] [-0.89276437 -0.36199669 -0.26819801 9.51151911] [-0.16878232 -0.28320763 0.94409002 -0.55797489] [ 0. 0. 0. 1. ]] SLAMing on 30.905860169 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:-3.66, Y:9.52, Z:-0.51 [[-0.29774426 0.93511669 0.19210706 -3.65550191] [-0.93250895 -0.24180607 -0.26824779 9.52411828] [-0.20439033 -0.25901079 0.94400106 -0.51388528] [ 0. 0. 0. 1. ]] SLAMing on 30.935860169 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:-3.57, Y:9.49, Z:-0.51 [[-0.45874506 0.86745069 0.19256757 -3.57315864] [-0.87486411 -0.40302175 -0.26867501 9.48790539] [-0.1554534 -0.29172379 0.94378571 -0.51246172] [ 0. 0. 0. 1. ]] SLAMing on 30.965860169 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] SLAMing on 30.995860169 meters Centerline goodness : 0.998701 Centerline is valid? [True, True] SLAMing on 31.025860169 meters Centerline goodness : 0.998653 Centerline is valid? [True, True] SLAMing on 31.055860169 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:-3.57, Y:9.48, Z:-0.49 [[-0.46249735 0.86546833 0.19251174 -3.56575026] [-0.87320065 -0.406995 -0.26809643 9.47955982] [-0.15367765 -0.29209527 0.94396162 -0.48691504] [ 0. 0. 0. 1. ]] SLAMing on 31.085860169 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] SLAMing on 31.115860169 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:-3.47, Y:9.42, Z:-0.50 [[-0.64395802 0.74049627 0.19231052 -3.47353539] [-0.76039637 -0.591767 -0.2675989 9.4157927 ] [-0.08435296 -0.31855468 0.94414379 -0.49532584] [ 0. 0. 0. 1. ]] SLAMing on 31.145860169000002 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:-3.43, Y:9.37, Z:-0.49 [[-0.73118451 0.6544963 0.19236373 -3.426722 ] [-0.68078068 -0.68202325 -0.26717402 9.36872331] [-0.04366787 -0.32631102 0.94425327 -0.48895083] [ 0. 0. 0. 1. ]] SLAMing on 31.175860169 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] SLAMing on 31.205860169 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] SLAMing on 31.235860169000002 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] SLAMing on 31.265860169 meters Centerline goodness : 0.998586 Centerline is valid? [True, True] SLAMing on 31.295860169 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] SLAMing on 31.325860169000002 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:-4.25, Y:9.03, Z:-0.38 [[ 0.96228027 0.02074723 0.27126784 -4.25490705] [ 0.03951408 0.97585708 -0.21480597 9.03492539] [-0.26917527 0.21742245 0.9382282 -0.38052765] [ 0. 0. 0. 1. ]] SLAMing on 31.355860169 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] SLAMing on 31.385860169 meters Centerline goodness : 0.998428 Centerline is valid? [True, True] SLAMing on 31.415860169000002 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:-3.45, Y:9.39, Z:-0.52 [[-6.94097990e-01 6.60292459e-01 2.86778395e-01 -3.44705177e+00] [-7.19844586e-01 -6.32631298e-01 -2.85659611e-01 9.39051235e+00] [-7.19389928e-03 -4.04711637e-01 9.14416064e-01 -5.17929976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.445860169 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:-3.64, Y:9.49, Z:-0.39 [[-0.29377466 0.90663507 0.30283544 -3.64121401] [-0.91727572 -0.17826899 -0.35612558 9.49190597] [-0.26888977 -0.38240426 0.88400524 -0.39346227] [ 0. 0. 0. 1. ]] SLAMing on 31.475860169 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] SLAMing on 31.505860169 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] SLAMing on 31.535860169 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:-4.11, Y:8.68, Z:-0.53 [[ 0.63077466 -0.7066571 0.32056056 -4.10619093] [ 0.7757632 0.56483841 -0.28133436 8.67756473] [ 0.017742 0.42613767 0.90448433 -0.53059772] [ 0. 0. 0. 1. ]] SLAMing on 31.565860169 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] SLAMing on 31.595860169 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:-3.34, Y:9.09, Z:-0.68 [[-0.94857909 -0.03662408 0.31441435 -3.33546239] [-0.08069767 -0.93248403 -0.35208155 9.08533906] [ 0.30608102 -0.3593497 0.88157938 -0.68080515] [ 0. 0. 0. 1. ]] SLAMing on 31.625860169 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:-3.60, Y:8.67, Z:-0.75 [[-0.41212366 -0.86157156 0.29639252 -3.60057366] [ 0.7865055 -0.50062558 -0.3616395 8.66690318] [ 0.45995999 0.08407416 0.88395042 -0.75296065] [ 0. 0. 0. 1. ]] SLAMing on 31.655860169 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:-3.61, Y:8.66, Z:-0.76 [[-0.38874555 -0.87838691 0.27805276 -3.61233735] [ 0.79738837 -0.47194684 -0.37608239 8.66330145] [ 0.46157197 0.07551568 0.88388274 -0.75591347] [ 0. 0. 0. 1. ]] SLAMing on 31.685860169 meters Centerline goodness : 0.998833 Centerline is valid? [True, True] SLAMing on 31.715860169 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:-3.61, Y:8.67, Z:-0.76 [[-0.38822707 -0.88439118 0.25909839 -3.61318957] [ 0.79612172 -0.46346838 -0.38908517 8.66537464] [ 0.46418741 0.05522046 0.884014 -0.75934136] [ 0. 0. 0. 1. ]] SLAMing on 31.745860169 meters Centerline goodness : 0.998627 Centerline is valid? [True, True] SLAMing on 31.775860169 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] SLAMing on 31.805860169 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] SLAMing on 31.835860169 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] SLAMing on 31.865860169 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] SLAMing on 31.895860169000002 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] SLAMing on 31.925860169 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] SLAMing on 31.955860169 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] SLAMing on 31.985860169000002 meters Centerline goodness : 0.998625 Centerline is valid? [True, True] Translation: X:-3.33, Y:9.07, Z:-0.68 [[-0.95655291 -0.10529509 0.27188136 -3.3339887 ] [-0.03394878 -0.88594214 -0.46255163 9.0662186 ] [ 0.28957557 -0.45168515 0.84387589 -0.68336288] [ 0. 0. 0. 1. ]] SLAMing on 32.015860169 meters Centerline goodness : 0.998290 Centerline is valid? [True, True] SLAMing on 32.045860169 meters Centerline goodness : 0.998694 Centerline is valid? [True, True] Translation: X:-3.35, Y:9.26, Z:-0.53 [[-0.90194945 -0.32028844 -0.28965929 -3.35236709] [-0.4289982 0.74139928 0.51603066 9.25523666] [ 0.04947454 0.58969689 -0.80610784 -0.52669407] [ 0. 0. 0. 1. ]] SLAMing on 32.075860169 meters Centerline goodness : 0.998649 Centerline is valid? [True, True] Translation: X:-5.27, Y:12.10, Z:-4.58 [[-0.32134205 0.87703784 0.3571329 -5.26536058] [-0.86622877 -0.1198648 -0.48505686 12.09695304] [-0.38260556 -0.46522796 0.79823301 -4.58002782] [ 0. 0. 0. 1. ]] SLAMing on 32.105860169 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] SLAMing on 32.135860169 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] SLAMing on 32.165860169 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] SLAMing on 32.195860169 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] SLAMing on 32.225860169 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] SLAMing on 32.255860169 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] SLAMing on 32.285860169 meters Centerline goodness : 0.998742 Centerline is valid? [True, True] SLAMing on 32.315860169000004 meters Centerline goodness : 0.998695 Centerline is valid? [True, True] SLAMing on 32.345860169 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] SLAMing on 32.375860169 meters Centerline goodness : 0.998745 Centerline is valid? [True, True] SLAMing on 32.405860169 meters Centerline goodness : 0.998745 Centerline is valid? [True, True] SLAMing on 32.435860169 meters Centerline goodness : 0.997205 Centerline is valid? [True, True] SLAMing on 32.465860169 meters Centerline goodness : 0.997783 Centerline is valid? [True, True] SLAMing on 32.495860169000004 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] SLAMing on 32.525860169 meters Centerline goodness : 0.998216 Centerline is valid? [True, True] SLAMing on 32.555860169 meters Centerline goodness : 0.996854 Centerline is valid? [True, True] SLAMing on 32.585860169 meters Centerline goodness : 0.997197 Centerline is valid? [True, True] SLAMing on 32.615860169 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] SLAMing on 32.645860169 meters Centerline goodness : 0.998701 Centerline is valid? [True, True] SLAMing on 32.675860169 meters Centerline goodness : 0.994812 Centerline is valid? [True, True] SLAMing on 32.705860169 meters Centerline goodness : 0.984011 Centerline is valid? [True, True] SLAMing on 32.735860169 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] SLAMing on 32.765860169 meters Centerline goodness : 0.998768 Centerline is valid? [True, True] SLAMing on 32.795860169 meters Centerline goodness : 0.998738 Centerline is valid? [True, True] SLAMing on 32.825860169 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] SLAMing on 32.855860169 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] SLAMing on 32.885860169 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] SLAMing on 32.915860169 meters Centerline goodness : 0.998789 Centerline is valid? [True, True] SLAMing on 32.945860169 meters Centerline goodness : 0.998698 Centerline is valid? [True, True] SLAMing on 32.975860169 meters Centerline goodness : 0.998587 Centerline is valid? [True, True] SLAMing on 33.005860169 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] SLAMing on 33.035860169 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] SLAMing on 33.065860169000004 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] SLAMing on 33.095860169 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] SLAMing on 33.125860169 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] SLAMing on 33.155860169 meters Centerline goodness : 0.998517 Centerline is valid? [True, True] SLAMing on 33.185860169 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] SLAMing on 33.215860169 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] SLAMing on 33.245860169000004 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] SLAMing on 33.275860169 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] SLAMing on 33.305860169 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] SLAMing on 33.335860169 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] SLAMing on 33.365860169 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] SLAMing on 33.395860169 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] SLAMing on 33.425860169 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] SLAMing on 33.455860169 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] SLAMing on 33.485860169 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] SLAMing on 33.515860169 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] SLAMing on 33.545860169 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] SLAMing on 33.575860169 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] SLAMing on 33.605860169 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] SLAMing on 33.635860169 meters Centerline goodness : 0.998835 Centerline is valid? [True, True] SLAMing on 33.665860169 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] SLAMing on 33.695860169 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] SLAMing on 33.725860169 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] SLAMing on 33.755860169 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] SLAMing on 33.785860169 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] SLAMing on 33.815860169000004 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] SLAMing on 33.845860169 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] SLAMing on 33.875860169 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] SLAMing on 33.905860169 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] SLAMing on 33.935860169 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] SLAMing on 33.965860169 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] SLAMing on 33.995860169000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-5.20, Y:12.11, Z:-4.40 [[-0.038786 0.95494139 0.29424919 -5.20398387] [-0.85377196 0.12133452 -0.50631153 12.10991667] [-0.51920042 -0.27085951 0.81059611 -4.39798358] [ 0. 0. 0. 1. ]] SLAMing on 34.025860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-5.04, Y:12.09, Z:-4.43 [[-0.34721327 0.8899704 0.29562753 -5.04324707] [-0.84825345 -0.16362746 -0.5036786 12.08731851] [-0.39988626 -0.42565097 0.81173409 -4.43212988] [ 0. 0. 0. 1. ]] SLAMing on 34.055860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-5.23, Y:12.07, Z:-4.33 [[ 0.04606549 0.95486474 0.29344726 -5.22507074] [-0.83951116 0.19621166 -0.50667741 12.07062283] [-0.54138617 -0.22301191 0.81065819 -4.33374487] [ 0. 0. 0. 1. ]] SLAMing on 34.085860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-5.18, Y:12.06, Z:-4.32 [[-0.03291383 0.95536202 0.29359851 -5.17633728] [-0.85324381 0.12611666 -0.50603318 12.05929653] [-0.52047255 -0.2671666 0.81100575 -4.31855407] [ 0. 0. 0. 1. ]] SLAMing on 34.115860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-5.20, Y:12.04, Z:-4.28 [[ 0.03710132 0.955435 0.29286081 -5.20013491] [-0.8417629 0.18782361 -0.50612005 12.03755039] [-0.53857098 -0.22774164 0.81121824 -4.28226134] [ 0. 0. 0. 1. ]] SLAMing on 34.145860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-5.18, Y:12.02, Z:-4.26 [[ 0.01991613 0.9562324 0.29192969 -5.18095256] [-0.84547746 0.1719551 -0.50556831 12.02240672] [-0.5336396 -0.23675101 0.81189762 -4.25809125] [ 0. 0. 0. 1. ]] SLAMing on 34.175860169 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:-5.21, Y:12.00, Z:-4.22 [[ 0.10216973 0.95116205 0.29129383 -5.21118016] [-0.82845268 0.24345449 -0.50437692 11.99736371] [-0.55066097 -0.1897911 0.81286643 -4.22297295] [ 0. 0. 0. 1. ]] SLAMing on 34.205860169 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:-5.19, Y:11.99, Z:-4.20 [[ 0.06733459 0.95402831 0.29205485 -5.18519957] [-0.8367424 0.21343389 -0.50428974 11.98526036] [-0.54344109 -0.21041853 0.81264742 -4.20103592] [ 0. 0. 0. 1. ]] SLAMing on 34.235860169 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:-5.24, Y:11.95, Z:-4.16 [[ 0.20113666 0.93509149 0.29180123 -5.24069572] [-0.79783215 0.32921771 -0.50505402 11.95060783] [-0.56833785 -0.13122352 0.8122638 -4.16161192] [ 0. 0. 0. 1. ]] SLAMing on 34.265860169 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:-5.13, Y:11.96, Z:-4.16 [[-8.49175771e-03 9.55960832e-01 2.93371399e-01 -5.12831820e+00] [-8.52050352e-01 1.46641746e-01 -5.02500145e-01 1.19576546e+01] [-5.23390951e-01 -2.54234314e-01 8.13281517e-01 -4.15827963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.295860169 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:-5.21, Y:11.92, Z:-4.11 [[ 0.16703555 0.94170482 0.29204648 -5.20518027] [-0.80829492 0.30041068 -0.50637215 11.92231806] [-0.56458698 -0.15147754 0.81135449 -4.11102062] [ 0. 0. 0. 1. ]] SLAMing on 34.325860169 meters Centerline goodness : 0.998666 Centerline is valid? [True, True] Translation: X:-5.17, Y:11.91, Z:-4.09 [[ 0.12398994 0.94782324 0.29369645 -5.17382764] [-0.82046659 0.26439451 -0.50688274 11.91262282] [-0.55808697 -0.17811976 0.81043956 -4.08978752] [ 0. 0. 0. 1. ]] SLAMing on 34.355860169 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:-5.18, Y:11.89, Z:-4.06 [[ 0.1502824 0.94404439 0.29359052 -5.17654102] [-0.81377436 0.28675517 -0.50551238 11.89285684] [-0.56141473 -0.16294682 0.81133337 -4.06137585] [ 0. 0. 0. 1. ]] SLAMing on 34.385860169 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:-5.18, Y:11.87, Z:-4.03 [[ 0.18057344 0.93892794 0.29292928 -5.18036015] [-0.80487381 0.31223859 -0.50466346 11.87163639] [-0.56530645 -0.14464229 0.81210051 -4.0320702 ] [ 0. 0. 0. 1. ]] SLAMing on 34.415860169 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:-5.22, Y:11.84, Z:-4.00 [[ 0.27123148 0.91682741 0.29302044 -5.21544746] [-0.77117735 0.38916538 -0.50382121 11.83914554] [-0.5759505 -0.08931856 0.81259043 -3.99970915] [ 0. 0. 0. 1. ]] SLAMing on 34.445860169 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:-5.20, Y:11.82, Z:-3.97 [[ 0.27045906 0.9171413 0.29275201 -5.20485709] [-0.77157329 0.38835749 -0.50383838 11.82287932] [-0.57578342 -0.08961197 0.81267653 -3.97366121] [ 0. 0. 0. 1. ]] SLAMing on 34.475860169 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:-5.16, Y:11.82, Z:-3.95 [[ 0.19822777 0.93563029 0.29206456 -5.1592418 ] [-0.79900563 0.32684114 -0.50474238 11.81823959] [-0.56771098 -0.13330727 0.81236286 -3.95218101] [ 0. 0. 0. 1. ]] SLAMing on 34.505860169 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:-5.12, Y:11.81, Z:-3.93 [[ 0.13933302 0.9465795 0.29081534 -5.12082981] [-0.81855028 0.27537014 -0.50412968 11.81038707] [-0.55728068 -0.16780507 0.81319106 -3.93023162] [ 0. 0. 0. 1. ]] SLAMing on 34.535860169 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:-5.15, Y:11.78, Z:-3.90 [[ 0.22307353 0.93048279 0.29058558 -5.15196819] [-0.7915757 0.34687946 -0.5030731 11.78148477] [-0.56889903 -0.11779819 0.81392719 -3.8961282 ] [ 0. 0. 0. 1. ]] SLAMing on 34.565860169000004 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:-5.14, Y:11.77, Z:-3.87 [[ 0.21202879 0.93305506 0.29060635 -5.13724262] [-0.79547278 0.33751856 -0.50329344 11.76709085] [-0.56768552 -0.12445674 0.81378355 -3.87182966] [ 0. 0. 0. 1. ]] SLAMing on 34.595860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-5.17, Y:11.74, Z:-3.84 [[ 0.29775771 0.90927494 0.29079103 -5.16942156] [-0.76112317 0.40997796 -0.50260283 11.73551523] [-0.57622207 -0.07167392 0.81414432 -3.84022863] [ 0. 0. 0. 1. ]] SLAMing on 34.625860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-5.14, Y:11.72, Z:-3.82 [[ 0.26601639 0.91909205 0.29069758 -5.14356183] [-0.77488035 0.3832628 -0.50266297 11.72372276] [-0.57340711 -0.09153925 0.81414056 -3.81527787] [ 0. 0. 0. 1. ]] SLAMing on 34.655860169 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:-5.13, Y:11.71, Z:-3.79 [[ 0.26311033 0.92009622 0.29016531 -5.13164793] [-0.77634083 0.38047998 -0.50252354 11.70763434] [-0.5727721 -0.09304804 0.81441647 -3.78885946] [ 0. 0. 0. 1. ]] SLAMing on 34.685860169 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:-5.11, Y:11.70, Z:-3.76 [[ 0.23771302 0.9271562 0.28960989 -5.10857655] [-0.78646832 0.35869733 -0.50279599 11.69543101] [-0.57005272 -0.10824785 0.81444601 -3.76319224] [ 0. 0. 0. 1. ]] SLAMing on 34.715860169 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:-5.09, Y:11.68, Z:-3.74 [[ 0.21859258 0.93199465 0.28914228 -5.08993654] [-0.79380898 0.34216547 -0.50278235 11.68153795] [-0.56752496 -0.11961925 0.81462056 -3.73868479] [ 0. 0. 0. 1. ]] SLAMing on 34.745860169000004 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:-5.06, Y:11.67, Z:-3.72 [[ 0.17256093 0.94186356 0.28829805 -5.05778069] [-0.80998823 0.30223243 -0.50256803 11.67240867] [-0.56048353 -0.14679442 0.81505191 -3.715922 ] [ 0. 0. 0. 1. ]] SLAMing on 34.775860169 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:-5.15, Y:11.61, Z:-3.68 [[ 0.38509194 0.87510538 0.29307808 -5.14572532] [-0.71396148 0.48372108 -0.50623405 11.60917609] [-0.58477619 -0.0142998 0.81106863 -3.68359145] [ 0. 0. 0. 1. ]] SLAMing on 34.805860169 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] SLAMing on 34.835860169 meters Centerline goodness : 0.998776 Centerline is valid? [True, True] SLAMing on 34.865860169 meters Centerline goodness : 0.998007 Centerline is valid? [True, True] SLAMing on 34.895860169 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] SLAMing on 34.925860169 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] SLAMing on 34.955860169 meters Centerline goodness : 0.998693 Centerline is valid? [True, True] SLAMing on 34.985860169 meters Centerline goodness : 0.998678 Centerline is valid? [True, True] SLAMing on 35.015860169 meters Centerline goodness : 0.998678 Centerline is valid? [True, True] SLAMing on 35.045860169 meters Centerline goodness : 0.998586 Centerline is valid? [True, True] SLAMing on 35.075860169 meters Centerline goodness : 0.997702 Centerline is valid? [True, True] SLAMing on 35.105860169 meters Centerline goodness : 0.998429 Centerline is valid? [True, True] Translation: X:-5.37, Y:11.36, Z:-3.72 [[ 0.86625949 0.40548037 0.2918564 -5.3735604 ] [-0.21920967 0.83343942 -0.50727296 11.35541154] [-0.44893386 0.37545227 0.81086003 -3.71945197] [ 0. 0. 0. 1. ]] SLAMing on 35.135860169 meters Centerline goodness : 0.995258 Centerline is valid? [True, True] SLAMing on 35.165860169 meters Centerline goodness : 0.998631 Centerline is valid? [True, True] Translation: X:-5.29, Y:11.45, Z:-3.65 [[ 0.70948442 0.64010458 0.29478466 -5.28837249] [-0.45207604 0.73428885 -0.50640609 11.45057302] [-0.54060994 0.22602215 0.81034244 -3.65252986] [ 0. 0. 0. 1. ]] SLAMing on 35.195860169 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:-5.40, Y:11.09, Z:-3.80 [[ 0.94862897 -0.1216258 0.29207917 -5.40144582] [ 0.26154085 0.82094149 -0.50759378 11.09098023] [-0.17804341 0.5579088 0.810579 -3.79658749] [ 0. 0. 0. 1. ]] SLAMing on 35.225860169 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:-5.28, Y:11.41, Z:-3.60 [[ 0.72471319 0.62293118 0.29452935 -5.27689444] [-0.43443934 0.74485862 -0.50640705 11.40876359] [-0.53483946 0.23904473 0.81043468 -3.6024308 ] [ 0. 0. 0. 1. ]] SLAMing on 35.255860169 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:-5.38, Y:11.08, Z:-3.73 [[ 0.95349392 -0.07865122 0.29096964 -5.38230635] [ 0.22328722 0.83276672 -0.50659887 11.07551806] [-0.20246521 0.54800874 0.81159981 -3.73381522] [ 0. 0. 0. 1. ]] SLAMing on 35.285860169 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:-5.32, Y:11.29, Z:-3.58 [[ 0.85211311 0.43307331 0.29385499 -5.32006106] [-0.24584905 0.82690373 -0.50575535 11.28531727] [-0.46201893 0.35871679 0.81108617 -3.58454952] [ 0. 0. 0. 1. ]] SLAMing on 35.315860169 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:-4.48, Y:11.29, Z:-3.97 [[-0.91891749 0.07535681 0.38718471 -4.48410837] [-0.26517608 -0.84469088 -0.4649505 11.29334882] [ 0.29201421 -0.52992327 0.79618404 -3.97086302] [ 0. 0. 0. 1. ]] SLAMing on 35.345860169 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:-5.31, Y:11.21, Z:-3.54 [[ 0.82717738 -0.34625181 -0.44259154 -5.31468244] [-0.12496478 -0.88123398 0.45586235 11.21255517] [-0.54786986 -0.32177067 -0.77220609 -3.54231635] [ 0. 0. 0. 1. ]] SLAMing on 35.375860169 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:-6.67, Y:13.44, Z:-7.00 [[-0.44554388 0.73927243 0.5049425 -6.67313306] [-0.87915241 -0.25478469 -0.40271056 13.437594 ] [-0.16906119 -0.62334664 0.7634509 -6.99722367] [ 0. 0. 0. 1. ]] SLAMing on 35.405860169 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] SLAMing on 35.435860169 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] SLAMing on 35.465860169 meters Centerline goodness : 0.998720 Centerline is valid? [True, True] SLAMing on 35.495860169000004 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] SLAMing on 35.525860169 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] SLAMing on 35.555860169 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] SLAMing on 35.585860169 meters Centerline goodness : 0.998727 Centerline is valid? [True, True] SLAMing on 35.615860169 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] SLAMing on 35.645860169 meters Centerline goodness : 0.998658 Centerline is valid? [True, True] SLAMing on 35.675860169 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] SLAMing on 35.705860169 meters Centerline goodness : 0.997277 Centerline is valid? [True, True] SLAMing on 35.735860169 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] SLAMing on 35.765860169 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] SLAMing on 35.795860169 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] SLAMing on 35.825860169 meters Centerline goodness : 0.997056 Centerline is valid? [True, True] SLAMing on 35.855860169 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] SLAMing on 35.885860169 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] SLAMing on 35.915860169 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] SLAMing on 35.945860169 meters Centerline goodness : 0.998614 Centerline is valid? [True, True] SLAMing on 35.975860169 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] SLAMing on 36.005860169 meters Centerline goodness : 0.998703 Centerline is valid? [True, True] SLAMing on 36.035860169 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] SLAMing on 36.065860169 meters Centerline goodness : 0.998245 Centerline is valid? [True, True] SLAMing on 36.095860169 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:-6.78, Y:12.64, Z:-7.35 [[-0.24395053 -0.84259043 0.48013488 -6.78044263] [ 0.78252634 -0.46346885 -0.41575131 12.63786062] [ 0.57283564 0.27429544 0.77241268 -7.35067082] [ 0. 0. 0. 1. ]] SLAMing on 36.125860169 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] SLAMing on 36.155860169 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] SLAMing on 36.185860169 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] SLAMing on 36.215860169 meters Centerline goodness : 0.991092 Centerline is valid? [True, True] SLAMing on 36.245860169000004 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] SLAMing on 36.275860169 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:-6.82, Y:12.62, Z:-7.34 [[-0.16879128 -0.86936698 0.4644465 -6.81596473] [ 0.81414909 -0.38857817 -0.43147222 12.62284775] [ 0.55558147 0.30529995 0.77338294 -7.34396506] [ 0. 0. 0. 1. ]] SLAMing on 36.305860169 meters Centerline goodness : 0.998793 Centerline is valid? [True, True] SLAMing on 36.335860169 meters Centerline goodness : 0.992961 Centerline is valid? [True, True] SLAMing on 36.365860169 meters Centerline goodness : 0.998731 Centerline is valid? [True, True] SLAMing on 36.395860169 meters Centerline goodness : 0.983983 Centerline is valid? [True, True] SLAMing on 36.425860169 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] SLAMing on 36.455860169 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] SLAMing on 36.485860169 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] SLAMing on 36.515860169 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] SLAMing on 36.545860169 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] SLAMing on 36.575860169 meters Centerline goodness : 0.991459 Centerline is valid? [True, True] SLAMing on 36.605860169 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] SLAMing on 36.635860169 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:-7.31, Y:13.02, Z:-6.84 [[ 0.86083202 0.17165394 0.47906488 -7.31181031] [ 0.02025883 0.92908747 -0.36930483 13.01637382] [-0.5084858 0.32761472 0.79631073 -6.84172419] [ 0. 0. 0. 1. ]] SLAMing on 36.665860169 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] SLAMing on 36.695860169 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] SLAMing on 36.725860169 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] SLAMing on 36.755860169 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:-6.82, Y:13.47, Z:-6.94 [[-0.16995562 0.83027264 0.53081299 -6.81657243] [-0.93349846 0.03694385 -0.35667321 13.47172338] [-0.31574629 -0.55613172 0.76877941 -6.94001607] [ 0. 0. 0. 1. ]] SLAMing on 36.785860169 meters Centerline goodness : 0.996847 Centerline is valid? [True, True] SLAMing on 36.815860169 meters Centerline goodness : 0.998617 Centerline is valid? [True, True] SLAMing on 36.845860169 meters Centerline goodness : 0.998793 Centerline is valid? [True, True] SLAMing on 36.875860169 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] SLAMing on 36.905860169 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] SLAMing on 36.935860169 meters Centerline goodness : 0.994801 Centerline is valid? [True, True] SLAMing on 36.965860169 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] SLAMing on 36.995860169000004 meters Centerline goodness : 0.986452 Centerline is valid? [True, True] SLAMing on 37.025860169 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] SLAMing on 37.055860169 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:-7.28, Y:12.82, Z:-6.87 [[ 0.836164 0.19434094 -0.51289507 -7.28316555] [ 0.38322611 -0.87600348 0.29284067 12.81996921] [-0.39238694 -0.44141761 -0.8069591 -6.87016849] [ 0. 0. 0. 1. ]] SLAMing on 37.085860169 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:-9.34, Y:14.35, Z:-10.02 [[ 0.57135382 0.59010816 0.57037459 -9.33572631] [ -0.58289262 0.78102079 -0.22414888 14.35205303] [ -0.5777465 -0.20439882 0.7902089 -10.02294604] [ 0. 0. 0. 1. ]] SLAMing on 37.115860169 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] SLAMing on 37.145860169 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] SLAMing on 37.175860169 meters Centerline goodness : 0.982514 Centerline is valid? [True, True] SLAMing on 37.205860169 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] SLAMing on 37.235860169 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] SLAMing on 37.265860169 meters Centerline goodness : 0.991343 Centerline is valid? [True, True] SLAMing on 37.295860169 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] SLAMing on 37.325860169 meters Centerline goodness : 0.998785 Centerline is valid? [True, True] SLAMing on 37.355860169 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] SLAMing on 37.385860169 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] SLAMing on 37.415860169 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] SLAMing on 37.445860169 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] SLAMing on 37.475860169 meters Centerline goodness : 0.993795 Centerline is valid? [True, True] SLAMing on 37.505860169 meters Centerline goodness : 0.982804 Centerline is valid? [True, True] SLAMing on 37.535860169 meters Centerline goodness : 0.980269 Centerline is valid? [True, True] SLAMing on 37.565860169 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] SLAMing on 37.595860169 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] SLAMing on 37.625860169 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] SLAMing on 37.655860169 meters Centerline goodness : 0.998632 Centerline is valid? [True, True] SLAMing on 37.685860169 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] SLAMing on 37.715860169 meters Centerline goodness : 0.998675 Centerline is valid? [True, True] SLAMing on 37.745860169000004 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] SLAMing on 37.775860169 meters Centerline goodness : 0.976062 Centerline is valid? [True, True] SLAMing on 37.805860169 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] SLAMing on 37.835860169 meters Centerline goodness : 0.993389 Centerline is valid? [True, True] SLAMing on 37.865860169 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] SLAMing on 37.895860169 meters Centerline goodness : 0.998604 Centerline is valid? [True, True] SLAMing on 37.925860169 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] SLAMing on 37.955860169 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] SLAMing on 37.985860169 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] SLAMing on 38.015860169 meters Centerline goodness : 0.990386 Centerline is valid? [True, True] SLAMing on 38.045860169 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] SLAMing on 38.075860169 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] SLAMing on 38.105860169 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] SLAMing on 38.135860169 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] SLAMing on 38.165860169 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] SLAMing on 38.195860169 meters Centerline goodness : 0.998520 Centerline is valid? [True, True] SLAMing on 38.225860169 meters Centerline goodness : 0.998614 Centerline is valid? [True, True] SLAMing on 38.255860169 meters Centerline goodness : 0.998717 Centerline is valid? [True, True] SLAMing on 38.285860169 meters Centerline goodness : 0.998684 Centerline is valid? [True, True] SLAMing on 38.315860169 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] SLAMing on 38.345860169 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] SLAMing on 38.375860169 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] SLAMing on 38.405860169 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] SLAMing on 38.435860169 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] SLAMing on 38.465860169 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] SLAMing on 38.495860169000004 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] SLAMing on 38.525860169 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] SLAMing on 38.555860169 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] SLAMing on 38.585860169 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] SLAMing on 38.615860169 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] SLAMing on 38.645860169 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] SLAMing on 38.675860169 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] SLAMing on 38.705860169 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] SLAMing on 38.735860169 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] SLAMing on 38.765860169 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] SLAMing on 38.795860169 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] SLAMing on 38.825860169 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] SLAMing on 38.855860169 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] SLAMing on 38.885860169 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] SLAMing on 38.915860169 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] SLAMing on 38.945860169 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] SLAMing on 38.975860169 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] SLAMing on 39.005860169 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] SLAMing on 39.035860169 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] SLAMing on 39.065860169 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:-8.65, Y:14.00, Z:-10.47 [[ -0.80231134 0.11817017 0.58509173 -8.64932994] [ -0.24961403 -0.95680714 -0.14904005 13.99540496] [ 0.54220785 -0.26562363 0.79715415 -10.46702847] [ 0. 0. 0. 1. ]] SLAMing on 39.095860169 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:-8.83, Y:14.32, Z:-10.27 [[ -0.41722336 -0.68739146 -0.59448941 -8.82698135] [ -0.88885925 0.44494179 0.10934367 14.31532956] [ 0.18935127 0.57403814 -0.79663436 -10.26703387] [ 0. 0. 0. 1. ]] SLAMing on 39.125860169 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:-10.66, Y:16.01, Z:-12.68 [[ -0.45634094 0.87646214 -0.15351567 -10.65552693] [ 0.03950554 -0.15240039 -0.98752895 16.01004613] [ -0.88892759 -0.45671461 0.03492143 -12.67810151] [ 0. 0. 0. 1. ]] SLAMing on 39.155860169 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:-11.36, Y:16.13, Z:-13.17 [[ 0.97955428 -0.12959973 -0.15387435 -11.36188004] [ -0.14756716 0.05699686 -0.98740837 16.1291822 ] [ 0.13673821 0.9899269 0.03670685 -13.16910115] [ 0. 0. 0. 1. ]] SLAMing on 39.185860169 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] SLAMing on 39.215860169 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] SLAMing on 39.245860169000004 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:-11.24, Y:16.13, Z:-13.45 [[ 0.71578894 -0.68096692 -0.15469406 -11.23698987] [ -0.08458054 0.13535052 -0.98718102 16.12731715] [ 0.69317554 0.71969736 0.03928585 -13.45293761] [ 0. 0. 0. 1. ]] SLAMing on 39.275860169 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] SLAMing on 39.305860169 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] SLAMing on 39.335860169 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] SLAMing on 39.365860169 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] SLAMing on 39.395860169 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] SLAMing on 39.425860169 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] SLAMing on 39.455860169 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] SLAMing on 39.485860169 meters Centerline goodness : 0.998624 Centerline is valid? [True, True] SLAMing on 39.515860169 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] SLAMing on 39.545860169 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] SLAMing on 39.575860169 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] SLAMing on 39.605860169 meters Centerline goodness : 0.999883 Centerline is valid? [True, True] SLAMing on 39.635860169 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] SLAMing on 39.665860169 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] SLAMing on 39.695860169 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] SLAMing on 39.725860169 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] SLAMing on 39.755860169 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] SLAMing on 39.785860169 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] SLAMing on 39.815860169 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] SLAMing on 39.845860169 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] SLAMing on 39.875860169 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] SLAMing on 39.905860169 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] SLAMing on 39.935860169 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] SLAMing on 39.965860169 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] SLAMing on 39.995860169000004 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:-10.81, Y:16.08, Z:-13.60 [[ -0.14050439 -0.97817552 -0.15307244 -10.80976315] [ 0.059591 0.14597083 -0.9874925 16.08353088] [ 0.98828509 -0.14786877 0.03778091 -13.59642178] [ 0. 0. 0. 1. ]] SLAMing on 40.025860169 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:-10.85, Y:16.12, Z:-13.60 [[ -0.05962056 -0.98646044 -0.15277823 -10.84584394] [ 0.05105697 0.14983662 -0.9873916 16.11678872] [ 0.99691453 -0.06666924 0.04143234 -13.59740758] [ 0. 0. 0. 1. ]] SLAMing on 40.055860169 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:-10.84, Y:16.14, Z:-13.60 [[ -0.05963661 -0.98652085 -0.15238139 -10.84228295] [ 0.05103233 0.14944039 -0.98745292 16.14420832] [ 0.99691483 -0.06666472 0.04143234 -13.59842971] [ 0. 0. 0. 1. ]] SLAMing on 40.085860169 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:-10.66, Y:16.15, Z:-13.55 [[ -0.43485995 -0.88757728 -0.15199799 -10.66204056] [ 0.10300616 0.11865629 -0.98757806 16.14626692] [ 0.89458737 -0.44511487 0.03982706 -13.54592016] [ 0. 0. 0. 1. ]] SLAMing on 40.115860169 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:-10.96, Y:16.25, Z:-12.64 [[ 8.84157631e-03 9.97205990e-01 -7.41757414e-02 -1.09594056e+01] [-3.09439401e-02 -7.38702654e-02 -9.96787669e-01 1.62498713e+01] [-9.99482015e-01 1.11084639e-02 3.02043528e-02 -1.26370739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.145860169 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:-10.97, Y:16.28, Z:-12.65 [[-1.77642917e-01 9.84086161e-01 4.17390058e-03 -1.09717831e+01] [-3.01251743e-02 -1.19859490e-03 -9.99545415e-01 1.62797019e+01] [-9.83633808e-01 -1.77687903e-01 2.98586890e-02 -1.26462815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.175860169 meters Centerline goodness : 0.994215 Centerline is valid? [True, True] SLAMing on 40.205860169 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] SLAMing on 40.235860169 meters Centerline goodness : 0.998718 Centerline is valid? [True, True] SLAMing on 40.265860169 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] SLAMing on 40.295860169 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] SLAMing on 40.325860169 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] SLAMing on 40.355860169 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] SLAMing on 40.385860169 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] SLAMing on 40.415860169 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] SLAMing on 40.445860169 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] SLAMing on 40.475860169 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] SLAMing on 40.505860169 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] SLAMing on 40.535860169 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] SLAMing on 40.565860169 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] SLAMing on 40.595860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 40.625860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 40.655860169 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] SLAMing on 40.685860169 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] SLAMing on 40.715860169 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] SLAMing on 40.745860169000004 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] SLAMing on 40.775860169 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] SLAMing on 40.805860169 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] SLAMing on 40.835860169 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] SLAMing on 40.865860169 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] SLAMing on 40.895860169 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] SLAMing on 40.925860169 meters Centerline goodness : 0.989820 Centerline is valid? [True, True] SLAMing on 40.955860169 meters Centerline goodness : 0.995974 Centerline is valid? [True, True] SLAMing on 40.985860169 meters Centerline goodness : 0.998421 Centerline is valid? [True, True] SLAMing on 41.015860169 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] SLAMing on 41.045860169 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] SLAMing on 41.075860169 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] SLAMing on 41.105860169 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] SLAMing on 41.135860169 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] SLAMing on 41.165860169 meters Centerline goodness : 0.995698 Centerline is valid? [True, True] SLAMing on 41.195860169 meters Centerline goodness : 0.997140 Centerline is valid? [True, True] SLAMing on 41.225860169 meters Centerline goodness : 0.997028 Centerline is valid? [True, True] SLAMing on 41.255860169 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] SLAMing on 41.285860169 meters Centerline goodness : 0.992215 Centerline is valid? [True, True] SLAMing on 41.315860169 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] SLAMing on 41.345860169 meters Centerline goodness : 0.996149 Centerline is valid? [True, True] SLAMing on 41.375860169 meters Centerline goodness : 0.997825 Centerline is valid? [True, True] SLAMing on 41.405860169 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] SLAMing on 41.435860169 meters Centerline goodness : 0.988850 Centerline is valid? [True, True] SLAMing on 41.465860169 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] SLAMing on 41.495860169000004 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] SLAMing on 41.525860169 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] SLAMing on 41.555860169 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] SLAMing on 41.585860169 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] SLAMing on 41.615860169 meters Centerline goodness : 0.996591 Centerline is valid? [True, True] SLAMing on 41.645860169 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] SLAMing on 41.675860169 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] SLAMing on 41.705860169 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] SLAMing on 41.735860169 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] SLAMing on 41.765860169 meters Centerline goodness : 0.997165 Centerline is valid? [True, True] SLAMing on 41.795860169 meters Centerline goodness : 0.997205 Centerline is valid? [True, True] SLAMing on 41.825860169 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:-11.71, Y:15.97, Z:-13.16 [[ 0.98809016 -0.12868717 0.08436497 -11.712324 ] [ 0.08776642 0.02098397 -0.99592004 15.96946598] [ 0.12639182 0.9914632 0.03202846 -13.16498964] [ 0. 0. 0. 1. ]] SLAMing on 41.855860169 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:-10.76, Y:15.99, Z:-12.95 [[-9.37661932e-01 3.37941285e-01 8.11528778e-02 -1.07598777e+01] [-9.08686528e-02 -1.30017420e-02 -9.95778009e-01 1.59916885e+01] [-3.35459371e-01 -9.41077384e-01 4.28995078e-02 -1.29494048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.885860169 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:-10.74, Y:15.90, Z:-12.95 [[-9.38193484e-01 3.37963194e-01 7.46583339e-02 -1.07399868e+01] [-8.47544223e-02 -1.51939399e-02 -9.96286019e-01 1.58970908e+01] [-3.35573651e-01 -9.41036675e-01 4.28987307e-02 -1.29459449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.915860169 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] SLAMing on 41.945860169 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] SLAMing on 41.975860169 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:-10.77, Y:15.83, Z:-12.85 [[-8.51201026e-01 5.19986084e-01 7.12129564e-02 -1.07712089e+01] [-8.34257554e-02 -9.11202606e-05 -9.96513991e-01 1.58307954e+01] [-5.18166919e-01 -8.54174727e-01 4.34577935e-02 -1.28545375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.005860169 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:-10.76, Y:15.77, Z:-12.85 [[-8.51481080e-01 5.19981103e-01 6.78205217e-02 -1.07607989e+01] [-8.05277654e-02 -1.86106954e-03 -9.96750629e-01 1.57661928e+01] [-5.18165272e-01 -8.54175737e-01 4.34575818e-02 -1.28522022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.035860169 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] SLAMing on 42.065860169 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] SLAMing on 42.095860169 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] SLAMing on 42.125860169 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] SLAMing on 42.155860169 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] SLAMing on 42.185860169 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] SLAMing on 42.215860169 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] SLAMing on 42.245860169 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:-10.79, Y:15.70, Z:-12.79 [[-7.69593266e-01 6.35288647e-01 6.43003824e-02 -1.07887966e+01] [-7.76948235e-02 6.78607497e-03 -9.96954093e-01 1.56985034e+01] [-6.33789964e-01 -7.72244964e-01 4.41361217e-02 -1.27925242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.275860169 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:-10.76, Y:15.63, Z:-12.82 [[-8.09270900e-01 5.84243759e-01 6.11542384e-02 -1.07606097e+01] [-7.59369072e-02 -8.14534101e-04 -9.97112292e-01 1.56326088e+01] [-5.82506821e-01 -8.11577825e-01 4.50248429e-02 -1.28158496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.305860169 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:-10.75, Y:15.57, Z:-12.81 [[-8.09505690e-01 5.84237955e-01 5.80219780e-02 -1.07507503e+01] [-7.33944827e-02 -2.64954298e-03 -9.97299468e-01 1.55672528e+01] [-5.82506470e-01 -8.11578088e-01 4.50246626e-02 -1.28134833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.335860169 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:-10.72, Y:15.50, Z:-12.85 [[-8.63446121e-01 5.01445835e-01 5.48896111e-02 -1.07162340e+01] [-6.99721079e-02 -1.12984956e-02 -9.97484961e-01 1.55015160e+01] [-4.99564510e-01 -8.65115263e-01 4.48428643e-02 -1.28514811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.365860169 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:-10.74, Y:15.43, Z:-12.79 [[-7.84927296e-01 6.17484032e-01 5.10157782e-02 -1.07427270e+01] [-6.83338382e-02 -4.43909342e-03 -9.97652635e-01 1.54280614e+01] [-6.15808108e-01 -7.86570890e-01 4.56794195e-02 -1.27917013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.395860169 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:-10.69, Y:15.36, Z:-12.86 [[-8.77027087e-01 4.78055412e-01 4.78174797e-02 -1.06871922e+01] [-6.08968121e-02 -1.18873354e-02 -9.98073279e-01 1.53615596e+01] [-4.76565910e-01 -8.78249233e-01 3.95375657e-02 -1.28623703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.425860169 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] SLAMing on 42.455860169 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:-11.00, Y:15.34, Z:-12.62 [[ -0.26779535 -0.9545127 -0.13111502 -11.00003728] [ -0.07802829 -0.11415244 0.99039427 15.33618371] [ -0.96031101 0.27545366 -0.0439095 -12.62419394] [ 0. 0. 0. 1. ]] SLAMing on 42.485860169 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:-10.85, Y:15.35, Z:-12.64 [[ -0.38698502 -0.89822826 -0.20839524 -10.84513979] [ -0.12360451 -0.1734317 0.97705853 15.34925497] [ -0.91376393 0.40386561 -0.04390959 -12.64389999] [ 0. 0. 0. 1. ]] SLAMing on 42.515860169 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:-10.75, Y:15.36, Z:-12.64 [[ -0.37092559 -0.88404988 -0.28437654 -10.75352906] [ -0.15327175 -0.24374336 0.95765179 15.36145531] [ -0.91592684 0.39880444 -0.04508922 -12.6419848 ] [ 0. 0. 0. 1. ]] SLAMing on 42.545860169 meters Centerline goodness : 0.998777 Centerline is valid? [True, True] Translation: X:-10.68, Y:15.37, Z:-12.63 [[ -0.29408495 -0.88595792 -0.3585981 -10.68023183] [ -0.15827802 -0.32486585 0.93242171 15.37429593] [ -0.94258268 0.33096939 -0.0446895 -12.62917798] [ 0. 0. 0. 1. ]] SLAMing on 42.575860169 meters Centerline goodness : 0.996238 Centerline is valid? [True, True] Translation: X:-10.63, Y:15.38, Z:-12.61 [[ -0.15095091 -0.88981438 -0.43063231 -10.63316156] [ -0.1235135 -0.41523334 0.90129112 15.37686407] [ -0.9807947 0.18923962 -0.04722424 -12.60781619] [ 0. 0. 0. 1. ]] SLAMing on 42.605860169 meters Centerline goodness : 0.991740 Centerline is valid? [True, True] Translation: X:-10.57, Y:15.38, Z:-12.60 [[ -0.04150589 -0.86504034 -0.49998246 -10.57471175] [ -0.07809244 -0.49607416 0.86476124 15.38373364] [ -0.99608174 0.07493753 -0.04696312 -12.59944385] [ 0. 0. 0. 1. ]] SLAMing on 42.635860169 meters Centerline goodness : 0.991740 Centerline is valid? [True, True] Translation: X:-10.47, Y:15.42, Z:-12.60 [[ -0.03530937 -0.82346688 -0.56626456 -10.46731674] [ -0.0810117 -0.56239472 0.82289081 15.42218351] [ -0.99608752 0.07492981 -0.04685265 -12.59863607] [ 0. 0. 0. 1. ]] SLAMing on 42.665860169 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:-10.35, Y:15.48, Z:-12.60 [[ -0.05397627 -0.77549751 -0.62903908 -10.3517569 ] [ -0.10336742 -0.62223356 0.77597717 15.48052278] [ -0.9931776 0.1069065 -0.04657533 -12.59810112] [ 0. 0. 0. 1. ]] SLAMing on 42.695860169 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:-10.22, Y:15.57, Z:-12.61 [[ -0.13081762 -0.71377659 -0.68804777 -10.2162258 ] [ -0.18269875 -0.66476925 0.72436387 15.57069473] [ -0.97442697 0.22046503 -0.04344256 -12.61079498] [ 0. 0. 0. 1. ]] SLAMing on 42.725860169 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:-10.21, Y:15.55, Z:-12.60 [[ 0.02168909 -0.6692916 -0.7426832 -10.20892825] [ -0.04152537 -0.74281997 0.66820217 15.54857345] [ -0.99890201 0.0163475 -0.04390367 -12.60021281] [ 0. 0. 0. 1. ]] SLAMing on 42.755860169 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:-10.05, Y:15.71, Z:-12.62 [[ -0.15106118 -0.59001787 -0.79313267 -10.05096846] [ -0.26937438 -0.74740604 0.60730689 15.70543093] [ -0.95111407 0.30539011 -0.04603166 -12.61746975] [ 0. 0. 0. 1. ]] SLAMing on 42.785860169 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:-10.04, Y:15.70, Z:-12.59 [[ -0.03422617 -0.54537989 -0.83748991 -10.03624327] [ -0.14703536 -0.8261145 0.5439811 15.7007806 ] [ -0.98853891 0.14175902 -0.05191539 -12.59298961] [ 0. 0. 0. 1. ]] SLAMing on 42.815860169 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:-10.02, Y:15.69, Z:-12.59 [[ 6.97564464e-02 -4.75086474e-01 -8.77169813e-01 -1.00175960e+01] [ 1.56576653e-02 -8.78682012e-01 4.77150668e-01 1.56857582e+01] [-9.97441164e-01 -4.70187664e-02 -5.38549897e-02 -1.25868167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.845860169 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:-9.96, Y:15.74, Z:-12.59 [[ 0.07513628 -0.40297229 -0.91212273 -9.95700462] [ 0.03627871 -0.91299812 0.4063475 15.74170061] [ -0.99651312 -0.06362207 -0.05397997 -12.58681408] [ 0. 0. 0. 1. ]] SLAMing on 42.875860169 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:-9.91, Y:15.79, Z:-12.59 [[ 0.09074376 -0.32564092 -0.94112888 -9.90685673] [ 0.09252357 -0.93818361 0.33354296 15.78641677] [ -0.99156692 -0.11734355 -0.05500485 -12.58753205] [ 0. 0. 0. 1. ]] SLAMing on 42.905860169 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:-9.85, Y:15.86, Z:-12.58 [[ 0.08638872 -0.25002841 -0.96437689 -9.8538748 ] [ 0.10528537 -0.96028387 0.25839868 15.85713207] [ -0.99068258 -0.12385751 -0.05663336 -12.58098656] [ 0. 0. 0. 1. ]] SLAMing on 42.935860169 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:-9.82, Y:15.87, Z:-12.59 [[ 0.11272392 -0.16075073 -0.98053685 -9.81992329] [ 0.25119342 -0.95016146 0.1846485 15.86831734] [ -0.96135071 -0.26711871 -0.06672639 -12.58766764] [ 0. 0. 0. 1. ]] SLAMing on 42.965860169 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:-9.70, Y:16.10, Z:-13.51 [[ -0.08281513 0.16887591 -0.98215202 -9.6968731 ] [ -0.21321412 0.95971462 0.18299615 16.10066962] [ 0.97348929 0.22456353 -0.04347216 -13.50826465] [ 0. 0. 0. 1. ]] SLAMing on 42.995860169 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:-9.68, Y:16.07, Z:-13.51 [[ -0.07137947 0.17340503 -0.98226049 -9.67773461] [ -0.15476293 0.97092099 0.18264959 16.06833738] [ 0.98536968 0.16505494 -0.04246716 -13.51394016] [ 0. 0. 0. 1. ]] SLAMing on 43.025860169 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:-9.66, Y:16.02, Z:-13.52 [[ -0.05543838 0.17839091 -0.9823967 -9.65967797] [ -0.07441167 0.98043546 0.18223396 16.02496594] [ 0.99568544 0.08320453 -0.04107939 -13.5184894 ] [ 0. 0. 0. 1. ]] SLAMing on 43.055860169 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:-9.63, Y:16.07, Z:-13.51 [[ -0.07110104 0.1718834 -0.98254809 -9.62769471] [ -0.1717459 0.96822014 0.18180513 16.06797749] [ 0.98257213 0.18167513 -0.03932119 -13.51140197] [ 0. 0. 0. 1. ]] SLAMing on 43.085860169 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:-9.61, Y:16.05, Z:-13.51 [[ -0.06567981 0.17350962 -0.9826396 -9.60553089] [ -0.14372558 0.97285216 0.18138805 16.05025517] [ 0.98743563 0.15314398 -0.03895897 -13.51314966] [ 0. 0. 0. 1. ]] SLAMing on 43.115860169 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:-9.58, Y:16.05, Z:-13.51 [[ -0.06562442 0.17313209 -0.98270988 -9.57992883] [ -0.14375316 0.97291908 0.18100687 16.0462112 ] [ 0.9874353 0.15314613 -0.03895897 -13.51170797] [ 0. 0. 0. 1. ]] SLAMing on 43.145860169 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:-9.55, Y:16.08, Z:-13.51 [[ -0.07574822 0.16737605 -0.98297887 -9.54772177] [ -0.2314895 0.95592538 0.18060808 16.08284464] [ 0.96988392 0.24123003 -0.03366384 -13.50611091] [ 0. 0. 0. 1. ]] SLAMing on 43.175860169 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:-9.52, Y:16.08, Z:-13.50 [[ -0.08217079 0.16508384 -0.98285059 -9.52270468] [ -0.23572469 0.95498374 0.18011087 16.08244378] [ 0.96833973 0.246482 -0.03955743 -13.4984133 ] [ 0. 0. 0. 1. ]] SLAMing on 43.205860169 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:-9.50, Y:16.05, Z:-13.50 [[ -0.06606361 0.1706406 -0.98311616 -9.50277505] [ -0.17325505 0.96834083 0.17971845 16.04940369] [ 0.98265879 0.18220269 -0.03440774 -13.50399834] [ 0. 0. 0. 1. ]] SLAMing on 43.235860169 meters Centerline goodness : 0.998454 Centerline is valid? [True, True] Translation: X:-9.47, Y:16.10, Z:-13.49 [[ -0.09002175 0.15937434 -0.98310524 -9.46868532] [ -0.29568674 0.93832825 0.17919107 16.10487521] [ 0.95103388 0.30682228 -0.03734507 -13.49008312] [ 0. 0. 0. 1. ]] SLAMing on 43.265860169 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:-9.46, Y:16.03, Z:-13.51 [[ -0.05957792 0.17185977 -0.9833182 -9.45772692] [ -0.13941713 0.97398057 0.17867488 16.02730326] [ 0.98843985 0.14773648 -0.03406754 -13.5051533 ] [ 0. 0. 0. 1. ]] SLAMing on 43.295860169 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:-9.44, Y:16.00, Z:-13.51 [[ -0.05130079 0.17402074 -0.9834048 -9.43647031] [ -0.09546034 0.97933816 0.17828095 16.00211125] [ 0.99411043 0.10302211 -0.03362874 -13.50663359] [ 0. 0. 0. 1. ]] SLAMing on 43.325860169 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:-9.40, Y:16.06, Z:-13.50 [[ -0.07048238 0.16601689 -0.98360085 -9.40030464] [ -0.2271226 0.95748252 0.17788355 16.05923626] [ 0.97131229 0.23593564 -0.02977946 -13.50032761] [ 0. 0. 0. 1. ]] SLAMing on 43.355860169 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:-9.37, Y:16.07, Z:-13.50 [[ -0.0740131 0.16381223 -0.98371114 -9.37321863] [ -0.25255094 0.95118259 0.17739701 16.06776498] [ 0.96474871 0.26156688 -0.02902904 -13.49686359] [ 0. 0. 0. 1. ]] SLAMing on 43.385860169 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:-9.35, Y:16.08, Z:-13.49 [[ -0.07809638 0.16134545 -0.98380313 -9.34691886] [ -0.27629147 0.94466081 0.17685864 16.07607843] [ 0.9578956 0.28562843 -0.02919622 -13.49258388] [ 0. 0. 0. 1. ]] SLAMing on 43.415860169 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:-9.32, Y:16.08, Z:-13.49 [[ -0.08107596 0.15931239 -0.98389341 -9.31999106] [ -0.29544648 0.9389366 0.1763787 16.08286002] [ 0.95191285 0.30498792 -0.02905691 -13.4863232 ] [ 0. 0. 0. 1. ]] SLAMing on 43.445860169 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:-9.29, Y:16.09, Z:-13.48 [[ -0.0836329 0.15737719 -0.98399083 -9.29470382] [ -0.31427047 0.93289216 0.17591556 16.08879626] [ 0.94564243 0.32395158 -0.02856147 -13.48273517] [ 0. 0. 0. 1. ]] SLAMing on 43.475860169 meters Centerline goodness : 0.997493 Centerline is valid? [True, True] Translation: X:-9.27, Y:16.11, Z:-13.47 [[ -0.08885045 0.15345587 -0.98415288 -9.26692565] [ -0.36064781 0.91606146 0.17539829 16.10771467] [ 0.92846042 0.3705168 -0.02604895 -13.47422141] [ 0. 0. 0. 1. ]] SLAMing on 43.505860169 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:-9.25, Y:16.09, Z:-13.48 [[ -0.08259896 0.15641021 -0.98423232 -9.24595357] [ -0.32113657 0.93074958 0.17486145 16.08572586] [ 0.94342393 0.33051637 -0.02664991 -13.47797218] [ 0. 0. 0. 1. ]] SLAMing on 43.535860169 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:-9.22, Y:16.08, Z:-13.48 [[ -0.08040538 0.15653197 -0.98439459 -9.2227832 ] [ -0.31093936 0.93437111 0.1739751 16.07663421] [ 0.94702254 0.32007556 -0.02645652 -13.47794681] [ 0. 0. 0. 1. ]] SLAMing on 43.565860169 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:-9.20, Y:16.07, Z:-13.48 [[ -0.07870122 0.15702185 -0.98445429 -9.19896307] [ -0.30275755 0.93711002 0.17367403 16.07063237] [ 0.9498126 0.31171933 -0.02621215 -13.47995555] [ 0. 0. 0. 1. ]] SLAMing on 43.595860169 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:-9.18, Y:16.06, Z:-13.48 [[ -0.07553955 0.15831338 -0.98449512 -9.17542201] [ -0.28105558 0.94390521 0.17335143 16.05696378] [ 0.95671393 0.28979273 -0.02680732 -13.48126762] [ 0. 0. 0. 1. ]] SLAMing on 43.625860169 meters Centerline goodness : 0.988321 Centerline is valid? [True, True] Translation: X:-9.15, Y:16.08, Z:-13.48 [[ -0.08215893 0.15419219 -0.98461905 -9.14889898] [ -0.3278291 0.92879834 0.17280545 16.07566002] [ 0.94115779 0.33698429 -0.0257604 -13.4755919 ] [ 0. 0. 0. 1. ]] SLAMing on 43.655860169 meters Centerline goodness : 0.992892 Centerline is valid? [True, True] Translation: X:-9.13, Y:16.07, Z:-13.48 [[ -0.0810848 0.15434426 -0.98468427 -9.12562768] [ -0.3157929 0.93306079 0.17225682 16.06660555] [ 0.94535713 0.32492371 -0.02691623 -13.47710233] [ 0. 0. 0. 1. ]] SLAMing on 43.685860169 meters Centerline goodness : 0.988463 Centerline is valid? [True, True] Translation: X:-9.10, Y:16.06, Z:-13.48 [[ -0.0796909 0.15431648 -0.98480241 -9.10111887] [ -0.31330309 0.9340007 0.17170866 16.06220822] [ 0.94630362 0.32222525 -0.02608353 -13.47684764] [ 0. 0. 0. 1. ]] SLAMing on 43.715860169 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:-9.08, Y:16.07, Z:-13.47 [[ -0.08597608 0.1505515 -0.98485652 -9.07591483] [ -0.34291704 0.92364618 0.17113049 16.07455752] [ 0.93542291 0.35243721 -0.0277848 -13.46758821] [ 0. 0. 0. 1. ]] SLAMing on 43.745860169 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:-9.05, Y:16.08, Z:-13.46 [[ -0.08929516 0.14805238 -0.98494003 -9.05047327] [ -0.36332453 0.91590713 0.17061481 16.081278 ] [ 0.92737353 0.37308795 -0.02799501 -13.46349163] [ 0. 0. 0. 1. ]] SLAMing on 43.775860169 meters Centerline goodness : 0.995476 Centerline is valid? [True, True] Translation: X:-9.03, Y:16.07, Z:-13.46 [[ -0.08883677 0.14787086 -0.98500875 -9.02775289] [ -0.35832442 0.91796607 0.17012318 16.07497676] [ 0.92936088 0.36806588 -0.0285634 -13.46499542] [ 0. 0. 0. 1. ]] SLAMing on 43.805860169 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:-9.01, Y:16.03, Z:-13.47 [[ -0.07900382 0.15421344 -0.98487391 -9.01135796] [ -0.25800892 0.9511351 0.1696273 16.02612689] [ 0.96290695 0.26750746 -0.03535486 -13.47027931] [ 0. 0. 0. 1. ]] SLAMing on 43.835860169 meters Centerline goodness : 0.995513 Centerline is valid? [True, True] Translation: X:-8.98, Y:16.06, Z:-13.47 [[ -0.08430617 0.14933558 -0.98518595 -8.98172533] [ -0.33415018 0.92721852 0.16914333 16.05613724] [ 0.93874178 0.34345989 -0.02826973 -13.46783564] [ 0. 0. 0. 1. ]] SLAMing on 43.865860169 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:-8.96, Y:16.04, Z:-13.47 [[ -0.08134306 0.150642 -0.98523616 -8.95994861] [ -0.30953001 0.93581588 0.16864109 16.04056927] [ 0.94740407 0.31867794 -0.02949391 -13.46967918] [ 0. 0. 0. 1. ]] SLAMing on 43.895860169 meters Centerline goodness : 0.987708 Centerline is valid? [True, True] Translation: X:-8.93, Y:16.05, Z:-13.47 [[ -0.08407567 0.14847344 -0.98533594 -8.93338015] [ -0.33071897 0.9286287 0.16814785 16.0481188 ] [ 0.93997672 0.34000644 -0.02897209 -13.46729597] [ 0. 0. 0. 1. ]] SLAMing on 43.925860169 meters Centerline goodness : 0.988901 Centerline is valid? [True, True] Translation: X:-8.91, Y:16.02, Z:-13.47 [[ -0.0769661 0.15177673 -0.98541364 -8.91274307] [ -0.28438983 0.94394492 0.16760195 16.02233797] [ 0.95561428 0.29314129 -0.029488 -13.47398215] [ 0. 0. 0. 1. ]] SLAMing on 43.955860169 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:-8.89, Y:16.03, Z:-13.47 [[ -0.07883158 0.15015237 -0.98551502 -8.8869574 ] [ -0.29904605 0.93950072 0.16706243 16.02727278] [ 0.95097689 0.30788417 -0.02915986 -13.46764191] [ 0. 0. 0. 1. ]] SLAMing on 43.985860169 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:-8.86, Y:16.02, Z:-13.47 [[ -0.0772142 0.1505236 -0.98558643 -8.864879 ] [ -0.28556489 0.94378317 0.16651133 16.01766015] [ 0.95524377 0.29430592 -0.02988921 -13.46828329] [ 0. 0. 0. 1. ]] SLAMing on 44.015860169 meters Centerline goodness : 0.983562 Centerline is valid? [True, True] Translation: X:-8.84, Y:16.03, Z:-13.46 [[ -0.08258734 0.14689585 -0.9856982 -8.83723138] [ -0.32650634 0.93049927 0.16602625 16.03381774] [ 0.94158002 0.33554837 -0.02888503 -13.46282522] [ 0. 0. 0. 1. ]] SLAMing on 44.045860169 meters Centerline goodness : 0.992057 Centerline is valid? [True, True] Translation: X:-8.80, Y:16.32, Z:-12.82 [[ -0.11891892 -0.10146146 -0.98770636 -8.80442284] [ -0.92526446 -0.34955104 0.14730836 16.31772525] [ -0.36019991 0.93140735 -0.05231045 -12.82038151] [ 0. 0. 0. 1. ]] SLAMing on 44.075860169 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:-13.04, Y:16.48, Z:-12.76 [[ 0.04248455 0.08584898 0.99540194 -13.04079209] [ -0.10357679 0.99131156 -0.08107546 16.4803891 ] [ -0.9937137 -0.09965608 0.05100739 -12.75921273] [ 0. 0. 0. 1. ]] SLAMing on 44.105860169 meters Centerline goodness : 0.969504 Centerline is valid? [True, True] SLAMing on 44.135860169 meters Centerline goodness : 0.996452 Centerline is valid? [True, True] SLAMing on 44.165860169 meters Centerline goodness : 0.978488 Centerline is valid? [True, True] SLAMing on 44.195860169 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] SLAMing on 44.225860169 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] SLAMing on 44.255860169 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] SLAMing on 44.285860169 meters Centerline goodness : 0.997584 Centerline is valid? [True, True] SLAMing on 44.315860169 meters Centerline goodness : 0.991178 Centerline is valid? [True, True] SLAMing on 44.345860169 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] SLAMing on 44.375860169 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] SLAMing on 44.405860169 meters Centerline goodness : 0.351674 Centerline is valid? [True, False] Translation: X:-13.01, Y:16.50, Z:-12.76 [[ 0.05043028 0.08299892 0.99527281 -13.00948557] [ -0.14611104 0.98643186 -0.07485822 16.49802804] [ -0.98798196 -0.14164523 0.06187309 -12.75950562] [ 0. 0. 0. 1. ]] SLAMing on 44.435860169 meters Centerline goodness : 0.995374 Centerline is valid? [False, True] Translation: X:-12.99, Y:16.51, Z:-12.76 [[ 0.05077963 0.08254072 0.99529315 -12.98965843] [ -0.17807887 0.98135657 -0.0722994 16.51226215] [ -0.98270512 -0.17356934 0.06453169 -12.76310603] [ 0. 0. 0. 1. ]] SLAMing on 44.465860169 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] SLAMing on 44.495860169 meters Centerline goodness : 0.768791 Centerline is valid? [True, False] Translation: X:-12.97, Y:16.53, Z:-12.77 [[ 0.05053095 0.08365164 0.99521306 -12.97081253] [ -0.21740594 0.97351096 -0.07078893 16.53053572] [ -0.97477242 -0.2127882 0.06737879 -12.76583114] [ 0. 0. 0. 1. ]] SLAMing on 44.525860169 meters Centerline goodness : 0.768791 Centerline is valid? [False, False] Translation: X:-12.97, Y:16.53, Z:-12.76 [[ 0.05128077 0.08302765 0.99522695 -12.96958849] [ -0.21964004 0.97307631 -0.06986239 16.53190517] [ -0.97423228 -0.21500909 0.0681363 -12.76467144] [ 0. 0. 0. 1. ]] SLAMing on 44.555860169 meters Centerline goodness : 0.768791 Centerline is valid? [False, False] Translation: X:-12.97, Y:16.53, Z:-12.76 [[ 0.05203277 0.08240417 0.99523974 -12.96836586] [ -0.22187284 0.97263596 -0.06893274 16.53327775] [ -0.97368631 -0.21722991 0.06889219 -12.76351457] [ 0. 0. 0. 1. ]] SLAMing on 44.585860169 meters Centerline goodness : 0.980895 Centerline is valid? [False, True] Translation: X:-12.97, Y:16.54, Z:-12.76 [[ 0.05208824 0.0802925 0.99540943 -12.96558315] [ -0.2270756 0.97160474 -0.06648983 16.53712997] [ -0.97248316 -0.22256985 0.06884164 -12.76176595] [ 0. 0. 0. 1. ]] SLAMing on 44.615860169 meters Centerline goodness : 0.998167 Centerline is valid? [True, True] SLAMing on 44.645860169 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] SLAMing on 44.675860169 meters Centerline goodness : 0.997329 Centerline is valid? [True, True] SLAMing on 44.705860169 meters Centerline goodness : 0.997329 Centerline is valid? [True, True] SLAMing on 44.735860169 meters Centerline goodness : 0.973840 Centerline is valid? [True, True] SLAMing on 44.765860169 meters Centerline goodness : 0.998817 Centerline is valid? [True, True] SLAMing on 44.795860169 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] SLAMing on 44.825860169 meters Centerline goodness : 0.998679 Centerline is valid? [True, True] SLAMing on 44.855860169 meters Centerline goodness : 0.996491 Centerline is valid? [True, True] SLAMing on 44.885860169 meters Centerline goodness : 0.876951 Centerline is valid? [True, False] Translation: X:-12.97, Y:16.56, Z:-12.77 [[ 0.04486504 0.08495423 0.99537425 -12.97498087] [ -0.27431982 0.95912407 -0.06949575 16.55776734] [ -0.96059136 -0.26993296 0.06633577 -12.77320567] [ 0. 0. 0. 1. ]] SLAMing on 44.915860169 meters Centerline goodness : 0.999679 Centerline is valid? [False, True] Translation: X:-12.97, Y:16.56, Z:-12.77 [[ 0.04719651 0.08656514 0.99512761 -12.96741753] [ -0.2806723 0.95725067 -0.06995865 16.56144826] [ -0.95864256 -0.27600295 0.06947533 -12.77434899] [ 0. 0. 0. 1. ]] SLAMing on 44.945860169 meters Centerline goodness : 0.878040 Centerline is valid? [True, False] Translation: X:-12.97, Y:16.56, Z:-12.77 [[ 0.04780154 0.08645081 0.99510867 -12.96721992] [ -0.28077788 0.95724051 -0.0696734 16.56249322] [ -0.95858166 -0.276074 0.07003105 -12.77457979] [ 0. 0. 0. 1. ]] SLAMing on 44.975860169 meters Centerline goodness : 0.998182 Centerline is valid? [False, True] Translation: X:-12.97, Y:16.56, Z:-12.78 [[ 0.04942412 0.08602176 0.99506659 -12.96761318] [ -0.28153188 0.95708545 -0.0687549 16.56354553] [ -0.95827817 -0.27674482 0.07152098 -12.77609091] [ 0. 0. 0. 1. ]] SLAMing on 45.005860169 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] SLAMing on 45.035860169 meters Centerline goodness : 0.979268 Centerline is valid? [True, True] SLAMing on 45.065860169 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] SLAMing on 45.095860169 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] SLAMing on 45.125860169 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] SLAMing on 45.155860169 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] SLAMing on 45.185860169 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] SLAMing on 45.215860169 meters Centerline goodness : 0.976108 Centerline is valid? [True, True] SLAMing on 45.245860169 meters Centerline goodness : 0.993733 Centerline is valid? [True, True] SLAMing on 45.275860169 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] SLAMing on 45.305860169 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] SLAMing on 45.335860169 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] SLAMing on 45.365860169 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] SLAMing on 45.395860169 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] SLAMing on 45.425860169 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] SLAMing on 45.455860169 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] SLAMing on 45.485860169 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] SLAMing on 45.515860169 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] SLAMing on 45.545860169 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] SLAMing on 45.575860169 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] SLAMing on 45.605860169 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] SLAMing on 45.635860169 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] SLAMing on 45.665860169 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] SLAMing on 45.695860169 meters Centerline goodness : 0.998690 Centerline is valid? [True, True] SLAMing on 45.725860169 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] SLAMing on 45.755860169 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] SLAMing on 45.785860169 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] SLAMing on 45.815860169 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] SLAMing on 45.845860169 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] SLAMing on 45.875860169 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] SLAMing on 45.905860169 meters Centerline goodness : 0.996699 Centerline is valid? [True, True] SLAMing on 45.935860169 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] SLAMing on 45.965860169 meters Centerline goodness : 0.998398 Centerline is valid? [True, True] SLAMing on 45.995860169 meters Centerline goodness : 0.991440 Centerline is valid? [True, True] SLAMing on 46.025860169 meters Centerline goodness : 0.990802 Centerline is valid? [True, True] SLAMing on 46.055860169 meters Centerline goodness : 0.978809 Centerline is valid? [True, True] SLAMing on 46.085860169 meters Centerline goodness : 0.990425 Centerline is valid? [True, True] SLAMing on 46.115860169 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] SLAMing on 46.145860169 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] SLAMing on 46.175860169 meters Centerline goodness : 0.996787 Centerline is valid? [True, True] SLAMing on 46.205860169 meters Centerline goodness : 0.995809 Centerline is valid? [True, True] SLAMing on 46.235860169 meters Centerline goodness : 0.983589 Centerline is valid? [True, True] SLAMing on 46.265860169 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] SLAMing on 46.295860169 meters Centerline goodness : 0.983087 Centerline is valid? [True, True] SLAMing on 46.325860169 meters Centerline goodness : 0.988501 Centerline is valid? [True, True] SLAMing on 46.355860169 meters Centerline goodness : 0.985914 Centerline is valid? [True, True] SLAMing on 46.385860169 meters Centerline goodness : 0.996732 Centerline is valid? [True, True] SLAMing on 46.415860169 meters Centerline goodness : 0.980855 Centerline is valid? [True, True] SLAMing on 46.445860169 meters Centerline goodness : 0.980855 Centerline is valid? [True, True] SLAMing on 46.475860169 meters Centerline goodness : 0.974223 Centerline is valid? [True, True] SLAMing on 46.505860169 meters Centerline goodness : 0.997177 Centerline is valid? [True, True] SLAMing on 46.535860169 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] SLAMing on 46.565860169 meters Centerline goodness : 0.996296 Centerline is valid? [True, True] SLAMing on 46.595860169 meters Centerline goodness : 0.983500 Centerline is valid? [True, True] SLAMing on 46.625860169 meters Centerline goodness : 0.983500 Centerline is valid? [True, True] SLAMing on 46.655860169 meters Centerline goodness : 0.989083 Centerline is valid? [True, True] SLAMing on 46.685860169 meters Centerline goodness : 0.989083 Centerline is valid? [True, True] SLAMing on 46.715860169 meters Centerline goodness : 0.981927 Centerline is valid? [True, True] SLAMing on 46.745860169 meters Centerline goodness : 0.993789 Centerline is valid? [True, True] SLAMing on 46.775860169 meters Centerline goodness : 0.992042 Centerline is valid? [True, True] SLAMing on 46.805860169 meters Centerline goodness : 0.995284 Centerline is valid? [True, True] SLAMing on 46.835860169 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] SLAMing on 46.865860169 meters Centerline goodness : 0.983562 Centerline is valid? [True, True] SLAMing on 46.895860169 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] SLAMing on 46.925860169 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] SLAMing on 46.955860169 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] SLAMing on 46.985860169 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] SLAMing on 47.015860169 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] SLAMing on 47.045860169 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] SLAMing on 47.075860169 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] SLAMing on 47.105860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 47.135860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 47.165860169 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] SLAMing on 47.195860169 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] SLAMing on 47.225860169 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] SLAMing on 47.255860169 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] SLAMing on 47.285860169 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] SLAMing on 47.315860169 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] SLAMing on 47.345860169 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] SLAMing on 47.375860169 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] SLAMing on 47.405860169 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] SLAMing on 47.435860169 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] SLAMing on 47.465860169 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] SLAMing on 47.495860169 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] SLAMing on 47.525860169 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] SLAMing on 47.555860169 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] SLAMing on 47.585860169 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] SLAMing on 47.615860169 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] SLAMing on 47.645860169 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] SLAMing on 47.675860169 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] SLAMing on 47.705860169 meters Centerline goodness : 0.999836 Centerline is valid? [True, True] SLAMing on 47.735860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 47.765860169 meters Centerline goodness : 0.974039 Centerline is valid? [True, True] SLAMing on 47.795860169 meters Centerline goodness : 0.974328 Centerline is valid? [True, True] SLAMing on 47.825860169 meters Centerline goodness : 0.963276 Centerline is valid? [True, True] SLAMing on 47.855860169 meters Centerline goodness : 0.963052 Centerline is valid? [True, True] SLAMing on 47.885860169 meters Centerline goodness : 0.957039 Centerline is valid? [True, True] SLAMing on 47.915860169 meters Centerline goodness : 0.996388 Centerline is valid? [True, True] SLAMing on 47.945860169 meters Centerline goodness : 0.957141 Centerline is valid? [True, True] SLAMing on 47.975860169 meters Centerline goodness : 0.980084 Centerline is valid? [True, True] SLAMing on 48.005860169 meters Centerline goodness : 0.963878 Centerline is valid? [True, True] SLAMing on 48.035860169 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] SLAMing on 48.065860169 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] SLAMing on 48.095860169 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] SLAMing on 48.125860169 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] SLAMing on 48.155860169 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] SLAMing on 48.185860169 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] SLAMing on 48.215860169 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] SLAMing on 48.245860169 meters Centerline goodness : 0.742208 Centerline is valid? [True, False] Translation: X:-12.93, Y:16.50, Z:-12.76 [[ 0.05967744 0.03084023 0.99774119 -12.92689343] [ -0.22155993 0.97500056 -0.01688525 16.5034357 ] [ -0.97331896 -0.2200518 0.0650185 -12.75676417] [ 0. 0. 0. 1. ]] SLAMing on 48.275860169 meters Centerline goodness : 0.733935 Centerline is valid? [False, False] Translation: X:-12.87, Y:16.48, Z:-12.75 [[ 0.06723984 0.03608006 0.99708427 -12.86879278] [ -0.1661614 0.98579501 -0.02446621 16.47505904] [ -0.98380343 -0.16403182 0.07227981 -12.74935291] [ 0. 0. 0. 1. ]] SLAMing on 48.305860169 meters Centerline goodness : 0.799745 Centerline is valid? [False, False] Translation: X:-12.85, Y:16.44, Z:-12.75 [[ 0.07612134 0.03727508 0.99640158 -12.84911297] [ -0.0946178 0.99506165 -0.02999651 16.44129426] [ -0.99259912 -0.09199395 0.07927231 -12.74633527] [ 0. 0. 0. 1. ]] SLAMing on 48.335860169 meters Centerline goodness : 0.799745 Centerline is valid? [False, False] Translation: X:-12.82, Y:16.42, Z:-12.75 [[ 0.08273742 0.03988056 0.9957731 -12.82134962] [ -0.04920941 0.99814356 -0.03588675 16.42075488] [ -0.99535569 -0.04603223 0.08454632 -12.74596962] [ 0. 0. 0. 1. ]] SLAMing on 48.365860169 meters Centerline goodness : 0.390599 Centerline is valid? [False, False] Translation: X:-12.82, Y:16.42, Z:-12.75 [[ 0.08492848 0.0376482 0.99567553 -12.81512336] [ -0.0456979 0.99838154 -0.03385261 16.41808446] [ -0.99533856 -0.04262523 0.08651147 -12.7464803 ] [ 0. 0. 0. 1. ]] SLAMing on 48.395860169 meters Centerline goodness : 0.326697 Centerline is valid? [False, False] Translation: X:-12.80, Y:16.40, Z:-12.75 [[ 9.04540034e-02 4.19905791e-02 9.95015007e-01 -1.27974747e+01] [-1.12730705e-02 9.99089888e-01 -4.11377400e-02 1.64031166e+01] [-9.95836830e-01 -7.49580105e-03 9.08450429e-02 -1.27481145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.425860169 meters Centerline goodness : 0.725597 Centerline is valid? [False, False] Translation: X:-12.80, Y:16.40, Z:-12.75 [[ 9.15172522e-02 4.18806043e-02 9.94922413e-01 -1.28003799e+01] [-1.25596848e-02 9.99084282e-01 -4.09005015e-02 1.64040887e+01] [-9.95724283e-01 -8.75281040e-03 9.19594554e-02 -1.27513153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.455860169 meters Centerline goodness : 0.437949 Centerline is valid? [False, False] Translation: X:-12.80, Y:16.40, Z:-12.75 [[ 9.14028301e-02 4.55322479e-02 9.94772505e-01 -1.27997834e+01] [-7.23102319e-03 9.98958138e-01 -4.50594215e-02 1.64023025e+01] [-9.95787746e-01 -3.07466441e-03 9.16368457e-02 -1.27506241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.485860169 meters Centerline goodness : 0.411104 Centerline is valid? [False, False] Translation: X:-12.80, Y:16.41, Z:-12.75 [[ 0.09422391 0.04954518 0.99431742 -12.80398789] [ -0.02663757 0.99852876 -0.04723079 16.41206429] [ -0.9951946 -0.02203593 0.09540504 -12.75321819] [ 0. 0. 0. 1. ]] SLAMing on 48.515860169 meters Centerline goodness : 0.326997 Centerline is valid? [False, False] Translation: X:-12.81, Y:16.41, Z:-12.75 [[ 0.09444117 0.04884627 0.99433139 -12.80575501] [ -0.02824923 0.99852485 -0.04636917 16.41308968] [ -0.99512956 -0.02370994 0.09568172 -12.75487119] [ 0. 0. 0. 1. ]] SLAMing on 48.545860169 meters Centerline goodness : 0.735648 Centerline is valid? [False, False] Translation: X:-12.81, Y:16.42, Z:-12.75 [[ 0.09411879 0.0473054 0.99443645 -12.80552517] [ -0.03187918 0.99850143 -0.04448156 16.41569622] [ -0.99505044 -0.02751527 0.09548581 -12.7547839 ] [ 0. 0. 0. 1. ]] SLAMing on 48.575860169 meters Centerline goodness : 0.471135 Centerline is valid? [False, False] Translation: X:-12.79, Y:16.40, Z:-12.76 [[ 9.97501919e-02 5.11116504e-02 9.93698897e-01 -1.27856125e+01] [ 4.66907021e-03 9.98644761e-01 -5.18347386e-02 1.63999353e+01] [-9.95001557e-01 9.81017504e-03 9.93763627e-02 -1.27554343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.605860169 meters Centerline goodness : 0.727814 Centerline is valid? [False, False] Translation: X:-12.78, Y:16.39, Z:-12.76 [[ 1.01569897e-01 5.24339410e-02 9.93445639e-01 -1.27784150e+01] [ 1.63553375e-02 9.98387070e-01 -5.43669191e-02 1.63948402e+01] [-9.94693952e-01 2.17701811e-02 1.00548497e-01 -1.27555919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.635860169 meters Centerline goodness : 0.717482 Centerline is valid? [False, False] Translation: X:-12.78, Y:16.41, Z:-12.75 [[ 9.83087017e-02 5.23269502e-02 9.93779296e-01 -1.27777919e+01] [-1.38005638e-02 9.98592285e-01 -5.12151677e-02 1.64070454e+01] [-9.95060271e-01 -8.67981794e-03 9.88924525e-02 -1.27547805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.665860169 meters Centerline goodness : 0.684758 Centerline is valid? [False, False] Translation: X:-12.76, Y:16.39, Z:-12.76 [[ 0.1039624 0.05524223 0.99304588 -12.75963508] [ 0.01837654 0.99817915 -0.05745164 16.39305634] [ -0.99441144 0.02422156 0.10275794 -12.75592804] [ 0. 0. 0. 1. ]] SLAMing on 48.695860169 meters Centerline goodness : 0.384066 Centerline is valid? [False, False] Translation: X:-12.76, Y:16.39, Z:-12.76 [[ 0.10420737 0.05792922 0.99286708 -12.75990195] [ 0.02217827 0.99791864 -0.0605517 16.39268542] [ -0.99430828 0.02833001 0.10270571 -12.75616143] [ 0. 0. 0. 1. ]] SLAMing on 48.725860169 meters Centerline goodness : 0.405175 Centerline is valid? [False, False] Translation: X:-12.76, Y:16.39, Z:-12.76 [[ 0.10458779 0.06089564 0.99264954 -12.76032352] [ 0.0260818 0.99761234 -0.06394813 16.39236891] [ -0.99417359 0.03257828 0.1027498 -12.75647441] [ 0. 0. 0. 1. ]] SLAMing on 48.755860169 meters Centerline goodness : 0.290463 Centerline is valid? [False, False] Translation: X:-12.76, Y:16.39, Z:-12.76 [[ 0.10493508 0.06408691 0.99241196 -12.76072838] [ 0.03046538 0.99724588 -0.0676204 16.39086634] [ -0.99401232 0.03732996 0.10269365 -12.75680735] [ 0. 0. 0. 1. ]] SLAMing on 48.785860169 meters Centerline goodness : 0.261945 Centerline is valid? [False, False] Translation: X:-12.76, Y:16.39, Z:-12.76 [[ 0.10493287 0.06585149 0.99229667 -12.75986908] [ 0.03303419 0.99702379 -0.06965847 16.38984717] [ -0.9939305 0.04008918 0.10244522 -12.75569512] [ 0. 0. 0. 1. ]] SLAMing on 48.815860169 meters Centerline goodness : 0.314901 Centerline is valid? [False, False] Translation: X:-12.76, Y:16.39, Z:-12.76 [[ 0.10509665 0.0664081 0.99224224 -12.76045019] [ 0.03317534 0.99697838 -0.07023896 16.39058046] [ -0.99390849 0.04029986 0.10257598 -12.75607458] [ 0. 0. 0. 1. ]] SLAMing on 48.845860169 meters Centerline goodness : 0.344521 Centerline is valid? [False, False] Translation: X:-12.76, Y:16.39, Z:-12.75 [[ 0.1046873 0.06818873 0.99216474 -12.75907587] [ 0.03523921 0.99676578 -0.07222317 16.39060328] [ -0.99388066 0.04252395 0.1019458 -12.75416676] [ 0. 0. 0. 1. ]] SLAMing on 48.875860169 meters Centerline goodness : 0.344304 Centerline is valid? [False, False] Translation: X:-12.76, Y:16.39, Z:-12.75 [[ 0.10450509 0.06950456 0.99209264 -12.75776136] [ 0.03683399 0.99659998 -0.07370036 16.39073555] [ -0.99384201 0.04424479 0.10158964 -12.7527819 ] [ 0. 0. 0. 1. ]] SLAMing on 48.905860169 meters Centerline goodness : 0.295295 Centerline is valid? [False, False] Translation: X:-12.76, Y:16.39, Z:-12.75 [[ 0.10371811 0.07141654 0.99203943 -12.75572961] [ 0.03861289 0.99637773 -0.07576585 16.39124749] [ -0.99385693 0.0461638 0.10058481 -12.75030557] [ 0. 0. 0. 1. ]] SLAMing on 48.935860169 meters Centerline goodness : 0.945277 Centerline is valid? [False, False] Translation: X:-12.74, Y:16.39, Z:-12.75 [[ 0.10630282 0.07643665 0.99139152 -12.73855549] [ 0.03687865 0.99605188 -0.08075031 16.39298263] [ -0.99364967 0.04514517 0.10306425 -12.75136339] [ 0. 0. 0. 1. ]] SLAMing on 48.965860169 meters Centerline goodness : 0.286853 Centerline is valid? [False, False] Translation: X:-12.74, Y:16.39, Z:-12.75 [[ 0.10615111 0.0768023 0.99137952 -12.73848864] [ 0.0367453 0.99602865 -0.08109694 16.3939295 ] [ -0.99367083 0.04503707 0.10290743 -12.75110088] [ 0. 0. 0. 1. ]] SLAMing on 48.995860169 meters Centerline goodness : 0.976449 Centerline is valid? [False, True] Translation: X:-12.74, Y:16.40, Z:-12.75 [[ 0.10543599 0.07651814 0.9914778 -12.73693612] [ 0.03534102 0.99611701 -0.08063442 16.39538057] [ -0.9937979 0.0435416 0.10232236 -12.74922183] [ 0. 0. 0. 1. ]] SLAMing on 49.025860169 meters Centerline goodness : 0.908081 Centerline is valid? [True, False] Translation: X:-12.73, Y:16.40, Z:-12.75 [[ 0.10727156 0.08046579 0.99096825 -12.72577016] [ 0.03270701 0.99589449 -0.0844063 16.39715217] [ -0.99369163 0.04146601 0.10419936 -12.74831717] [ 0. 0. 0. 1. ]] SLAMing on 49.055860169 meters Centerline goodness : 0.964146 Centerline is valid? [False, True] Translation: X:-12.71, Y:16.40, Z:-12.75 [[ 0.11023486 0.08361092 0.9903825 -12.71281243] [ 0.02989139 0.99572569 -0.08738907 16.39882885] [ -0.99345598 0.03923723 0.10726444 -12.74967199] [ 0. 0. 0. 1. ]] SLAMing on 49.085860169 meters Centerline goodness : 0.978647 Centerline is valid? [True, True] Translation: X:-12.67, Y:16.03, Z:-13.10 [[ 0.20056043 -0.09671978 0.97489528 -12.67226796] [ 0.89081354 0.43213633 -0.14039028 16.03401206] [ -0.40770915 0.89660665 0.17282874 -13.09633335] [ 0. 0. 0. 1. ]] SLAMing on 49.115860169 meters Centerline goodness : 0.926964 Centerline is valid? [True, False] Translation: X:-12.67, Y:16.05, Z:-13.04 [[ 0.20329209 -0.07795729 0.97600973 -12.67411715] [ 0.82557408 0.54957036 -0.12806191 16.05440677] [ -0.52640266 0.83180231 0.17608282 -13.03917214] [ 0. 0. 0. 1. ]] SLAMing on 49.145860169 meters Centerline goodness : 0.734139 Centerline is valid? [False, False] Translation: X:-12.68, Y:16.08, Z:-12.99 [[ 0.2053828 -0.06176759 0.9767306 -12.68360777] [ 0.75767895 0.64173492 -0.11873879 16.07984008] [ -0.61946793 0.76443512 0.17860132 -12.99418301] [ 0. 0. 0. 1. ]] SLAMing on 49.175860169 meters Centerline goodness : 0.735970 Centerline is valid? [False, False] Translation: X:-12.69, Y:16.11, Z:-12.95 [[ 0.20701577 -0.04537472 0.97728481 -12.68974947] [ 0.67914485 0.72568949 -0.11016823 16.11081135] [ -0.70420647 0.68652451 0.18104518 -12.95298475] [ 0. 0. 0. 1. ]] SLAMing on 49.205860169 meters Centerline goodness : 0.792560 Centerline is valid? [False, False] Translation: X:-12.70, Y:16.14, Z:-12.92 [[ 0.2066189 -0.03079232 0.97793684 -12.70297727] [ 0.60350899 0.79072604 -0.10261202 16.14197527] [ -0.77012046 0.61139526 0.18196238 -12.92140313] [ 0. 0. 0. 1. ]] SLAMing on 49.235860169 meters Centerline goodness : 0.245087 Centerline is valid? [False, False] Translation: X:-12.71, Y:16.18, Z:-12.89 [[ 2.04498224e-01 -1.30659162e-02 9.78779729e-01 -1.27108005e+01] [ 5.12638424e-01 8.53252745e-01 -9.57162429e-02 1.61811220e+01] [-8.33895871e-01 5.21333899e-01 1.81186762e-01 -1.28892440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.265860169 meters Centerline goodness : 0.247152 Centerline is valid? [False, False] Translation: X:-12.71, Y:16.22, Z:-12.86 [[ 2.02350007e-01 4.58150359e-03 9.79302550e-01 -1.27128538e+01] [ 4.17786473e-01 9.04021145e-01 -9.05551322e-02 1.62229324e+01] [-8.85725091e-01 4.27463190e-01 1.81014595e-01 -1.28617601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.295860169 meters Centerline goodness : 0.757309 Centerline is valid? [False, False] Translation: X:-12.72, Y:16.26, Z:-12.84 [[ 0.19646076 0.02007721 0.98030611 -12.7186297 ] [ 0.33300245 0.93899892 -0.08596743 16.26033895] [ -0.92223237 0.34333356 0.17779068 -12.84229733] [ 0. 0. 0. 1. ]] SLAMing on 49.325860169 meters Centerline goodness : 0.719416 Centerline is valid? [False, False] Translation: X:-12.72, Y:16.30, Z:-12.83 [[ 0.18845393 0.03151839 0.98157614 -12.71859801] [ 0.25282394 0.96424039 -0.07950169 16.29605957] [ -0.94898112 0.26314836 0.17374628 -12.82824366] [ 0. 0. 0. 1. ]] SLAMing on 49.355860169 meters Centerline goodness : 0.987903 Centerline is valid? [False, True] Translation: X:-12.72, Y:16.33, Z:-12.82 [[ 0.18271672 0.04224703 0.9822575 -12.71978612] [ 0.18843889 0.97904894 -0.07716189 16.32585623] [ -0.96493802 0.19919428 0.17092763 -12.8164333 ] [ 0. 0. 0. 1. ]] SLAMing on 49.385860169 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:-12.29, Y:16.29, Z:-13.69 [[-1.50042667e-01 -1.11672550e-01 9.82352503e-01 -1.22919055e+01] [ 1.49987025e-02 -9.93743295e-01 -1.10676567e-01 1.62932892e+01] [ 9.88565747e-01 -1.87219434e-03 1.50778838e-01 -1.36911472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.415860169 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:-12.11, Y:15.63, Z:-13.42 [[-7.57709756e-02 -2.03724043e-01 9.76091837e-01 -1.21080891e+01] [ 9.43809544e-01 -3.30461972e-01 4.29295752e-03 1.56320003e+01] [ 3.21686654e-01 9.21570073e-01 2.17316123e-01 -1.34190339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.445860169 meters Centerline goodness : 0.995091 Centerline is valid? [True, True] SLAMing on 49.475860169 meters Centerline goodness : 0.741589 Centerline is valid? [True, False] Translation: X:-10.25, Y:15.43, Z:-13.28 [[ 2.19295872e-01 -1.49537264e-02 -9.75543801e-01 -1.02511738e+01] [ 8.95894915e-01 3.99049106e-01 1.95274456e-01 1.54339171e+01] [ 3.86369800e-01 -9.16807612e-01 1.00906789e-01 -1.32758854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.505860169 meters Centerline goodness : 0.248790 Centerline is valid? [False, False] Translation: X:-10.31, Y:15.46, Z:-13.33 [[ 0.22739839 0.01793847 -0.97363658 -10.30618667] [ 0.83885444 0.50419505 0.20520864 15.46084324] [ 0.49458387 -0.86340348 0.09960538 -13.32642909] [ 0. 0. 0. 1. ]] SLAMing on 49.535860169 meters Centerline goodness : 0.981887 Centerline is valid? [False, True] Translation: X:-10.36, Y:15.49, Z:-13.37 [[ 0.23012049 0.04831195 -0.9719622 -10.35674103] [ 0.775864 0.5937827 0.21320686 15.49258332] [ 0.58743477 -0.80317375 0.09915807 -13.37061886] [ 0. 0. 0. 1. ]] SLAMing on 49.565860169 meters Centerline goodness : 0.994612 Centerline is valid? [True, True] SLAMing on 49.595860169 meters Centerline goodness : 0.724783 Centerline is valid? [True, False] Translation: X:-10.44, Y:15.54, Z:-13.42 [[ 0.23032669 0.07994082 -0.96982425 -10.43933682] [ 0.6899113 0.68943709 0.22067829 15.54370742] [ 0.68627401 -0.71992081 0.10364369 -13.41781784] [ 0. 0. 0. 1. ]] SLAMing on 49.625860169 meters Centerline goodness : 0.998624 Centerline is valid? [False, True] Translation: X:-10.52, Y:15.60, Z:-13.45 [[ 0.22612766 0.1068243 -0.96822252 -10.51895719] [ 0.60553884 0.76316245 0.22562311 15.59724037] [ 0.7630131 -0.63731597 0.10788588 -13.45256165] [ 0. 0. 0. 1. ]] SLAMing on 49.655860169 meters Centerline goodness : 0.721441 Centerline is valid? [True, False] Translation: X:-10.58, Y:15.65, Z:-13.48 [[ 0.21687773 0.13181434 -0.96725851 -10.57879979] [ 0.5221181 0.82154715 0.22902614 15.64905228] [ 0.8248374 -0.55469385 0.10935263 -13.48141606] [ 0. 0. 0. 1. ]] SLAMing on 49.685860169 meters Centerline goodness : 0.746676 Centerline is valid? [False, False] Translation: X:-10.64, Y:15.70, Z:-13.50 [[ 0.20670262 0.15298065 -0.96636998 -10.64398882] [ 0.43854406 0.86844017 0.23128073 15.70445044] [ 0.87461599 -0.47160215 0.1124201 -13.50293935] [ 0. 0. 0. 1. ]] SLAMing on 49.715860169 meters Centerline goodness : 0.998602 Centerline is valid? [False, True] Translation: X:-10.70, Y:15.75, Z:-13.52 [[ 0.19571415 0.16755684 -0.96624049 -10.6991208 ] [ 0.36432154 0.90235491 0.2302725 15.75481723] [ 0.91047558 -0.39708981 0.11555906 -13.51821164] [ 0. 0. 0. 1. ]] SLAMing on 49.745860169 meters Centerline goodness : 0.986823 Centerline is valid? [True, True] Translation: X:-10.60, Y:15.60, Z:-12.96 [[ 0.10998731 -0.12802186 -0.98565369 -10.60442138] [ 0.9683969 -0.20954078 0.13527791 15.59638723] [ -0.22385317 -0.96938283 0.10092914 -12.95903718] [ 0. 0. 0. 1. ]] SLAMing on 49.775860169 meters Centerline goodness : 0.998648 Centerline is valid? [True, True] Translation: X:-10.49, Y:16.51, Z:-13.25 [[ -0.08694353 0.16562955 -0.98234804 -10.48671446] [ -0.94419897 0.30076221 0.13427736 16.51422649] [ 0.31769346 0.93920655 0.13023792 -13.25395188] [ 0. 0. 0. 1. ]] SLAMing on 49.805860169 meters Centerline goodness : 0.993960 Centerline is valid? [True, True] Translation: X:-10.47, Y:16.51, Z:-13.27 [[ -0.08077103 0.16882729 -0.98233059 -10.46641652] [ -0.93391856 0.33151585 0.13376606 16.50737385] [ 0.34824152 0.92822119 0.13089406 -13.27240885] [ 0. 0. 0. 1. ]] SLAMing on 49.835860169 meters Centerline goodness : 0.996063 Centerline is valid? [True, True] Translation: X:-10.44, Y:16.50, Z:-13.29 [[ -0.0735267 0.1700215 -0.9826935 -10.44451821] [ -0.91786023 0.37383046 0.13335435 16.4982368 ] [ 0.39003387 0.91178039 0.12856946 -13.29336581] [ 0. 0. 0. 1. ]] SLAMing on 49.865860169 meters Centerline goodness : 0.994806 Centerline is valid? [True, True] Translation: X:-10.42, Y:16.51, Z:-13.27 [[ -0.0841877 0.16557307 -0.98259757 -10.41614557] [ -0.94158473 0.30947762 0.13282245 16.5078023 ] [ 0.32608377 0.93638089 0.12984686 -13.26622129] [ 0. 0. 0. 1. ]] SLAMing on 49.895860169 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] SLAMing on 49.925860169 meters Centerline goodness : 0.998690 Centerline is valid? [True, True] Translation: X:-10.41, Y:16.45, Z:-13.38 [[ -0.03986476 0.17905396 -0.98303127 -10.41225489] [ -0.82970549 0.54226768 0.13241816 16.44840926] [ 0.55677608 0.82090526 0.12694468 -13.37864313] [ 0. 0. 0. 1. ]] SLAMing on 49.955860169 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] SLAMing on 49.985860169 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] SLAMing on 50.015860169 meters Centerline goodness : 0.995014 Centerline is valid? [True, True] Translation: X:-10.39, Y:16.45, Z:-13.37 [[ -0.04332423 0.17918128 -0.98286168 -10.38641041] [ -0.84424039 0.51947663 0.1319174 16.45213638] [ 0.5342108 0.83548675 0.12876615 -13.37083376] [ 0. 0. 0. 1. ]] SLAMing on 50.045860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 50.075860169 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:-10.32, Y:16.52, Z:-13.14 [[ -0.13629203 0.14822399 -0.97951729 -10.32450571] [ -0.99028275 -0.04798108 0.13052929 16.51503639] [ -0.02765072 0.98778918 0.1533231 -13.14135947] [ 0. 0. 0. 1. ]] SLAMing on 50.105860169 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:-10.84, Y:16.16, Z:-13.19 [[ 0.9768454 0.03351486 0.21130505 -10.84113393] [ -0.21232166 0.03037258 0.97672771 16.15595988] [ 0.02631702 -0.99897661 0.03678525 -13.18529712] [ 0. 0. 0. 1. ]] SLAMing on 50.135860169 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] SLAMing on 50.165860169 meters Centerline goodness : 0.998605 Centerline is valid? [True, True] SLAMing on 50.195860169 meters Centerline goodness : 0.998755 Centerline is valid? [True, True] Translation: X:-9.93, Y:15.99, Z:-12.99 [[ -0.92684719 -0.35779611 0.11373758 -9.93061333] [ 0.09876767 0.05990468 0.99330578 15.99037014] [ -0.36221435 0.93187627 -0.02018379 -12.99191092] [ 0. 0. 0. 1. ]] SLAMing on 50.225860169 meters Centerline goodness : 0.987402 Centerline is valid? [True, True] SLAMing on 50.255860169 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:-10.85, Y:16.08, Z:-13.26 [[ 9.74585670e-01 2.05689786e-01 8.87382872e-02 -1.08488947e+01] [-8.58485163e-02 -2.29495664e-02 9.96043849e-01 1.60798141e+01] [ 2.06912552e-01 -9.78348112e-01 -4.70815559e-03 -1.32634098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.285860169 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:-10.85, Y:16.09, Z:-13.26 [[ 9.71948174e-01 2.05605790e-01 1.14205986e-01 -1.08481575e+01] [-1.10752084e-01 -2.82686059e-02 9.93445953e-01 1.60892557e+01] [ 2.07486684e-01 -9.78226531e-01 -4.70435028e-03 -1.32636566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.315860169 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] SLAMing on 50.345860169 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] SLAMing on 50.375860169 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] SLAMing on 50.405860169 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:-10.84, Y:16.11, Z:-13.27 [[ 9.66224900e-01 2.19978428e-01 1.34234620e-01 -1.08435698e+01] [-1.30202170e-01 -3.27965466e-02 9.90944893e-01 1.61076957e+01] [ 2.22388932e-01 -9.74953270e-01 -3.04717144e-03 -1.32717267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.435860169 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:-10.84, Y:16.10, Z:-13.30 [[ 9.48472464e-01 2.77733451e-01 1.52525788e-01 -1.08368068e+01] [-1.45638709e-01 -4.53900326e-02 9.88296065e-01 1.61033142e+01] [ 2.81406027e-01 -9.59585262e-01 -2.60245481e-03 -1.33004885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.465860169 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:-10.84, Y:16.11, Z:-13.31 [[ 9.43238518e-01 2.82419649e-01 1.74757663e-01 -1.08363048e+01] [-1.66415246e-01 -5.34597706e-02 9.84605514e-01 1.61096916e+01] [ 2.87414448e-01 -9.57800185e-01 -3.42637957e-03 -1.33050484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.495860169 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:-9.70, Y:16.25, Z:-13.32 [[-9.61339574e-01 2.57181053e-01 9.84079699e-02 -9.69585520e+00] [ 9.35441130e-02 -3.11102358e-02 9.95128963e-01 1.62510785e+01] [ 2.58989810e-01 9.65862340e-01 5.84972738e-03 -1.33239171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.525860169 meters Centerline goodness : 0.729835 Centerline is valid? [True, False] Translation: X:-9.64, Y:17.54, Z:-14.44 [[ 0.92222563 0.11417708 0.36940965 -9.64140038] [ -0.09751946 0.99320426 -0.06352358 17.53533827] [ -0.37415218 0.02255845 0.92709291 -14.43737673] [ 0. 0. 0. 1. ]] SLAMing on 50.555860169 meters Centerline goodness : 0.999313 Centerline is valid? [False, True] Translation: X:-9.65, Y:17.52, Z:-14.45 [[ 0.92545548 0.07920892 0.37048361 -9.64797405] [ -0.05917556 0.9961193 -0.06515049 17.51911923] [ -0.37420637 0.03837031 0.9265513 -14.4460292 ] [ 0. 0. 0. 1. ]] SLAMing on 50.585860169 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] SLAMing on 50.615860169 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:-9.30, Y:17.95, Z:-14.56 [[ 2.16102133e-01 -9.15647852e-01 -3.38952620e-01 -9.30027904e+00] [-9.73588465e-01 -2.28274005e-01 -4.05939220e-03 1.79522364e+01] [-7.36570984e-02 3.30877605e-01 -9.40794687e-01 -1.45619669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.645860169 meters Centerline goodness : 0.398692 Centerline is valid? [True, False] Translation: X:-10.05, Y:18.14, Z:-16.39 [[ 0.17318143 0.90477302 0.3890938 -10.04629474] [ -0.9525636 0.25425789 -0.16725879 18.1415588 ] [ -0.25026141 -0.34167047 0.90588659 -16.38987712] [ 0. 0. 0. 1. ]] SLAMing on 50.675860168999996 meters Centerline goodness : 0.400553 Centerline is valid? [False, False] Translation: X:-10.10, Y:18.12, Z:-16.34 [[ 0.32295741 0.86973821 0.37316745 -10.10461095] [ -0.89506563 0.40880097 -0.17815525 18.12157378] [ -0.30749965 -0.2764728 0.91049808 -16.3421197 ] [ 0. 0. 0. 1. ]] SLAMing on 50.705860169 meters Centerline goodness : 0.999523 Centerline is valid? [False, True] Translation: X:-10.16, Y:18.09, Z:-16.30 [[ 0.45128978 0.81531084 0.3627751 -10.15583632] [ -0.82091162 0.53870178 -0.18948485 18.09036132] [ -0.34991664 -0.21229372 0.91240875 -16.30326505] [ 0. 0. 0. 1. ]] SLAMing on 50.735860169 meters Centerline goodness : 0.332309 Centerline is valid? [True, False] Translation: X:-10.20, Y:18.05, Z:-16.28 [[ 0.56052954 0.74845411 0.35443346 -10.20215662] [ -0.73616267 0.6463639 -0.20069437 18.05495611] [ -0.37930352 -0.14842556 0.91329004 -16.27675883] [ 0. 0. 0. 1. ]] SLAMing on 50.765860169 meters Centerline goodness : 0.999886 Centerline is valid? [False, True] Translation: X:-10.24, Y:18.02, Z:-16.26 [[ 0.65244655 0.67253583 0.34929795 -10.24289682] [ -0.6449056 0.734797 -0.21016692 18.01562023] [ -0.39800787 -0.08814152 0.91313789 -16.25874749] [ 0. 0. 0. 1. ]] SLAMing on 50.795860169 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] SLAMing on 50.825860169 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] SLAMing on 50.855860169 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] SLAMing on 50.885860169 meters Centerline goodness : 0.994864 Centerline is valid? [True, True] SLAMing on 50.915860169 meters Centerline goodness : 0.987019 Centerline is valid? [True, True] SLAMing on 50.945860169 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] SLAMing on 50.975860169 meters Centerline goodness : 0.994159 Centerline is valid? [True, True] SLAMing on 51.005860169 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] SLAMing on 51.035860169 meters Centerline goodness : 0.992446 Centerline is valid? [True, True] SLAMing on 51.065860169 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] SLAMing on 51.095860169 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] SLAMing on 51.125860169 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] SLAMing on 51.155860169 meters Centerline goodness : 0.989620 Centerline is valid? [True, True] SLAMing on 51.185860169 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] SLAMing on 51.215860169 meters Centerline goodness : 0.990815 Centerline is valid? [True, True] SLAMing on 51.245860169 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] SLAMing on 51.275860169 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] SLAMing on 51.305860169 meters Centerline goodness : 0.987389 Centerline is valid? [True, True] SLAMing on 51.335860169 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] SLAMing on 51.365860169 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] SLAMing on 51.395860169 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] SLAMing on 51.425860168999996 meters Centerline goodness : 0.994946 Centerline is valid? [True, True] SLAMing on 51.455860169 meters Centerline goodness : 0.711125 Centerline is valid? [True, False] Translation: X:-10.28, Y:17.97, Z:-16.24 [[ 0.72725985 0.59293688 0.34571514 -10.27632479] [ -0.55168632 0.80464859 -0.21950592 17.97499749] [ -0.40833236 -0.03108847 0.91230378 -16.24458314] [ 0. 0. 0. 1. ]] SLAMing on 51.485860169 meters Centerline goodness : 0.997319 Centerline is valid? [False, True] Translation: X:-10.31, Y:17.93, Z:-16.24 [[ 0.78729886 0.51159183 0.34414285 -10.30514333] [ -0.45935116 0.85899759 -0.22609655 17.93472293] [ -0.41128703 0.01992314 0.91128813 -16.23914506] [ 0. 0. 0. 1. ]] SLAMing on 51.515860169 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] SLAMing on 51.545860169 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] SLAMing on 51.575860169 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] SLAMing on 51.605860169 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] SLAMing on 51.635860169 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] SLAMing on 51.665860169 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] SLAMing on 51.695860169 meters Centerline goodness : 0.992240 Centerline is valid? [True, True] SLAMing on 51.725860169 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] SLAMing on 51.755860169 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] SLAMing on 51.785860169 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] SLAMing on 51.815860169 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] SLAMing on 51.845860169 meters Centerline goodness : 0.998741 Centerline is valid? [True, True] SLAMing on 51.875860169 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] SLAMing on 51.905860169 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] SLAMing on 51.935860169 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] SLAMing on 51.965860169 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] SLAMing on 51.995860169 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] SLAMing on 52.025860169 meters Centerline goodness : 0.998330 Centerline is valid? [True, True] SLAMing on 52.055860169 meters Centerline goodness : 0.983421 Centerline is valid? [True, True] SLAMing on 52.085860169 meters Centerline goodness : 0.996300 Centerline is valid? [True, True] SLAMing on 52.115860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 52.145860169 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] SLAMing on 52.175860168999996 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] SLAMing on 52.205860169 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] SLAMing on 52.235860169 meters Centerline goodness : 0.986964 Centerline is valid? [True, True] SLAMing on 52.265860169 meters Centerline goodness : 0.996679 Centerline is valid? [True, True] SLAMing on 52.295860169 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] SLAMing on 52.325860169 meters Centerline goodness : 0.994000 Centerline is valid? [True, True] SLAMing on 52.355860169 meters Centerline goodness : 0.995151 Centerline is valid? [True, True] SLAMing on 52.385860169 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] SLAMing on 52.415860169 meters Centerline goodness : 0.993220 Centerline is valid? [True, True] SLAMing on 52.445860169 meters Centerline goodness : 0.990357 Centerline is valid? [True, True] SLAMing on 52.475860169 meters Centerline goodness : 0.716714 Centerline is valid? [True, False] Translation: X:-10.33, Y:17.89, Z:-16.23 [[ 0.83441482 0.4318323 0.34245114 -10.32618288] [ -0.3717641 0.89971419 -0.22870466 17.89308527] [ -0.40687021 0.06352352 0.9112746 -16.22860348] [ 0. 0. 0. 1. ]] SLAMing on 52.505860169 meters Centerline goodness : 0.999243 Centerline is valid? [False, True] Translation: X:-10.34, Y:17.86, Z:-16.23 [[ 0.86755542 0.35976752 0.34338743 -10.34269271] [ -0.29196451 0.92736993 -0.23396953 17.85683414] [ -0.40262181 0.10272459 0.90958415 -16.22584393] [ 0. 0. 0. 1. ]] SLAMing on 52.535860169 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] SLAMing on 52.565860169 meters Centerline goodness : 0.730665 Centerline is valid? [True, False] Translation: X:-10.35, Y:17.83, Z:-16.23 [[ 0.89110697 0.29384356 0.34580966 -10.3549334 ] [ -0.22046141 0.9463956 -0.23607655 17.82556806] [ -0.39664232 0.13413178 0.90812088 -16.22703951] [ 0. 0. 0. 1. ]] SLAMing on 52.595860169 meters Centerline goodness : 0.564224 Centerline is valid? [False, False] Translation: X:-10.36, Y:17.80, Z:-16.22 [[ 0.90725874 0.23793756 0.34679574 -10.35925416] [ -0.16072358 0.95814401 -0.23691346 17.7950296 ] [ -0.38865087 0.15920355 0.90752671 -16.21918593] [ 0. 0. 0. 1. ]] SLAMing on 52.625860169 meters Centerline goodness : 0.999037 Centerline is valid? [False, True] Translation: X:-10.37, Y:17.77, Z:-16.22 [[ 0.91832667 0.18936489 0.3475875 -10.36564141] [ -0.10907713 0.96520473 -0.23765943 17.76983884] [ -0.38049745 0.18033514 0.90702862 -16.21981645] [ 0. 0. 0. 1. ]] SLAMing on 52.655860169 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] SLAMing on 52.685860169 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] SLAMing on 52.715860169 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] SLAMing on 52.745860169 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] SLAMing on 52.775860169 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] SLAMing on 52.805860169 meters Centerline goodness : 0.715457 Centerline is valid? [True, False] Translation: X:-10.38, Y:17.75, Z:-16.23 [[ 0.9254986 0.15538329 0.34541045 -10.37547167] [ -0.07455669 0.96886954 -0.23607862 17.7535564 ] [ -0.37134034 0.19273777 0.90827226 -16.22613674] [ 0. 0. 0. 1. ]] SLAMing on 52.835860169 meters Centerline goodness : 0.999311 Centerline is valid? [False, True] Translation: X:-10.38, Y:17.75, Z:-16.23 [[ 0.92539619 0.15547951 0.34564146 -10.37568704] [ -0.07459395 0.96885943 -0.23610835 17.75403441] [ -0.37158799 0.19271101 0.90817665 -16.22605981] [ 0. 0. 0. 1. ]] SLAMing on 52.865860169 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] SLAMing on 52.895860169 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:-9.55, Y:17.47, Z:-16.58 [[-7.99047768e-01 -5.27202467e-01 2.89102443e-01 -9.54597571e+00] [ 4.92803724e-01 -8.49708196e-01 -1.87457917e-01 1.74723827e+01] [ 3.44480992e-01 -7.31706967e-03 9.38764777e-01 -1.65785171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.925860168999996 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:-9.59, Y:18.06, Z:-16.43 [[ -0.69016848 0.67405345 0.26328581 -9.59403091] [ -0.72291331 -0.65861303 -0.20886652 18.06236784] [ 0.03261626 -0.3344859 0.94183617 -16.4308077 ] [ 0. 0. 0. 1. ]] SLAMing on 52.955860169 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:-9.57, Y:18.03, Z:-16.44 [[ -0.74849398 0.61403998 0.25042296 -9.56716231] [ -0.66192231 -0.71468746 -0.22601039 18.03384139] [ 0.04019473 -0.33492796 0.94138602 -16.43742719] [ 0. 0. 0. 1. ]] SLAMing on 52.985860169 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:-9.55, Y:18.02, Z:-16.44 [[ -0.78183452 0.57701921 0.23618557 -9.55170524] [ -0.62245733 -0.74412399 -0.24254146 18.01510993] [ 0.03580027 -0.33664272 0.94095166 -16.43845676] [ 0. 0. 0. 1. ]] SLAMing on 53.015860169 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] SLAMing on 53.045860169 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:-9.99, Y:18.17, Z:-16.25 [[ 0.11661746 0.95832881 0.26078008 -9.98514459] [ -0.92782971 0.19879159 -0.31561676 18.16832536] [ -0.35430552 -0.20515308 0.91234851 -16.25423148] [ 0. 0. 0. 1. ]] SLAMing on 53.075860169 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:-9.48, Y:17.88, Z:-16.49 [[ -0.93175315 0.26667815 0.24641191 -9.48230575] [ -0.33769244 -0.88583158 -0.31822355 17.87775029] [ 0.13341618 -0.37971723 0.91543156 -16.49300811] [ 0. 0. 0. 1. ]] SLAMing on 53.105860169 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:-9.47, Y:17.85, Z:-16.50 [[ -0.94844724 0.21824526 0.22981914 -9.4749561 ] [ -0.28704731 -0.89892239 -0.33097187 17.85419043] [ 0.13435653 -0.37987832 0.91522717 -16.49579703] [ 0. 0. 0. 1. ]] SLAMing on 53.135860169 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:-9.47, Y:17.81, Z:-16.51 [[ -0.96875025 0.1280321 0.21243995 -9.46607532] [ -0.19681267 -0.91803121 -0.34421428 17.81197796] [ 0.15095603 -0.37526854 0.91454131 -16.5072031 ] [ 0. 0. 0. 1. ]] SLAMing on 53.165860169 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:-9.46, Y:17.79, Z:-16.51 [[ -0.97685341 0.08957994 0.19424946 -9.46262273] [ -0.1553786 -0.92127593 -0.35652231 17.7929423 ] [ 0.1470201 -0.37845224 0.91387034 -16.50897102] [ 0. 0. 0. 1. ]] SLAMing on 53.195860169 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] SLAMing on 53.225860169 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:-9.64, Y:17.38, Z:-16.61 [[ -0.61686852 -0.77547754 0.13456528 -9.64266346] [ 0.70857206 -0.62160034 -0.33397404 17.38003686] [ 0.34263519 -0.11066887 0.9329274 -16.60604061] [ 0. 0. 0. 1. ]] SLAMing on 53.255860169 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:-9.99, Y:18.16, Z:-16.24 [[ 0.11419837 0.97787741 0.17525554 -9.9876768 ] [ -0.90158822 0.17610413 -0.39512785 18.16279482] [ -0.41724983 -0.11288537 0.90175356 -16.24457563] [ 0. 0. 0. 1. ]] SLAMing on 53.285860169 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] SLAMing on 53.315860169 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] SLAMing on 53.345860169 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] SLAMing on 53.375860169 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] SLAMing on 53.405860169 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] SLAMing on 53.435860169 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:-10.35, Y:17.90, Z:-16.27 [[ 0.86929579 -0.46784417 -0.15952012 -10.35171864] [ -0.3995412 -0.85506932 0.33048947 17.90148842] [ -0.29101833 -0.22355824 -0.93023118 -16.27480472] [ 0. 0. 0. 1. ]] SLAMing on 53.465860169 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:-11.09, Y:19.03, Z:-19.67 [[ 0.87328746 0.41835083 0.24970302 -11.08516744] [ -0.34240862 0.89160996 -0.29629042 19.0331656 ] [ -0.34659104 0.17324624 0.92187873 -19.66557168] [ 0. 0. 0. 1. ]] SLAMing on 53.495860169 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] SLAMing on 53.525860169 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:-10.20, Y:18.85, Z:-19.95 [[ -0.95075035 0.12397779 -0.28408323 -10.19956833] [ 0.02280347 0.94201623 0.33479161 18.84665672] [ 0.30911774 0.31182515 -0.89844938 -19.94690667] [ 0. 0. 0. 1. ]] SLAMing on 53.555860169 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:-10.63, Y:18.40, Z:-19.96 [[ -0.021651 0.95933685 -0.28143212 -10.63486274] [ 0.92987617 0.12272334 0.34679862 18.39787937] [ 0.36723499 -0.25418848 -0.89472157 -19.9560453 ] [ 0. 0. 0. 1. ]] SLAMing on 53.585860169 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:-10.61, Y:21.49, Z:-23.04 [[ 0.6483864 -0.08061181 -0.75703158 -10.60801842] [ -0.74336851 0.14757726 -0.65239882 21.48887135] [ 0.1643117 0.98575995 0.03576281 -23.03794598] [ 0. 0. 0. 1. ]] SLAMing on 53.615860169 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:-10.50, Y:21.39, Z:-22.55 [[ 0.3347026 0.61882149 -0.71065754 -10.49658285] [ -0.37353499 -0.6052456 -0.70295759 21.39257675] [ -0.86512761 0.50073719 0.02857421 -22.54666402] [ 0. 0. 0. 1. ]] SLAMing on 53.645860169 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:-10.20, Y:21.09, Z:-23.41 [[ -0.2507099 -0.6583787 -0.7097056 -10.20440783] [ 0.32070319 0.63523499 -0.7025852 21.08584767] [ 0.91339696 -0.40374991 0.05188445 -23.40803926] [ 0. 0. 0. 1. ]] SLAMing on 53.675860168999996 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:-10.19, Y:21.11, Z:-23.41 [[ -0.23483176 -0.66454729 -0.70938772 -10.19342657] [ 0.30711219 0.641689 -0.70279252 21.11167621] [ 0.92224517 -0.38289962 0.05340162 -23.412897 ] [ 0. 0. 0. 1. ]] SLAMing on 53.705860169 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:-10.17, Y:21.13, Z:-23.41 [[ -0.24266814 -0.66203881 -0.70909576 -10.17009518] [ 0.31612357 0.63708187 -0.70298832 21.12668705] [ 0.9171576 -0.39475475 0.0546866 -23.41164881] [ 0. 0. 0. 1. ]] SLAMing on 53.735860169 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:-10.12, Y:21.12, Z:-23.39 [[ -0.29820121 -0.63925448 -0.70882279 -10.12405342] [ 0.36994559 0.6071597 -0.70320506 21.1200531 ] [ 0.87989562 -0.47192247 0.05543362 -23.39453944] [ 0. 0. 0. 1. ]] SLAMing on 53.765860169 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:-10.11, Y:21.14, Z:-23.40 [[ -0.29270909 -0.64200922 -0.70862229 -10.10792136] [ 0.36305443 0.61096643 -0.70349947 21.14231137] [ 0.88459758 -0.46318915 0.05424886 -23.39819582] [ 0. 0. 0. 1. ]] SLAMing on 53.795860169 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:-10.08, Y:21.16, Z:-23.40 [[ -0.3035904 -0.63720901 -0.7083767 -10.08497312] [ 0.37275366 0.60478033 -0.70377231 21.15633171] [ 0.87686235 -0.47770852 0.05391649 -23.39600031] [ 0. 0. 0. 1. ]] SLAMing on 53.825860169 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:-10.07, Y:21.18, Z:-23.40 [[ -0.29022971 -0.64355922 -0.70823601 -10.07413286] [ 0.35840687 0.61312399 -0.70400532 21.18242206] [ 0.8873056 -0.45815991 0.05270924 -23.40290036] [ 0. 0. 0. 1. ]] SLAMing on 53.855860169 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:-10.05, Y:21.20, Z:-23.40 [[ -0.29807448 -0.64024381 -0.70798267 -10.05303372] [ 0.36521931 0.60876687 -0.70428528 21.19713009] [ 0.88191068 -0.46849842 0.05237154 -23.40181224] [ 0. 0. 0. 1. ]] SLAMing on 53.885860169 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:-10.03, Y:21.21, Z:-23.40 [[ -0.30478429 -0.63740212 -0.70768995 -10.03128712] [ 0.37246393 0.60409888 -0.70451058 21.21328035] [ 0.87657125 -0.47831274 0.05328945 -23.39953296] [ 0. 0. 0. 1. ]] SLAMing on 53.915860169 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:-10.02, Y:21.24, Z:-23.40 [[ -0.29240736 -0.64342551 -0.70746134 -10.01912135] [ 0.36128943 0.61063703 -0.70469311 21.23648837] [ 0.88541961 -0.46165575 0.05390807 -23.40476123] [ 0. 0. 0. 1. ]] SLAMing on 53.945860169 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:-10.03, Y:21.28, Z:-23.42 [[ -0.24184534 -0.66436182 -0.70720167 -10.02592113] [ 0.31289493 0.63650642 -0.70495131 21.27959979] [ 0.91848114 -0.391769 0.05393933 -23.42169646] [ 0. 0. 0. 1. ]] SLAMing on 53.975860169 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:-10.01, Y:21.30, Z:-23.42 [[ -0.23788168 -0.66604924 -0.70695878 -10.01030542] [ 0.30800474 0.63855993 -0.70524769 21.3003325 ] [ 0.92116523 -0.38551216 0.05324462 -23.42417724] [ 0. 0. 0. 1. ]] SLAMing on 54.005860169 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:-10.06, Y:21.39, Z:-23.46 [[ -0.08083902 -0.70302283 -0.70655782 -10.06363365] [ 0.16017647 0.69050153 -0.70537305 21.39012301] [ 0.98377261 -0.17019561 0.05678825 -23.45870503] [ 0. 0. 0. 1. ]] SLAMing on 54.035860169 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:-10.05, Y:21.41, Z:-23.46 [[ -0.07854814 -0.7036016 -0.70624003 -10.04606361] [ 0.15864643 0.69057859 -0.70564334 21.40938693] [ 0.98420602 -0.16746944 0.05738022 -23.45965619] [ 0. 0. 0. 1. ]] SLAMing on 54.065860169 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:-10.03, Y:21.43, Z:-23.46 [[ -0.07860693 -0.70385038 -0.70598555 -10.02697018] [ 0.15861966 0.69032448 -0.70589795 21.42940306] [ 0.98420565 -0.16747166 0.05738022 -23.46077333] [ 0. 0. 0. 1. ]] SLAMing on 54.095860169 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:-9.95, Y:21.39, Z:-23.43 [[ -0.21324602 -0.67550123 -0.70585 -9.94714355] [ 0.28467806 0.64815711 -0.70629368 21.38954481] [ 0.93460395 -0.35155433 0.05408346 -23.43458564] [ 0. 0. 0. 1. ]] SLAMing on 54.125860169 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:-9.94, Y:21.42, Z:-23.44 [[ -0.19209945 -0.68206432 -0.70561042 -9.93867606] [ 0.26400777 0.65657877 -0.70654385 21.41908908] [ 0.94519717 -0.32201332 0.05394186 -23.44044357] [ 0. 0. 0. 1. ]] SLAMing on 54.155860169 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:-9.92, Y:21.44, Z:-23.44 [[ -0.18909014 -0.68314584 -0.70537698 -9.92147248] [ 0.26049832 0.65770023 -0.70680339 21.44019156] [ 0.9467764 -0.31739907 0.05359371 -23.44261944] [ 0. 0. 0. 1. ]] SLAMing on 54.185860169 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:-9.91, Y:21.47, Z:-23.45 [[ -0.16853857 -0.68876664 -0.70512074 -9.91394798] [ 0.24045835 0.66501242 -0.70706313 21.46912412] [ 0.95591555 -0.28871958 0.05353945 -23.44797854] [ 0. 0. 0. 1. ]] SLAMing on 54.215860169 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:-10.01, Y:21.61, Z:-23.46 [[ -0.08125123 -0.75793795 -0.6472467 -10.00877512] [ 0.12964799 0.63583919 -0.76085473 21.60688007] [ 0.9882255 -0.14573462 0.04660242 -23.45533392] [ 0. 0. 0. 1. ]] SLAMing on 54.245860169 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:-9.90, Y:21.55, Z:-23.43 [[ -0.27398866 -0.71083034 -0.64780433 -9.89975027] [ 0.29397263 0.57944028 -0.76015068 21.55010278] [ 0.91570208 -0.39870941 0.0502046 -23.42618996] [ 0. 0. 0. 1. ]] SLAMing on 54.275860169 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:-9.88, Y:21.57, Z:-23.42 [[ -0.28067723 -0.70864788 -0.64733182 -9.88006381] [ 0.29878882 0.57641874 -0.76056997 21.56761204] [ 0.91211048 -0.40689018 0.04994845 -23.42480566] [ 0. 0. 0. 1. ]] SLAMing on 54.305860169 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:-9.85, Y:21.58, Z:-23.42 [[ -0.3019996 -0.70007684 -0.64706156 -9.85333892] [ 0.31525116 0.56722617 -0.76083585 21.57847527] [ 0.8996738 -0.43375903 0.04939796 -23.42004811] [ 0. 0. 0. 1. ]] SLAMing on 54.335860169 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:-9.83, Y:21.59, Z:-23.42 [[ -0.31968002 -0.69244523 -0.64677994 -9.827789 ] [ 0.32952035 0.55874532 -0.76106505 21.59188849] [ 0.88838112 -0.45642444 0.04955508 -23.41516023] [ 0. 0. 0. 1. ]] SLAMing on 54.365860169 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:-9.81, Y:21.61, Z:-23.42 [[ -0.31956799 -0.69271428 -0.64654716 -9.81115578] [ 0.32811555 0.55921702 -0.7613255 21.61304361] [ 0.88894122 -0.45543743 0.04858247 -23.41703064] [ 0. 0. 0. 1. ]] SLAMing on 54.395860169 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:-9.85, Y:21.68, Z:-23.45 [[ -0.20874729 -0.73393497 -0.64634668 -9.84782656] [ 0.23757666 0.60305199 -0.76150222 21.67652724] [ 0.94867376 -0.31251841 0.04848035 -23.44615197] [ 0. 0. 0. 1. ]] SLAMing on 54.425860168999996 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:-9.93, Y:21.78, Z:-23.47 [[ 1.06801317e-02 -7.63256515e-01 -6.46007296e-01 -9.93437394e+00] [ 5.73744131e-02 6.45447565e-01 -7.61646649e-01 2.17846252e+01] [ 9.98295603e-01 -2.89298030e-02 5.06848596e-02 -2.34748706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.455860169 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:-9.84, Y:21.74, Z:-23.46 [[ -0.15447947 -0.74768439 -0.645836 -9.8410399 ] [ 0.190191 0.61895227 -0.76205345 21.74109803] [ 0.96951714 -0.2405538 0.04658742 -23.45962835] [ 0. 0. 0. 1. ]] SLAMing on 54.485860169 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:-9.92, Y:21.84, Z:-23.48 [[ 4.50257932e-02 -7.62477876e-01 -6.45445712e-01 -9.91898813e+00] [ 2.72154097e-02 6.46797399e-01 -7.62176125e-01 2.18405206e+01] [ 9.98615041e-01 1.67515151e-02 4.98737137e-02 -2.34781683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.515860169 meters Centerline goodness : 0.995612 Centerline is valid? [True, True] Translation: X:-9.90, Y:21.86, Z:-23.48 [[ 5.11447939e-02 -7.62406477e-01 -6.45074084e-01 -9.90338857e+00] [ 2.44239827e-02 6.46681108e-01 -7.62369342e-01 2.18627108e+01] [ 9.98392548e-01 2.32359446e-02 5.16953746e-02 -2.34816778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.545860169 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:-9.85, Y:21.86, Z:-23.48 [[-1.71237783e-02 -7.64193535e-01 -6.44759659e-01 -9.85432572e+00] [ 8.14442387e-02 6.41645227e-01 -7.62665220e-01 2.18552291e+01] [ 9.96530788e-01 -6.55716697e-02 5.12517700e-02 -2.34799186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.575860169 meters Centerline goodness : 0.994651 Centerline is valid? [True, True] Translation: X:-9.86, Y:21.89, Z:-23.48 [[ 2.12328434e-02 -7.64324220e-01 -6.44482469e-01 -9.85508311e+00] [ 4.91859201e-02 6.44645799e-01 -7.62897463e-01 2.18929735e+01] [ 9.98563925e-01 -1.55009809e-02 5.12816534e-02 -2.34833351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.605860169 meters Centerline goodness : 0.998690 Centerline is valid? [True, True] Translation: X:-9.83, Y:21.91, Z:-23.48 [[ 1.40625228e-03 -7.64905532e-01 -6.44140939e-01 -9.82934434e+00] [ 6.55069895e-02 6.42828491e-01 -7.63204013e-01 2.19052137e+01] [ 9.97851120e-01 -4.11224763e-02 5.10106377e-02 -2.34837096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.635860169 meters Centerline goodness : 0.995297 Centerline is valid? [True, True] Translation: X:-9.81, Y:21.93, Z:-23.49 [[-1.05511130e-03 -7.65154695e-01 -6.43845617e-01 -9.81041011e+00] [ 6.75065321e-02 6.42322754e-01 -7.63455531e-01 2.19258657e+01] [ 9.97718274e-01 -4.42693154e-02 5.09752180e-02 -2.34850447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.665860169 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:-9.79, Y:21.94, Z:-23.49 [[-1.00795219e-02 -7.65242820e-01 -6.43662822e-01 -9.78945757e+00] [ 7.36844906e-02 6.41377117e-01 -7.63679245e-01 2.19436289e+01] [ 9.97230665e-01 -5.51254889e-02 4.99217527e-02 -2.34850727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.695860169 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:-9.77, Y:21.96, Z:-23.49 [[-2.18758453e-02 -7.65242035e-01 -6.43370869e-01 -9.76730245e+00] [ 8.27209988e-02 6.39932847e-01 -7.63965436e-01 2.19607698e+01] [ 9.96332617e-01 -6.99326705e-02 4.93025135e-02 -2.34851867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.725860169 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:-9.75, Y:21.98, Z:-23.49 [[-2.19093069e-02 -7.65499657e-01 -6.43063183e-01 -9.75000917e+00] [ 8.27123074e-02 6.39624631e-01 -7.64224447e-01 2.19823468e+01] [ 9.96332603e-01 -6.99328676e-02 4.93025106e-02 -2.34861918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.755860169 meters Centerline goodness : 0.997490 Centerline is valid? [True, True] Translation: X:-9.75, Y:22.02, Z:-23.49 [[ 1.47125791e-02 -7.65936149e-01 -6.42748283e-01 -9.75173381e+00] [ 5.22576066e-02 6.42528360e-01 -7.64477894e-01 2.20175225e+01] [ 9.98525254e-01 -2.23410454e-02 4.94792393e-02 -2.34892898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.785860169 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:-9.74, Y:22.04, Z:-23.49 [[ 2.37973250e-02 -7.65972325e-01 -6.42432942e-01 -9.74051025e+00] [ 4.42055250e-02 6.42792628e-01 -7.64763695e-01 2.20416915e+01] [ 9.98738984e-01 -1.01997553e-02 4.91569539e-02 -2.34902328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.815860169 meters Centerline goodness : 0.994113 Centerline is valid? [True, True] Translation: X:-9.70, Y:22.04, Z:-23.49 [[-1.73212668e-02 -7.66407294e-01 -6.42121354e-01 -9.70258457e+00] [ 7.95296834e-02 6.39126780e-01 -7.64978424e-01 2.20439063e+01] [ 9.96681997e-01 -6.43181034e-02 4.98816440e-02 -2.34913559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.845860169 meters Centerline goodness : 0.998734 Centerline is valid? [True, True] Translation: X:-9.71, Y:22.08, Z:-23.49 [[ 2.60628221e-02 -7.66416846e-01 -6.41814574e-01 -9.70750767e+00] [ 4.25215485e-02 6.42301531e-01 -7.65271626e-01 2.20838261e+01] [ 9.98755549e-01 -7.34581134e-03 4.93294216e-02 -2.34918795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.875860169 meters Centerline goodness : 0.996301 Centerline is valid? [True, True] Translation: X:-9.70, Y:22.11, Z:-23.49 [[ 3.59698064e-02 -7.66252387e-01 -6.41532113e-01 -9.69631160e+00] [ 3.19843919e-02 6.42501360e-01 -7.65616745e-01 2.21088889e+01] [ 9.98840914e-01 7.02007157e-03 4.76187662e-02 -2.34939529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.905860169 meters Centerline goodness : 0.999839 Centerline is valid? [True, True] Translation: X:-9.72, Y:22.17, Z:-23.49 [[ 0.12273134 -0.75746385 -0.6412375 -9.72252996] [ -0.04167553 0.64161868 -0.76589073 22.16541261] [ 0.99156451 0.12072271 0.04717901 -23.49044364] [ 0. 0. 0. 1. ]] SLAMing on 54.935860169 meters Centerline goodness : 0.998281 Centerline is valid? [True, True] Translation: X:-9.68, Y:22.16, Z:-23.49 [[ 6.71692073e-02 -7.64665763e-01 -6.40916975e-01 -9.67788112e+00] [ 6.05020135e-03 6.42668047e-01 -7.66120863e-01 2.21633990e+01] [ 9.97723255e-01 4.75820543e-02 4.77938851e-02 -2.34949739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.965860169 meters Centerline goodness : 0.992637 Centerline is valid? [True, True] Translation: X:-9.70, Y:22.22, Z:-23.49 [[ 0.1524283 -0.75257614 -0.64062061 -9.70302196] [ -0.06675323 0.63887518 -0.76640884 22.21999613] [ 0.98605761 0.15958589 0.04714577 -23.49111381] [ 0. 0. 0. 1. ]] SLAMing on 54.995860169 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:-9.70, Y:22.25, Z:-23.49 [[ 0.17809716 -0.74714107 -0.64036054 -9.69922979] [ -0.0908294 0.6355041 -0.7667363 22.25328307] [ 0.97981193 0.19471712 0.0453191 -23.48655869] [ 0. 0. 0. 1. ]] SLAMing on 55.025860169 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:-9.46, Y:22.09, Z:-23.45 [[ -0.28483964 -0.7133731 -0.64028524 -9.46129755] [ 0.28539486 0.57455199 -0.76709828 22.09136315] [ 0.91510445 -0.40123412 0.03993783 -23.45227264] [ 0. 0. 0. 1. ]] SLAMing on 55.055860169 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:-9.59, Y:22.23, Z:-23.49 [[ 1.23245474e-02 -7.68258202e-01 -6.40021438e-01 -9.58889907e+00] [ 4.15306876e-02 6.39911024e-01 -7.67325931e-01 2.22298045e+01] [ 9.99061213e-01 -1.71235856e-02 3.97929051e-02 -2.34908934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.085860169 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:-9.59, Y:22.27, Z:-23.49 [[ 6.06242923e-02 -7.66266951e-01 -6.39655888e-01 -9.59318099e+00] [ 5.41918204e-03 6.41077832e-01 -7.67456739e-01 2.22685166e+01] [ 9.98145945e-01 4.30601099e-02 4.30174300e-02 -2.34944307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.115860169 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:-9.52, Y:22.24, Z:-23.50 [[ -0.04905604 -0.76737658 -0.63931736 -9.51939352] [ 0.09782466 0.63331907 -0.76768306 22.24198125] [ 0.99399388 -0.1002005 0.04400023 -23.4964531 ] [ 0. 0. 0. 1. ]] SLAMing on 55.145860169 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:-9.26, Y:22.07, Z:-23.33 [[ -0.56421263 -0.52272207 -0.63908196 -9.25765761] [ 0.50399636 0.39504264 -0.76806834 22.06573958] [ 0.65395089 -0.75544884 0.04056197 -23.32803889] [ 0. 0. 0. 1. ]] SLAMing on 55.175860168999996 meters Centerline goodness : 0.989156 Centerline is valid? [True, True] Translation: X:-9.60, Y:22.42, Z:-22.52 [[-1.79070016e-02 8.16399839e-01 -5.77209357e-01 -9.59785836e+00] [-2.15460278e-02 -5.77482953e-01 -8.16118379e-01 2.24155073e+01] [-9.99607477e-01 -2.17766426e-03 2.79311617e-02 -2.25233634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.205860169 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:-10.00, Y:22.69, Z:-22.70 [[ 0.64769122 0.56476836 -0.51140276 -10.00481543] [ -0.40974811 -0.30768714 -0.85874042 22.68565439] [ -0.64234148 0.76574494 0.03212651 -22.70186458] [ 0. 0. 0. 1. ]] SLAMing on 55.235860169 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:-9.65, Y:22.47, Z:-23.50 [[ -0.05555619 -0.85785899 -0.51087323 -9.65089399] [ 0.08201385 0.50601359 -0.85861748 22.47274098] [ 0.99508152 -0.08960019 0.04224413 -23.49853977] [ 0. 0. 0. 1. ]] SLAMing on 55.265860169 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:-9.61, Y:22.48, Z:-23.49 [[ -0.12330158 -0.85096711 -0.5105406 -9.60633078] [ 0.11995228 0.49791382 -0.85889072 22.47661827] [ 0.98509298 -0.16714309 0.04068189 -23.49484135] [ 0. 0. 0. 1. ]] SLAMing on 55.295860169 meters Centerline goodness : 0.964272 Centerline is valid? [True, True] Translation: X:-9.64, Y:22.53, Z:-23.51 [[-2.12515549e-02 -8.59796164e-01 -5.10194991e-01 -9.64125336e+00] [ 6.07433939e-02 5.08257076e-01 -8.59060524e-01 2.25295143e+01] [ 9.97927157e-01 -4.92473472e-02 4.14256839e-02 -2.35052541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.325860169 meters Centerline goodness : 0.983721 Centerline is valid? [True, True] Translation: X:-9.63, Y:22.55, Z:-23.51 [[ -0.02450807 -0.85991609 -0.50984671 -9.62621386] [ 0.06250967 0.50768375 -0.8592728 22.55227539] [ 0.9977434 -0.05292947 0.04131073 -23.50548789] [ 0. 0. 0. 1. ]] SLAMing on 55.355860169 meters Centerline goodness : 0.991849 Centerline is valid? [True, True] Translation: X:-9.58, Y:22.56, Z:-23.50 [[ -0.08386641 -0.85636873 -0.50950861 -9.58332362] [ 0.09778206 0.50176977 -0.85945667 22.55849324] [ 0.99166783 -0.12190035 0.04165587 -23.5038679 ] [ 0. 0. 0. 1. ]] SLAMing on 55.385860169 meters Centerline goodness : 0.974288 Centerline is valid? [True, True] Translation: X:-9.52, Y:22.55, Z:-23.49 [[ -0.1898677 -0.83945539 -0.50918061 -9.51787618] [ 0.15931463 0.48539912 -0.8596549 22.55120529] [ 0.96879776 -0.24434062 0.04157591 -23.49410561] [ 0. 0. 0. 1. ]] SLAMing on 55.415860169 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:-9.64, Y:22.66, Z:-23.51 [[ 9.03647221e-02 -8.57280554e-01 -5.06857246e-01 -9.64405383e+00] [-7.31265825e-03 5.08354570e-01 -8.61116808e-01 2.26554452e+01] [ 9.95881892e-01 8.15210548e-02 3.96683197e-02 -2.35057352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.445860169 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:-9.66, Y:22.69, Z:-23.50 [[ 0.14341461 -0.85018513 -0.50657428 -9.65643938] [ -0.03935068 0.50656206 -0.86130506 22.69408435] [ 0.98888006 0.14345778 0.03919304 -23.50307925] [ 0. 0. 0. 1. ]] SLAMing on 55.475860169 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:-9.66, Y:22.73, Z:-23.50 [[ 0.18639094 -0.84183965 -0.50652189 -9.66382253] [ -0.06595927 0.50367124 -0.8613737 22.73040885] [ 0.98025904 0.19396207 0.03835263 -23.50051811] [ 0. 0. 0. 1. ]] SLAMing on 55.505860169 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:-9.68, Y:22.77, Z:-23.49 [[ 0.24467206 -0.82712367 -0.50596642 -9.67921769] [ -0.10046442 0.49739219 -0.86168899 22.7707597 ] [ 0.9643871 0.26166284 0.03860147 -23.49411942] [ 0. 0. 0. 1. ]] SLAMing on 55.535860169 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:-9.66, Y:22.79, Z:-23.50 [[ 0.23796268 -0.82909334 -0.50594269 -9.66221168] [ -0.09615303 0.49823822 -0.8616921 22.79233328] [ 0.96650316 0.25369848 0.03884226 -23.49592783] [ 0. 0. 0. 1. ]] SLAMing on 55.565860169 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:-9.65, Y:22.81, Z:-23.50 [[ 0.235352 -0.83015087 -0.50542949 -9.64762194] [ -0.09410562 0.4981295 -0.86198094 22.81436091] [ 0.96734356 0.25043269 0.03911391 -23.49788297] [ 0. 0. 0. 1. ]] SLAMing on 55.595860169 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:-9.61, Y:22.82, Z:-23.51 [[ 0.18338354 -0.84332974 -0.50513902 -9.60919651] [ -0.06256768 0.50279838 -0.86213634 22.82232127] [ 0.9810483 0.18970699 0.03943976 -23.5050209 ] [ 0. 0. 0. 1. ]] SLAMing on 55.625860169 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:-9.60, Y:22.85, Z:-23.50 [[ 0.19705356 -0.84055688 -0.50461275 -9.60218419] [ -0.07001993 0.50132404 -0.86242183 22.84898174] [ 0.97788911 0.20527625 0.03993195 -23.50441452] [ 0. 0. 0. 1. ]] SLAMing on 55.655860169 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:-9.28, Y:22.69, Z:-23.44 [[ -0.43814889 -0.74229482 -0.50697529 -9.27750034] [ 0.29973993 0.41106756 -0.86091778 22.69408453] [ 0.84745591 -0.52917091 0.0423866 -23.44279903] [ 0. 0. 0. 1. ]] SLAMing on 55.685860169 meters Centerline goodness : 0.308168 Centerline is valid? [True, False] Translation: X:-9.44, Y:22.55, Z:-23.50 [[ -0.28350448 -0.79546498 -0.53559376 -9.43699981] [ 0.22910282 0.48615368 -0.84330688 22.54543574] [ 0.93120197 -0.36178732 0.04441652 -23.49743246] [ 0. 0. 0. 1. ]] SLAMing on 55.715860169 meters Centerline goodness : 0.999137 Centerline is valid? [False, True] Translation: X:-9.59, Y:22.42, Z:-23.52 [[ -0.1632411 -0.82159852 -0.54619431 -9.58817041] [ 0.16325258 0.52349386 -0.83624325 22.41905863] [ 0.97298558 -0.22567689 0.04867237 -23.52423941] [ 0. 0. 0. 1. ]] SLAMing on 55.745860169 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:-9.44, Y:22.36, Z:-23.45 [[ -0.44789606 -0.70724581 -0.5469849 -9.43584541] [ 0.34365362 0.42860643 -0.83558286 22.3558006 ] [ 0.82540373 -0.56222761 0.05107645 -23.45178216] [ 0. 0. 0. 1. ]] SLAMing on 55.775860169 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:-9.93, Y:22.73, Z:-22.63 [[ 0.40238453 0.77951508 -0.48004472 -9.93130454] [ -0.25962019 -0.40567507 -0.87637041 22.72989159] [ -0.87788612 0.4772672 0.03914048 -22.62939436] [ 0. 0. 0. 1. ]] SLAMing on 55.805860169 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:-9.96, Y:22.76, Z:-22.60 [[ 0.29126318 0.86441225 -0.40982585 -9.96436739] [ -0.17084709 -0.37451106 -0.91134666 22.76064968] [ -0.94126353 0.33545928 0.03860103 -22.59892987] [ 0. 0. 0. 1. ]] SLAMing on 55.835860169 meters Centerline goodness : 0.991453 Centerline is valid? [True, True] Translation: X:-10.06, Y:22.81, Z:-22.60 [[ 0.29167958 0.89515481 -0.33707699 -10.06135384] [ -0.14275818 -0.30771383 -0.9407084 22.81436418] [ -0.9458029 0.32250593 0.03803683 -22.59721085] [ 0. 0. 0. 1. ]] SLAMing on 55.865860169 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:-10.27, Y:22.89, Z:-22.65 [[ 0.52714236 0.8082928 -0.26226644 -10.274781 ] [ -0.17442807 -0.19913723 -0.96432319 22.8900004 ] [ -0.8316825 0.55408223 0.03601528 -22.65417975] [ 0. 0. 0. 1. ]] SLAMing on 55.895860169 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:-9.74, Y:22.74, Z:-23.45 [[ -0.55902892 -0.78678389 -0.26164436 -9.74438409] [ 0.19666917 0.18072921 -0.96366913 22.73761191] [ 0.80548613 -0.59017629 0.05370328 -23.44901855] [ 0. 0. 0. 1. ]] SLAMing on 55.925860168999996 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:-9.77, Y:22.77, Z:-23.47 [[ -0.50157007 -0.82472997 -0.26124309 -9.76546721] [ 0.18316837 0.19389005 -0.96377176 22.76920933] [ 0.84550388 -0.53125053 0.053815 -23.46980744] [ 0. 0. 0. 1. ]] SLAMing on 55.955860169 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:-10.36, Y:22.97, Z:-22.65 [[ 0.5143603 0.83737527 -0.18503009 -10.35746039] [ -0.12746986 -0.13870931 -0.98209529 22.97119999] [ -0.84804771 0.52873658 0.03539355 -22.64877062] [ 0. 0. 0. 1. ]] SLAMing on 55.985860169 meters Centerline goodness : 0.998724 Centerline is valid? [True, True] Translation: X:-10.47, Y:23.00, Z:-22.66 [[ 0.5415888 0.83374978 -0.10743774 -10.47470007] [ -0.08794425 -0.07090897 -0.99359837 22.9954153 ] [ -0.83603073 0.54757028 0.03491999 -22.65615036] [ 0. 0. 0. 1. ]] SLAMing on 56.015860169 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:-10.03, Y:22.94, Z:-23.51 [[ -0.37842656 -0.91943479 -0.10692521 -10.02891333] [ 0.09032438 0.07828451 -0.99283082 22.93510312] [ 0.92121379 -0.38537151 0.05342244 -23.51039366] [ 0. 0. 0. 1. ]] SLAMing on 56.045860169 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:-9.98, Y:22.96, Z:-23.49 [[ -0.47546483 -0.87326076 -0.10653099 -9.98088829] [ 0.09860795 0.0674295 -0.99283923 22.95953901] [ 0.87419087 -0.48256493 0.0540501 -23.48880912] [ 0. 0. 0. 1. ]] SLAMing on 56.075860169 meters Centerline goodness : 0.993341 Centerline is valid? [True, True] Translation: X:-10.49, Y:23.06, Z:-22.61 [[ 3.63454199e-01 9.31179421e-01 -2.83889370e-02 -1.04863971e+01] [-4.26308773e-02 -1.38169340e-02 -9.98995346e-01 2.30613150e+01] [-9.30636155e-01 3.64299298e-01 3.46751729e-02 -2.26130878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.105860169 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:-10.09, Y:23.04, Z:-23.49 [[-4.71216888e-01 -8.81575101e-01 -2.79282288e-02 -1.00856075e+01] [ 6.15146839e-02 -1.26074623e-03 -9.98105382e-01 2.30389620e+01] [ 8.79869643e-01 -4.72042109e-01 5.48238986e-02 -2.34940475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.135860169 meters Centerline goodness : 0.995717 Centerline is valid? [True, True] Translation: X:-10.59, Y:23.10, Z:-22.61 [[ 3.63372656e-01 9.30277015e-01 5.04478782e-02 -1.05916080e+01] [-1.32590980e-02 5.93077410e-02 -9.98151686e-01 2.31007962e+01] [-9.31549521e-01 3.62032135e-01 3.38854454e-02 -2.26131407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.165860169 meters Centerline goodness : 0.991110 Centerline is valid? [True, True] SLAMing on 56.195860169 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] SLAMing on 56.225860169 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] SLAMing on 56.255860169 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] SLAMing on 56.285860169 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] SLAMing on 56.315860169 meters Centerline goodness : 0.991898 Centerline is valid? [True, True] SLAMing on 56.345860169 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] SLAMing on 56.375860169 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] SLAMing on 56.405860169 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] SLAMing on 56.435860169 meters Centerline goodness : 0.993677 Centerline is valid? [True, True] SLAMing on 56.465860169 meters Centerline goodness : 0.474667 Centerline is valid? [True, False] Translation: X:-10.57, Y:22.76, Z:-22.57 [[ 3.28724919e-01 9.42673510e-01 5.75028727e-02 -1.05658972e+01] [ 3.31585070e-03 5.97342248e-02 -9.98208810e-01 2.27582955e+01] [-9.44419892e-01 3.28326781e-01 1.65103636e-02 -2.25668455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.495860169 meters Centerline goodness : 0.999111 Centerline is valid? [False, True] Translation: X:-10.30, Y:21.25, Z:-23.04 [[ 6.25732344e-03 9.59869565e-01 -2.80377005e-01 -1.02965673e+01] [-8.88981044e-01 1.33729626e-01 4.37982980e-01 2.12506450e+01] [ 4.57901245e-01 2.46509241e-01 8.54142637e-01 -2.30437704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.525860169 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:-10.71, Y:20.94, Z:-23.05 [[ 0.87425653 0.4036086 -0.26976957 -10.70840021] [ -0.26173125 0.85988443 0.43828702 20.94061161] [ 0.40886707 -0.31256816 0.85739656 -23.0465769 ] [ 0. 0. 0. 1. ]] SLAMing on 56.555860169 meters Centerline goodness : 0.998260 Centerline is valid? [True, True] Translation: X:-10.63, Y:21.04, Z:-23.11 [[ 0.72745833 0.63157813 -0.2681668 -10.63480904] [ -0.4935143 0.75313682 0.4350041 21.03993049] [ 0.47670537 -0.18410321 0.8595685 -23.10816985] [ 0. 0. 0. 1. ]] SLAMing on 56.585860169 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:-10.69, Y:20.93, Z:-23.10 [[ 0.86127721 0.43031432 -0.27024279 -10.68698348] [ -0.28800531 0.85155697 0.4380681 20.9289737 ] [ 0.41863411 -0.29946671 0.85735942 -23.09845459] [ 0. 0. 0. 1. ]] SLAMing on 56.615860169 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:-10.67, Y:20.93, Z:-23.13 [[ 0.84699769 0.45761259 -0.27052842 -10.67194052] [ -0.31484695 0.84187299 0.43831641 20.93056555] [ 0.42832968 -0.28607794 0.85714241 -23.12627205] [ 0. 0. 0. 1. ]] SLAMing on 56.645860169 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:-10.59, Y:21.02, Z:-23.18 [[ 0.69529447 0.66667883 -0.26852362 -10.59376779] [ -0.53032765 0.7280524 0.43438727 21.02302677] [ 0.48509607 -0.15962156 0.85976902 -23.18260929] [ 0. 0. 0. 1. ]] SLAMing on 56.675860168999996 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:-10.61, Y:20.98, Z:-23.20 [[ 0.74069944 0.61562617 -0.26901442 -10.60622184] [ -0.47714601 0.76392863 0.43444762 20.98480397] [ 0.47296514 -0.19343595 0.85958508 -23.19924398] [ 0. 0. 0. 1. ]] SLAMing on 56.705860169 meters Centerline goodness : 0.464078 Centerline is valid? [True, False] Translation: X:-10.65, Y:20.96, Z:-23.17 [[ 0.81183767 0.51771726 -0.26997857 -10.65118549] [ -0.38128974 0.8202537 0.42638245 20.95639433] [ 0.44219648 -0.24321328 0.86331314 -23.16626206] [ 0. 0. 0. 1. ]] SLAMing on 56.735860169 meters Centerline goodness : 0.999108 Centerline is valid? [False, True] Translation: X:-10.69, Y:20.93, Z:-23.12 [[ 0.86348925 0.42646025 -0.26929162 -10.69134787] [ -0.29230011 0.8582422 0.42187791 20.93495005] [ 0.41103159 -0.28557307 0.86573729 -23.12088014] [ 0. 0. 0. 1. ]] SLAMing on 56.765860169 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:-10.59, Y:21.05, Z:-23.18 [[ 0.67029079 0.69162136 -0.26901701 -10.59337897] [ -0.56526459 0.71071465 0.41876082 21.05492162] [ 0.48081826 -0.12862573 0.86733455 -23.18154626] [ 0. 0. 0. 1. ]] SLAMing on 56.795860169 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:-10.59, Y:21.03, Z:-23.20 [[ 0.68829696 0.67353563 -0.26943839 -10.59448762] [ -0.54585319 0.72549688 0.41916414 21.03438212] [ 0.4777987 -0.14143559 0.86700887 -23.20272067] [ 0. 0. 0. 1. ]] SLAMing on 56.825860169 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:-10.58, Y:21.03, Z:-23.23 [[ 0.66985414 0.69189356 -0.26940439 -10.57758107] [ -0.56566697 0.71057982 0.41844617 21.03340461] [ 0.48095353 -0.12790473 0.86736617 -23.22986996] [ 0. 0. 0. 1. ]] SLAMing on 56.855860169 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:-10.56, Y:21.03, Z:-23.26 [[ 0.65130258 0.70918241 -0.26993565 -10.5606051 ] [ -0.58368263 0.69552715 0.41899472 21.03115633] [ 0.48489126 -0.11533559 0.86693608 -23.25507857] [ 0. 0. 0. 1. ]] SLAMing on 56.885860169 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:-10.57, Y:21.00, Z:-23.27 [[ 0.6891338 0.67235336 -0.27025093 -10.56992913] [ -0.54467912 0.72660057 0.4187795 21.00062988] [ 0.47793228 -0.14139507 0.86694185 -23.27493066] [ 0. 0. 0. 1. ]] SLAMing on 56.915860169 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:-10.48, Y:21.07, Z:-23.31 [[ 5.09803713e-01 8.17088932e-01 -2.69194821e-01 -1.04757541e+01] [-7.03381597e-01 5.76054592e-01 4.16431791e-01 2.10650818e+01] [ 4.95332720e-01 -2.29517903e-02 8.68400088e-01 -2.33096768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.945860169 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:-10.48, Y:21.04, Z:-23.33 [[ 0.54316271 0.79440372 -0.27184003 -10.4805221 ] [ -0.67562907 0.60575126 0.42022704 21.03704991] [ 0.49849737 -0.04458864 0.86574374 -23.32881932] [ 0. 0. 0. 1. ]] SLAMing on 56.975860169 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:-10.50, Y:21.00, Z:-23.35 [[ 0.6026991 0.75017203 -0.27202154 -10.50167134] [ -0.62701646 0.65606424 0.4200358 21.0022354 ] [ 0.49356272 -0.08259322 0.86577954 -23.35061163] [ 0. 0. 0. 1. ]] SLAMing on 57.005860169 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:-10.47, Y:21.02, Z:-23.38 [[ 0.54865084 0.79130672 -0.26984428 -10.47188114] [ -0.67469587 0.60967175 0.41603587 21.01614845] [ 0.49372841 -0.04619561 0.86838829 -23.37993101] [ 0. 0. 0. 1. ]] SLAMing on 57.035860169 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:-10.46, Y:21.01, Z:-23.40 [[ 0.54366914 0.79447884 -0.27060533 -10.4615034 ] [ -0.67767472 0.60574712 0.41692613 21.00599462] [ 0.49515739 -0.04328747 0.86772424 -23.40308836] [ 0. 0. 0. 1. ]] SLAMing on 57.065860169 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:-10.47, Y:20.98, Z:-23.43 [[ 0.58042049 0.76784477 -0.27115762 -10.46991833] [ -0.64804183 0.63718368 0.41717951 20.97960807] [ 0.49310632 -0.06641806 0.86743 -23.42553709] [ 0. 0. 0. 1. ]] SLAMing on 57.095860169 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:-10.44, Y:20.99, Z:-23.45 [[ 0.53243982 0.80186774 -0.2711383 -10.43912477] [ -0.68610928 0.59643025 0.41656333 20.98737939] [ 0.49574378 -0.0357644 0.86773211 -23.45156534] [ 0. 0. 0. 1. ]] SLAMing on 57.125860169 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:-10.41, Y:20.99, Z:-23.48 [[ 4.95752047e-01 8.24988953e-01 -2.71335836e-01 -1.04130724e+01] [-7.12272945e-01 5.64994649e-01 4.16471246e-01 2.09887951e+01] [ 4.96887473e-01 -1.32012973e-02 8.67714564e-01 -2.34755715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.155860169 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:-10.38, Y:21.00, Z:-23.50 [[ 4.42220633e-01 8.54777116e-01 -2.71656021e-01 -1.03779916e+01] [-7.46764202e-01 5.18656492e-01 4.16339609e-01 2.09952305e+01] [ 4.96773729e-01 1.87490264e-02 8.67677553e-01 -2.34999987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.185860169 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:-10.42, Y:20.94, Z:-23.52 [[ 0.55863352 0.78275487 -0.27426885 -10.42361514] [ -0.66264518 0.62007898 0.42000408 20.94111005] [ 0.49882859 -0.05288543 0.86508564 -23.51874155] [ 0. 0. 0. 1. ]] SLAMing on 57.215860169 meters Centerline goodness : 0.996580 Centerline is valid? [True, True] Translation: X:-10.38, Y:20.96, Z:-23.55 [[ 4.70414185e-01 8.39502252e-01 -2.71930991e-01 -1.03762754e+01] [-7.29295915e-01 5.43349427e-01 4.15811097e-01 2.09642905e+01] [ 4.96827901e-01 2.71472226e-03 8.67844841e-01 -2.35478192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.245860169 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:-10.38, Y:20.94, Z:-23.57 [[ 4.90352463e-01 8.27729062e-01 -2.72798574e-01 -1.03775145e+01] [-7.15429096e-01 5.61055660e-01 4.16386545e-01 2.09448684e+01] [ 4.97710428e-01 -9.00813063e-03 8.67296479e-01 -2.35715954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.275860169 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:-10.36, Y:20.94, Z:-23.59 [[ 4.81752870e-01 8.32475485e-01 -2.73676340e-01 -1.03647206e+01] [-7.20269691e-01 5.54047625e-01 4.17424006e-01 2.09354202e+01] [ 4.99124978e-01 -3.97443985e-03 8.66520894e-01 -2.35946868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.305860169 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:-10.34, Y:20.94, Z:-23.62 [[ 4.45587623e-01 8.52311550e-01 -2.73891752e-01 -1.03397517e+01] [-7.43491858e-01 5.22732061e-01 4.17098369e-01 2.09355834e+01] [ 4.98669757e-01 1.77824169e-02 8.66609635e-01 -2.36185104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.335860169 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:-10.36, Y:20.90, Z:-23.64 [[ 5.12252774e-01 8.13756517e-01 -2.74585919e-01 -1.03640171e+01] [-6.98871061e-01 5.80791783e-01 4.17444782e-01 2.09017766e+01] [ 4.99175657e-01 -2.19370950e-02 8.66223082e-01 -2.36424234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.365860169 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:-10.32, Y:20.92, Z:-23.67 [[ 0.43315331 0.85851823 -0.27445337 -10.31889644] [ -0.75114398 0.512137 0.41653141 20.91819892] [ 0.49815753 0.02573204 0.86670464 -23.66698717] [ 0. 0. 0. 1. ]] SLAMing on 57.395860169 meters Centerline goodness : 0.996106 Centerline is valid? [True, True] Translation: X:-10.32, Y:20.90, Z:-23.69 [[ 4.45646204e-01 8.52006490e-01 -2.74744249e-01 -1.03170171e+01] [-7.43620600e-01 5.23193995e-01 4.16288900e-01 2.09031540e+01] [ 4.98425385e-01 1.87879151e-02 8.66728994e-01 -2.36913501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.425860168999996 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:-10.30, Y:20.90, Z:-23.71 [[ 0.42656396 0.8614942 -0.2754468 -10.29827981] [ -0.75450285 0.5068807 0.41689017 20.89621715] [ 0.49876713 0.02999507 0.86621686 -23.71325509] [ 0. 0. 0. 1. ]] SLAMing on 57.455860169 meters Centerline goodness : 0.996734 Centerline is valid? [True, True] Translation: X:-10.31, Y:20.88, Z:-23.74 [[ 4.63554218e-01 8.42314170e-01 -2.74998773e-01 -1.03089822e+01] [-7.32734705e-01 5.38913761e-01 4.15537978e-01 2.08752262e+01] [ 4.98214150e-01 8.87676224e-03 8.67008572e-01 -2.37383979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.485860169 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:-10.41, Y:20.77, Z:-23.75 [[ 0.6900563 0.66837663 -0.27765981 -10.40772424] [ -0.53893089 0.73058936 0.41927637 20.76679246] [ 0.48308984 -0.13968485 0.86435661 -23.74887135] [ 0. 0. 0. 1. ]] SLAMing on 57.515860169 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:-10.34, Y:20.82, Z:-23.78 [[ 0.55093338 0.78776184 -0.27550627 -10.33548445] [ -0.67079467 0.61440359 0.41538265 20.82097111] [ 0.49649464 -0.04404003 0.86692188 -23.78483057] [ 0. 0. 0. 1. ]] SLAMing on 57.545860169 meters Centerline goodness : 0.995500 Centerline is valid? [True, True] Translation: X:-10.29, Y:20.83, Z:-23.81 [[ 4.82208058e-01 8.31562354e-01 -2.75643683e-01 -1.02938235e+01] [-7.20630910e-01 5.55429496e-01 4.14956825e-01 2.08349015e+01] [ 4.98163107e-01 -1.45816634e-03 8.67082114e-01 -2.38095029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.575860169 meters Centerline goodness : 0.994692 Centerline is valid? [True, True] Translation: X:-10.28, Y:20.82, Z:-23.83 [[ 4.77229235e-01 8.34583438e-01 -2.75177656e-01 -1.02825279e+01] [-7.24931754e-01 5.50877412e-01 4.13531171e-01 2.08245834e+01] [ 4.96715422e-01 2.13585635e-03 8.67910841e-01 -2.38332946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.605860168999996 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:-10.24, Y:20.83, Z:-23.86 [[ 0.41809381 0.86537027 -0.27628221 -10.24482832] [ -0.76030906 0.49979496 0.4148917 20.83053963] [ 0.4971194 0.03659622 0.86691004 -23.85535351] [ 0. 0. 0. 1. ]] SLAMing on 57.635860169 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:-10.34, Y:20.75, Z:-23.88 [[ 0.61578795 0.73774144 -0.27666365 -10.33638653] [ -0.61600874 0.66971472 0.41474743 20.74766907] [ 0.49126209 -0.08496924 0.86685742 -23.87684175] [ 0. 0. 0. 1. ]] SLAMing on 57.665860169 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:-10.35, Y:20.72, Z:-23.90 [[ 0.6516087 0.70611643 -0.27713838 -10.3458732 ] [ -0.58154978 0.69960105 0.41516048 20.71793144] [ 0.48703794 -0.10935242 0.86650799 -23.89662848] [ 0. 0. 0. 1. ]] SLAMing on 57.695860169 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:-10.32, Y:20.72, Z:-23.92 [[ 0.61657968 0.73687205 -0.27721667 -10.32209307] [ -0.61487133 0.67061434 0.41498152 20.72348497] [ 0.49169376 -0.08541659 0.86656866 -23.9228556 ] [ 0. 0. 0. 1. ]] SLAMing on 57.725860169 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:-10.27, Y:20.75, Z:-23.95 [[ 0.52380241 0.80485872 -0.27898651 -10.27078446] [ -0.69067124 0.59297532 0.41394869 20.74996395] [ 0.49860232 -0.02413937 0.86649467 -23.95159783] [ 0. 0. 0. 1. ]] SLAMing on 57.755860169 meters Centerline goodness : 0.995209 Centerline is valid? [True, True] Translation: X:-10.32, Y:20.69, Z:-23.97 [[ 0.64089303 0.71577032 -0.27736072 -10.31838169] [ -0.59260086 0.6910052 0.41392758 20.68921865] [ 0.48793478 -0.1009191 0.86702652 -23.9704828 ] [ 0. 0. 0. 1. ]] SLAMing on 57.785860169 meters Centerline goodness : 0.994500 Centerline is valid? [True, True] Translation: X:-10.34, Y:20.64, Z:-23.99 [[ 0.71504302 0.6414201 -0.27801751 -10.34494997] [ -0.51311216 0.75163947 0.41443216 20.63850374] [ 0.47479406 -0.15368266 0.86657501 -23.98663933] [ 0. 0. 0. 1. ]] SLAMing on 57.815860169 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:-10.35, Y:20.61, Z:-24.01 [[ 0.7357046 0.61735599 -0.27858628 -10.34567665] [ -0.48747345 0.76820123 0.41501387 20.61374492] [ 0.47022162 -0.1695242 0.86611383 -24.0064719 ] [ 0. 0. 0. 1. ]] SLAMing on 57.845860169 meters Centerline goodness : 0.958450 Centerline is valid? [True, True] Translation: X:-10.33, Y:20.62, Z:-24.04 [[ 0.71157874 0.64537455 -0.27775418 -10.32901152] [ -0.51803691 0.74897718 0.41312341 20.61844183] [ 0.47465088 -0.15008292 0.86728407 -24.03541173] [ 0. 0. 0. 1. ]] SLAMing on 57.875860169 meters Centerline goodness : 0.958450 Centerline is valid? [True, True] Translation: X:-10.32, Y:20.61, Z:-24.06 [[ 0.71194998 0.64483587 -0.27805383 -10.32056965] [ -0.51752559 0.74944163 0.41292191 20.6064894 ] [ 0.47465198 -0.15007977 0.86728402 -24.05991669] [ 0. 0. 0. 1. ]] SLAMing on 57.905860169 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:-10.33, Y:20.57, Z:-24.08 [[ 0.75705379 0.59083273 -0.27890185 -10.33182435] [ -0.46048514 0.7853444 0.41374826 20.56644965] [ 0.46349002 -0.18479953 0.86661764 -24.07543246] [ 0. 0. 0. 1. ]] SLAMing on 57.935860169 meters Centerline goodness : 0.989022 Centerline is valid? [True, True] Translation: X:-10.25, Y:20.64, Z:-24.12 [[ 0.59142203 0.75573623 -0.28121653 -10.24604193] [ -0.63661234 0.65165487 0.41239623 20.64311976] [ 0.49491889 -0.0648743 0.86651406 -24.11698115] [ 0. 0. 0. 1. ]] SLAMing on 57.965860169 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:-10.32, Y:20.53, Z:-24.12 [[ 0.77091627 0.572556 -0.27904791 -10.32189451] [ -0.44191634 0.79631523 0.41302785 20.53414625] [ 0.45869167 -0.19509406 0.86691422 -24.12086525] [ 0. 0. 0. 1. ]] SLAMing on 57.995860169 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:-10.22, Y:20.62, Z:-24.16 [[ 0.58804858 0.75755949 -0.28337693 -10.22356495] [ -0.63938932 0.64996979 0.4107561 20.61958243] [ 0.49535862 -0.06035636 0.86658926 -24.16035822] [ 0. 0. 0. 1. ]] SLAMing on 58.025860169 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:-10.24, Y:20.59, Z:-24.18 [[ 0.63676787 0.71745438 -0.28246397 -10.23802986] [ -0.59510333 0.69023267 0.41161984 20.58683833] [ 0.49028432 -0.09401104 0.86647747 -24.18196315] [ 0. 0. 0. 1. ]] SLAMing on 58.055860169 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:-10.18, Y:20.62, Z:-24.21 [[ 0.53926677 0.79305533 -0.28329241 -10.1824798 ] [ -0.67922457 0.60846394 0.41039691 20.61634672] [ 0.49784067 -0.02889425 0.86678705 -24.20965111] [ 0. 0. 0. 1. ]] SLAMing on 58.085860169 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:-10.34, Y:20.06, Z:-24.03 [[ 0.89294124 -0.35468356 -0.27722826 -10.34144388] [ 0.44462706 0.79123416 0.41982768 20.06142406] [ 0.07044649 -0.49814464 0.86422752 -24.02629664] [ 0. 0. 0. 1. ]] SLAMing on 58.115860169 meters Centerline goodness : 0.993909 Centerline is valid? [True, True] Translation: X:-10.28, Y:20.49, Z:-24.24 [[ 0.75128673 0.59901225 -0.27704254 -10.27650361] [ -0.47131865 0.78081005 0.41011511 20.4907213 ] [ 0.46198157 -0.17753872 0.86893787 -24.24477621] [ 0. 0. 0. 1. ]] SLAMing on 58.145860169 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:-10.17, Y:20.58, Z:-24.28 [[ 0.54935545 0.78664667 -0.28177226 -10.16742792] [ -0.67323615 0.61643087 0.40837002 20.57840403] [ 0.49493604 -0.03464102 0.86823863 -24.28206619] [ 0. 0. 0. 1. ]] SLAMing on 58.175860168999996 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:-10.34, Y:20.32, Z:-24.24 [[ 0.91774352 0.28457513 -0.27706286 -10.33683573] [ -0.15452603 0.89845857 0.41096705 20.31759323] [ 0.3658805 -0.33434892 0.86852879 -24.24489735] [ 0. 0. 0. 1. ]] SLAMing on 58.205860169 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:-10.33, Y:20.28, Z:-24.26 [[ 0.93237919 0.23225871 -0.27699266 -10.33448232] [ -0.1037505 0.90597231 0.41042661 20.28092192] [ 0.34627284 -0.3539351 0.86880669 -24.25854087] [ 0. 0. 0. 1. ]] SLAMing on 58.235860169 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:-10.32, Y:20.28, Z:-24.29 [[ 0.92891478 0.24514458 -0.27752743 -10.32492002] [ -0.11593887 0.90434193 0.41076008 20.27539549] [ 0.3516753 -0.34938489 0.86847837 -24.28569054] [ 0. 0. 0. 1. ]] SLAMing on 58.265860169 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:-10.31, Y:20.28, Z:-24.32 [[ 0.92032275 0.27524628 -0.27793078 -10.31150921] [ -0.14512248 0.90008333 0.41083995 20.27941729] [ 0.36324303 -0.33777135 0.86831159 -24.31574151] [ 0. 0. 0. 1. ]] SLAMing on 58.295860169 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:-10.27, Y:20.35, Z:-24.37 [[ 0.85511338 0.43846481 -0.27664006 -10.27475592] [ -0.30845143 0.85915928 0.40829285 20.34596762] [ 0.41669991 -0.26380665 0.86992369 -24.36883265] [ 0. 0. 0. 1. ]] SLAMing on 58.325860169 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:-10.26, Y:20.34, Z:-24.40 [[ 0.84657081 0.45476112 -0.27660475 -10.26266488] [ -0.32501351 0.85318376 0.40797511 20.34254404] [ 0.4215259 -0.25547954 0.87008397 -24.39509126] [ 0. 0. 0. 1. ]] SLAMing on 58.355860168999996 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:-10.25, Y:20.33, Z:-24.42 [[ 0.84709683 0.45378683 -0.27659444 -10.25462881] [ -0.32434115 0.85374198 0.40734193 20.33121752] [ 0.42098669 -0.2553471 0.87038386 -24.41958923] [ 0. 0. 0. 1. ]] SLAMing on 58.385860169 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:-10.28, Y:20.24, Z:-24.41 [[ 0.91960197 0.2780968 -0.27747864 -10.27730704] [ -0.14910783 0.90054697 0.40838954 20.23643654] [ 0.36345437 -0.33418158 0.86961117 -24.41216577] [ 0. 0. 0. 1. ]] SLAMing on 58.415860169 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:-10.26, Y:20.25, Z:-24.44 [[ 0.90344963 0.32662134 -0.27766393 -10.26219848] [ -0.19670959 0.8913335 0.4084482 20.24775032] [ 0.38089907 -0.31439322 0.86952447 -24.44376587] [ 0. 0. 0. 1. ]] SLAMing on 58.445860169 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:-10.22, Y:20.31, Z:-24.50 [[ 0.8294438 0.48495623 -0.27720106 -10.22236609] [ -0.35576214 0.84121622 0.40717142 20.3124223 ] [ 0.43064635 -0.23910817 0.87027065 -24.49519973] [ 0. 0. 0. 1. ]] SLAMing on 58.475860169 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:-10.22, Y:20.29, Z:-24.51 [[ 0.84217362 0.46228717 -0.2775503 -10.21849545] [ -0.33259764 0.85052116 0.40742186 20.29020777] [ 0.4244083 -0.25080737 0.8700421 -24.51457818] [ 0. 0. 0. 1. ]] SLAMing on 58.505860169 meters Centerline goodness : 0.998448 Centerline is valid? [True, True] Translation: X:-10.19, Y:20.32, Z:-24.55 [[ 0.78883732 0.54823298 -0.27780619 -10.18757066] [ -0.42018292 0.81093844 0.40721636 20.32127878] [ 0.44853316 -0.20449805 0.87005664 -24.55140291] [ 0. 0. 0. 1. ]] SLAMing on 58.535860169 meters Centerline goodness : 0.994499 Centerline is valid? [True, True] Translation: X:-10.18, Y:20.32, Z:-24.58 [[ 0.78209172 0.55766887 -0.27809706 -10.17513722] [ -0.42994578 0.80592255 0.40698338 20.31566272] [ 0.45108665 -0.19873167 0.87007273 -24.57707976] [ 0. 0. 0. 1. ]] SLAMing on 58.565860169 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:-10.22, Y:20.20, Z:-24.56 [[ 0.899871 0.33470447 -0.27965174 -10.21866573] [ -0.20382313 0.8895641 0.40881762 20.19557756] [ 0.38560123 -0.31088363 0.86871345 -24.56409957] [ 0. 0. 0. 1. ]] SLAMing on 58.595860169 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:-10.18, Y:20.27, Z:-24.62 [[ 0.81829025 0.50303553 -0.27813004 -10.17549274] [ -0.37446278 0.83362575 0.40601198 20.26677532] [ 0.43609481 -0.2280863 0.87051591 -24.61655942] [ 0. 0. 0. 1. ]] SLAMing on 58.625860169 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:-10.16, Y:20.27, Z:-24.64 [[ 0.8044622 0.52483718 -0.27818429 -10.1606588 ] [ -0.39698734 0.82340767 0.40546376 20.26711437] [ 0.44186154 -0.21574463 0.87075406 -24.64396707] [ 0. 0. 0. 1. ]] SLAMing on 58.655860169 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:-10.16, Y:20.24, Z:-24.66 [[ 0.82544715 0.4908623 -0.27873143 -10.16010026] [ -0.36211762 0.83926193 0.40559861 20.23885813] [ 0.43302175 -0.23386665 0.87051626 -24.66300438] [ 0. 0. 0. 1. ]] SLAMing on 58.685860169 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:-10.15, Y:20.23, Z:-24.69 [[ 0.81910267 0.50100149 -0.27940709 -10.1509919 ] [ -0.37208323 0.83472383 0.40594358 20.2330117 ] [ 0.4366061 -0.22854677 0.87013878 -24.68861456] [ 0. 0. 0. 1. ]] SLAMing on 58.715860169 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:-10.15, Y:20.21, Z:-24.71 [[ 0.83385212 0.47600635 -0.27947916 -10.14781632] [ -0.34686644 0.84571986 0.40551398 20.20899916] [ 0.4293883 -0.24119676 0.87031593 -24.70863455] [ 0. 0. 0. 1. ]] SLAMing on 58.745860169 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:-10.13, Y:20.22, Z:-24.74 [[ 0.80518461 0.52284208 -0.27984622 -10.12697908] [ -0.39452621 0.82459314 0.40545681 20.2218769 ] [ 0.44274916 -0.21606091 0.87022461 -24.73992242] [ 0. 0. 0. 1. ]] SLAMing on 58.775860169 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:-10.15, Y:20.15, Z:-24.74 [[ 0.87386527 0.39631414 -0.28159296 -10.14751859] [ -0.26507319 0.87394111 0.40738574 20.14620808] [ 0.40754839 -0.28135751 0.86875904 -24.74286326] [ 0. 0. 0. 1. ]] SLAMing on 58.805860169 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:-10.13, Y:20.15, Z:-24.77 [[ 0.8609629 0.42360922 -0.28159921 -10.13306519] [ -0.29253421 0.86523496 0.40717589 20.14828565] [ 0.41613294 -0.26818593 0.86885539 -24.77080738] [ 0. 0. 0. 1. ]] SLAMing on 58.835860169 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:-10.12, Y:20.14, Z:-24.80 [[ 0.8579345 0.42949817 -0.28192148 -10.12309784] [ -0.29837162 0.86325416 0.40714449 20.14010141] [ 0.4182377 -0.26518594 0.86876559 -24.79577216] [ 0. 0. 0. 1. ]] SLAMing on 58.865860169 meters Centerline goodness : 0.998464 Centerline is valid? [True, True] Translation: X:-10.08, Y:20.20, Z:-24.84 [[ 0.7801129 0.55935408 -0.28026217 -10.08101371] [ -0.43265452 0.80590285 0.40414189 20.19642404] [ 0.45192249 -0.19401961 0.87070227 -24.84176326] [ 0. 0. 0. 1. ]] SLAMing on 58.895860169 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:-10.11, Y:20.12, Z:-24.84 [[ 0.85983954 0.42533616 -0.28242717 -10.10711272] [ -0.29409206 0.86478325 0.40701325 20.11690079] [ 0.41735574 -0.2669065 0.86866283 -24.84341463] [ 0. 0. 0. 1. ]] SLAMing on 58.925860168999996 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:-9.97, Y:20.27, Z:-24.90 [[ 0.58612745 0.75803944 -0.28606088 -9.96964428] [ -0.64297031 0.6500117 0.40506046 20.274441 ] [ 0.49299472 -0.0534884 0.86838655 -24.90438168] [ 0. 0. 0. 1. ]] SLAMing on 58.955860169 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:-10.05, Y:20.17, Z:-24.91 [[ 0.76677721 0.57706212 -0.28116193 -10.0490772 ] [ -0.45072579 0.79587549 0.40426287 20.16965519] [ 0.45705468 -0.18325263 0.87035596 -24.91408675] [ 0. 0. 0. 1. ]] SLAMing on 58.985860169 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:-10.05, Y:20.15, Z:-24.94 [[ 0.77965119 0.55976066 -0.28073481 -10.04742671] [ -0.43331533 0.80588489 0.40346917 20.14963906] [ 0.45208611 -0.19291852 0.87086198 -24.93520097] [ 0. 0. 0. 1. ]] SLAMing on 59.015860169 meters Centerline goodness : 0.981205 Centerline is valid? [True, True] Translation: X:-10.04, Y:20.14, Z:-24.96 [[ 0.78376537 0.55420019 -0.28031054 -10.04219135] [ -0.42829325 0.80916595 0.40226281 20.13631848] [ 0.44975187 -0.19522455 0.87155644 -24.9596538 ] [ 0. 0. 0. 1. ]] SLAMing on 59.045860169 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:-10.06, Y:20.08, Z:-24.97 [[ 0.8400762 0.46338414 -0.28204098 -10.05648476] [ -0.33384038 0.85142701 0.40450296 20.07593666] [ 0.42757757 -0.24565664 0.86995991 -24.96700528] [ 0. 0. 0. 1. ]] SLAMing on 59.075860169 meters Centerline goodness : 0.987281 Centerline is valid? [True, True] Translation: X:-10.00, Y:20.14, Z:-25.01 [[ 0.74118853 0.60993633 -0.28038766 -10.00488822] [ -0.48656105 0.77587555 0.40159118 20.14169183] [ 0.46249098 -0.16122906 0.87184132 -25.01365072] [ 0. 0. 0. 1. ]] SLAMing on 59.105860168999996 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:-9.99, Y:20.14, Z:-25.04 [[ 0.72242755 0.6318667 -0.2807898 -9.98543479] [ -0.50933206 0.76094165 0.40193116 20.14189584] [ 0.46763156 -0.1473509 0.87155518 -25.03874007] [ 0. 0. 0. 1. ]] SLAMing on 59.135860169 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:-9.98, Y:20.13, Z:-25.06 [[ 0.73459598 0.61782818 -0.2804587 -9.98270479] [ -0.49523215 0.77077544 0.4008121 20.12510347] [ 0.46380369 -0.15554279 0.87217692 -25.06199481] [ 0. 0. 0. 1. ]] SLAMing on 59.165860169 meters Centerline goodness : 0.991511 Centerline is valid? [True, True] Translation: X:-9.97, Y:20.12, Z:-25.09 [[ 0.72129607 0.63352037 -0.27997128 -9.96784596] [ -0.5125253 0.76008294 0.39948934 20.12185196] [ 0.46588603 -0.14465772 0.87294006 -25.08678957] [ 0. 0. 0. 1. ]] SLAMing on 59.195860169 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:-9.96, Y:20.10, Z:-25.11 [[ 0.73229023 0.62049431 -0.2806026 -9.96404705] [ -0.4985497 0.76916772 0.39978646 20.10312961] [ 0.46389569 -0.15286538 0.87260126 -25.1091483 ] [ 0. 0. 0. 1. ]] SLAMing on 59.225860169 meters Centerline goodness : 0.979282 Centerline is valid? [True, True] Translation: X:-9.94, Y:20.11, Z:-25.14 [[ 0.70167453 0.6549325 -0.28056421 -9.94225193] [ -0.53525534 0.74444068 0.39913631 20.10994656] [ 0.47027075 -0.12989029 0.87291118 -25.13698643] [ 0. 0. 0. 1. ]] SLAMing on 59.255860169 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:-9.94, Y:20.09, Z:-25.16 [[ 0.71392639 0.64129889 -0.28114915 -9.93814365] [ -0.52061416 0.75464592 0.3993375 20.09127405] [ 0.46826275 -0.13872735 0.87263092 -25.15856787] [ 0. 0. 0. 1. ]] SLAMing on 59.285860169 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:-9.93, Y:20.08, Z:-25.18 [[ 0.71530423 0.63978857 -0.28108797 -9.93092656] [ -0.51940386 0.75584938 0.39863685 20.07872134] [ 0.46750347 -0.13914845 0.87297091 -25.18227787] [ 0. 0. 0. 1. ]] SLAMing on 59.315860169 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:-9.92, Y:20.07, Z:-25.20 [[ 0.71470841 0.64011256 -0.28186485 -9.9206104 ] [ -0.51915996 0.75556867 0.39948582 20.06651525] [ 0.46868414 -0.13918293 0.8723321 -25.20474593] [ 0. 0. 0. 1. ]] SLAMing on 59.345860169 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:-9.90, Y:20.08, Z:-25.23 [[ 0.68086201 0.6757893 -0.28237521 -9.89664131] [ -0.55690388 0.72808883 0.39968078 20.07587153] [ 0.47569422 -0.11487161 0.8720777 -25.23370293] [ 0. 0. 0. 1. ]] SLAMing on 59.375860169 meters Centerline goodness : 0.985759 Centerline is valid? [True, True] Translation: X:-9.89, Y:20.07, Z:-25.26 [[ 0.67707689 0.67792736 -0.28632392 -9.89064856] [ -0.5558674 0.72610007 0.40470991 20.06583495] [ 0.48226374 -0.1148616 0.8684633 -25.25762488] [ 0. 0. 0. 1. ]] SLAMing on 59.405860169 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:-9.89, Y:20.04, Z:-25.28 [[ 0.69432299 0.66002875 -0.2868408 -9.88953273] [ -0.53652279 0.74038243 0.40494093 20.04453464] [ 0.47964454 -0.12726317 0.868185 -25.27972444] [ 0. 0. 0. 1. ]] SLAMing on 59.435860169 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:-9.84, Y:20.07, Z:-25.31 [[ 0.61872086 0.72977259 -0.29088909 -9.84404473] [ -0.61012482 0.67961811 0.40726764 20.06925229] [ 0.49490625 -0.07450633 0.86574627 -25.30813658] [ 0. 0. 0. 1. ]] SLAMing on 59.465860169 meters Centerline goodness : 0.996209 Centerline is valid? [True, True] Translation: X:-9.88, Y:20.02, Z:-25.33 [[ 0.69649875 0.65780751 -0.28666841 -9.87549041] [ -0.53453519 0.74216762 0.40430106 20.02243027] [ 0.47870829 -0.12836083 0.86854008 -25.3294449 ] [ 0. 0. 0. 1. ]] SLAMing on 59.495860169 meters Centerline goodness : 0.998664 Centerline is valid? [True, True] Translation: X:-9.88, Y:20.00, Z:-25.35 [[ 0.71290366 0.63969937 -0.28732053 -9.87555281] [ -0.51479125 0.755614 0.40501538 20.00196823] [ 0.4761915 -0.14082685 0.86799162 -25.3507583 ] [ 0. 0. 0. 1. ]] SLAMing on 59.525860169 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:-9.86, Y:19.99, Z:-25.37 [[ 0.70770027 0.64481575 -0.28874378 -9.86384724] [ -0.51916964 0.75182081 0.4064829 19.99278756] [ 0.47919016 -0.13776106 0.86683256 -25.37489286] [ 0. 0. 0. 1. ]] SLAMing on 59.555860169 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:-9.86, Y:19.98, Z:-25.40 [[ 0.70802304 0.64434943 -0.2889934 -9.85518155] [ -0.51873012 0.75221995 0.40630555 19.98114522] [ 0.47918936 -0.13776411 0.86683252 -25.39945214] [ 0. 0. 0. 1. ]] SLAMing on 59.585860169 meters Centerline goodness : 0.997885 Centerline is valid? [True, True] Translation: X:-9.86, Y:19.96, Z:-25.42 [[ 0.72816491 0.62116928 -0.28969742 -9.85702014] [ -0.49389598 0.76859743 0.40660146 19.95812164] [ 0.47522903 -0.15299252 0.86645869 -25.42162103] [ 0. 0. 0. 1. ]] SLAMing on 59.615860169 meters Centerline goodness : 0.997885 Centerline is valid? [True, True] Translation: X:-9.85, Y:19.95, Z:-25.45 [[ 0.72856115 0.62055005 -0.29002808 -9.84832562] [ -0.49330994 0.76909825 0.40636582 19.94645474] [ 0.47523042 -0.15298862 0.86645862 -25.44618138] [ 0. 0. 0. 1. ]] SLAMing on 59.645860169 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:-9.87, Y:19.89, Z:-25.46 [[ 0.79643034 0.53050053 -0.29028933 -9.87434383] [ -0.39936335 0.82186329 0.40626302 19.88912608] [ 0.45410089 -0.20762928 0.86641934 -25.45907518] [ 0. 0. 0. 1. ]] SLAMing on 59.675860168999996 meters Centerline goodness : 0.996734 Centerline is valid? [True, True] Translation: X:-9.84, Y:19.91, Z:-25.49 [[ 0.74659078 0.59866655 -0.29017334 -9.84056117] [ -0.47076036 0.78359038 0.40542668 19.91353401] [ 0.47009243 -0.16608572 0.86684984 -25.49197853] [ 0. 0. 0. 1. ]] SLAMing on 59.705860169 meters Centerline goodness : 0.988989 Centerline is valid? [True, True] Translation: X:-9.79, Y:19.95, Z:-25.52 [[ 0.66183173 0.6910987 -0.29045026 -9.79067501] [ -0.56903215 0.71536689 0.40552758 19.95172347] [ 0.48803808 -0.10311548 0.86670989 -25.52416505] [ 0. 0. 0. 1. ]] SLAMing on 59.735860169 meters Centerline goodness : 0.998611 Centerline is valid? [True, True] Translation: X:-9.80, Y:19.92, Z:-25.55 [[ 0.69227864 0.66066198 -0.29030333 -9.79564445] [ -0.53682681 0.7403236 0.40464546 19.92464809] [ 0.48225228 -0.1242848 0.86717128 -25.54508799] [ 0. 0. 0. 1. ]] SLAMing on 59.765860169 meters Centerline goodness : 0.998611 Centerline is valid? [True, True] Translation: X:-9.79, Y:19.91, Z:-25.57 [[ 0.69269923 0.66008294 -0.29061708 -9.78693355] [ -0.53628466 0.74083937 0.40442032 19.91302645] [ 0.48225153 -0.12428817 0.86717121 -25.56964752] [ 0. 0. 0. 1. ]] SLAMing on 59.795860169 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:-9.78, Y:19.90, Z:-25.59 [[ 0.68788402 0.66510645 -0.29060106 -9.77783244] [ -0.54183206 0.73695722 0.40411889 19.90475202] [ 0.48294263 -0.12052996 0.86731709 -25.59379815] [ 0. 0. 0. 1. ]] SLAMing on 59.825860169 meters Centerline goodness : 0.981701 Centerline is valid? [True, True] Translation: X:-9.73, Y:19.94, Z:-25.62 [[ 0.60605275 0.74030817 -0.2909362 -9.72934154] [ -0.62360703 0.66927186 0.40396715 19.93586002] [ 0.49377559 -0.06339554 0.86727543 -25.62333487] [ 0. 0. 0. 1. ]] SLAMing on 59.855860168999996 meters Centerline goodness : 0.983817 Centerline is valid? [True, True] Translation: X:-9.75, Y:19.90, Z:-25.64 [[ 0.65809718 0.69410084 -0.2917741 -9.74627942] [ -0.57270781 0.71302654 0.40447362 19.89942004] [ 0.48878816 -0.09908165 0.86675773 -25.64399082] [ 0. 0. 0. 1. ]] SLAMing on 59.885860169 meters Centerline goodness : 0.991995 Centerline is valid? [True, True] Translation: X:-9.76, Y:19.86, Z:-25.66 [[ 0.70172257 0.64976281 -0.29222205 -9.76061731] [ -0.52478674 0.74881362 0.40481729 19.86446265] [ 0.48185507 -0.13071517 0.86644633 -25.66314323] [ 0. 0. 0. 1. ]] SLAMing on 59.915860169 meters Centerline goodness : 0.995521 Centerline is valid? [True, True] Translation: X:-9.71, Y:19.90, Z:-25.69 [[ 0.61880062 0.72906226 -0.29249619 -9.71101287] [ -0.61053621 0.68065151 0.40491858 19.89667464] [ 0.49429883 -0.07198435 0.86630648 -25.69222626] [ 0. 0. 0. 1. ]] SLAMing on 59.945860169 meters Centerline goodness : 0.987491 Centerline is valid? [True, True] Translation: X:-9.71, Y:19.88, Z:-25.72 [[ 0.6252279 0.72358369 -0.29243241 -9.70557747] [ -0.60472311 0.68602798 0.40456838 19.88377936] [ 0.4933559 -0.0761068 0.86649161 -25.71545763] [ 0. 0. 0. 1. ]] SLAMing on 59.975860169 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:-9.73, Y:19.84, Z:-25.73 [[ 0.68716354 0.66514497 -0.29221302 -9.72694154] [ -0.54169417 0.7371174 0.40401159 19.8415745 ] [ 0.48412157 -0.11933194 0.86682535 -25.73361522] [ 0. 0. 0. 1. ]] SLAMing on 60.005860169 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:-9.72, Y:19.83, Z:-25.76 [[ 0.68731291 0.66487287 -0.29248082 -9.71807856] [ -0.54147095 0.73738751 0.40381786 19.83012473] [ 0.48415924 -0.11917936 0.8668253 -25.75819291] [ 0. 0. 0. 1. ]] SLAMing on 60.035860169 meters Centerline goodness : 0.994065 Centerline is valid? [True, True] Translation: X:-9.72, Y:19.81, Z:-25.78 [[ 0.70109882 0.6501675 -0.29281848 -9.71812158] [ -0.52555126 0.74869316 0.40404755 19.81191941] [ 0.48192978 -0.12938614 0.86660424 -25.7813424 ] [ 0. 0. 0. 1. ]] SLAMing on 60.065860169 meters Centerline goodness : 0.993347 Centerline is valid? [True, True] Translation: X:-9.67, Y:19.85, Z:-25.81 [[ 0.61039896 0.73547504 -0.2940911 -9.66553079] [ -0.6178434 0.67442125 0.40425921 19.8474673 ] [ 0.49566384 -0.06505716 0.86607443 -25.81221801] [ 0. 0. 0. 1. ]] SLAMing on 60.095860169 meters Centerline goodness : 0.985965 Centerline is valid? [True, True] Translation: X:-9.68, Y:19.81, Z:-25.83 [[ 0.65619337 0.6956674 -0.29233054 -9.68008549] [ -0.57526677 0.71189847 0.40282591 19.81448138] [ 0.48834251 -0.09616364 0.86733739 -25.8340978 ] [ 0. 0. 0. 1. ]] SLAMing on 60.125860169 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:-9.71, Y:19.75, Z:-25.85 [[ 0.73456468 0.61354427 -0.28978987 -9.70589746] [ -0.49011912 0.77511729 0.39871848 19.75336684] [ 0.46925258 -0.15085295 0.87008356 -25.8461098 ] [ 0. 0. 0. 1. ]] SLAMing on 60.155860169 meters Centerline goodness : 0.982960 Centerline is valid? [True, True] Translation: X:-9.69, Y:19.76, Z:-25.87 [[ 0.70348017 0.64912671 -0.28939622 -9.68502069] [ -0.52836794 0.75000264 0.39789869 19.762559 ] [ 0.47533459 -0.12700616 0.87058972 -25.87418479] [ 0. 0. 0. 1. ]] SLAMing on 60.185860169 meters Centerline goodness : 0.983851 Centerline is valid? [True, True] Translation: X:-9.67, Y:19.76, Z:-25.90 [[ 0.68980343 0.66361573 -0.28945707 -9.67048948] [ -0.54395229 0.73888614 0.39769735 19.75933864] [ 0.47779403 -0.11688215 0.87066149 -25.89882395] [ 0. 0. 0. 1. ]] SLAMing on 60.215860169 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:-9.68, Y:19.73, Z:-25.92 [[ 0.72153159 0.62899206 -0.28941518 -9.67532544] [ -0.5072476 0.76471778 0.39737462 19.72887084] [ 0.47126642 -0.13991318 0.87082275 -25.91773655] [ 0. 0. 0. 1. ]] SLAMing on 60.245860169 meters Centerline goodness : 0.993089 Centerline is valid? [True, True] Translation: X:-9.66, Y:19.73, Z:-25.94 [[ 0.70612703 0.64655467 -0.28870689 -9.65885967] [ -0.52689293 0.75216354 0.39576995 19.72649853] [ 0.47304171 -0.12734624 0.87178809 -25.94286307] [ 0. 0. 0. 1. ]] SLAMing on 60.275860169 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:-9.65, Y:19.72, Z:-25.97 [[ 0.70430271 0.64880313 -0.28811837 -9.64733828] [ -0.52995716 0.75056928 0.39470388 19.71527116] [ 0.47233791 -0.12530062 0.87246584 -25.96515829] [ 0. 0. 0. 1. ]] SLAMing on 60.305860169 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:-9.65, Y:19.68, Z:-25.98 [[ 0.74202576 0.60520383 -0.28831598 -9.65405432] [ -0.48392572 0.78120739 0.39437407 19.6797776 ] [ 0.46391128 -0.1531122 0.8725497 -25.9827876 ] [ 0. 0. 0. 1. ]] SLAMing on 60.335860169 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:-9.62, Y:19.70, Z:-26.01 [[ 0.68721925 0.66622031 -0.28962078 -9.622337 ] [ -0.54908911 0.73740229 0.39336879 19.70216183] [ 0.4756373 -0.111303 0.87257137 -26.01377202] [ 0. 0. 0. 1. ]] SLAMing on 60.365860169 meters Centerline goodness : 0.994578 Centerline is valid? [True, True] Translation: X:-9.64, Y:19.65, Z:-26.03 [[ 0.74969298 0.59543571 -0.2888196 -9.64235279] [ -0.47364181 0.78756363 0.39421689 19.65411441] [ 0.46219463 -0.1587446 0.87245417 -26.03183991] [ 0. 0. 0. 1. ]] SLAMing on 60.395860169 meters Centerline goodness : 0.985517 Centerline is valid? [True, True] Translation: X:-9.64, Y:19.63, Z:-26.05 [[ 0.7680146 0.57176471 -0.28851115 -9.64375678] [ -0.44917387 0.80201551 0.39371813 19.63143114] [ 0.45650455 -0.1727896 0.87278139 -26.05327533] [ 0. 0. 0. 1. ]] SLAMing on 60.425860168999996 meters Centerline goodness : 0.995497 Centerline is valid? [True, True] Translation: X:-9.64, Y:19.60, Z:-26.07 [[ 0.79196605 0.53792113 -0.28884361 -9.64471406] [ -0.41398088 0.82081484 0.39355155 19.6026757 ] [ 0.44878682 -0.19210374 0.87274655 -26.07201309] [ 0. 0. 0. 1. ]] SLAMing on 60.455860169 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:-9.58, Y:19.66, Z:-26.11 [[ 0.6828406 0.66927613 -0.29291324 -9.58222921] [ -0.55199427 0.7352918 0.39325347 19.65977905] [ 0.47857187 -0.10684301 0.87152369 -26.10698987] [ 0. 0. 0. 1. ]] SLAMing on 60.485860169 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:-9.57, Y:19.66, Z:-26.13 [[ 0.66526595 0.68654285 -0.29339414 -9.56589728] [ -0.57099526 0.72103967 0.3925127 19.65828015] [ 0.4810256 -0.09359867 0.87169585 -26.13197672] [ 0. 0. 0. 1. ]] SLAMing on 60.515860169 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:-9.55, Y:19.66, Z:-26.16 [[ 0.64172498 0.70845671 -0.29373141 -9.54631892] [ -0.59543001 0.70162067 0.39139691 19.66017641] [ 0.48337579 -0.07627268 0.8720839 -26.15848806] [ 0. 0. 0. 1. ]] SLAMing on 60.545860169 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:-9.54, Y:19.65, Z:-26.18 [[ 0.64398537 0.70640463 -0.29372663 -9.53881018] [ -0.5932325 0.7035246 0.39131616 19.64770745] [ 0.48307146 -0.0777537 0.87212174 -26.18299066] [ 0. 0. 0. 1. ]] SLAMing on 60.575860169 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:-9.53, Y:19.64, Z:-26.21 [[ 0.6373761 0.71224115 -0.29404805 -9.52645724] [ -0.59918376 0.69805622 0.39204123 19.63981224] [ 0.48448997 -0.07368889 0.87168768 -26.20780953] [ 0. 0. 0. 1. ]] SLAMing on 60.605860168999996 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:-9.51, Y:19.63, Z:-26.23 [[ 0.62321414 0.72456902 -0.29428535 -9.51172409] [ -0.61311921 0.6862776 0.39129004 19.63494295] [ 0.48547809 -0.06342549 0.87194509 -26.23219992] [ 0. 0. 0. 1. ]] SLAMing on 60.635860169 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:-9.64, Y:19.42, Z:-26.21 [[ 0.90255044 0.31806027 -0.2902419 -9.63723663] [ -0.18998484 0.89906388 0.39444886 19.42267801] [ 0.38640452 -0.30086843 0.87187713 -26.20954752] [ 0. 0. 0. 1. ]] SLAMing on 60.665860169 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:-9.64, Y:19.39, Z:-26.23 [[ 0.91529492 0.27910482 -0.29040612 -9.63551502] [ -0.15136864 0.90649863 0.39414181 19.39429621] [ 0.37325963 -0.31679761 0.87196131 -26.22828832] [ 0. 0. 0. 1. ]] SLAMing on 60.695860169 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:-9.63, Y:19.38, Z:-26.25 [[ 0.91537288 0.27865817 -0.29058927 -9.62668471] [ -0.15091813 0.90663241 0.39400685 19.38275992] [ 0.37325087 -0.31680799 0.87196128 -26.25287534] [ 0. 0. 0. 1. ]] SLAMing on 60.725860169 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:-9.62, Y:19.37, Z:-26.28 [[ 0.91503657 0.2798527 -0.29050048 -9.61751662] [ -0.15235961 0.90662081 0.39347841 19.37261492] [ 0.37348978 -0.31578659 0.87222945 -26.2771937 ] [ 0. 0. 0. 1. ]] SLAMing on 60.755860169 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:-9.61, Y:19.36, Z:-26.30 [[ 0.91456834 0.28147049 -0.29041196 -9.60863683] [ -0.15422008 0.90653459 0.39295191 19.36264909] [ 0.37387285 -0.31459402 0.87249624 -26.30171116] [ 0. 0. 0. 1. ]] SLAMing on 60.785860169 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:-9.60, Y:19.36, Z:-26.33 [[ 0.91133141 0.29090806 -0.29128606 -9.59904345] [ -0.16295953 0.90469067 0.39367371 19.35672413] [ 0.37804663 -0.31129937 0.87187926 -26.32826316] [ 0. 0. 0. 1. ]] SLAMing on 60.815860169 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:-9.59, Y:19.36, Z:-26.36 [[ 0.90418916 0.31286609 -0.29078648 -9.58679924] [ -0.18540058 0.90078894 0.3926906 19.35688664] [ 0.38479682 -0.3011546 0.87248915 -26.35533374] [ 0. 0. 0. 1. ]] SLAMing on 60.845860169 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:-9.56, Y:19.40, Z:-26.40 [[ 0.85463661 0.43071538 -0.28996643 -9.55644465] [ -0.30496267 0.86837695 0.39104889 19.40227062] [ 0.42023094 -0.24577576 0.87349885 -26.39822134] [ 0. 0. 0. 1. ]] SLAMing on 60.875860169 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:-9.54, Y:19.40, Z:-26.42 [[ 0.85011179 0.43946601 -0.29013715 -9.54497121] [ -0.3139567 0.86530001 0.39075195 19.396783 ] [ 0.42277788 -0.24109233 0.87357504 -26.42422659] [ 0. 0. 0. 1. ]] SLAMing on 60.905860169 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:-9.53, Y:19.40, Z:-26.45 [[ 0.83781481 0.46282048 -0.28959205 -9.53243425] [ -0.33854759 0.85655585 0.38948376 19.39737626] [ 0.42831282 -0.22827457 0.87432193 -26.45304765] [ 0. 0. 0. 1. ]] SLAMing on 60.935860169 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:-9.51, Y:19.41, Z:-26.48 [[ 0.81533015 0.50125359 -0.28979576 -9.51273962] [ -0.37797451 0.83993904 0.38940682 19.40520431] [ 0.43860234 -0.20795971 0.87428871 -26.48278628] [ 0. 0. 0. 1. ]] SLAMing on 60.965860169 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:-9.50, Y:19.40, Z:-26.51 [[ 0.80621653 0.51594044 -0.28951747 -9.500807 ] [ -0.39358141 0.83309896 0.38863839 19.40251543] [ 0.44171096 -0.19937801 0.87472272 -26.50886705] [ 0. 0. 0. 1. ]] SLAMing on 60.995860169 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:-9.50, Y:19.38, Z:-26.53 [[ 0.81563536 0.50089449 -0.28955772 -9.49726753] [ -0.37814165 0.84030621 0.38845124 19.38493413] [ 0.43789024 -0.20734074 0.87479252 -26.53044377] [ 0. 0. 0. 1. ]] SLAMing on 61.025860169 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:-9.52, Y:19.30, Z:-26.53 [[ 0.88832829 0.35506702 -0.29120483 -9.52005981] [ -0.22853791 0.89187185 0.3903012 19.30179195] [ 0.39830048 -0.28016426 0.87342127 -26.53050076] [ 0. 0. 0. 1. ]] SLAMing on 61.055860169 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:-9.49, Y:19.34, Z:-26.57 [[ 0.83913252 0.46047784 -0.28951126 -9.49159797] [ -0.33712579 0.85799867 0.38753643 19.34453484] [ 0.42685222 -0.22759271 0.87521354 -26.57291163] [ 0. 0. 0. 1. ]] SLAMing on 61.085860169 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:-9.49, Y:19.32, Z:-26.59 [[ 0.85200373 0.43623217 -0.28946701 -9.49053629] [ -0.31269045 0.86747064 0.38693586 19.32273452] [ 0.419898 -0.23915723 0.87549385 -26.59460049] [ 0. 0. 0. 1. ]] SLAMing on 61.115860169 meters Centerline goodness : 0.983858 Centerline is valid? [True, True] Translation: X:-9.48, Y:19.31, Z:-26.62 [[ 0.85243536 0.43541912 -0.28942037 -9.48339629] [ -0.31208466 0.86788311 0.38649977 19.31196815] [ 0.41947244 -0.23914241 0.87570188 -26.61961573] [ 0. 0. 0. 1. ]] SLAMing on 61.145860169 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:-9.48, Y:19.29, Z:-26.64 [[ 0.85900358 0.42205214 -0.28980138 -9.47507586] [ -0.29834043 0.87266364 0.38658913 19.29401078] [ 0.4160599 -0.24562198 0.87553641 -26.63949687] [ 0. 0. 0. 1. ]] SLAMing on 61.175860168999996 meters Centerline goodness : 0.997531 Centerline is valid? [True, True] Translation: X:-9.46, Y:19.29, Z:-26.67 [[ 0.84869688 0.44270485 -0.28935448 -9.46285897] [ -0.32003956 0.86545831 0.3854304 19.29357899] [ 0.42105614 -0.2345087 0.87619484 -26.6676701 ] [ 0. 0. 0. 1. ]] SLAMing on 61.205860169 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:-9.46, Y:19.27, Z:-26.69 [[ 0.86249234 0.41458646 -0.29021551 -9.45869724] [ -0.2909274 0.87542976 0.38598444 19.26812074] [ 0.41408721 -0.24847698 0.87566602 -26.686471 ] [ 0. 0. 0. 1. ]] SLAMing on 61.235860169 meters Centerline goodness : 0.998122 Centerline is valid? [True, True] Translation: X:-9.45, Y:19.27, Z:-26.71 [[ 0.85160602 0.43667203 -0.28997366 -9.44662374] [ -0.31388516 0.86786236 0.38508576 19.26890666] [ 0.4198134 -0.23692292 0.87614168 -26.71448448] [ 0. 0. 0. 1. ]] SLAMing on 61.265860169 meters Centerline goodness : 0.985046 Centerline is valid? [True, True] Translation: X:-9.43, Y:19.27, Z:-26.74 [[ 0.83930549 0.4596107 -0.29038647 -9.4332457 ] [ -0.3370445 0.85898888 0.38540771 19.26986096] [ 0.42657625 -0.22560164 0.87586334 -26.74205541] [ 0. 0. 0. 1. ]] SLAMing on 61.295860169 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:-9.43, Y:19.24, Z:-26.76 [[ 0.85809519 0.42324147 -0.29075643 -9.43219599] [ -0.29972076 0.87260251 0.3856583 19.24003397] [ 0.41694137 -0.2437858 0.87563027 -26.75961098] [ 0. 0. 0. 1. ]] SLAMing on 61.325860169 meters Centerline goodness : 0.998698 Centerline is valid? [True, True] Translation: X:-9.42, Y:19.23, Z:-26.79 [[ 0.85336336 0.43249962 -0.2910585 -9.42097029] [ -0.30912731 0.86937784 0.38551586 19.23394011] [ 0.41977528 -0.23901097 0.87559264 -26.78574312] [ 0. 0. 0. 1. ]] SLAMing on 61.355860168999996 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:-9.41, Y:19.24, Z:-26.81 [[ 0.83841552 0.46076545 -0.29112646 -9.40597726] [ -0.33804092 0.85860553 0.38538926 19.23803493] [ 0.42753684 -0.22470368 0.87562578 -26.81322609] [ 0. 0. 0. 1. ]] SLAMing on 61.385860169 meters Centerline goodness : 0.980906 Centerline is valid? [True, True] Translation: X:-9.39, Y:19.23, Z:-26.84 [[ 0.83297238 0.47072291 -0.29082118 -9.39468575] [ -0.3487786 0.85471543 0.38446719 19.23197988] [ 0.42954686 -0.21881834 0.87613242 -26.83941818] [ 0. 0. 0. 1. ]] SLAMing on 61.415860169 meters Centerline goodness : 0.981335 Centerline is valid? [True, True] Translation: X:-9.39, Y:19.22, Z:-26.86 [[ 0.83055352 0.47481586 -0.29108545 -9.38502155] [ -0.35301777 0.85306939 0.38425392 19.22315486] [ 0.43076594 -0.21638511 0.87613822 -26.86466063] [ 0. 0. 0. 1. ]] SLAMing on 61.445860169 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:-9.39, Y:19.19, Z:-26.88 [[ 0.85154514 0.43560044 -0.29175868 -9.38535102] [ -0.31238235 0.86847978 0.38491575 19.19178142] [ 0.42105598 -0.23663288 0.87562363 -26.88129834] [ 0. 0. 0. 1. ]] SLAMing on 61.475860169 meters Centerline goodness : 0.996819 Centerline is valid? [True, True] Translation: X:-9.37, Y:19.20, Z:-26.91 [[ 0.83268623 0.470298 -0.29232419 -9.36869152] [ -0.34763959 0.85488879 0.3851128 19.19973305] [ 0.43102245 -0.21905467 0.87534833 -26.91091185] [ 0. 0. 0. 1. ]] SLAMing on 61.505860169 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:-9.35, Y:19.20, Z:-26.94 [[ 0.82400822 0.48515841 -0.29262905 -9.35380308] [ -0.36290822 0.84857997 0.38498007 19.19618746] [ 0.43509547 -0.21102925 0.87530485 -26.93600189] [ 0. 0. 0. 1. ]] SLAMing on 61.535860169 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:-9.37, Y:19.13, Z:-26.94 [[ 0.87498541 0.38380639 -0.29511554 -9.36514798] [ -0.25732018 0.88499448 0.38803492 19.13110459] [ 0.41010591 -0.26358571 0.87311839 -26.9412702 ] [ 0. 0. 0. 1. ]] SLAMing on 61.565860169 meters Centerline goodness : 0.973803 Centerline is valid? [True, True] Translation: X:-9.33, Y:19.18, Z:-26.99 [[ 0.81431748 0.50135965 -0.2924475 -9.33339835] [ -0.38005711 0.84139895 0.38419318 19.18297754] [ 0.43868397 -0.20170847 0.87571118 -26.98650725] [ 0. 0. 0. 1. ]] SLAMing on 61.595860169 meters Centerline goodness : 0.991571 Centerline is valid? [True, True] Translation: X:-9.32, Y:19.17, Z:-27.01 [[ 0.81083507 0.50657896 -0.29312839 -9.32164775] [ -0.38511285 0.83893302 0.384551 19.17499417] [ 0.44072053 -0.19891993 0.87532638 -27.01087018] [ 0. 0. 0. 1. ]] SLAMing on 61.625860169 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:-9.32, Y:19.15, Z:-27.03 [[ 0.82382646 0.48537244 -0.29278585 -9.3177208 ] [ -0.36379871 0.84884485 0.38355301 19.15333037] [ 0.43469583 -0.20946601 0.87587872 -27.03223932] [ 0. 0. 0. 1. ]] SLAMing on 61.655860169 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:-9.31, Y:19.14, Z:-27.06 [[ 0.82153269 0.48898197 -0.29322461 -9.30701594] [ -0.36723494 0.84720288 0.38390855 19.14344252] [ 0.4361451 -0.2077111 0.87557613 -27.05565897] [ 0. 0. 0. 1. ]] SLAMing on 61.685860169 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:-9.30, Y:19.13, Z:-27.08 [[ 0.82162107 0.48868469 -0.29347248 -9.29787526] [ -0.36696204 0.84740689 0.3837192 19.13223818] [ 0.4362083 -0.20757852 0.87557608 -27.08027988] [ 0. 0. 0. 1. ]] SLAMing on 61.715860169 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:-9.29, Y:19.12, Z:-27.10 [[ 0.82185234 0.48815011 -0.2937145 -9.28879997] [ -0.36644371 0.84771494 0.38353408 19.12091914] [ 0.43620837 -0.20757855 0.87557604 -27.10487059] [ 0. 0. 0. 1. ]] SLAMing on 61.745860169 meters Centerline goodness : 0.991870 Centerline is valid? [True, True] Translation: X:-9.27, Y:19.14, Z:-27.14 [[ 0.791155 0.53648372 -0.29369879 -9.26588361] [ -0.41682704 0.82436384 0.38298757 19.13558189] [ 0.44758126 -0.18058093 0.87582049 -27.13587645] [ 0. 0. 0. 1. ]] SLAMing on 61.775860169 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:-9.25, Y:19.12, Z:-27.16 [[ 0.78936393 0.5386965 -0.29446675 -9.25419448] [ -0.41877987 0.82320141 0.38335736 19.12489723] [ 0.44891871 -0.17929173 0.87540075 -27.15867967] [ 0. 0. 0. 1. ]] SLAMing on 61.805860169 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:-9.24, Y:19.13, Z:-27.18 [[ 0.77429383 0.5599838 -0.29476636 -9.23842664] [ -0.44089896 0.81150234 0.38349975 19.12549339] [ 0.45395724 -0.16697932 0.87523753 -27.18433771] [ 0. 0. 0. 1. ]] SLAMing on 61.835860169 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:-9.31, Y:18.78, Z:-27.09 [[ 0.9487346 -0.12424095 -0.29063179 -9.31226549] [ 0.23787882 0.88613396 0.39771885 18.77976672] [ 0.20812573 -0.44646478 0.87026024 -27.08686799] [ 0. 0. 0. 1. ]] SLAMing on 61.865860169 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:-9.22, Y:19.10, Z:-27.23 [[ 0.77799766 0.55292365 -0.29832042 -9.21797442] [ -0.43337386 0.8160802 0.38236136 19.09964258] [ 0.45487003 -0.16819197 0.87453114 -27.23294213] [ 0. 0. 0. 1. ]] SLAMing on 61.895860169 meters Centerline goodness : 0.995624 Centerline is valid? [True, True] Translation: X:-9.22, Y:19.07, Z:-27.25 [[ 0.80503219 0.51268995 -0.29844965 -9.22331087] [ -0.39118042 0.83699002 0.38265596 19.06975734] [ 0.44598325 -0.19130271 0.87435818 -27.25191636] [ 0. 0. 0. 1. ]] SLAMing on 61.925860168999996 meters Centerline goodness : 0.982966 Centerline is valid? [True, True] Translation: X:-9.23, Y:19.04, Z:-27.27 [[ 0.83333016 0.46448123 -0.29969657 -9.23056566] [ -0.3404723 0.8584085 0.38368407 19.03500939] [ 0.43547613 -0.21769713 0.87348068 -27.27094813] [ 0. 0. 0. 1. ]] SLAMing on 61.955860169 meters Centerline goodness : 0.990235 Centerline is valid? [True, True] Translation: X:-9.12, Y:18.47, Z:-27.01 [[ 0.61642643 -0.72909262 -0.29739268 -9.11742901] [ 0.77325654 0.48921581 0.4034132 18.472194 ] [ -0.14863639 -0.4786354 0.86534119 -27.00635133] [ 0. 0. 0. 1. ]] SLAMing on 61.985860169 meters Centerline goodness : 0.998018 Centerline is valid? [True, True] Translation: X:-9.06, Y:18.44, Z:-27.00 [[ 0.52431738 -0.79677433 -0.30040296 -9.06384658] [ 0.82656039 0.39143073 0.40445013 18.43648397] [ -0.20466853 -0.46036143 0.86381604 -27.00290986] [ 0. 0. 0. 1. ]] SLAMing on 62.015860169 meters Centerline goodness : 0.985385 Centerline is valid? [True, True] Translation: X:-8.30, Y:18.75, Z:-26.88 [[ -0.82927229 -0.40660091 -0.38338384 -8.29928795] [ 0.27127632 -0.89266466 0.35994301 18.7528211 ] [ -0.48858636 0.1944878 0.85056326 -26.88079908] [ 0. 0. 0. 1. ]] SLAMing on 62.045860169 meters Centerline goodness : 0.994689 Centerline is valid? [True, True] Translation: X:-8.21, Y:18.88, Z:-26.90 [[ -0.85294345 -0.28564907 -0.43691197 -8.20565861] [ 0.16128858 -0.94025052 0.29985822 18.87805311] [ -0.49646093 0.18529319 0.84805246 -26.89762232] [ 0. 0. 0. 1. ]] SLAMing on 62.075860169 meters Centerline goodness : 0.993895 Centerline is valid? [True, True] Translation: X:-8.13, Y:19.02, Z:-26.91 [[ -0.86365782 -0.14918806 -0.48149568 -8.12669594] [ 0.03656901 -0.97122636 0.23533393 19.01618564] [ -0.50275031 0.18564016 0.8442629 -26.91059074] [ 0. 0. 0. 1. ]] SLAMing on 62.105860168999996 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:-8.08, Y:19.05, Z:-26.91 [[ -0.82807816 -0.20305488 -0.52254691 -8.07765432] [ 0.13313199 -0.97666202 0.16854428 19.05417279] [ -0.54457546 0.07000013 0.83578559 -26.90538704] [ 0. 0. 0. 1. ]] SLAMing on 62.135860169 meters Centerline goodness : 0.995374 Centerline is valid? [True, True] Translation: X:-8.03, Y:19.29, Z:-26.93 [[ -0.83312546 0.07831364 -0.54751158 -8.02802051] [ -0.15076403 -0.98459326 0.08857943 19.29256219] [ -0.53213924 0.15634283 0.8320966 -26.93083606] [ 0. 0. 0. 1. ]] SLAMing on 62.165860169 meters Centerline goodness : 0.988710 Centerline is valid? [True, True] Translation: X:-8.02, Y:19.46, Z:-26.95 [[-7.94235107e-01 2.40178215e-01 -5.58126347e-01 -8.01751778e+00] [-2.95034369e-01 -9.55447140e-01 8.68811335e-03 1.94628086e+01] [-5.31173527e-01 1.71566859e-01 8.29710490e-01 -2.69514839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.195860169 meters Centerline goodness : 0.993798 Centerline is valid? [True, True] Translation: X:-8.02, Y:19.61, Z:-26.97 [[ -0.74904919 0.35833277 -0.55724585 -8.02478787] [ -0.38641718 -0.91951978 -0.07186881 19.61170493] [ -0.53815153 0.1614961 0.82723149 -26.96734418] [ 0. 0. 0. 1. ]] SLAMing on 62.225860169 meters Centerline goodness : 0.982588 Centerline is valid? [True, True] Translation: X:-8.06, Y:19.77, Z:-26.99 [[ -0.68042607 0.49034255 -0.54459577 -8.05805073] [ -0.49529446 -0.8554331 -0.15138565 19.77347979] [ -0.54009607 0.16672852 0.82492292 -26.98628132] [ 0. 0. 0. 1. ]] SLAMing on 62.255860169 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:-8.14, Y:19.95, Z:-27.01 [[ -0.56045078 0.64439111 -0.52024515 -8.13597113] [ -0.63596455 -0.73724861 -0.22806484 19.94926755] [ -0.53051297 0.20303836 0.82300146 -27.01177487] [ 0. 0. 0. 1. ]] SLAMing on 62.285860169 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:-8.35, Y:20.17, Z:-27.08 [[ -0.20546009 0.85109786 -0.48313414 -8.34543275] [ -0.87472021 -0.38110447 -0.29937257 20.16835608] [ -0.43891993 0.36109808 0.82277425 -27.07748192] [ 0. 0. 0. 1. ]] SLAMing on 62.315860169 meters Centerline goodness : 0.986822 Centerline is valid? [True, True] Translation: X:-8.35, Y:20.24, Z:-27.06 [[ -0.29224619 0.84767875 -0.44275602 -8.34680977] [ -0.80279619 -0.46904758 -0.36812043 20.24383586] [ -0.5197215 0.24786105 0.81759064 -27.05648492] [ 0. 0. 0. 1. ]] SLAMing on 62.345860169 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:-8.41, Y:20.33, Z:-27.06 [[ -0.28738016 0.8731653 -0.39369404 -8.40530747] [ -0.78379647 -0.45063259 -0.42730945 20.33075008] [ -0.55052315 0.18577574 0.81388675 -27.05630305] [ 0. 0. 0. 1. ]] SLAMing on 62.375860169 meters Centerline goodness : 0.987182 Centerline is valid? [True, True] Translation: X:-8.42, Y:20.39, Z:-27.04 [[ -0.38621046 0.85580009 -0.3441623 -8.41600334] [ -0.70728544 -0.51425747 -0.48506346 20.3886619 ] [ -0.59210539 0.0560844 0.80390655 -27.04434827] [ 0. 0. 0. 1. ]] SLAMing on 62.405860169 meters Centerline goodness : 0.996349 Centerline is valid? [True, True] Translation: X:-8.59, Y:19.62, Z:-27.60 [[ -0.05279058 -0.94445714 -0.32436687 -8.58638036] [ 0.8755402 0.1124383 -0.46987976 19.61602264] [ 0.48025255 -0.30880146 0.82097451 -27.60417897] [ 0. 0. 0. 1. ]] SLAMing on 62.435860169 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:-9.03, Y:20.48, Z:-27.26 [[ 0.66720894 0.6958632 -0.26571909 -9.02850503] [ -0.70357537 0.47162668 -0.5315543 20.48072603] [ -0.24456887 0.54161119 0.80426575 -27.25727053] [ 0. 0. 0. 1. ]] SLAMing on 62.465860169 meters Centerline goodness : 0.996426 Centerline is valid? [True, True] Translation: X:-8.87, Y:20.61, Z:-27.13 [[ 1.51647176e-01 9.68028415e-01 -1.99810214e-01 -8.87201085e+00] [-8.24966316e-01 1.26058166e-02 -5.65041301e-01 2.06057558e+01] [-5.44457264e-01 2.50523614e-01 8.00502471e-01 -2.71317702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.495860169 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:-8.68, Y:19.80, Z:-27.67 [[ -0.24452151 -0.9506497 -0.19098268 -8.6820532 ] [ 0.83261829 -0.10491016 -0.54382041 19.79828306] [ 0.49694669 -0.29199146 0.81718112 -27.67335145] [ 0. 0. 0. 1. ]] SLAMing on 62.525860169 meters Centerline goodness : 0.998754 Centerline is valid? [True, True] Translation: X:-8.94, Y:20.67, Z:-27.15 [[ 8.81609954e-02 9.87826531e-01 -1.28165451e-01 -8.93985080e+00] [-8.06065854e-01 -4.84449216e-03 -5.91806024e-01 2.06705187e+01] [-5.85222588e-01 1.55484002e-01 7.95826141e-01 -2.71469845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.555860169 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:-9.08, Y:20.70, Z:-27.15 [[ 0.15854171 0.98602536 -0.05117146 -9.07823603] [ -0.7836053 0.09412576 -0.61408719 20.70489999] [ -0.60068899 0.13745666 0.78757755 -27.15350627] [ 0. 0. 0. 1. ]] SLAMing on 62.585860169 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:-8.52, Y:20.38, Z:-27.41 [[ -0.98429357 0.16764381 -0.05533275 -8.51803787] [ -0.10145983 -0.79368056 -0.5998142 20.37817501] [ -0.14447167 -0.58477921 0.79822379 -27.40651919] [ 0. 0. 0. 1. ]] SLAMing on 62.615860169 meters Centerline goodness : 0.989940 Centerline is valid? [True, True] Translation: X:-9.57, Y:20.20, Z:-27.60 [[ 0.92046846 -0.38885605 0.03909977 -9.56638078] [ 0.33054338 0.72122528 -0.60874886 20.19812621] [ 0.20851593 0.57325829 0.79239891 -27.59520158] [ 0. 0. 0. 1. ]] SLAMing on 62.645860169 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] SLAMing on 62.675860168999996 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] SLAMing on 62.705860169 meters Centerline goodness : 0.995839 Centerline is valid? [True, True] SLAMing on 62.735860169 meters Centerline goodness : 0.991882 Centerline is valid? [True, True] SLAMing on 62.765860169 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] SLAMing on 62.795860169 meters Centerline goodness : 0.987965 Centerline is valid? [True, True] SLAMing on 62.825860169 meters Centerline goodness : 0.974031 Centerline is valid? [True, True] SLAMing on 62.855860168999996 meters Centerline goodness : 0.996364 Centerline is valid? [True, True] SLAMing on 62.885860169 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] SLAMing on 62.915860169 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] SLAMing on 62.945860169 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] SLAMing on 62.975860169 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] SLAMing on 63.005860169 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] SLAMing on 63.035860169 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] SLAMing on 63.065860169 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] SLAMing on 63.095860169 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] SLAMing on 63.125860169 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] SLAMing on 63.155860169 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] SLAMing on 63.185860169 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] SLAMing on 63.215860169 meters Centerline goodness : 0.997314 Centerline is valid? [True, True] SLAMing on 63.245860169 meters Centerline goodness : 0.995053 Centerline is valid? [True, True] SLAMing on 63.275860169 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] SLAMing on 63.305860169 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] SLAMing on 63.335860169 meters Centerline goodness : 0.997266 Centerline is valid? [True, True] SLAMing on 63.365860169 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] SLAMing on 63.395860169 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] SLAMing on 63.425860168999996 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] SLAMing on 63.455860169 meters Centerline goodness : 0.998790 Centerline is valid? [True, True] SLAMing on 63.485860169 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] SLAMing on 63.515860169 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] SLAMing on 63.545860169 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] SLAMing on 63.575860169 meters Centerline goodness : 0.997051 Centerline is valid? [True, True] SLAMing on 63.605860168999996 meters Centerline goodness : 0.997051 Centerline is valid? [True, True] SLAMing on 63.635860169 meters Centerline goodness : 0.998378 Centerline is valid? [True, True] SLAMing on 63.665860169 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] SLAMing on 63.695860169 meters Centerline goodness : 0.997986 Centerline is valid? [True, True] SLAMing on 63.725860169 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] SLAMing on 63.755860169 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] SLAMing on 63.785860169 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] SLAMing on 63.815860169 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] SLAMing on 63.845860169 meters Centerline goodness : 0.998556 Centerline is valid? [True, True] SLAMing on 63.875860169 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] SLAMing on 63.905860169 meters Centerline goodness : 0.998373 Centerline is valid? [True, True] SLAMing on 63.935860169 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] SLAMing on 63.965860169 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] SLAMing on 63.995860169 meters Centerline goodness : 0.995853 Centerline is valid? [True, True] SLAMing on 64.025860169 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] SLAMing on 64.055860169 meters Centerline goodness : 0.996204 Centerline is valid? [True, True] SLAMing on 64.085860169 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] SLAMing on 64.115860169 meters Centerline goodness : 0.996963 Centerline is valid? [True, True] SLAMing on 64.145860169 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] SLAMing on 64.175860169 meters Centerline goodness : 0.997758 Centerline is valid? [True, True] SLAMing on 64.205860169 meters Centerline goodness : 0.997899 Centerline is valid? [True, True] SLAMing on 64.235860169 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] SLAMing on 64.26586016899999 meters Centerline goodness : 0.992403 Centerline is valid? [True, True] SLAMing on 64.295860169 meters Centerline goodness : 0.998630 Centerline is valid? [True, True] SLAMing on 64.325860169 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] SLAMing on 64.355860169 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] SLAMing on 64.385860169 meters Centerline goodness : 0.998035 Centerline is valid? [True, True] SLAMing on 64.415860169 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] SLAMing on 64.445860169 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] SLAMing on 64.475860169 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] SLAMing on 64.505860169 meters Centerline goodness : 0.998311 Centerline is valid? [True, True] SLAMing on 64.535860169 meters Centerline goodness : 0.997491 Centerline is valid? [True, True] SLAMing on 64.565860169 meters Centerline goodness : 0.997698 Centerline is valid? [True, True] SLAMing on 64.595860169 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] SLAMing on 64.625860169 meters Centerline goodness : 0.991951 Centerline is valid? [True, True] SLAMing on 64.655860169 meters Centerline goodness : 0.998284 Centerline is valid? [True, True] SLAMing on 64.685860169 meters Centerline goodness : 0.995571 Centerline is valid? [True, True] SLAMing on 64.715860169 meters Centerline goodness : 0.992819 Centerline is valid? [True, True] SLAMing on 64.745860169 meters Centerline goodness : 0.992754 Centerline is valid? [True, True] SLAMing on 64.775860169 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] SLAMing on 64.805860169 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] SLAMing on 64.835860169 meters Centerline goodness : 0.997899 Centerline is valid? [True, True] SLAMing on 64.865860169 meters Centerline goodness : 0.997667 Centerline is valid? [True, True] SLAMing on 64.895860169 meters Centerline goodness : 0.993258 Centerline is valid? [True, True] SLAMing on 64.925860169 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] SLAMing on 64.955860169 meters Centerline goodness : 0.994590 Centerline is valid? [True, True] SLAMing on 64.985860169 meters Centerline goodness : 0.998693 Centerline is valid? [True, True] SLAMing on 65.01586016899999 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] SLAMing on 65.045860169 meters Centerline goodness : 0.997246 Centerline is valid? [True, True] SLAMing on 65.075860169 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] SLAMing on 65.105860169 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] SLAMing on 65.135860169 meters Centerline goodness : 0.998762 Centerline is valid? [True, True] SLAMing on 65.165860169 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] SLAMing on 65.195860169 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] SLAMing on 65.225860169 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] SLAMing on 65.255860169 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] SLAMing on 65.285860169 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] SLAMing on 65.315860169 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] SLAMing on 65.345860169 meters Centerline goodness : 0.994969 Centerline is valid? [True, True] SLAMing on 65.375860169 meters Centerline goodness : 0.986288 Centerline is valid? [True, True] SLAMing on 65.405860169 meters Centerline goodness : 0.975090 Centerline is valid? [True, True] SLAMing on 65.435860169 meters Centerline goodness : 0.978821 Centerline is valid? [True, True] SLAMing on 65.465860169 meters Centerline goodness : 0.971632 Centerline is valid? [True, True] SLAMing on 65.495860169 meters Centerline goodness : 0.971632 Centerline is valid? [True, True] SLAMing on 65.525860169 meters Centerline goodness : 0.991600 Centerline is valid? [True, True] SLAMing on 65.555860169 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] SLAMing on 65.585860169 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] SLAMing on 65.615860169 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] SLAMing on 65.645860169 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] SLAMing on 65.675860169 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] SLAMing on 65.705860169 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] SLAMing on 65.735860169 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] SLAMing on 65.76586016899999 meters Centerline goodness : 0.349764 Centerline is valid? [True, False] Translation: X:-9.58, Y:20.20, Z:-27.50 [[ 0.96497513 -0.25994655 0.03536644 -9.58255647] [ 0.22772964 0.76308885 -0.60484264 20.20271136] [ 0.13023903 0.5917121 0.79555929 -27.50063085] [ 0. 0. 0. 1. ]] SLAMing on 65.795860169 meters Centerline goodness : 0.999045 Centerline is valid? [False, True] Translation: X:-9.59, Y:20.20, Z:-27.42 [[ 0.98570555 -0.16456382 0.03610156 -9.59073429] [ 0.15296262 0.78432891 -0.60119098 20.20013794] [ 0.07061879 0.59811947 0.79828947 -27.4235615 ] [ 0. 0. 0. 1. ]] SLAMing on 65.825860169 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] SLAMing on 65.855860169 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] SLAMing on 65.885860169 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] SLAMing on 65.915860169 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] SLAMing on 65.945860169 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] SLAMing on 65.975860169 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] SLAMing on 66.005860169 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] SLAMing on 66.035860169 meters Centerline goodness : 0.350034 Centerline is valid? [True, False] Translation: X:-9.60, Y:20.19, Z:-27.35 [[ 9.96283693e-01 -7.84601154e-02 3.55360816e-02 -9.59612211e+00] [ 8.41129544e-02 7.97442500e-01 -5.97503531e-01 2.01948640e+01] [ 1.85422142e-02 5.98272069e-01 8.01078471e-01 -2.73520486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.065860169 meters Centerline goodness : 0.999020 Centerline is valid? [False, True] Translation: X:-9.60, Y:20.18, Z:-27.28 [[ 9.99295834e-01 -3.19944323e-03 3.73844717e-02 -9.59809012e+00] [ 2.48703921e-02 8.02517228e-01 -5.96110361e-01 2.01828543e+01] [-2.80944613e-02 5.96620367e-01 8.02031694e-01 -2.72750446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.095860169 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:-9.55, Y:20.00, Z:-27.40 [[ 0.88611653 -0.4617592 0.03969815 -9.54559599] [ 0.4095727 0.74011637 -0.53336476 20.00059281] [ 0.21690483 0.48888261 0.8449533 -27.3966315 ] [ 0. 0. 0. 1. ]] SLAMing on 66.125860169 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:-8.64, Y:20.15, Z:-27.33 [[-9.94939493e-01 -1.00425516e-01 -3.18143321e-03 -8.64397745e+00] [ 8.31401021e-02 -8.05083196e-01 -5.87306369e-01 2.01528709e+01] [ 5.64192266e-02 -5.84598806e-01 8.09358454e-01 -2.73297124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.155860169 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:-8.70, Y:20.37, Z:-27.16 [[-8.78107767e-01 4.78438357e-01 4.84642320e-03 -8.69776620e+00] [-3.68350491e-01 -6.69522747e-01 -6.45024966e-01 2.03718572e+01] [-3.05359894e-01 -5.68186615e-01 7.64146128e-01 -2.71580544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.185860169 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:-8.66, Y:20.29, Z:-27.22 [[-9.65954663e-01 2.58669367e-01 4.66336151e-03 -8.65688200e+00] [-1.88374811e-01 -6.90868282e-01 -6.98008558e-01 2.02899862e+01] [-1.77331663e-01 -6.75123082e-01 7.16074232e-01 -2.72236530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.215860169 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] SLAMing on 66.245860169 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:-9.02, Y:20.54, Z:-26.98 [[ -0.19178816 0.97858642 0.07473895 -9.02413761] [ -0.68848827 -0.07987997 -0.72083499 20.53577756] [ -0.69942919 -0.18970451 0.68906531 -26.97615402] [ 0. 0. 0. 1. ]] SLAMing on 66.275860169 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] SLAMing on 66.305860169 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:-8.91, Y:19.92, Z:-27.63 [[ -0.45037465 -0.89141734 0.0503766 -8.90851753] [ 0.6071504 -0.34714548 -0.71474359 19.91691201] [ 0.65462284 -0.29131623 0.69756992 -27.62521073] [ 0. 0. 0. 1. ]] SLAMing on 66.335860169 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:-8.90, Y:19.92, Z:-27.62 [[ -0.47119372 -0.88148145 0.03109548 -8.89844909] [ 0.60478951 -0.34854878 -0.71606103 19.91957302] [ 0.64203281 -0.31859724 0.69734473 -27.62135197] [ 0. 0. 0. 1. ]] SLAMing on 66.365860169 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:-8.97, Y:19.90, Z:-27.64 [[-3.31455958e-01 -9.43465699e-01 3.06978103e-03 -8.96537647e+00] [ 6.56890296e-01 -2.33110092e-01 -7.17045901e-01 1.98970997e+01] [ 6.77223809e-01 -2.35652627e-01 6.97019191e-01 -2.76404305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.395860169 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:-9.44, Y:20.45, Z:-27.05 [[ 0.67544688 0.73414489 0.06930218 -9.44039768] [ -0.48876015 0.51608171 -0.70340115 20.45022537] [ -0.55216395 0.44123797 0.70740655 -27.04955184] [ 0. 0. 0. 1. ]] SLAMing on 66.425860169 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:-8.84, Y:20.50, Z:-27.06 [[ -0.58538346 0.80306015 0.11144779 -8.83780203] [ -0.5918111 -0.32928876 -0.73575032 20.4999936 ] [ -0.55415325 -0.4966521 0.66802011 -27.05687197] [ 0. 0. 0. 1. ]] SLAMing on 66.455860169 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:-8.99, Y:19.92, Z:-27.67 [[ -0.27902609 -0.95602317 0.09035567 -8.99255377] [ 0.63430473 -0.25413395 -0.73011879 19.91541889] [ 0.72097293 -0.14640916 0.67732001 -27.66642273] [ 0. 0. 0. 1. ]] SLAMing on 66.485860169 meters Centerline goodness : 0.998730 Centerline is valid? [True, True] Translation: X:-9.02, Y:19.91, Z:-27.67 [[ -0.21321608 -0.9748192 0.06531794 -9.024617 ] [ 0.65300943 -0.19191862 -0.73262946 19.90855668] [ 0.72671699 -0.11355514 0.67748627 -27.67089991] [ 0. 0. 0. 1. ]] SLAMing on 66.51586016899999 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:-8.99, Y:19.92, Z:-27.67 [[ -0.28156728 -0.95869568 0.04027985 -8.99110844] [ 0.64163694 -0.21932809 -0.73498111 19.91568362] [ 0.71345771 -0.18110159 0.67689017 -27.66636323] [ 0. 0. 0. 1. ]] SLAMing on 66.545860169 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] SLAMing on 66.575860169 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:-8.67, Y:20.35, Z:-27.21 [[ -0.93414656 0.35361653 0.04822397 -8.67233201] [ -0.25336198 -0.56191933 -0.78743531 20.34772642] [ -0.25135216 -0.74779811 0.614508 -27.21081216] [ 0. 0. 0. 1. ]] SLAMing on 66.605860169 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:-9.43, Y:19.98, Z:-27.60 [[ 6.31326904e-01 -7.75372421e-01 1.49649209e-02 -9.42745314e+00] [ 5.22561008e-01 4.11065128e-01 -7.46964158e-01 1.99844529e+01] [ 5.73023851e-01 4.79398653e-01 6.64695869e-01 -2.76034841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.635860169 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:-8.69, Y:20.10, Z:-27.48 [[ -0.90776952 -0.41758106 -0.03975633 -8.68785618] [ 0.28610406 -0.54705751 -0.78668453 20.09641654] [ 0.30675556 -0.72550268 0.61607377 -27.4845413 ] [ 0. 0. 0. 1. ]] SLAMing on 66.665860169 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:-9.24, Y:20.55, Z:-26.97 [[ 0.07422753 0.99609601 0.04778083 -9.24256777] [ -0.5971051 0.08276821 -0.79788152 20.5452382 ] [ -0.79872133 0.03069459 0.60091769 -26.96588397] [ 0. 0. 0. 1. ]] SLAMing on 66.695860169 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] SLAMing on 66.725860169 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:-9.65, Y:20.35, Z:-27.19 [[ 0.92382789 0.37100644 0.09431994 -9.65477603] [ -0.17803822 0.6345327 -0.75211079 20.35150401] [ -0.33888703 0.67802837 0.65225234 -27.18744791] [ 0. 0. 0. 1. ]] SLAMing on 66.755860169 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] SLAMing on 66.785860169 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:-9.60, Y:20.42, Z:-27.11 [[ 0.80890885 0.56918334 0.14729831 -9.5996076 ] [ -0.30789905 0.62354471 -0.71860293 20.41692497] [ -0.5008639 0.53593126 0.67964185 -27.11374547] [ 0. 0. 0. 1. ]] SLAMing on 66.815860169 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] SLAMing on 66.845860169 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] SLAMing on 66.875860169 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] SLAMing on 66.905860169 meters Centerline goodness : 0.995964 Centerline is valid? [True, True] SLAMing on 66.935860169 meters Centerline goodness : 0.997986 Centerline is valid? [True, True] SLAMing on 66.965860169 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] SLAMing on 66.995860169 meters Centerline goodness : 0.997488 Centerline is valid? [True, True] SLAMing on 67.025860169 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] SLAMing on 67.055860169 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] SLAMing on 67.085860169 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] SLAMing on 67.115860169 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] SLAMing on 67.145860169 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] SLAMing on 67.175860169 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] SLAMing on 67.205860169 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:-9.65, Y:20.08, Z:-27.46 [[ 0.90910402 0.41010789 -0.0730848 -9.6459487 ] [ 0.33207432 -0.60753841 0.7215426 20.07929957] [ 0.25150849 -0.68022687 -0.68850192 -27.45720838] [ 0. 0. 0. 1. ]] SLAMing on 67.235860169 meters Centerline goodness : 0.995372 Centerline is valid? [True, True] Translation: X:-7.56, Y:23.49, Z:-29.64 [[ 1.12170336e-01 8.65676101e-02 -9.89911039e-01 -7.56412158e+00] [-8.81937285e-01 -4.50308766e-01 -1.39314898e-01 2.34904414e+01] [-4.57825776e-01 8.88666453e-01 2.58359172e-02 -2.96393652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26586016899999 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:-7.54, Y:23.39, Z:-29.42 [[ 7.00400443e-02 2.00795782e-01 -9.77126116e-01 -7.53797491e+00] [-4.24327656e-01 -8.80497186e-01 -2.11354548e-01 2.33867829e+01] [-9.02795897e-01 4.29424916e-01 2.35331415e-02 -2.94226752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.295860169 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:-7.54, Y:23.46, Z:-29.40 [[ 7.76032221e-02 2.77548473e-01 -9.57572235e-01 -7.54296084e+00] [-3.33499824e-01 -8.97912031e-01 -2.87283574e-01 2.34577695e+01] [-9.39550748e-01 3.41644303e-01 2.28815000e-02 -2.94048714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.325860169 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:-7.57, Y:23.57, Z:-29.41 [[ 1.03592826e-01 3.47048333e-01 -9.32108352e-01 -7.56642512e+00] [-3.26364068e-01 -8.73402354e-01 -3.61462063e-01 2.35710021e+01] [-9.39550436e-01 3.41651551e-01 2.27858878e-02 -2.94055930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.355860169 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:-7.73, Y:23.93, Z:-29.67 [[ 3.89450631e-01 1.91861250e-01 -9.00842643e-01 -7.72713451e+00] [-8.32684841e-01 -3.44680847e-01 -4.33394820e-01 2.39267842e+01] [-3.93654877e-01 9.18903898e-01 2.55237817e-02 -2.96714574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.385860169 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:-7.78, Y:24.01, Z:-29.67 [[ 4.53546577e-01 2.18205592e-01 -8.64107529e-01 -7.77941007e+00] [-7.99585123e-01 -3.28621480e-01 -5.02664455e-01 2.40088788e+01] [-3.93648491e-01 9.18909268e-01 2.54287979e-02 -2.96721761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.415860169 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:-7.68, Y:23.88, Z:-29.41 [[ 1.76135781e-01 5.41489509e-01 -8.22049450e-01 -7.68243256e+00] [-2.94788932e-01 -7.67762906e-01 -5.68893316e-01 2.38769550e+01] [-9.39188837e-01 3.42533548e-01 2.43945953e-02 -2.94077784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.445860169 meters Centerline goodness : 0.994726 Centerline is valid? [True, True] Translation: X:-7.48, Y:23.58, Z:-30.32 [[ -0.19112419 -0.53724992 -0.82148285 -7.48248477] [ 0.33734211 0.7499804 -0.5689725 23.58403821] [ 0.92177646 -0.38586517 0.03789762 -30.32022274] [ 0. 0. 0. 1. ]] SLAMing on 67.475860169 meters Centerline goodness : 0.994445 Centerline is valid? [True, True] Translation: X:-7.46, Y:23.60, Z:-30.32 [[ -0.18489409 -0.53978412 -0.82124739 -7.46360133] [ 0.32952172 0.75322833 -0.5692649 23.60393589] [ 0.92586695 -0.37587257 0.03860312 -30.32378531] [ 0. 0. 0. 1. ]] SLAMing on 67.505860169 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:-7.89, Y:24.23, Z:-29.72 [[ 5.96738264e-01 2.09967349e-01 -7.74478636e-01 -7.89406896e+00] [-7.42823174e-01 -2.20511498e-01 -6.32130059e-01 2.42335304e+01] [-3.03508117e-01 9.52516872e-01 2.43809638e-02 -2.97187404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.535860169 meters Centerline goodness : 0.991998 Centerline is valid? [True, True] Translation: X:-7.80, Y:24.14, Z:-29.43 [[ 2.79290313e-01 6.32367819e-01 -7.22570317e-01 -7.79510027e+00] [-3.22973245e-01 -6.46801937e-01 -6.90894736e-01 2.41364394e+01] [-9.04259478e-01 4.26331087e-01 2.35923716e-02 -2.94254210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.565860169 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:-7.31, Y:23.64, Z:-29.91 [[-6.87620438e-01 -7.69639820e-02 -7.21979694e-01 -7.30888902e+00] [ 7.22387094e-01 2.75127115e-02 -6.90941341e-01 2.36441373e+01] [ 7.30412160e-02 -9.96654201e-01 3.66794845e-02 -2.99105589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.595860169 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:-7.30, Y:23.67, Z:-29.97 [[ -0.6735906 -0.15934376 -0.72172382 -7.29683343] [ 0.7135899 0.11414963 -0.69120135 23.66736449] [ 0.19252313 -0.98060156 0.03681599 -29.96898964] [ 0. 0. 0. 1. ]] SLAMing on 67.625860169 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:-7.28, Y:23.68, Z:-29.94 [[ -0.68159487 -0.12201534 -0.72148506 -7.27567467] [ 0.71837649 0.07592658 -0.69149864 23.68264936] [ 0.13915334 -0.98961983 0.03590178 -29.94452086] [ 0. 0. 0. 1. ]] SLAMing on 67.655860169 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:-7.26, Y:23.70, Z:-29.97 [[ -0.67349412 -0.16170379 -0.72128881 -7.26154446] [ 0.71249645 0.11785842 -0.69170673 23.704076 ] [ 0.19686156 -0.97977614 0.03583643 -29.97354469] [ 0. 0. 0. 1. ]] SLAMing on 67.685860169 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:-7.97, Y:24.44, Z:-29.68 [[ 6.82144840e-01 3.03936123e-01 -6.65057329e-01 -7.96610279e+00] [-6.21365987e-01 -2.38515345e-01 -7.46334202e-01 2.44350067e+01] [-3.85464301e-01 9.22352028e-01 2.61535573e-02 -2.96819076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.715860169 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:-7.94, Y:24.41, Z:-29.51 [[ 5.18667413e-01 6.04586468e-01 -6.04532312e-01 -7.93644626e+00] [-4.18410028e-01 -4.37128073e-01 -7.96148288e-01 2.44142106e+01] [-7.45598527e-01 6.65878555e-01 2.62409540e-02 -2.95093350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.745860169 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:-7.43, Y:24.04, Z:-30.24 [[ -0.51132301 -0.61123565 -0.60410245 -7.43497608] [ 0.42031392 0.43526529 -0.79616602 24.03923388] [ 0.74958988 -0.66101067 0.03434969 -30.24307119] [ 0. 0. 0. 1. ]] SLAMing on 67.775860169 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:-7.47, Y:24.09, Z:-30.29 [[ -0.41419068 -0.68100423 -0.60388684 -7.46656477] [ 0.35055844 0.4929328 -0.79632031 24.09487578] [ 0.83997313 -0.54152608 0.03456361 -30.28637719] [ 0. 0. 0. 1. ]] SLAMing on 67.805860169 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:-7.51, Y:24.16, Z:-30.32 [[ -0.29422259 -0.74102792 -0.60358155 -7.50992869] [ 0.26452363 0.54372516 -0.79648616 24.15942991] [ 0.91840095 -0.39400581 0.03604317 -30.32239268] [ 0. 0. 0. 1. ]] SLAMing on 67.835860169 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:-7.52, Y:24.20, Z:-30.33 [[ -0.23548237 -0.76198668 -0.60326142 -7.52274832] [ 0.22280416 0.56185971 -0.79666302 24.20177619] [ 0.9459949 -0.32200925 0.03746574 -30.33401072] [ 0. 0. 0. 1. ]] SLAMing on 67.865860169 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:-7.60, Y:24.30, Z:-30.36 [[-2.88468792e-02 -7.97316057e-01 -6.02872260e-01 -7.60225713e+00] [ 7.48572272e-02 5.99706481e-01 -7.96711072e-01 2.42955906e+01] [ 9.96776932e-01 -6.81119738e-02 4.23852089e-02 -3.03592165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.895860169 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:-7.60, Y:24.33, Z:-30.36 [[ 5.48811656e-03 -7.98084147e-01 -6.02521016e-01 -7.60123602e+00] [ 5.17482157e-02 6.01949437e-01 -7.96855695e-01 2.43288906e+01] [ 9.98645083e-01 -2.68061505e-02 4.46029992e-02 -3.03610918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.925860169 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:-7.48, Y:24.27, Z:-30.34 [[ -0.21510186 -0.76867696 -0.60238437 -7.48394295] [ 0.21165897 0.56546766 -0.79714917 24.27398913] [ 0.95337908 -0.29896832 0.04106423 -30.33619672] [ 0. 0. 0. 1. ]] SLAMing on 67.955860169 meters Centerline goodness : 0.998374 Centerline is valid? [True, True] Translation: X:-7.56, Y:24.36, Z:-30.36 [[-1.71748347e-02 -7.98284654e-01 -6.02035412e-01 -7.55851561e+00] [ 6.74856623e-02 5.99825593e-01 -7.97279714e-01 2.43633888e+01] [ 9.97572409e-01 -5.43219058e-02 4.35708631e-02 -3.03623953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.985860169 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:-7.36, Y:24.25, Z:-30.29 [[ -0.41452391 -0.68261949 -0.60183101 -7.35767023] [ 0.35372705 0.48846418 -0.79767157 24.24817522] [ 0.83847904 -0.54353784 0.03898089 -30.28513934] [ 0. 0. 0. 1. ]] SLAMing on 68.01586016899999 meters Centerline goodness : 0.987778 Centerline is valid? [True, True] Translation: X:-7.47, Y:24.36, Z:-30.36 [[ -0.13859977 -0.78680255 -0.60144148 -7.46801521] [ 0.15727652 0.58210874 -0.7977553 24.3633196 ] [ 0.97778024 -0.20516132 0.04306543 -30.35552135] [ 0. 0. 0. 1. ]] SLAMing on 68.045860169 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:-7.33, Y:24.29, Z:-30.29 [[ -0.41102025 -0.68525054 -0.60124376 -7.32741862] [ 0.3496387 0.49059822 -0.79816425 24.29266444] [ 0.8419116 -0.53827975 0.03794431 -30.28925116] [ 0. 0. 0. 1. ]] SLAMing on 68.075860169 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:-7.30, Y:24.31, Z:-30.28 [[ -0.42782822 -0.67513307 -0.60096452 -7.30375281] [ 0.3613235 0.48170192 -0.79837873 24.30758358] [ 0.82849764 -0.55871155 0.03785577 -30.28436555] [ 0. 0. 0. 1. ]] SLAMing on 68.105860169 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:-7.65, Y:24.62, Z:-29.41 [[ 1.55731494e-01 8.29201218e-01 -5.36817513e-01 -7.64966077e+00] [-1.21116990e-01 -5.23318433e-01 -8.43485917e-01 2.46201105e+01] [-9.80346049e-01 1.96375043e-01 1.89331943e-02 -2.94124495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.135860169 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:-7.86, Y:24.76, Z:-29.47 [[ 4.24287531e-01 7.74609919e-01 -4.68998469e-01 -7.85955511e+00] [-2.46734560e-01 -3.99437357e-01 -8.82933664e-01 2.47577031e+01] [-8.71264683e-01 4.90335875e-01 2.16467474e-02 -2.94665466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.165860169 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:-7.91, Y:24.79, Z:-29.45 [[ 3.85628420e-01 8.32223271e-01 -3.98365598e-01 -7.91323299e+00] [-1.89053048e-01 -3.51328352e-01 -9.16966376e-01 2.47942298e+01] [-9.03077885e-01 4.28920525e-01 2.18521488e-02 -2.94519367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.195860169 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:-7.95, Y:24.82, Z:-29.44 [[ 3.09197613e-01 8.93643289e-01 -3.25266826e-01 -7.95295697e+00] [-1.27271562e-01 -3.00065990e-01 -9.45390052e-01 2.48241297e+01] [-9.42442988e-01 3.33709565e-01 2.09556897e-02 -2.94352369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.225860169 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:-7.66, Y:24.72, Z:-30.34 [[ -0.30582168 -0.89498956 -0.32475649 -7.66277615] [ 0.14391796 0.29372381 -0.94499415 24.72492613] [ 0.94114862 -0.33573799 0.03897796 -30.33975917] [ 0. 0. 0. 1. ]] SLAMing on 68.255860169 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:-7.72, Y:24.77, Z:-30.36 [[ -0.1717617 -0.93019425 -0.32440188 -7.71676569] [ 0.10118227 0.31089671 -0.94504253 24.77036141] [ 0.9799286 -0.19514583 0.04071902 -30.35937222] [ 0. 0. 0. 1. ]] SLAMing on 68.285860169 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:-7.63, Y:24.77, Z:-30.33 [[ -0.34569615 -0.88061821 -0.32404589 -7.62737147] [ 0.15768508 0.28590736 -0.94519437 24.7670067 ] [ 0.92500248 -0.37784726 0.04002328 -30.33436112] [ 0. 0. 0. 1. ]] SLAMing on 68.315860169 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:-7.69, Y:24.82, Z:-30.36 [[ -0.18596043 -0.92770584 -0.3236983 -7.69328697] [ 0.10660849 0.30844927 -0.94524795 24.81801255] [ 0.97675655 -0.2102877 0.04154196 -30.36163031] [ 0. 0. 0. 1. ]] SLAMing on 68.345860169 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:-7.68, Y:24.84, Z:-30.36 [[ -0.18776879 -0.92746644 -0.3233402 -7.68373662] [ 0.10636287 0.30805972 -0.94540264 24.84231642] [ 0.97643731 -0.2119085 0.040804 -30.36235001] [ 0. 0. 0. 1. ]] SLAMing on 68.375860169 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:-7.62, Y:24.85, Z:-30.35 [[ -0.30435216 -0.89613194 -0.32298191 -7.61925218] [ 0.14503223 0.2915201 -0.94550605 24.8489827 ] [ 0.94145388 -0.3346096 0.04124324 -30.34759819] [ 0. 0. 0. 1. ]] SLAMing on 68.405860169 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:-7.60, Y:24.87, Z:-30.34 [[ -0.32458516 -0.88913773 -0.32261212 -7.60071379] [ 0.15149859 0.28780427 -0.94563041 24.87146598] [ 0.93364482 -0.35581288 0.04128612 -30.34472685] [ 0. 0. 0. 1. ]] SLAMing on 68.435860169 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:-7.99, Y:25.04, Z:-29.43 [[ 2.75101220e-01 9.28943802e-01 -2.47755387e-01 -7.98555049e+00] [-8.69614745e-02 -2.32599377e-01 -9.68677052e-01 2.50436152e+01] [-9.57474292e-01 2.88029413e-01 1.67939502e-02 -2.94291111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.465860169 meters Centerline goodness : 0.998127 Centerline is valid? [True, True] Translation: X:-7.73, Y:24.98, Z:-30.36 [[ -0.23647217 -0.93965728 -0.24723495 -7.73398874] [ 0.10352126 0.22863813 -0.96799171 24.97778051] [ 0.96610779 -0.25449717 0.04320795 -30.3640739 ] [ 0. 0. 0. 1. ]] SLAMing on 68.495860169 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:-7.75, Y:25.01, Z:-30.37 [[ -0.18241744 -0.95173315 -0.24683573 -7.75476955] [ 0.09060797 0.23370758 -0.96807591 25.00950917] [ 0.97903732 -0.19895922 0.04360227 -30.37203611] [ 0. 0. 0. 1. ]] SLAMing on 68.525860169 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:-7.72, Y:25.03, Z:-30.37 [[ -0.23435831 -0.94039247 -0.24645118 -7.72377456] [ 0.10371267 0.22787914 -0.96815018 25.03022946] [ 0.96660223 -0.25245416 0.04412525 -30.36657392] [ 0. 0. 0. 1. ]] SLAMing on 68.555860169 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:-7.65, Y:25.04, Z:-30.34 [[ -0.3907615 -0.88695716 -0.24619594 -7.64554831] [ 0.13771781 0.20811767 -0.96835987 25.03813192] [ 0.91013145 -0.41230332 0.04082542 -30.33704205] [ 0. 0. 0. 1. ]] SLAMing on 68.585860169 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:-8.04, Y:25.18, Z:-29.43 [[ 2.49518314e-01 9.53387687e-01 -1.69683613e-01 -8.04230241e+00] [-5.88636879e-02 -1.59969326e-01 -9.85365354e-01 2.51809952e+01] [-9.66579369e-01 2.55854905e-01 1.62046389e-02 -2.94274418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.615860169 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:-7.76, Y:25.13, Z:-30.35 [[ -0.34578993 -0.9229412 -0.16914154 -7.7586354 ] [ 0.09786737 0.14380271 -0.98475518 25.1305151 ] [ 0.93319414 -0.35707186 0.0406003 -30.34918508] [ 0. 0. 0. 1. ]] SLAMing on 68.645860169 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:-7.74, Y:25.16, Z:-30.34 [[ -0.37398258 -0.91194159 -0.16881817 -7.7398459 ] [ 0.10283381 0.14013009 -0.98477854 25.15545179] [ 0.92171701 -0.38565023 0.04137222 -30.34450313] [ 0. 0. 0. 1. ]] SLAMing on 68.675860169 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:-7.84, Y:25.20, Z:-30.38 [[ -0.14340557 -0.97522856 -0.16841647 -7.84410273] [ 0.06915506 0.15988479 -0.98471033 25.20023271] [ 0.98724486 -0.1528598 0.04451362 -30.38139757] [ 0. 0. 0. 1. ]] SLAMing on 68.705860169 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:-7.82, Y:25.22, Z:-30.38 [[ -0.17540737 -0.97005343 -0.16801367 -7.82454501] [ 0.07468004 0.15705735 -0.98476184 25.22308167] [ 0.98165938 -0.18528175 0.04489461 -30.37943513] [ 0. 0. 0. 1. ]] SLAMing on 68.735860169 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:-7.83, Y:25.25, Z:-30.38 [[ -0.15742219 -0.9731991 -0.16763583 -7.82943304] [ 0.07141423 0.15808905 -0.984839 25.25010337] [ 0.98494582 -0.1670071 0.04461354 -30.38177887] [ 0. 0. 0. 1. ]] SLAMing on 68.76586016899999 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:-7.82, Y:25.28, Z:-30.38 [[ -0.16839102 -0.9714085 -0.16736184 -7.82004503] [ 0.07294569 0.15704039 -0.98489453 25.27554078] [ 0.98301749 -0.17805572 0.04441587 -30.38142392] [ 0. 0. 0. 1. ]] SLAMing on 68.795860169 meters Centerline goodness : 0.997175 Centerline is valid? [True, True] Translation: X:-7.84, Y:25.31, Z:-30.39 [[ -0.12238466 -0.9783346 -0.16698323 -7.83909716] [ 0.06755931 0.15964565 -0.98485989 25.30681962] [ 0.99018066 -0.13181301 0.04655743 -30.38721121] [ 0. 0. 0. 1. ]] SLAMing on 68.825860169 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:-7.82, Y:25.33, Z:-30.38 [[ -0.14550762 -0.97523676 -0.16655567 -7.82432221] [ 0.07092982 0.1576312 -0.98494739 25.33073056] [ 0.98681127 -0.15513112 0.04623683 -30.38453853] [ 0. 0. 0. 1. ]] SLAMing on 68.855860169 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:-7.84, Y:25.36, Z:-30.39 [[ -0.1136654 -0.97951987 -0.16619569 -7.83587841] [ 0.06563801 0.15951072 -0.98501167 25.36017334] [ 0.99134849 -0.1228705 0.04616288 -30.38776671] [ 0. 0. 0. 1. ]] SLAMing on 68.885860169 meters Centerline goodness : 0.997822 Centerline is valid? [True, True] Translation: X:-7.84, Y:25.39, Z:-30.39 [[ -0.09798315 -0.9812781 -0.16580891 -7.83939631] [ 0.06347626 0.16010905 -0.98505627 25.38714997] [ 0.99316165 -0.10704385 0.04659987 -30.39082145] [ 0. 0. 0. 1. ]] SLAMing on 68.915860169 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:-7.83, Y:25.41, Z:-30.39 [[ -0.1025297 -0.98087722 -0.16543135 -7.83376047] [ 0.0638922 0.15947054 -0.98513295 25.41304746] [ 0.9926759 -0.11157516 0.04631993 -30.3904134 ] [ 0. 0. 0. 1. ]] SLAMing on 68.945860169 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:-7.84, Y:25.44, Z:-30.39 [[ -0.07823027 -0.98317165 -0.16508641 -7.84135605] [ 0.06013043 0.16063908 -0.98517989 25.44170785] [ 0.99512027 -0.08699761 0.0465517 -30.39269506] [ 0. 0. 0. 1. ]] SLAMing on 68.975860169 meters Centerline goodness : 0.996618 Centerline is valid? [True, True] Translation: X:-7.85, Y:25.47, Z:-30.40 [[ -0.06004749 -0.98450861 -0.1647334 -7.8463337 ] [ 0.05729758 0.16135956 -0.98523098 25.47033126] [ 0.99654969 -0.06859948 0.04672072 -30.39517104] [ 0. 0. 0. 1. ]] SLAMing on 69.005860169 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:-7.73, Y:25.48, Z:-30.37 [[ -0.30139554 -0.93922126 -0.16439026 -7.73072421] [ 0.09116134 0.14323349 -0.9854815 25.47949081] [ 0.94913136 -0.31200576 0.04245073 -30.36702663] [ 0. 0. 0. 1. ]] SLAMing on 69.035860169 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:-8.02, Y:25.58, Z:-29.42 [[ 8.38553589e-02 9.92694880e-01 -8.67476484e-02 -8.01517968e+00] [-2.09336386e-02 -8.52801330e-02 -9.96137080e-01 2.55760426e+01] [-9.96258030e-01 8.53473763e-02 1.36295197e-02 -2.94219039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.065860169 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:-7.84, Y:25.56, Z:-30.37 [[ -0.28469842 -0.95473132 -0.08622593 -7.84366264] [ 0.06486179 0.07055698 -0.99539674 25.55947948] [ 0.95642028 -0.28898065 0.04183812 -30.37187404] [ 0. 0. 0. 1. ]] SLAMing on 69.095860169 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:-7.93, Y:25.59, Z:-30.40 [[ -0.10091071 -0.9911874 -0.08581701 -7.92655888] [ 0.05554127 0.08051033 -0.99520513 25.59359065] [ 0.99334395 -0.10519324 0.04692745 -30.3958852 ] [ 0. 0. 0. 1. ]] SLAMing on 69.125860169 meters Centerline goodness : 0.991244 Centerline is valid? [True, True] Translation: X:-7.93, Y:25.62, Z:-30.40 [[ -0.09080011 -0.99219887 -0.08542099 -7.9295488 ] [ 0.05564421 0.08058655 -0.99519321 25.61980368] [ 0.99431336 -0.09511683 0.04789286 -30.3992435 ] [ 0. 0. 0. 1. ]] SLAMing on 69.155860169 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:-7.93, Y:25.65, Z:-30.40 [[ -0.08206515 -0.99299349 -0.08502494 -7.93337636] [ 0.05439827 0.08072255 -0.99525107 25.64785279] [ 0.99514127 -0.08630064 0.04739262 -30.39901572] [ 0. 0. 0. 1. ]] SLAMing on 69.185860169 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:-7.93, Y:25.67, Z:-30.40 [[ -0.09110651 -0.99223982 -0.08461529 -7.92742083] [ 0.05457572 0.07986605 -0.99531046 25.67337564] [ 0.99434456 -0.0952972 0.04687588 -30.3988645 ] [ 0. 0. 0. 1. ]] SLAMing on 69.215860169 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:-7.91, Y:25.70, Z:-30.40 [[ -0.12486672 -0.98859119 -0.08423637 -7.91015896] [ 0.05561828 0.07779297 -0.99541693 25.69907227] [ 0.9906134 -0.12897953 0.04526999 -30.39624563] [ 0. 0. 0. 1. ]] SLAMing on 69.245860169 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:-7.94, Y:25.73, Z:-30.40 [[ -0.06234419 -0.99452602 -0.08385221 -7.93755492] [ 0.05144309 0.0807019 -0.99540987 25.72746729] [ 0.99672805 -0.06637164 0.04613019 -30.40287739] [ 0. 0. 0. 1. ]] SLAMing on 69.275860169 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:-7.92, Y:25.75, Z:-30.40 [[ -0.10095518 -0.99137498 -0.08356855 -7.91737922] [ 0.05347299 0.07846936 -0.99548139 25.75252752] [ 0.99345291 -0.10496767 0.0450899 -30.39963353] [ 0. 0. 0. 1. ]] SLAMing on 69.305860169 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:-7.92, Y:25.78, Z:-30.40 [[ -0.10097236 -0.99140347 -0.08320905 -7.91585345] [ 0.05343636 0.07811146 -0.9955115 25.77931384] [ 0.99345314 -0.10496554 0.0450899 -30.40042982] [ 0. 0. 0. 1. ]] SLAMing on 69.335860169 meters Centerline goodness : 0.998540 Centerline is valid? [True, True] Translation: X:-7.91, Y:25.81, Z:-30.40 [[ -0.11307571 -0.99011926 -0.08293214 -7.90757344] [ 0.05565223 0.077025 -0.99547475 25.80590286] [ 0.99202657 -0.11717937 0.04639269 -30.40325187] [ 0. 0. 0. 1. ]] SLAMing on 69.365860169 meters Centerline goodness : 0.994486 Centerline is valid? [True, True] Translation: X:-7.91, Y:25.83, Z:-30.41 [[ -0.09430241 -0.9921085 -0.08263044 -7.91465622] [ 0.05407675 0.07777306 -0.99550342 25.83246242] [ 0.99407382 -0.09834676 0.04631582 -30.40632153] [ 0. 0. 0. 1. ]] SLAMing on 69.395860169 meters Centerline goodness : 0.993918 Centerline is valid? [True, True] Translation: X:-7.91, Y:25.86, Z:-30.41 [[ -0.09225115 -0.99233278 -0.08225189 -7.91436484] [ 0.05367544 0.0775282 -0.99554424 25.85970111] [ 0.99428802 -0.09625501 0.04611183 -30.40753084] [ 0. 0. 0. 1. ]] SLAMing on 69.425860169 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:-7.86, Y:25.88, Z:-30.40 [[ -0.20142749 -0.97607555 -0.08187487 -7.85993785] [ 0.06026411 0.07108029 -0.99564845 25.88313223] [ 0.97764779 -0.20548508 0.0445048 -30.39838423] [ 0. 0. 0. 1. ]] SLAMing on 69.455860169 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:-7.82, Y:25.91, Z:-30.39 [[ -0.28302391 -0.95564583 -0.08147712 -7.81747041] [ 0.0673069 0.06495131 -0.99561594 25.90583647] [ 0.95674827 -0.28726709 0.04593878 -30.38979174] [ 0. 0. 0. 1. ]] SLAMing on 69.485860169 meters Centerline goodness : 0.986243 Centerline is valid? [True, True] Translation: X:-7.83, Y:25.93, Z:-30.40 [[ -0.2575681 -0.96284966 -0.08111237 -7.82771837] [ 0.06597007 0.06622574 -0.99562147 25.93396565] [ 0.96400551 -0.26179132 0.04646162 -30.39512129] [ 0. 0. 0. 1. ]] SLAMing on 69.51586016899999 meters Centerline goodness : 0.991043 Centerline is valid? [True, True] Translation: X:-7.82, Y:25.96, Z:-30.39 [[ -0.27449701 -0.95819351 -0.08072534 -7.81835438] [ 0.06696717 0.06469709 -0.9956554 25.96006208] [ 0.95925325 -0.27871038 0.04640835 -30.39336698] [ 0. 0. 0. 1. ]] SLAMing on 69.545860169 meters Centerline goodness : 0.991275 Centerline is valid? [True, True] Translation: X:-7.82, Y:25.99, Z:-30.39 [[ -0.270258 -0.95943079 -0.08033163 -7.81871862] [ 0.06649795 0.0646361 -0.99569081 25.98723264] [ 0.96048875 -0.27443529 0.04633176 -30.3945362 ] [ 0. 0. 0. 1. ]] SLAMing on 69.575860169 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:-7.81, Y:26.01, Z:-30.39 [[ -0.28907951 -0.9539632 -0.07992021 -7.8084932 ] [ 0.06750996 0.06296176 -0.99572999 26.0125369 ] [ 0.95492169 -0.29324055 0.04620106 -30.39181511] [ 0. 0. 0. 1. ]] SLAMing on 69.605860169 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:-7.81, Y:26.04, Z:-30.39 [[ -0.27631812 -0.95776891 -0.0795425 -7.81295193] [ 0.06612683 0.06362167 -0.99578086 26.04037127] [ 0.95878858 -0.28041219 0.04575441 -30.39471674] [ 0. 0. 0. 1. ]] SLAMing on 69.635860169 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:-7.70, Y:26.06, Z:-30.34 [[ -0.51856861 -0.85136398 -0.07915786 -7.69913835] [ 0.077244 0.04555351 -0.995971 26.05962212] [ 0.85153976 -0.52259377 0.04214014 -30.33719987] [ 0. 0. 0. 1. ]] SLAMing on 69.665860169 meters Centerline goodness : 0.989803 Centerline is valid? [True, True] Translation: X:-7.82, Y:26.09, Z:-30.40 [[ -0.26155133 -0.96196831 -0.07879 -7.81711214] [ 0.0653941 0.06378242 -0.99581897 26.09439884] [ 0.96297171 -0.26561018 0.04622468 -30.39964789] [ 0. 0. 0. 1. ]] SLAMing on 69.695860169 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:-7.66, Y:26.11, Z:-30.31 [[ -0.60117309 -0.79526255 -0.07841169 -7.65675579] [ 0.0802987 0.03750926 -0.99606484 26.11050877] [ 0.79507423 -0.60510373 0.04130899 -30.31280804] [ 0. 0. 0. 1. ]] SLAMing on 69.725860169 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:-7.78, Y:26.14, Z:-30.39 [[ -0.33839989 -0.93775255 -0.07813879 -7.77753771] [ 0.06808083 0.05842178 -0.99596782 26.14472518] [ 0.93853637 -0.34235515 0.04407305 -30.38766568] [ 0. 0. 0. 1. ]] SLAMing on 69.755860169 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:-8.36, Y:26.21, Z:-29.55 [[ 6.34986712e-01 7.72523049e-01 1.18290446e-04 -8.35794133e+00] [-1.49663446e-02 1.24549008e-02 -9.99810424e-01 2.62132551e+01] [-7.72378070e-01 6.34864564e-01 1.94705426e-02 -2.95531296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.785860169 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] SLAMing on 69.815860169 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] SLAMing on 69.845860169 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] SLAMing on 69.87586016899999 meters Centerline goodness : 0.997760 Centerline is valid? [True, True] SLAMing on 69.905860169 meters Centerline goodness : 0.993137 Centerline is valid? [True, True] SLAMing on 69.935860169 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] SLAMing on 69.965860169 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:-8.38, Y:26.18, Z:-29.58 [[ 6.88478924e-01 7.20157350e-01 8.58496577e-02 -8.38414725e+00] [ 4.41454178e-02 7.65397874e-02 -9.96088773e-01 2.61845158e+01] [-7.23911565e-01 6.89575995e-01 2.09043833e-02 -2.95767136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.995860169 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] SLAMing on 70.025860169 meters Centerline goodness : 0.998259 Centerline is valid? [True, True] SLAMing on 70.055860169 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] SLAMing on 70.085860169 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:-8.44, Y:26.13, Z:-30.21 [[ 7.88304636e-01 -6.00541905e-01 1.33885108e-01 -8.43750236e+00] [ 1.58486015e-01 -1.20688129e-02 -9.87287459e-01 2.61340482e+01] [ 5.94523325e-01 7.99502198e-01 8.56635923e-02 -3.02147011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.115860169 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:-7.62, Y:26.24, Z:-30.13 [[ -0.90998525 -0.40329563 0.09633007 -7.61765893] [ -0.04766281 -0.12904135 -0.9904931 26.23745598] [ 0.4118921 -0.90592547 0.09820353 -30.1300689 ] [ 0. 0. 0. 1. ]] SLAMing on 70.145860169 meters Centerline goodness : 0.998672 Centerline is valid? [True, True] SLAMing on 70.175860169 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] SLAMing on 70.205860169 meters Centerline goodness : 0.992978 Centerline is valid? [True, True] SLAMing on 70.235860169 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] SLAMing on 70.26586016899999 meters Centerline goodness : 0.994737 Centerline is valid? [True, True] SLAMing on 70.295860169 meters Centerline goodness : 0.994271 Centerline is valid? [True, True] SLAMing on 70.325860169 meters Centerline goodness : 0.997659 Centerline is valid? [True, True] SLAMing on 70.355860169 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:-7.71, Y:26.25, Z:-29.59 [[-7.08610778e-01 7.03570820e-01 5.34683704e-02 -7.71145292e+00] [-5.92290402e-02 1.61989920e-02 -9.98112976e-01 2.62496421e+01] [-7.03109299e-01 -7.10440493e-01 3.01930441e-02 -2.95933138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.385860169 meters Centerline goodness : 0.991592 Centerline is valid? [True, True] SLAMing on 70.415860169 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:-8.01, Y:26.18, Z:-30.41 [[ -0.10831817 -0.99330893 0.0400568 -8.0099781 ] [ 0.09401578 -0.05034885 -0.99429675 26.17938144] [ 0.98966065 -0.10393443 0.09884041 -30.40626563] [ 0. 0. 0. 1. ]] SLAMing on 70.445860169 meters Centerline goodness : 0.994770 Centerline is valid? [True, True] SLAMing on 70.475860169 meters Centerline goodness : 0.996415 Centerline is valid? [True, True] SLAMing on 70.505860169 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] SLAMing on 70.535860169 meters Centerline goodness : 0.988541 Centerline is valid? [True, True] SLAMing on 70.565860169 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] SLAMing on 70.595860169 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] SLAMing on 70.62586016899999 meters Centerline goodness : 0.348782 Centerline is valid? [True, False] Translation: X:-7.26, Y:24.79, Z:-30.86 [[ 0.49001258 0.18682918 -0.85145906 -7.25769416] [ -0.16462773 0.97901965 0.12007598 24.78919921] [ 0.85602885 0.08133503 0.5104892 -30.8626297 ] [ 0. 0. 0. 1. ]] SLAMing on 70.655860169 meters Centerline goodness : 0.999155 Centerline is valid? [False, True] Translation: X:-7.28, Y:24.76, Z:-30.86 [[ 5.02588905e-01 1.54296713e-01 -8.50645000e-01 -7.27764583e+00] [-1.00433424e-01 9.87702778e-01 1.19817982e-01 2.47612340e+01] [ 8.58671951e-01 2.52140013e-02 5.11905005e-01 -3.08578057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.685860169 meters Centerline goodness : 0.998835 Centerline is valid? [True, True] Translation: X:-7.25, Y:24.44, Z:-30.79 [[ 0.49205706 -0.19590856 -0.84823327 -7.25084026] [ 0.54512403 0.82902138 0.12475312 24.44413152] [ 0.67876331 -0.523778 0.51472029 -30.7870717 ] [ 0. 0. 0. 1. ]] SLAMing on 70.715860169 meters Centerline goodness : 0.998337 Centerline is valid? [True, True] Translation: X:-7.24, Y:24.48, Z:-30.82 [[ 0.50752504 -0.15123311 -0.84826109 -7.23544541] [ 0.46857535 0.87461777 0.12442226 24.47970989] [ 0.72308746 -0.46062165 0.51475452 -30.82130685] [ 0. 0. 0. 1. ]] SLAMing on 70.745860169 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:-7.18, Y:24.36, Z:-30.75 [[ 0.4370075 -0.2997388 -0.84804546 -7.17709198] [ 0.71362156 0.6894606 0.12404982 24.36182062] [ 0.54751139 -0.65939422 0.51519952 -30.74926147] [ 0. 0. 0. 1. ]] SLAMing on 70.775860169 meters Centerline goodness : 0.724143 Centerline is valid? [True, False] Translation: X:-7.23, Y:24.41, Z:-30.77 [[ 0.47148321 -0.23663991 -0.8495323 -7.22775825] [ 0.62233728 0.77181068 0.13040159 24.40585124] [ 0.62481989 -0.59017779 0.51116562 -30.76747395] [ 0. 0. 0. 1. ]] SLAMing on 70.805860169 meters Centerline goodness : 0.999002 Centerline is valid? [False, True] Translation: X:-7.28, Y:24.45, Z:-30.77 [[ 0.49502909 -0.17703198 -0.85065027 -7.28288453] [ 0.53034255 0.83705832 0.13442528 24.45227765] [ 0.68824631 -0.51768045 0.5082558 -30.77335392] [ 0. 0. 0. 1. ]] SLAMing on 70.835860169 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:-7.25, Y:24.41, Z:-30.76 [[ 0.47317565 -0.23018989 -0.85036311 -7.24888108] [ 0.61965048 0.77308859 0.13552603 24.40540511] [ 0.6262093 -0.59105553 0.50844397 -30.75764468] [ 0. 0. 0. 1. ]] SLAMing on 70.865860169 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:-7.23, Y:24.41, Z:-30.78 [[ 0.48017444 -0.21540173 -0.85031441 -7.22858689] [ 0.59482157 0.79241295 0.13516293 24.41421077] [ 0.64468582 -0.57068714 0.50862205 -30.78047794] [ 0. 0. 0. 1. ]] SLAMing on 70.895860169 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:-7.20, Y:24.41, Z:-30.79 [[ 0.47719909 -0.2208951 -0.85058003 -7.20288367] [ 0.60400802 0.78548251 0.134876 24.40615499] [ 0.63832229 -0.57811987 0.50825395 -30.79109469] [ 0. 0. 0. 1. ]] SLAMing on 70.925860169 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:-7.18, Y:24.40, Z:-30.81 [[ 0.47786828 -0.22057383 -0.85028765 -7.17868809] [ 0.60248793 0.7867097 0.13452188 24.40315695] [ 0.63925754 -0.57657179 0.50883668 -30.80557166] [ 0. 0. 0. 1. ]] SLAMing on 70.955860169 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:-7.15, Y:24.40, Z:-30.82 [[ 0.4741946 -0.22650559 -0.85078476 -7.15356424] [ 0.61283637 0.77872218 0.13425108 24.3951791 ] [ 0.63211634 -0.58505298 0.50807671 -30.81514042] [ 0. 0. 0. 1. ]] SLAMing on 70.985860169 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:-7.14, Y:24.42, Z:-30.85 [[ 0.48790288 -0.19625222 -0.85055032 -7.13599842] [ 0.56177705 0.81638315 0.13388465 24.41682383] [ 0.66809979 -0.54314235 0.50856569 -30.84771547] [ 0. 0. 0. 1. ]] SLAMing on 71.01586016899999 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:-7.12, Y:24.45, Z:-30.88 [[ 0.50334943 -0.15236177 -0.85054408 -7.11873785] [ 0.48694108 0.86316476 0.1335477 24.44999941] [ 0.71381212 -0.48138601 0.5086647 -30.88394622] [ 0. 0. 0. 1. ]] SLAMing on 71.045860169 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:-7.10, Y:24.47, Z:-30.91 [[ 0.51011877 -0.12540141 -0.85091323 -7.09761577] [ 0.44054331 0.88778436 0.13326859 24.46936246] [ 0.73871539 -0.44284694 0.50812022 -30.90957177] [ 0. 0. 0. 1. ]] SLAMing on 71.075860169 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:-7.08, Y:24.47, Z:-30.93 [[ 0.51219855 -0.11759945 -0.85077789 -7.07538193] [ 0.42622106 0.89480112 0.13291564 24.47267507] [ 0.7456462 -0.43069865 0.5084392 -30.92752235] [ 0. 0. 0. 1. ]] SLAMing on 71.105860169 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:-7.04, Y:24.42, Z:-30.91 [[ 0.493231 -0.18029442 -0.85100946 -7.04272973] [ 0.53396098 0.83505283 0.13256109 24.4196719 ] [ 0.68673783 -0.51978909 0.50814412 -30.91070204] [ 0. 0. 0. 1. ]] SLAMing on 71.135860169 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:-7.03, Y:24.45, Z:-30.95 [[ 0.50844626 -0.1326432 -0.85081618 -7.02863555] [ 0.45139562 0.88248069 0.13217349 24.45476609] [ 0.73329694 -0.45125781 0.50856857 -30.94743344] [ 0. 0. 0. 1. ]] SLAMing on 71.165860169 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:-7.00, Y:24.43, Z:-30.95 [[ 0.4994128 -0.16098061 -0.85127675 -7.00160363] [ 0.50057332 0.85559118 0.1318715 24.4288605 ] [ 0.70711612 -0.49198474 0.50787578 -30.94688017] [ 0. 0. 0. 1. ]] SLAMing on 71.195860169 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:-6.98, Y:24.43, Z:-30.96 [[ 0.49921257 -0.16132654 -0.8513287 -6.97776245] [ 0.50078491 0.85551903 0.13153579 24.42573174] [ 0.70710769 -0.49199689 0.50787575 -30.96072754] [ 0. 0. 0. 1. ]] SLAMing on 71.225860169 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:-6.91, Y:24.28, Z:-30.85 [[ 0.39572355 -0.34302032 -0.85190371 -6.90646482] [ 0.79552248 0.59151385 0.13135958 24.28375509] [ 0.45885384 -0.72969064 0.50695634 -30.85387346] [ 0. 0. 0. 1. ]] SLAMing on 71.255860169 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:-6.94, Y:24.46, Z:-31.01 [[ 0.51352653 -0.11105473 -0.85085683 -6.93864893] [ 0.41188897 0.90178453 0.1308898 24.46122916] [ 0.7527536 -0.41767392 0.5088325 -31.01152326] [ 0. 0. 0. 1. ]] SLAMing on 71.285860169 meters Centerline goodness : 0.998791 Centerline is valid? [True, True] Translation: X:-6.91, Y:24.46, Z:-31.02 [[ 0.51336338 -0.11332676 -0.85065568 -6.91444295] [ 0.41504028 0.90039213 0.13052045 24.45673337] [ 0.75113222 -0.42006079 0.50926352 -31.02410659] [ 0. 0. 0. 1. ]] SLAMing on 71.315860169 meters Centerline goodness : 0.998791 Centerline is valid? [True, True] Translation: X:-6.89, Y:24.45, Z:-31.04 [[ 0.51320159 -0.11367738 -0.85070652 -6.88990763] [ 0.4152397 0.90034819 0.13018879 24.45349472] [ 0.75113256 -0.42006021 0.50926349 -31.03837633] [ 0. 0. 0. 1. ]] SLAMing on 71.345860169 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:-6.86, Y:24.42, Z:-31.04 [[ 0.50350403 -0.15147219 -0.85061147 -6.86182327] [ 0.48027357 0.86745885 0.12981694 24.41963219] [ 0.71820679 -0.47388956 0.50951712 -31.03628215] [ 0. 0. 0. 1. ]] SLAMing on 71.37586016899999 meters Centerline goodness : 0.990949 Centerline is valid? [True, True] Translation: X:-6.84, Y:24.44, Z:-31.07 [[ 0.51243388 -0.12015788 -0.85027854 -6.84227088] [ 0.42481806 0.89598185 0.12940688 24.44235339] [ 0.74628489 -0.42752615 0.51017669 -31.06553523] [ 0. 0. 0. 1. ]] SLAMing on 71.405860169 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:-6.80, Y:24.37, Z:-31.03 [[ 0.48097594 -0.21151095 -0.85083798 -6.80152076] [ 0.58159104 0.80317021 0.12911037 24.36939951] [ 0.65605946 -0.55693872 0.50931841 -31.03203666] [ 0. 0. 0. 1. ]] SLAMing on 71.435860169 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:-6.78, Y:24.37, Z:-31.05 [[ 0.48182651 -0.21014399 -0.85069543 -6.77924819] [ 0.57857512 0.80540412 0.12874406 24.36743276] [ 0.65809882 -0.55422351 0.50964914 -31.04589418] [ 0. 0. 0. 1. ]] SLAMing on 71.465860169 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:-6.78, Y:24.51, Z:-31.13 [[ 0.52604667 -0.03824447 -0.84959535 -6.77828984] [ 0.27637572 0.95245391 0.1282498 24.50563782] [ 0.80429557 -0.3022729 0.51160505 -31.13319456] [ 0. 0. 0. 1. ]] SLAMing on 71.495860169 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:-6.75, Y:24.52, Z:-31.15 [[ 5.27455455e-01 -1.69543945e-02 -8.49413498e-01 -6.75445920e+00] [ 2.36892550e-01 9.63083066e-01 1.27878563e-01 2.45224350e+01] [ 8.15887653e-01 -2.68669976e-01 5.11999787e-01 -3.11531317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.525860169 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:-6.72, Y:24.42, Z:-31.12 [[ 0.50766994 -0.13946646 -0.85018841 -6.72030473] [ 0.4559084 0.88081141 0.12774503 24.41792226] [ 0.73103951 -0.45246035 0.51074541 -31.12289204] [ 0. 0. 0. 1. ]] SLAMing on 71.555860169 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:-6.70, Y:24.40, Z:-31.13 [[ 0.50183878 -0.16081855 -0.84987954 -6.69559384] [ 0.49184977 0.86130172 0.12744864 24.39830715] [ 0.71150661 -0.48197172 0.51133317 -31.12699753] [ 0. 0. 0. 1. ]] SLAMing on 71.585860169 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:-6.67, Y:24.38, Z:-31.13 [[ 0.49480607 -0.18046214 -0.85005904 -6.66940824] [ 0.52534184 0.84133242 0.12718373 24.37912992] [ 0.69223038 -0.50950286 0.51110071 -31.13123199] [ 0. 0. 0. 1. ]] SLAMing on 71.615860169 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:-6.64, Y:24.36, Z:-31.14 [[ 0.48945074 -0.19395569 -0.85018772 -6.64415355] [ 0.54805753 0.82675761 0.12690469 24.36491618] [ 0.67828528 -0.52806538 0.510956 -31.1381516 ] [ 0. 0. 0. 1. ]] SLAMing on 71.645860169 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:-6.62, Y:24.36, Z:-31.15 [[ 0.48981848 -0.19253822 -0.85029812 -6.62143825] [ 0.54545974 0.82851919 0.12660813 24.36318477] [ 0.6801114 -0.5258184 0.51084586 -31.15261378] [ 0. 0. 0. 1. ]] SLAMing on 71.675860169 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:-6.60, Y:24.37, Z:-31.17 [[ 0.49598729 -0.1765925 -0.85018333 -6.60157071] [ 0.51770943 0.84618826 0.12626312 24.37341281] [ 0.69711803 -0.50277283 0.51112223 -31.17392878] [ 0. 0. 0. 1. ]] SLAMing on 71.705860169 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:-6.58, Y:24.36, Z:-31.18 [[ 0.49229784 -0.18638993 -0.85023622 -6.57599565] [ 0.53408594 0.83599186 0.12597545 24.362436 ] [ 0.68731001 -0.51611665 0.51110523 -31.18277413] [ 0. 0. 0. 1. ]] SLAMing on 71.735860169 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:-6.56, Y:24.40, Z:-31.22 [[ 0.50936611 -0.13454965 -0.84996621 -6.56102032] [ 0.44397952 0.8871868 0.12562551 24.40257769] [ 0.73717593 -0.44135697 0.51164018 -31.21964709] [ 0. 0. 0. 1. ]] SLAMing on 71.76586016899999 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:-6.55, Y:24.48, Z:-31.27 [[ 0.52696062 -0.04034511 -0.84893155 -6.54557205] [ 0.27464028 0.95336515 0.12517027 24.47883314] [ 0.80429175 -0.29911061 0.51346628 -31.26764852] [ 0. 0. 0. 1. ]] SLAMing on 71.795860169 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:-6.52, Y:24.43, Z:-31.26 [[ 0.51723695 -0.10104278 -0.84985663 -6.51778423] [ 0.38404324 0.91481889 0.12496874 24.42500039] [ 0.76483771 -0.39102015 0.51198293 -31.2596307 ] [ 0. 0. 0. 1. ]] SLAMing on 71.825860169 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:-6.49, Y:24.42, Z:-31.27 [[ 0.5171046 -0.10136503 -0.8498988 -6.49397045] [ 0.38424152 0.91477479 0.12468176 24.42194633] [ 0.76482762 -0.39103991 0.5119829 -31.27347748] [ 0. 0. 0. 1. ]] SLAMing on 71.855860169 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:-6.47, Y:24.56, Z:-31.33 [[ 0.52745783 0.05718249 -0.84765465 -6.47472778] [ 0.09220388 0.98798613 0.12402358 24.55699035] [ 0.84456301 -0.14357425 0.51584857 -31.33078953] [ 0. 0. 0. 1. ]] SLAMing on 71.885860169 meters Centerline goodness : 0.996869 Centerline is valid? [True, True] Translation: X:-6.45, Y:24.54, Z:-31.34 [[ 0.52930583 0.04341436 -0.84731962 -6.4532028 ] [ 0.11701134 0.98541116 0.12358475 24.54194993] [ 0.84032356 -0.16456013 0.5165039 -31.34281131] [ 0. 0. 0. 1. ]] SLAMing on 71.915860169 meters Centerline goodness : 0.995442 Centerline is valid? [True, True] Translation: X:-6.43, Y:24.54, Z:-31.36 [[ 0.52934633 0.04260298 -0.8473355 -6.43081264] [ 0.11791265 0.98535134 0.12320449 24.53903549] [ 0.84017205 -0.16512942 0.51656868 -31.35581553] [ 0. 0. 0. 1. ]] SLAMing on 71.945860169 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:-6.41, Y:24.53, Z:-31.37 [[ 5.29369251e-01 2.94330025e-02 -8.47880826e-01 -6.40798742e+00] [ 1.42250411e-01 9.82170291e-01 1.22907856e-01 2.45254369e+01] [ 8.36380904e-01 -1.85675035e-01 5.15743894e-01 -3.13679869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.975860169 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:-6.37, Y:24.35, Z:-31.31 [[ 0.49649292 -0.16983712 -0.85126384 -6.37070396] [ 0.5035949 0.85512335 0.12311062 24.35121353] [ 0.70702684 -0.48981568 0.5100918 -31.31432126] [ 0. 0. 0. 1. ]] SLAMing on 72.005860169 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:-6.36, Y:24.47, Z:-31.38 [[ 5.26445578e-01 -2.62707666e-02 -8.49802860e-01 -6.36167229e+00] [ 2.45865131e-01 9.61521079e-01 1.22586920e-01 2.44687465e+01] [ 8.13882910e-01 -2.73472233e-01 5.12647586e-01 -3.13843055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.035860169 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:-6.32, Y:24.35, Z:-31.34 [[ 0.49748571 -0.16702975 -0.8512397 -6.32386179] [ 0.49772519 0.85865494 0.12239825 24.34858225] [ 0.71047702 -0.48457482 0.51030348 -31.34340744] [ 0. 0. 0. 1. ]] SLAMing on 72.065860169 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:-6.30, Y:24.34, Z:-31.35 [[ 0.49480683 -0.17505925 -0.85118768 -6.2990062 ] [ 0.51105459 0.8508323 0.12209674 24.33928674] [ 0.7028438 -0.49541767 0.51046246 -31.35342897] [ 0. 0. 0. 1. ]] SLAMing on 72.095860169 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:-6.28, Y:24.34, Z:-31.37 [[ 0.49510044 -0.17314846 -0.85140776 -6.27609096] [ 0.50776688 0.85283637 0.12183152 24.33786213] [ 0.70501656 -0.4926355 0.51015871 -31.36817405] [ 0. 0. 0. 1. ]] SLAMing on 72.12586016899999 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:-6.27, Y:24.46, Z:-31.44 [[ 5.24086086e-01 -2.99252558e-02 -8.51139386e-01 -6.26816031e+00] [ 2.52077146e-01 9.60054339e-01 1.21461014e-01 2.44551446e+01] [ 8.13505309e-01 -2.78208815e-01 5.10694594e-01 -3.14366633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.155860169 meters Centerline goodness : 0.990420 Centerline is valid? [True, True] Translation: X:-6.25, Y:24.46, Z:-31.46 [[ 5.23703207e-01 -1.87689870e-02 -8.51694004e-01 -6.24653288e+00] [ 2.31845234e-01 9.65161246e-01 1.21291207e-01 2.44609344e+01] [ 8.19745533e-01 -2.60981790e-01 5.09809540e-01 -3.14550129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.185860169 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:-6.19, Y:24.26, Z:-31.36 [[ 0.45243935 -0.25718601 -0.85390514 -6.18830733] [ 0.65352024 0.74713639 0.12123741 24.25893944] [ 0.60680304 -0.61289687 0.50611017 -31.36090121] [ 0. 0. 0. 1. ]] SLAMing on 72.215860169 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:-6.16, Y:24.23, Z:-31.35 [[ 0.43055172 -0.29191904 -0.85405415 -6.15583182] [ 0.71013449 0.6936044 0.12092125 24.22867158] [ 0.5570765 -0.65855616 0.50593434 -31.35006601] [ 0. 0. 0. 1. ]] SLAMing on 72.245860169 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:-6.17, Y:24.56, Z:-31.51 [[ 5.14131522e-01 9.43675105e-02 -8.52504282e-01 -6.17338752e+00] [ 1.73466276e-02 9.92581802e-01 1.20334788e-01 2.45593275e+01] [ 8.57535931e-01 -7.66559817e-02 5.08680634e-01 -3.15117760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.275860169 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:-6.15, Y:24.50, Z:-31.51 [[ 5.20207930e-01 2.97239665e-02 -8.53522229e-01 -6.15124753e+00] [ 1.40966232e-01 9.82697872e-01 1.20139144e-01 2.44997213e+01] [ 8.42325490e-01 -1.82815148e-01 5.07017150e-01 -3.15136441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.305860169 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:-6.12, Y:24.58, Z:-31.54 [[ 5.09356656e-01 1.23204363e-01 -8.51690367e-01 -6.12399603e+00] [-4.00822010e-02 9.92020799e-01 1.19533059e-01 2.45823812e+01] [ 8.59621553e-01 -2.67473347e-02 5.10230699e-01 -3.15409500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.335860169 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:-6.10, Y:24.59, Z:-31.55 [[ 5.04769063e-01 1.36632785e-01 -8.52372967e-01 -6.09854959e+00] [-6.67901400e-02 9.90616406e-01 1.19240152e-01 2.45940413e+01] [ 8.60666759e-01 -3.25863000e-03 5.09158237e-01 -3.15532695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.365860169 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:-6.08, Y:24.49, Z:-31.55 [[ 5.19437186e-01 2.40747435e-02 -8.54169431e-01 -6.08300877e+00] [ 1.50406763e-01 9.81420732e-01 1.19126621e-01 2.44877691e+01] [ 8.41167531e-01 -1.90351656e-01 5.06165420e-01 -3.15540029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.395860169 meters Centerline goodness : 0.998677 Centerline is valid? [True, True] Translation: X:-6.06, Y:24.57, Z:-31.58 [[ 5.09857455e-01 1.16717981e-01 -8.52304106e-01 -6.05579441e+00] [-2.90745825e-02 9.92524992e-01 1.18527671e-01 2.45703253e+01] [ 8.59767436e-01 -3.56518306e-02 5.09439793e-01 -3.15808043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.425860169 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:-6.03, Y:24.37, Z:-31.55 [[ 0.51141971 -0.10039964 -0.85344583 -6.03458442] [ 0.37774544 0.91831723 0.11832941 24.37307615] [ 0.77185378 -0.38290126 0.50757104 -31.54893733] [ 0. 0. 0. 1. ]] SLAMing on 72.455860169 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:-6.02, Y:24.48, Z:-31.60 [[ 5.21445033e-01 2.74917907e-02 -8.52841884e-01 -6.01642103e+00] [ 1.41044926e-01 9.82954884e-01 1.17923812e-01 2.44835557e+01] [ 8.41547032e-01 -1.81779807e-01 5.08679364e-01 -3.15991543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.485860169 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:-5.94, Y:24.19, Z:-31.46 [[ 0.41555009 -0.31195828 -0.85440047 -5.94449261] [ 0.73961643 0.66264286 0.11777937 24.18971946] [ 0.52942012 -0.68087185 0.50609077 -31.45988708] [ 0. 0. 0. 1. ]] SLAMing on 72.51586016899999 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:-5.97, Y:24.34, Z:-31.58 [[ 0.50443928 -0.12889664 -0.85377202 -5.96509767] [ 0.4277672 0.89622792 0.11743393 24.3355299 ] [ 0.75003749 -0.42445396 0.50723033 -31.58123266] [ 0. 0. 0. 1. ]] SLAMing on 72.545860169 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:-5.87, Y:24.12, Z:-31.41 [[ 0.34460953 -0.38850683 -0.85457985 -5.86513499] [ 0.85679547 0.50215791 0.11721328 24.12448069] [ 0.38359587 -0.77259296 0.50591929 -31.41486512] [ 0. 0. 0. 1. ]] SLAMing on 72.575860169 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:-5.92, Y:24.33, Z:-31.61 [[ 0.50379064 -0.13139636 -0.85377397 -5.91953752] [ 0.43135413 0.89458296 0.11685438 24.32662275] [ 0.7484174 -0.42714906 0.50736089 -31.60921534] [ 0. 0. 0. 1. ]] SLAMing on 72.605860169 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:-5.90, Y:24.33, Z:-31.63 [[ 0.5050457 -0.12255758 -0.85434681 -5.89682066] [ 0.41602729 0.90185068 0.11656175 24.33280132] [ 0.75620773 -0.4143006 0.50646311 -31.62609905] [ 0. 0. 0. 1. ]] SLAMing on 72.635860169 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:-5.87, Y:24.31, Z:-31.63 [[ 0.49890762 -0.14475477 -0.85448069 -5.87130454] [ 0.45515477 0.8827976 0.11620043 24.31164336] [ 0.73751293 -0.44689424 0.50632027 -31.62921853] [ 0. 0. 0. 1. ]] SLAMing on 72.665860169 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:-5.85, Y:24.36, Z:-31.67 [[ 0.51302295 -0.08342109 -0.85431164 -5.85462142] [ 0.34438434 0.93165561 0.11583284 24.36241202] [ 0.78626133 -0.35363645 0.50668963 -31.66773028] [ 0. 0. 0. 1. ]] SLAMing on 72.695860169 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:-5.83, Y:24.37, Z:-31.68 [[ 0.51432599 -0.07554402 -0.85426101 -5.832736 ] [ 0.32941558 0.93709865 0.11546213 24.36715265] [ 0.79180437 -0.34079206 0.50685957 -31.68432065] [ 0. 0. 0. 1. ]] SLAMing on 72.725860169 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:-5.81, Y:24.36, Z:-31.70 [[ 0.51336595 -0.08235959 -0.85420858 -5.80822921] [ 0.34121916 0.93290776 0.1151199 24.35958275] [ 0.78741659 -0.35057097 0.50702575 -31.69591716] [ 0. 0. 0. 1. ]] SLAMing on 72.755860169 meters Centerline goodness : 0.996557 Centerline is valid? [True, True] Translation: X:-5.79, Y:24.38, Z:-31.72 [[ 0.51662736 -0.05713767 -0.85430174 -5.78811093] [ 0.29481899 0.94862702 0.11484141 24.37942741] [ 0.80385194 -0.31119459 0.50693194 -31.71816813] [ 0. 0. 0. 1. ]] SLAMing on 72.785860169 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:-5.77, Y:24.39, Z:-31.73 [[ 0.51703487 -0.04614701 -0.85471949 -5.76522195] [ 0.27469561 0.95467457 0.11462455 24.38899969] [ 0.81068938 -0.29405258 0.50627642 -31.7336449 ] [ 0. 0. 0. 1. ]] SLAMing on 72.815860169 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:-5.74, Y:24.35, Z:-31.73 [[ 0.51335607 -0.09177422 -0.85325438 -5.73769404] [ 0.35545206 0.92770741 0.11407365 24.34606526] [ 0.78110139 -0.36185143 0.50886556 -31.73119495] [ 0. 0. 0. 1. ]] SLAMing on 72.845860169 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:-5.71, Y:24.33, Z:-31.74 [[ 0.51183092 -0.11002508 -0.8520115 -5.71250597] [ 0.38580812 0.91556642 0.11353515 24.32764628] [ 0.7675814 -0.38682376 0.51106377 -31.73580488] [ 0. 0. 0. 1. ]] SLAMing on 72.87586016899999 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:-5.69, Y:24.36, Z:-31.76 [[ 0.52052445 -0.06708281 -0.85120749 -5.69175945] [ 0.30671435 0.94506037 0.11308056 24.36310187] [ 0.7968567 -0.31993875 0.51250229 -31.76263146] [ 0. 0. 0. 1. ]] SLAMing on 72.905860169 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:-5.64, Y:24.23, Z:-31.70 [[ 0.4719879 -0.22585083 -0.85218473 -5.64388073] [ 0.58726331 0.80149117 0.11284377 24.22918239] [ 0.65753268 -0.55371772 0.51092804 -31.70321059] [ 0. 0. 0. 1. ]] SLAMing on 72.935860169 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:-5.62, Y:24.22, Z:-31.71 [[ 0.46738026 -0.23493617 -0.85226797 -5.61852819] [ 0.6024582 0.79017269 0.11256662 24.21927425] [ 0.6469929 -0.56606724 0.51085034 -31.7111297 ] [ 0. 0. 0. 1. ]] SLAMing on 72.965860169 meters Centerline goodness : 0.998264 Centerline is valid? [True, True] Translation: X:-5.61, Y:24.29, Z:-31.77 [[ 0.50553565 -0.14115169 -0.85118148 -5.61456572] [ 0.43781508 0.89204915 0.11209934 24.29064036] [ 0.74347271 -0.4293303 0.51276098 -31.77421692] [ 0. 0. 0. 1. ]] SLAMing on 72.995860169 meters Centerline goodness : 0.982845 Centerline is valid? [True, True] Translation: X:-5.59, Y:24.30, Z:-31.79 [[ 0.50670665 -0.13137388 -0.85205004 -5.59296169] [ 0.42147141 0.89991226 0.11189178 24.29532609] [ 0.75207062 -0.41581104 0.51136186 -31.79421045] [ 0. 0. 0. 1. ]] SLAMing on 73.025860169 meters Centerline goodness : 0.975301 Centerline is valid? [True, True] Translation: X:-5.58, Y:24.39, Z:-31.84 [[ 5.21992221e-01 -2.07104184e-02 -8.52698774e-01 -5.57831484e+00] [ 2.20797593e-01 9.68910119e-01 1.11631557e-01 2.43910129e+01] [ 8.23876534e-01 -2.46544642e-01 5.10336356e-01 -3.18436656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.055860169 meters Centerline goodness : 0.703166 Centerline is valid? [True, False] Translation: X:-5.60, Y:24.42, Z:-31.84 [[ 5.22359576e-01 8.42524643e-03 -8.52683698e-01 -5.59895050e+00] [ 1.68548238e-01 9.79202996e-01 1.12929112e-01 2.44179813e+01] [ 8.35901887e-01 -2.02707938e-01 5.10076002e-01 -3.18364192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.085860169 meters Centerline goodness : 0.998963 Centerline is valid? [False, True] Translation: X:-5.61, Y:24.44, Z:-31.83 [[ 5.21247159e-01 2.98478290e-02 -8.52883642e-01 -5.60778111e+00] [ 1.30235055e-01 9.84900322e-01 1.14062205e-01 2.44376276e+01] [ 8.43409883e-01 -1.70529948e-01 5.09489261e-01 -3.18346011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.115860169 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:-5.57, Y:24.56, Z:-31.86 [[ 0.49553976 0.16177657 -0.8533866 -5.57167458] [ -0.12933805 0.98529162 0.11167852 24.56022566] [ 0.85890163 0.05503421 0.50917504 -31.85625995] [ 0. 0. 0. 1. ]] SLAMing on 73.145860169 meters Centerline goodness : 0.998778 Centerline is valid? [True, True] Translation: X:-5.54, Y:24.58, Z:-31.87 [[ 0.48577189 0.18640642 -0.85397794 -5.5440922 ] [ -0.17896042 0.97750951 0.11157209 24.58170916] [ 0.85556931 0.09862966 0.50820601 -31.86828118] [ 0. 0. 0. 1. ]] SLAMing on 73.175860169 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:-5.52, Y:24.60, Z:-31.88 [[ 0.47740241 0.2055167 -0.85431249 -5.51733367] [ -0.21785392 0.9695904 0.11150842 24.5978878 ] [ 0.85125003 0.13288093 0.50765741 -31.87940162] [ 0. 0. 0. 1. ]] SLAMing on 73.205860169 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:-5.47, Y:24.14, Z:-31.75 [[ 0.41984929 -0.30864364 -0.85350201 -5.46787523] [ 0.72833829 0.67567807 0.11394065 24.14135 ] [ 0.54152554 -0.6694761 0.50847994 -31.7458567 ] [ 0. 0. 0. 1. ]] SLAMing on 73.235860169 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:-5.49, Y:24.42, Z:-31.90 [[ 5.19078952e-01 2.52187079e-02 -8.54354176e-01 -5.49141637e+00] [ 1.39464035e-01 9.83669767e-01 1.13769826e-01 2.44222070e+01] [ 8.43271501e-01 -1.78207203e-01 5.07085169e-01 -3.19042423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26586016899999 meters Centerline goodness : 0.998731 Centerline is valid? [True, True] Translation: X:-5.45, Y:24.21, Z:-31.83 [[ 0.47245268 -0.21488493 -0.85475899 -5.44801543] [ 0.57411368 0.81087363 0.1134788 24.21314706] [ 0.66871664 -0.54434219 0.5064678 -31.83483156] [ 0. 0. 0. 1. ]] SLAMing on 73.295860169 meters Centerline goodness : 0.736102 Centerline is valid? [True, False] Translation: X:-5.49, Y:24.26, Z:-31.84 [[ 0.49299135 -0.16032018 -0.85513564 -5.49395334] [ 0.48480217 0.86676402 0.11699139 24.25824457] [ 0.72244473 -0.47224736 0.50503074 -31.84140836] [ 0. 0. 0. 1. ]] SLAMing on 73.325860169 meters Centerline goodness : 0.999067 Centerline is valid? [False, True] Translation: X:-5.54, Y:24.30, Z:-31.84 [[ 0.50668622 -0.10864696 -0.85525722 -5.54168374] [ 0.39745433 0.90975538 0.11989665 24.30422341] [ 0.76504845 -0.40067567 0.50414272 -31.83953531] [ 0. 0. 0. 1. ]] SLAMing on 73.355860169 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:-5.48, Y:24.16, Z:-31.76 [[ 0.4308516 -0.28634164 -0.85578932 -5.48303954] [ 0.70032366 0.70417693 0.1169685 24.15800902] [ 0.56913414 -0.64972557 0.50392758 -31.76001498] [ 0. 0. 0. 1. ]] SLAMing on 73.385860169 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:-5.48, Y:24.21, Z:-31.81 [[ 0.46696614 -0.22284659 -0.85573478 -5.47694012] [ 0.59369131 0.79619603 0.11662979 24.20756634] [ 0.65534209 -0.56250447 0.50409867 -31.81416609] [ 0. 0. 0. 1. ]] SLAMing on 73.415860169 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:-5.46, Y:24.59, Z:-31.92 [[ 0.47666409 0.20335345 -0.85524191 -5.45743627] [ -0.20598573 0.97162868 0.11622214 24.58785127] [ 0.85461174 0.12076871 0.50502841 -31.92321132] [ 0. 0. 0. 1. ]] SLAMing on 73.445860169 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:-5.43, Y:24.19, Z:-31.83 [[ 0.45811971 -0.2406381 -0.85569833 -5.42615841] [ 0.6229273 0.77364074 0.11593786 24.18848552] [ 0.63410402 -0.58615127 0.50432011 -31.8309124 ] [ 0. 0. 0. 1. ]] SLAMing on 73.475860169 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:-5.43, Y:24.49, Z:-31.95 [[ 5.08853535e-01 1.01885929e-01 -8.54802514e-01 -5.42505746e+00] [-4.88263619e-03 9.93297010e-01 1.15486840e-01 2.44858900e+01] [ 8.60839265e-01 -5.45921973e-02 5.05940166e-01 -3.19532169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.505860169 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:-5.41, Y:24.44, Z:-31.96 [[ 0.51666431 0.05108597 -0.85466263 -5.40558614] [ 0.09256684 0.98903424 0.1150767 24.4384935 ] [ 0.85116941 -0.13856944 0.50626983 -31.96209916] [ 0. 0. 0. 1. ]] SLAMing on 73.535860169 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:-5.38, Y:24.44, Z:-31.98 [[ 0.51663232 0.05070145 -0.85470487 -5.38175996] [ 0.09279711 0.98904915 0.11476267 24.43578506] [ 0.85116376 -0.13860424 0.50626981 -31.97591867] [ 0. 0. 0. 1. ]] SLAMing on 73.565860169 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:-5.29, Y:24.74, Z:-31.94 [[ 0.37152549 0.36271857 -0.8546368 -5.28894904] [ -0.54895023 0.82820055 0.11286048 24.74148186] [ 0.74874726 0.42722252 0.50681206 -31.94120621] [ 0. 0. 0. 1. ]] SLAMing on 73.595860169 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:-5.27, Y:24.74, Z:-31.96 [[ 0.37390849 0.35967971 -0.85488183 -5.26784485] [ -0.54292342 0.83218988 0.11266836 24.73681636] [ 0.75194853 0.42200771 0.5064414 -31.95584774] [ 0. 0. 0. 1. ]] SLAMing on 73.62586016899999 meters Centerline goodness : 0.995850 Centerline is valid? [True, True] Translation: X:-5.30, Y:24.55, Z:-32.02 [[ 0.48884398 0.17678371 -0.85427108 -5.29926564] [ -0.15650906 0.98113599 0.11347727 24.54810946] [ 0.85821703 0.07822849 0.50729067 -32.02127908] [ 0. 0. 0. 1. ]] SLAMing on 73.655860169 meters Centerline goodness : 0.992647 Centerline is valid? [True, True] Translation: X:-5.28, Y:24.54, Z:-32.04 [[ 0.49165876 0.16925132 -0.85418128 -5.2783518 ] [ -0.14195772 0.98338533 0.11314285 24.53902104] [ 0.85913891 0.06562995 0.50751654 -32.03565831] [ 0. 0. 0. 1. ]] SLAMing on 73.685860169 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:-5.27, Y:24.44, Z:-32.05 [[ 0.51552917 0.06254079 -0.85458664 -5.26659554] [ 0.06679788 0.99136459 0.11284635 24.43723592] [ 0.85426443 -0.11526016 0.50689977 -32.04710192] [ 0. 0. 0. 1. ]] SLAMing on 73.715860169 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:-5.24, Y:24.40, Z:-32.06 [[ 5.18880908e-01 2.65188650e-02 -8.54435108e-01 -5.24458605e+00] [ 1.34904447e-01 9.84453799e-01 1.12478921e-01 2.44004902e+01] [ 8.44134701e-01 -1.73630260e-01 5.07236768e-01 -3.20557306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.745860169 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:-5.22, Y:24.40, Z:-32.07 [[ 5.18826722e-01 2.61244709e-02 -8.54480160e-01 -5.22072726e+00] [ 1.35111814e-01 9.84464449e-01 1.12136287e-01 2.43979302e+01] [ 8.44134841e-01 -1.73629666e-01 5.07236738e-01 -3.20695447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.775860169 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:-5.20, Y:24.33, Z:-32.07 [[ 0.51653386 -0.05112415 -0.8547392 -5.19668865] [ 0.27939845 0.95364356 0.1118055 24.32669614] [ 0.80940057 -0.29656414 0.5068732 -32.06502578] [ 0. 0. 0. 1. ]] SLAMing on 73.805860169 meters Centerline goodness : 0.993958 Centerline is valid? [True, True] Translation: X:-5.17, Y:24.46, Z:-32.10 [[ 5.09888862e-01 1.00899868e-01 -8.54302385e-01 -5.17097254e+00] [-9.97709614e-03 9.93724233e-01 1.11411879e-01 2.44630726e+01] [ 8.60182426e-01 -4.82842191e-02 5.07695606e-01 -3.21044604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.835860169 meters Centerline goodness : 0.998707 Centerline is valid? [True, True] Translation: X:-5.15, Y:24.31, Z:-32.09 [[ 0.51553893 -0.06785901 -0.85417491 -5.14959417] [ 0.30838155 0.9447563 0.11106913 24.30701039] [ 0.79945008 -0.32067224 0.50798512 -32.08800675] [ 0. 0. 0. 1. ]] SLAMing on 73.865860169 meters Centerline goodness : 0.997872 Centerline is valid? [True, True] Translation: X:-5.13, Y:24.35, Z:-32.12 [[ 5.20428908e-01 -1.92560639e-02 -8.53687856e-01 -5.12872802e+00] [ 2.17463755e-01 9.69770978e-01 1.10696728e-01 2.43474892e+01] [ 8.25750124e-01 -2.43255945e-01 5.08884347e-01 -3.21154795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.895860169 meters Centerline goodness : 0.998548 Centerline is valid? [True, True] Translation: X:-5.10, Y:24.35, Z:-32.13 [[ 5.21018430e-01 -2.09615213e-02 -8.53288000e-01 -5.10492620e+00] [ 2.19652796e-01 9.69321795e-01 1.10308238e-01 2.43452052e+01] [ 8.24798427e-01 -2.44899720e-01 5.09638776e-01 -3.21291381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.925860169 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:-5.08, Y:24.33, Z:-32.14 [[ 0.52076452 -0.03560782 -0.85295744 -5.08099882] [ 0.24590144 0.96304104 0.10992923 24.32980847] [ 0.81751868 -0.26699071 0.51027362 -32.13919622] [ 0. 0. 0. 1. ]] SLAMing on 73.955860169 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:-5.06, Y:24.29, Z:-32.14 [[ 0.5177077 -0.07620401 -0.85215708 -5.05572274] [ 0.31877885 0.94148575 0.10947428 24.28938939] [ 0.79395137 -0.32832533 0.51170665 -32.14008242] [ 0. 0. 0. 1. ]] SLAMing on 73.985860169 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:-5.03, Y:24.30, Z:-32.16 [[ 0.5184084 -0.06524187 -0.85264074 -5.03369295] [ 0.29891184 0.94801217 0.10919994 24.29645119] [ 0.80118939 -0.31147458 0.51095904 -32.15676334] [ 0. 0. 0. 1. ]] SLAMing on 74.01586016899999 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:-5.01, Y:24.25, Z:-32.15 [[ 0.5085776 -0.11711147 -0.8530145 -5.00567285] [ 0.39294095 0.91309066 0.10891675 24.24905857] [ 0.76612417 -0.39057694 0.51039535 -32.15119078] [ 0. 0. 0. 1. ]] SLAMing on 74.045860169 meters Centerline goodness : 0.998308 Centerline is valid? [True, True] Translation: X:-4.98, Y:24.23, Z:-32.16 [[ 0.50435106 -0.13912328 -0.85221753 -4.98013395] [ 0.43051836 0.89603561 0.10850866 24.22682865] [ 0.74852118 -0.42162175 0.51181163 -32.15768236] [ 0. 0. 0. 1. ]] SLAMing on 74.075860169 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:-4.95, Y:24.21, Z:-32.16 [[ 0.49965986 -0.15439004 -0.85235189 -4.95446372] [ 0.45731519 0.88269822 0.10819737 24.21214451] [ 0.7356649 -0.44385535 0.51165378 -32.16466829] [ 0. 0. 0. 1. ]] SLAMing on 74.105860169 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:-4.89, Y:24.08, Z:-32.08 [[ 0.41602053 -0.31538737 -0.85291132 -4.89097754] [ 0.73159641 0.67313936 0.10793557 24.08054623] [ 0.54008667 -0.66889028 0.51077606 -32.08133894] [ 0. 0. 0. 1. ]] SLAMing on 74.135860169 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:-4.91, Y:24.19, Z:-32.19 [[ 0.49581426 -0.16832614 -0.85195923 -4.90574469] [ 0.48025198 0.87051823 0.10749906 24.19483506] [ 0.72355114 -0.46245467 0.51245431 -32.18608147] [ 0. 0. 0. 1. ]] SLAMing on 74.165860169 meters Centerline goodness : 0.998689 Centerline is valid? [True, True] Translation: X:-4.88, Y:24.19, Z:-32.20 [[ 0.49437655 -0.17295403 -0.85186779 -4.88226731] [ 0.48771059 0.86640675 0.10713416 24.18785149] [ 0.71953472 -0.46842956 0.51268269 -32.197628 ] [ 0. 0. 0. 1. ]] SLAMing on 74.195860169 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:-4.86, Y:24.19, Z:-32.21 [[ 0.49484999 -0.1724292 -0.85169928 -4.85791037] [ 0.48603611 0.86738984 0.10678844 24.18775517] [ 0.72034185 -0.46680086 0.51303467 -32.21050123] [ 0. 0. 0. 1. ]] SLAMing on 74.225860169 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:-4.84, Y:24.19, Z:-32.23 [[ 0.4989087 -0.16076992 -0.85161209 -4.83800645] [ 0.46494492 0.87891563 0.10645911 24.19457356] [ 0.73137975 -0.44906609 0.51324781 -32.22961473] [ 0. 0. 0. 1. ]] SLAMing on 74.255860169 meters Centerline goodness : 0.997339 Centerline is valid? [True, True] Translation: X:-4.82, Y:24.20, Z:-32.25 [[ 0.50191845 -0.15177436 -0.85149423 -4.8171781 ] [ 0.44838848 0.88751815 0.10610987 24.19996955] [ 0.73961182 -0.4350587 0.51351561 -32.24743382] [ 0. 0. 0. 1. ]] SLAMing on 74.285860169 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:-4.77, Y:24.11, Z:-32.20 [[ 0.45181883 -0.26259908 -0.85258517 -4.76881053] [ 0.64147555 0.75979553 0.10592388 24.10914432] [ 0.61997489 -0.59477094 0.51174081 -32.19954692] [ 0. 0. 0. 1. ]] SLAMing on 74.315860169 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:-4.77, Y:24.18, Z:-32.26 [[ 0.49300636 -0.17698468 -0.85183399 -4.7662216 ] [ 0.49255621 0.86385137 0.10558969 24.17583906] [ 0.71717021 -0.47163251 0.51305913 -32.26359574] [ 0. 0. 0. 1. ]] SLAMing on 74.345860169 meters Centerline goodness : 0.995501 Centerline is valid? [True, True] Translation: X:-4.75, Y:24.21, Z:-32.29 [[ 0.50442953 -0.14026712 -0.85198356 -4.75016809] [ 0.42745817 0.89788649 0.10525858 24.20513175] [ 0.75022021 -0.41728287 0.51287878 -32.29384878] [ 0. 0. 0. 1. ]] SLAMing on 74.37586016899999 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:-4.70, Y:24.10, Z:-32.24 [[ 0.44976492 -0.26477117 -0.85299926 -4.70084794] [ 0.64486849 0.75704152 0.10503697 24.10223551] [ 0.6179451 -0.59731429 0.5112333 -32.23931099] [ 0. 0. 0. 1. ]] SLAMing on 74.405860169 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:-4.68, Y:24.09, Z:-32.25 [[ 0.44479091 -0.27361104 -0.85281771 -4.67505705] [ 0.65897646 0.74483742 0.10472461 24.09329259] [ 0.60655674 -0.60856735 0.51160014 -32.24746242] [ 0. 0. 0. 1. ]] SLAMing on 74.435860169 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:-4.67, Y:24.16, Z:-32.31 [[ 0.48770922 -0.19218796 -0.85158881 -4.67319182] [ 0.5168764 0.84968752 0.10425885 24.15621277] [ 0.70354709 -0.49101416 0.51373786 -32.30962506] [ 0. 0. 0. 1. ]] SLAMing on 74.465860169 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:-4.65, Y:24.16, Z:-32.32 [[ 0.48863762 -0.18983955 -0.85158336 -4.65047512] [ 0.51234003 0.85246907 0.10394316 24.15554743] [ 0.70621595 -0.48709078 0.51381085 -32.32445516] [ 0. 0. 0. 1. ]] SLAMing on 74.495860169 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:-4.62, Y:24.14, Z:-32.33 [[ 0.47890312 -0.21262634 -0.85172874 -4.62262369] [ 0.55174928 0.82754495 0.10364403 24.13501019] [ 0.68280636 -0.51957617 0.51363029 -32.3258323 ] [ 0. 0. 0. 1. ]] SLAMing on 74.525860169 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:-4.60, Y:24.15, Z:-32.35 [[ 0.48672047 -0.19486185 -0.85154685 -4.60426538] [ 0.52026052 0.84772747 0.10337858 24.14706042] [ 0.70173511 -0.49334268 0.51398524 -32.34918914] [ 0. 0. 0. 1. ]] SLAMing on 74.555860169 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:-4.55, Y:24.07, Z:-32.30 [[ 0.43111642 -0.29540517 -0.8525693 -4.55454843] [ 0.69296499 0.71355091 0.10317279 24.06556031] [ 0.57787383 -0.63528016 0.51232896 -32.29986144] [ 0. 0. 0. 1. ]] SLAMing on 74.585860169 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:-4.53, Y:24.06, Z:-32.32 [[ 0.42933885 -0.29316864 -0.85423668 -4.53332664] [ 0.69267037 0.71384016 0.10315028 24.05738929] [ 0.57954803 -0.63599086 0.50954854 -32.31697844] [ 0. 0. 0. 1. ]] SLAMing on 74.615860169 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:-4.42, Y:23.94, Z:-32.16 [[ 0.24980908 -0.45447044 -0.85501581 -4.42430328] [ 0.9406764 0.32329593 0.10299349 23.93824838] [ 0.22961563 -0.8300219 0.50827188 -32.15741607] [ 0. 0. 0. 1. ]] SLAMing on 74.645860169 meters Centerline goodness : 0.998458 Centerline is valid? [True, True] Translation: X:-4.49, Y:24.07, Z:-32.36 [[ 0.44039815 -0.27309026 -0.85526088 -4.49396191] [ 0.66071988 0.74355995 0.10280001 24.06863768] [ 0.60786405 -0.61036081 0.50789859 -32.3579419 ] [ 0. 0. 0. 1. ]] SLAMing on 74.675860169 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:-4.40, Y:23.96, Z:-32.23 [[ 0.3024113 -0.41934148 -0.85597905 -4.40438671] [ 0.89434188 0.43545148 0.10263828 23.95774862] [ 0.32969685 -0.79657688 0.5067201 -32.23396656] [ 0. 0. 0. 1. ]] SLAMing on 74.705860169 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:-4.39, Y:23.97, Z:-32.27 [[ 0.33004883 -0.39791554 -0.85599707 -4.39391424] [ 0.86265912 0.4953186 0.10236561 23.97158559] [ 0.38325841 -0.77221933 0.5067448 -32.27377479] [ 0. 0. 0. 1. ]] SLAMing on 74.735860169 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:-4.39, Y:24.01, Z:-32.34 [[ 0.38121966 -0.34992002 -0.85570296 -4.3947545 ] [ 0.78725055 0.6081315 0.10204242 24.00644894] [ 0.48467323 -0.7125532 0.50730641 -32.33546626] [ 0. 0. 0. 1. ]] SLAMing on 74.76586016899999 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:-4.42, Y:24.15, Z:-32.47 [[ 0.48965971 -0.17270957 -0.85463722 -4.42319612] [ 0.48391386 0.86919735 0.10160384 24.14776334] [ 0.72530045 -0.4633221 0.50918748 -32.46872139] [ 0. 0. 0. 1. ]] SLAMing on 74.795860169 meters Centerline goodness : 0.998684 Centerline is valid? [True, True] Translation: X:-4.36, Y:24.02, Z:-32.38 [[ 0.39751085 -0.33348934 -0.85485085 -4.35536288] [ 0.75829624 0.64397777 0.10138758 24.01569379] [ 0.51669327 -0.68853285 0.50887187 -32.37776537] [ 0. 0. 0. 1. ]] SLAMing on 74.825860169 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:-4.33, Y:24.00, Z:-32.38 [[ 0.38628008 -0.3456623 -0.85516389 -4.32674343] [ 0.77837629 0.61959575 0.10115063 24.0037534 ] [ 0.49489195 -0.70471177 0.50839284 -32.38118563] [ 0. 0. 0. 1. ]] SLAMing on 74.855860169 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:-4.30, Y:24.00, Z:-32.39 [[ 0.38501217 -0.34802641 -0.85477672 -4.30399524] [ 0.78095173 0.61640602 0.10078696 24.00084257] [ 0.491813 -0.70634357 0.50911565 -32.39321694] [ 0. 0. 0. 1. ]] SLAMing on 74.885860169 meters Centerline goodness : 0.995304 Centerline is valid? [True, True] Translation: X:-4.32, Y:24.09, Z:-32.50 [[ 0.4690785 -0.22710233 -0.85345761 -4.3214251 ] [ 0.57560547 0.81153849 0.10041725 24.09403399] [ 0.66980871 -0.53835844 0.5113966 -32.49728828] [ 0. 0. 0. 1. ]] SLAMing on 74.915860169 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:-4.30, Y:24.09, Z:-32.51 [[ 0.46802675 -0.22472445 -0.85466361 -4.29860164] [ 0.57356073 0.81299668 0.10032197 24.09234909] [ 0.67229387 -0.53715484 0.50939731 -32.51087138] [ 0. 0. 0. 1. ]] SLAMing on 74.945860169 meters Centerline goodness : 0.998751 Centerline is valid? [True, True] Translation: X:-4.28, Y:24.11, Z:-32.54 [[ 0.47845724 -0.20138738 -0.85470568 -4.28020406] [ 0.53246986 0.84051787 0.10002785 24.10983929] [ 0.69825105 -0.50296406 0.50938456 -32.53798374] [ 0. 0. 0. 1. ]] SLAMing on 74.975860169 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:-4.21, Y:24.00, Z:-32.45 [[ 0.38847651 -0.34256308 -0.855416 -4.21351238] [ 0.77262189 0.62697376 0.09979635 23.99501759] [ 0.50213684 -0.69968167 0.50823631 -32.4518728 ] [ 0. 0. 0. 1. ]] SLAMing on 75.005860169 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:-4.19, Y:23.99, Z:-32.47 [[ 0.38820816 -0.34278189 -0.85545017 -4.19024163] [ 0.77276135 0.62684849 0.09950311 23.99285837] [ 0.50212978 -0.69968675 0.50823629 -32.46526605] [ 0. 0. 0. 1. ]] SLAMing on 75.035860169 meters Centerline goodness : 0.995590 Centerline is valid? [True, True] Translation: X:-4.22, Y:24.13, Z:-32.59 [[ 0.48975852 -0.17539502 -0.85403348 -4.21616221] [ 0.48408031 0.86939913 0.09905253 24.12685972] [ 0.72512264 -0.46193261 0.5107009 -32.5920844 ] [ 0. 0. 0. 1. ]] SLAMing on 75.065860169 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:-4.19, Y:24.13, Z:-32.61 [[ 0.4933546 -0.16510664 -0.85401466 -4.19431276] [ 0.46530696 0.87962429 0.09874482 24.13438997] [ 0.73490862 -0.44609518 0.51079195 -32.61026132] [ 0. 0. 0. 1. ]] SLAMing on 75.095860169 meters Centerline goodness : 0.989094 Centerline is valid? [True, True] Translation: X:-4.17, Y:24.15, Z:-32.63 [[ 0.49824427 -0.15032419 -0.8539059 -4.17379953] [ 0.4382526 0.8934462 0.09843037 24.14535572] [ 0.74812252 -0.42326885 0.51103441 -32.62995017] [ 0. 0. 0. 1. ]] SLAMing on 75.12586016899999 meters Centerline goodness : 0.993513 Centerline is valid? [True, True] Translation: X:-4.15, Y:24.13, Z:-32.64 [[ 0.49249144 -0.16882658 -0.85378555 -4.14765021] [ 0.47066375 0.8768411 0.09810869 24.12722171] [ 0.73207091 -0.4501636 0.51129729 -32.63554718] [ 0. 0. 0. 1. ]] SLAMing on 75.155860169 meters Centerline goodness : 0.995918 Centerline is valid? [True, True] Translation: X:-4.12, Y:24.09, Z:-32.63 [[ 0.4768495 -0.20741826 -0.8541617 -4.11712245] [ 0.53911545 0.83653047 0.09783304 24.09145575] [ 0.69423993 -0.50714341 0.51072153 -32.63088036] [ 0. 0. 0. 1. ]] SLAMing on 75.185860169 meters Centerline goodness : 0.987207 Centerline is valid? [True, True] Translation: X:-4.09, Y:24.08, Z:-32.64 [[ 0.47202844 -0.21678313 -0.85451403 -4.09324957] [ 0.55574576 0.82561043 0.0975401 24.08115821] [ 0.68435065 -0.52093425 0.51018791 -32.63985951] [ 0. 0. 0. 1. ]] SLAMing on 75.215860169 meters Centerline goodness : 0.988161 Centerline is valid? [True, True] Translation: X:-4.07, Y:24.08, Z:-32.65 [[ 0.47073581 -0.21885737 -0.85469834 -4.06955419] [ 0.5593219 0.82322563 0.09725519 24.07785432] [ 0.68232456 -0.523833 0.50993351 -32.65206923] [ 0. 0. 0. 1. ]] SLAMing on 75.245860169 meters Centerline goodness : 0.987143 Centerline is valid? [True, True] Translation: X:-4.04, Y:24.06, Z:-32.66 [[ 0.46320457 -0.23495389 -0.85453976 -4.04288647] [ 0.58664537 0.80402253 0.09692772 24.06206661] [ 0.66429567 -0.54620916 0.51026152 -32.65732072] [ 0. 0. 0. 1. ]] SLAMing on 75.275860169 meters Centerline goodness : 0.992494 Centerline is valid? [True, True] Translation: X:-4.02, Y:24.06, Z:-32.67 [[ 0.46292689 -0.2342412 -0.85488581 -4.02023827] [ 0.58567922 0.80476085 0.09664275 24.06130501] [ 0.66534092 -0.54542738 0.50973564 -32.67111102] [ 0. 0. 0. 1. ]] SLAMing on 75.305860169 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:-4.01, Y:24.14, Z:-32.72 [[ 0.49790948 -0.15117169 -0.85395156 -4.01030923] [ 0.43660411 0.89449346 0.09622002 24.13615451] [ 0.74930835 -0.42074762 0.51137895 -32.72268206] [ 0. 0. 0. 1. ]] SLAMing on 75.335860169 meters Centerline goodness : 0.995151 Centerline is valid? [True, True] Translation: X:-3.99, Y:24.16, Z:-32.75 [[ 0.50681944 -0.12638233 -0.85273768 -3.9906027 ] [ 0.38955846 0.91600868 0.09577212 24.15651172] [ 0.76901122 -0.38073035 0.51348432 -32.74519444] [ 0. 0. 0. 1. ]] SLAMing on 75.365860169 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:-3.94, Y:24.06, Z:-32.70 [[ 0.45934203 -0.24516496 -0.85375585 -3.94233934] [ 0.60112253 0.79342056 0.09557993 24.05741381] [ 0.65395459 -0.55711575 0.51182559 -32.69738773] [ 0. 0. 0. 1. ]] SLAMing on 75.395860169 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:-3.92, Y:24.06, Z:-32.71 [[ 0.46388808 -0.23764841 -0.85342315 -3.92144518] [ 0.58708129 0.80390417 0.09525575 24.06228238] [ 0.66343305 -0.54521677 0.5124405 -32.71405207] [ 0. 0. 0. 1. ]] SLAMing on 75.425860169 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:-3.92, Y:24.14, Z:-32.78 [[ 0.50445578 -0.14307408 -0.85150113 -3.91769124] [ 0.41637208 0.90424527 0.09473534 24.13673839] [ 0.75641169 -0.40233109 0.51572381 -32.77538931] [ 0. 0. 0. 1. ]] SLAMing on 75.455860169 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:-3.90, Y:24.14, Z:-32.79 [[ 0.50584912 -0.13829967 -0.85146337 -3.89574388] [ 0.40729747 0.90840117 0.09442507 24.13834533] [ 0.76041136 -0.39456371 0.51584304 -32.79147524] [ 0. 0. 0. 1. ]] SLAMing on 75.485860169 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:-3.85, Y:24.05, Z:-32.75 [[ 0.45942172 -0.24850053 -0.85274801 -3.8493613 ] [ 0.60328836 0.79193496 0.09424533 24.04694454] [ 0.65190095 -0.5577513 0.5137496 -32.74741078] [ 0. 0. 0. 1. ]] SLAMing on 75.51586016899999 meters Centerline goodness : 0.986239 Centerline is valid? [True, True] Translation: X:-3.85, Y:24.14, Z:-32.82 [[ 0.50713344 -0.12759203 -0.85237078 -3.85186446] [ 0.38845378 0.91667136 0.09390038 24.14366161] [ 0.76936294 -0.37872667 0.5144383 -32.82411871] [ 0. 0. 0. 1. ]] SLAMing on 75.545860169 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:-3.80, Y:24.02, Z:-32.76 [[ 0.44446995 -0.27060396 -0.85394377 -3.79802168] [ 0.64290782 0.76018644 0.09373421 24.02498053] [ 0.62379162 -0.59066917 0.51185344 -32.76155722] [ 0. 0. 0. 1. ]] SLAMing on 75.575860169 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:-3.80, Y:24.14, Z:-32.85 [[ 0.50477516 -0.1314364 -0.85318609 -3.80363475] [ 0.39565751 0.9136431 0.093335 24.13873129] [ 0.76723997 -0.38468268 0.51318814 -32.84799831] [ 0. 0. 0. 1. ]] SLAMing on 75.605860169 meters Centerline goodness : 0.989446 Centerline is valid? [True, True] Translation: X:-3.79, Y:24.17, Z:-32.88 [[ 0.51500214 -0.08967872 -0.85248491 -3.78669024] [ 0.31812699 0.94348199 0.09293516 24.17259087] [ 0.79596985 -0.31906027 0.51442447 -32.87707936] [ 0. 0. 0. 1. ]] SLAMing on 75.635860169 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:-3.74, Y:24.06, Z:-32.83 [[ 0.46777663 -0.2263226 -0.85437878 -3.74057562] [ 0.56600122 0.8191537 0.0928969 24.05588503] [ 0.67884287 -0.52703443 0.51127983 -32.82887519] [ 0. 0. 0. 1. ]] SLAMing on 75.665860169 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:-3.72, Y:24.05, Z:-32.84 [[ 0.46285909 -0.23490463 -0.85474048 -3.71631391] [ 0.58132374 0.80838209 0.0926343 24.04730888] [ 0.66919667 -0.53975756 0.51072263 -32.83808592] [ 0. 0. 0. 1. ]] SLAMing on 75.695860169 meters Centerline goodness : 0.994999 Centerline is valid? [True, True] Translation: X:-3.72, Y:24.15, Z:-32.91 [[ 0.50999945 -0.10507432 -0.85373295 -3.71803544] [ 0.34669827 0.93343168 0.09222583 24.15480528] [ 0.78721082 -0.34302286 0.51247873 -32.91268593] [ 0. 0. 0. 1. ]] SLAMing on 75.725860169 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:-3.67, Y:24.03, Z:-32.85 [[ 0.45105755 -0.25852351 -0.85423222 -3.66645479] [ 0.62048063 0.77881478 0.09193113 24.02535154] [ 0.64152232 -0.57150077 0.51169911 -32.85120803] [ 0. 0. 0. 1. ]] SLAMing on 75.755860169 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:-3.67, Y:24.17, Z:-32.94 [[ 0.51255953 -0.09109928 -0.85380539 -3.67348812] [ 0.31507284 0.94494889 0.08832156 24.16944713] [ 0.79875643 -0.31428094 0.51304547 -32.93959112] [ 0. 0. 0. 1. ]] SLAMing on 75.785860169 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:-3.65, Y:24.15, Z:-32.95 [[ 0.50867495 -0.10905235 -0.85402423 -3.64897953] [ 0.34805627 0.93332183 0.08813165 24.15005838] [ 0.78746849 -0.34207885 0.51271379 -32.94836351] [ 0. 0. 0. 1. ]] SLAMing on 75.815860169 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:-3.63, Y:24.15, Z:-32.97 [[ 0.50991098 -0.10240311 -0.85411029 -3.62710611] [ 0.33684272 0.93737246 0.08871213 24.15184564] [ 0.79153507 -0.33293613 0.51247026 -32.96587168] [ 0. 0. 0. 1. ]] SLAMing on 75.845860169 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:-3.57, Y:23.99, Z:-32.89 [[ 0.43145076 -0.28974152 -0.8543419 -3.56597389] [ 0.67323238 0.73379392 0.09112985 23.9884476 ] [ 0.60050679 -0.61448868 0.51165932 -32.88544566] [ 0. 0. 0. 1. ]] SLAMing on 75.87586016899999 meters Centerline goodness : 0.998714 Centerline is valid? [True, True] Translation: X:-3.58, Y:24.18, Z:-33.00 [[ 0.5146144 -0.06792051 -0.85472734 -3.58427563] [ 0.27199502 0.95830208 0.08761179 24.18054287] [ 0.81313635 -0.27756787 0.51163009 -33.00077581] [ 0. 0. 0. 1. ]] SLAMing on 75.905860169 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:-3.54, Y:24.05, Z:-32.96 [[ 0.47526931 -0.21298482 -0.85367239 -3.54186135] [ 0.53913045 0.83726317 0.09126196 24.04707836] [ 0.69531104 -0.50361479 0.51275209 -32.95985496] [ 0. 0. 0. 1. ]] SLAMing on 75.935860169 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:-3.53, Y:24.11, Z:-33.01 [[ 0.50348022 -0.13489498 -0.85341139 -3.53209737] [ 0.39856511 0.91262591 0.09088347 24.11286245] [ 0.76658562 -0.38589804 0.51325353 -33.00843202] [ 0. 0. 0. 1. ]] SLAMing on 75.965860169 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:-3.49, Y:24.02, Z:-32.97 [[ 0.4582489 -0.24534625 -0.85429103 -3.48693885] [ 0.59613612 0.79774782 0.09066499 24.01870348] [ 0.65926449 -0.55082087 0.51182683 -32.96872038] [ 0. 0. 0. 1. ]] SLAMing on 75.995860169 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:-3.49, Y:24.15, Z:-33.05 [[ 0.5122711 -0.09339522 -0.85373043 -3.49145733] [ 0.32227797 0.94232921 0.09029156 24.14722855] [ 0.79606232 -0.32139227 0.51282725 -33.0517217 ] [ 0. 0. 0. 1. ]] SLAMing on 76.025860169 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:-3.47, Y:24.16, Z:-33.07 [[ 0.51474662 -0.07646319 -0.85392581 -3.46996154] [ 0.29076671 0.95255362 0.08997959 24.16133919] [ 0.80653 -0.29460989 0.51255671 -33.06993031] [ 0. 0. 0. 1. ]] SLAMing on 76.055860169 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:-3.44, Y:24.11, Z:-33.07 [[ 0.50371309 -0.12976468 -0.85406923 -3.44062528] [ 0.38831381 0.9171541 0.08967019 24.11333746] [ 0.77167707 -0.37681492 0.51237195 -33.06586804] [ 0. 0. 0. 1. ]] SLAMing on 76.085860169 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:-3.42, Y:24.18, Z:-33.10 [[ 0.51698026 -0.05822543 -0.85401476 -3.42485753] [ 0.25600002 0.96253899 0.08934589 24.17503275] [ 0.8168203 -0.26481786 0.51251937 -33.10210569] [ 0. 0. 0. 1. ]] SLAMing on 76.115860169 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:-3.40, Y:24.17, Z:-33.12 [[ 0.51552088 -0.0643104 -0.8544603 -3.40214206] [ 0.26730285 0.95948849 0.08905634 24.16730713] [ 0.81411757 -0.27431007 0.5118267 -33.11505197] [ 0. 0. 0. 1. ]] SLAMing on 76.145860169 meters Centerline goodness : 0.990787 Centerline is valid? [True, True] Translation: X:-3.38, Y:24.16, Z:-33.13 [[ 0.51496953 -0.06997342 -0.85434777 -3.38015142] [ 0.27716783 0.95671769 0.08870881 24.1600056 ] [ 0.81116236 -0.28248005 0.51207484 -33.12656589] [ 0. 0. 0. 1. ]] SLAMing on 76.175860169 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:-3.35, Y:24.12, Z:-33.12 [[ 0.50593767 -0.11898327 -0.85432433 -3.35286896] [ 0.36700958 0.92600924 0.08837904 24.11548764] [ 0.7805966 -0.3582595 0.51217096 -33.12370767] [ 0. 0. 0. 1. ]] SLAMing on 76.205860169 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:-3.33, Y:24.12, Z:-33.14 [[ 0.50865056 -0.11121891 -0.85375931 -3.33212339] [ 0.35148965 0.93204743 0.08799213 24.1203092 ] [ 0.78595778 -0.34484481 0.51317874 -33.14060961] [ 0. 0. 0. 1. ]] SLAMing on 76.235860169 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:-3.31, Y:24.12, Z:-33.15 [[ 0.50825657 -0.11603574 -0.85335278 -3.30824674] [ 0.35923319 0.92912552 0.08762011 24.11540335] [ 0.78270478 -0.35108614 0.51391804 -33.15186827] [ 0. 0. 0. 1. ]] SLAMing on 76.26586016899999 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:-3.29, Y:24.12, Z:-33.17 [[ 0.50938051 -0.11148763 -0.85328893 -3.28512535] [ 0.35036149 0.93253617 0.08731049 24.11799164] [ 0.78598875 -0.34343384 0.51407672 -33.16739568] [ 0. 0. 0. 1. ]] SLAMing on 76.295860169 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:-3.26, Y:24.13, Z:-33.19 [[ 0.5117462 -0.09930383 -0.85337833 -3.2633439 ] [ 0.32761987 0.94079665 0.08698782 24.12844174] [ 0.79421725 -0.32409938 0.51398302 -33.18538835] [ 0. 0. 0. 1. ]] SLAMing on 76.325860169 meters Centerline goodness : 0.986241 Centerline is valid? [True, True] Translation: X:-3.24, Y:24.13, Z:-33.20 [[ 0.51346961 -0.08976895 -0.85339938 -3.24233146] [ 0.3095464 0.94692908 0.0866392 24.13493307] [ 0.80033118 -0.3086533 0.51400696 -33.20227436] [ 0. 0. 0. 1. ]] SLAMing on 76.355860169 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:-3.20, Y:24.04, Z:-33.17 [[ 0.48105637 -0.19456536 -0.85482694 -3.20223834] [ 0.50172542 0.86069662 0.08644611 24.04429868] [ 0.71892724 -0.47047386 0.51166198 -33.16903911] [ 0. 0. 0. 1. ]] SLAMing on 76.385860169 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:-3.20, Y:24.15, Z:-33.23 [[ 0.51570985 -0.07619446 -0.85336848 -3.19692002] [ 0.28342366 0.955131 0.08599882 24.14522966] [ 0.80852606 -0.28621526 0.51416577 -33.23137634] [ 0. 0. 0. 1. ]] SLAMing on 76.415860169 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:-3.16, Y:24.04, Z:-33.20 [[ 0.48243533 -0.19277159 -0.85445612 -3.1569365 ] [ 0.49705912 0.86346011 0.08584209 24.04280019] [ 0.72124086 -0.46612847 0.51238254 -33.19581945] [ 0. 0. 0. 1. ]] SLAMing on 76.445860169 meters Centerline goodness : 0.998736 Centerline is valid? [True, True] Translation: X:-3.13, Y:24.05, Z:-33.21 [[ 0.48371315 -0.18615958 -0.85519951 -3.13470697] [ 0.48609813 0.86969903 0.08562827 24.04617513] [ 0.72782566 -0.45713041 0.51117668 -33.21155957] [ 0. 0. 0. 1. ]] SLAMing on 76.475860169 meters Centerline goodness : 0.993552 Centerline is valid? [True, True] Translation: X:-3.13, Y:24.16, Z:-33.28 [[ 0.51672244 -0.05834965 -0.8541623 -3.12977257] [ 0.24981989 0.96453328 0.08523832 24.15534752] [ 0.81889434 -0.25743128 0.5129729 -33.27542309] [ 0. 0. 0. 1. ]] SLAMing on 76.505860169 meters Centerline goodness : 0.996046 Centerline is valid? [True, True] Translation: X:-3.11, Y:24.15, Z:-33.29 [[ 0.51611596 -0.06254304 -0.85423222 -3.105815 ] [ 0.25722243 0.96261266 0.08493226 24.15013435] [ 0.81698283 -0.26356258 0.51290723 -33.28800733] [ 0. 0. 0. 1. ]] SLAMing on 76.535860169 meters Centerline goodness : 0.984268 Centerline is valid? [True, True] Translation: X:-3.08, Y:24.17, Z:-33.31 [[ 0.51875057 -0.03891083 -0.85403969 -3.08404152] [ 0.2122817 0.97354078 0.0845862 24.17134139] [ 0.82815115 -0.22517614 0.5132849 -33.30731294] [ 0. 0. 0. 1. ]] SLAMing on 76.565860169 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:-3.04, Y:24.04, Z:-33.26 [[ 0.48131279 -0.1911194 -0.85545975 -3.04205087] [ 0.49365517 0.86555513 0.08437355 24.03700717] [ 0.72432215 -0.4629122 0.51094983 -33.26309155] [ 0. 0. 0. 1. ]] SLAMing on 76.595860169 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:-3.02, Y:24.04, Z:-33.28 [[ 0.48114591 -0.19141836 -0.85548678 -3.01881066] [ 0.49384792 0.86547188 0.08409913 24.03521379] [ 0.72430163 -0.46294432 0.51094981 -33.27649964] [ 0. 0. 0. 1. ]] SLAMing on 76.62586016899999 meters Centerline goodness : 0.992674 Centerline is valid? [True, True] Translation: X:-3.02, Y:24.16, Z:-33.34 [[ 0.51881626 -0.04794882 -0.85354004 -3.01641158] [ 0.22718387 0.97025815 0.08358594 24.15966425] [ 0.82414633 -0.23727628 0.51427891 -33.34316422] [ 0. 0. 0. 1. ]] SLAMing on 76.655860169 meters Centerline goodness : 0.994454 Centerline is valid? [True, True] Translation: X:-2.99, Y:24.15, Z:-33.35 [[ 0.51736585 -0.06171061 -0.8535364 -2.99273554] [ 0.25235032 0.96404724 0.08326007 24.14541553] [ 0.81771138 -0.2584661 0.51433781 -33.35365821] [ 0. 0. 0. 1. ]] SLAMing on 76.685860169 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:-2.95, Y:24.02, Z:-33.31 [[ 0.477764 -0.19945389 -0.85554644 -2.94854139] [ 0.50702479 0.85791303 0.08313295 24.02430257] [ 0.71740325 -0.47350118 0.51100803 -33.31200117] [ 0. 0. 0. 1. ]] SLAMing on 76.715860169 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:-2.92, Y:24.02, Z:-33.33 [[ 0.4775987 -0.19973778 -0.8555725 -2.92458721] [ 0.50720101 0.85783485 0.08286441 24.02240465] [ 0.71738875 -0.47352317 0.51100801 -33.32583001] [ 0. 0. 0. 1. ]] SLAMing on 76.745860169 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:-2.91, Y:24.05, Z:-33.35 [[ 0.49057301 -0.16818934 -0.85501489 -2.90721855] [ 0.44886016 0.88978471 0.08250895 24.04844373] [ 0.74690205 -0.42425878 0.51199786 -33.35318795] [ 0. 0. 0. 1. ]] SLAMing on 76.775860169 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:-2.88, Y:24.05, Z:-33.37 [[ 0.49042891 -0.16847759 -0.85504081 -2.88398551] [ 0.44902971 0.88972406 0.08224003 24.04671048] [ 0.74689478 -0.42427161 0.51199784 -33.36660239] [ 0. 0. 0. 1. ]] SLAMing on 76.805860169 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:-2.85, Y:23.99, Z:-33.35 [[ 0.46768923 -0.22674497 -0.85431464 -2.84855008] [ 0.55191711 0.82986869 0.08188685 23.99490961] [ 0.69040154 -0.50980847 0.51326508 -33.35188458] [ 0. 0. 0. 1. ]] SLAMing on 76.835860169 meters Centerline goodness : 0.992205 Centerline is valid? [True, True] Translation: X:-2.85, Y:24.10, Z:-33.42 [[ 0.51220354 -0.105925 -0.85230712 -2.84753775] [ 0.32992904 0.94049055 0.0813901 24.09531177] [ 0.79296555 -0.32288917 0.51667032 -33.42195526] [ 0. 0. 0. 1. ]] SLAMing on 76.865860169 meters Centerline goodness : 0.998357 Centerline is valid? [True, True] Translation: X:-2.82, Y:24.06, Z:-33.42 [[ 0.50398165 -0.14182542 -0.85199064 -2.82077276] [ 0.39454063 0.91529963 0.08102024 24.06159393] [ 0.76833599 -0.37697764 0.5172501 -33.42176 ] [ 0. 0. 0. 1. ]] SLAMing on 76.895860169 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:-2.78, Y:23.98, Z:-33.39 [[ 0.46430353 -0.23668065 -0.85346617 -2.77752238] [ 0.56660757 0.82001235 0.08084308 23.98204872] [ 0.68071881 -0.52111612 0.51483968 -33.38681164] [ 0. 0. 0. 1. ]] SLAMing on 76.925860169 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:-2.78, Y:24.15, Z:-33.48 [[ 0.52011901 -0.03868395 -0.8532173 -2.78459131] [ 0.1987385 0.97703463 0.07685276 24.15453051] [ 0.83064988 -0.20953971 0.51586228 -33.47989701] [ 0. 0. 0. 1. ]] SLAMing on 76.955860169 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:-2.76, Y:24.16, Z:-33.49 [[ 0.52038186 -0.0355433 -0.85319364 -2.76098603] [ 0.19217857 0.97837719 0.07645566 24.15604813] [ 0.83202771 -0.20375167 0.51596041 -33.49467443] [ 0. 0. 0. 1. ]] SLAMing on 76.985860169 meters Centerline goodness : 0.998695 Centerline is valid? [True, True] Translation: X:-2.71, Y:23.99, Z:-33.43 [[ 0.46851959 -0.22728569 -0.85371577 -2.70859523] [ 0.54917914 0.83187454 0.07991887 23.98648328] [ 0.69201999 -0.50628645 0.51457008 -33.43386502] [ 0. 0. 0. 1. ]] SLAMing on 77.01586016899999 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:-2.69, Y:24.00, Z:-33.45 [[ 0.47428674 -0.21479668 -0.85376488 -2.68914432] [ 0.5268021 0.84623862 0.07974797 23.995901 ] [ 0.70535922 -0.48758854 0.5145151 -33.45364416] [ 0. 0. 0. 1. ]] SLAMing on 77.045860169 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:-2.68, Y:24.07, Z:-33.51 [[ 0.50864412 -0.12161724 -0.85234407 -2.68280378] [ 0.35549775 0.93131031 0.07926194 24.07388856] [ 0.7841572 -0.34332252 0.51694016 -33.51054488] [ 0. 0. 0. 1. ]] SLAMing on 77.075860169 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:-2.65, Y:24.02, Z:-33.49 [[ 0.48473518 -0.18742777 -0.85434339 -2.64820896] [ 0.4776851 0.87496511 0.07907595 24.01758477] [ 0.73269963 -0.446438 0.51365783 -33.49448858] [ 0. 0. 0. 1. ]] SLAMing on 77.105860169 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:-2.64, Y:24.10, Z:-33.55 [[ 0.51461012 -0.0927711 -0.85239072 -2.64061249] [ 0.30145482 0.95023727 0.07857564 24.09824194] [ 0.80268388 -0.29739311 0.51696801 -33.54655069] [ 0. 0. 0. 1. ]] SLAMing on 77.135860169 meters Centerline goodness : 0.998739 Centerline is valid? [True, True] Translation: X:-2.62, Y:24.13, Z:-33.57 [[ 0.51787078 -0.06153918 -0.85324251 -2.61998955] [ 0.23954385 0.9679394 0.07557824 24.12857098] [ 0.82123602 -0.24352876 0.51600886 -33.56644694] [ 0. 0. 0. 1. ]] SLAMing on 77.165860169 meters Centerline goodness : 0.996148 Centerline is valid? [True, True] Translation: X:-2.60, Y:24.11, Z:-33.58 [[ 0.51630606 -0.08047009 -0.85261516 -2.59679559] [ 0.27781189 0.95747469 0.07786385 24.10763859] [ 0.81009172 -0.27706821 0.51670553 -33.57744891] [ 0. 0. 0. 1. ]] SLAMing on 77.195860169 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:-2.57, Y:24.08, Z:-33.58 [[ 0.51411543 -0.10497419 -0.85127301 -2.56983817] [ 0.32104674 0.94388727 0.0774972 24.08467216] [ 0.79537055 -0.31314093 0.51896863 -33.582714 ] [ 0. 0. 0. 1. ]] SLAMing on 77.225860169 meters Centerline goodness : 0.989293 Centerline is valid? [True, True] Translation: X:-2.55, Y:24.08, Z:-33.60 [[ 0.51600565 -0.10168907 -0.85052778 -2.5466582 ] [ 0.3136009 0.94641925 0.07710429 24.08483696] [ 0.7971152 -0.30651252 0.52024746 -33.59790104] [ 0. 0. 0. 1. ]] SLAMing on 77.255860169 meters Centerline goodness : 0.997739 Centerline is valid? [True, True] Translation: X:-2.52, Y:24.05, Z:-33.60 [[ 0.5065561 -0.1396833 -0.85081696 -2.51847435] [ 0.38279333 0.92063958 0.07675954 24.04941575] [ 0.77257374 -0.36457006 0.51982543 -33.59973454] [ 0. 0. 0. 1. ]] SLAMing on 77.285860169 meters Centerline goodness : 0.998766 Centerline is valid? [True, True] Translation: X:-2.49, Y:24.02, Z:-33.60 [[ 0.49566153 -0.16956365 -0.85180269 -2.48926838] [ 0.43784841 0.89579141 0.07646248 24.0231268 ] [ 0.75007228 -0.41085997 0.51825251 -33.59913368] [ 0. 0. 0. 1. ]] SLAMing on 77.315860169 meters Centerline goodness : 0.998651 Centerline is valid? [True, True] Translation: X:-2.45, Y:23.95, Z:-33.57 [[ 0.45535359 -0.2571024 -0.85237988 -2.44784313] [ 0.59459383 0.8004058 0.07621506 23.94871399] [ 0.66265472 -0.54152462 0.51733916 -33.5686069 ] [ 0. 0. 0. 1. ]] SLAMing on 77.345860169 meters Centerline goodness : 0.983000 Centerline is valid? [True, True] Translation: X:-2.45, Y:24.03, Z:-33.63 [[ 0.50031731 -0.15797459 -0.85130876 -2.44852214] [ 0.41522701 0.90655406 0.07580417 24.02794609] [ 0.75978228 -0.39141253 0.51916001 -33.63398545] [ 0. 0. 0. 1. ]] SLAMing on 77.37586016899999 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:-2.40, Y:23.93, Z:-33.58 [[ 0.44077635 -0.27931624 -0.85305255 -2.39615883] [ 0.6340772 0.76956014 0.07565254 23.9261417 ] [ 0.63534425 -0.57424702 0.51631196 -33.5822916 ] [ 0. 0. 0. 1. ]] SLAMing on 77.405860169 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:-2.40, Y:24.02, Z:-33.66 [[ 0.49615456 -0.16629722 -0.85215955 -2.40155076] [ 0.43081774 0.89928846 0.07534154 24.01812295] [ 0.75380816 -0.40450649 0.51782986 -33.65717586] [ 0. 0. 0. 1. ]] SLAMing on 77.435860169 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:-2.35, Y:23.92, Z:-33.60 [[ 0.43466257 -0.28723244 -0.85356076 -2.3500428 ] [ 0.64834319 0.7576243 0.07520992 23.91642709] [ 0.62507565 -0.58609124 0.51553612 -33.60288688] [ 0. 0. 0. 1. ]] SLAMing on 77.465860169 meters Centerline goodness : 0.998689 Centerline is valid? [True, True] Translation: X:-2.37, Y:24.09, Z:-33.71 [[ 0.51432282 -0.08652882 -0.85322025 -2.36661585] [ 0.27996328 0.9573313 0.07167523 24.09169746] [ 0.81061248 -0.27573454 0.51660223 -33.70764676] [ 0. 0. 0. 1. ]] SLAMing on 77.495860169 meters Centerline goodness : 0.327928 Centerline is valid? [True, False] Translation: X:-2.39, Y:24.12, Z:-33.71 [[ 0.51859627 -0.0537693 -0.85332688 -2.38585444] [ 0.21977614 0.97287019 0.07226367 24.12052906] [ 0.82629072 -0.22501655 0.51634407 -33.70714066] [ 0. 0. 0. 1. ]] SLAMing on 77.525860169 meters Centerline goodness : 0.998846 Centerline is valid? [False, True] Translation: X:-2.40, Y:24.14, Z:-33.71 [[ 5.21363549e-01 -3.01722205e-02 -8.52801083e-01 -2.40007408e+00] [ 1.78577352e-01 9.81104214e-01 7.44624162e-02 2.41410059e+01] [ 8.34440039e-01 -1.91112948e-01 5.16900050e-01 -3.37050394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.555860169 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:-2.34, Y:23.92, Z:-33.62 [[ 0.44647877 -0.27555057 -0.85130993 -2.34273048] [ 0.63155999 0.77101382 0.08166806 23.9178402 ] [ 0.63386804 -0.57411634 0.51826802 -33.62347825] [ 0. 0. 0. 1. ]] SLAMing on 77.585860169 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:-2.32, Y:23.92, Z:-33.64 [[ 0.45161727 -0.2668566 -0.85136913 -2.3222848 ] [ 0.61628227 0.78330828 0.08138977 23.92403733] [ 0.64516509 -0.56144072 0.51821455 -33.64231177] [ 0. 0. 0. 1. ]] SLAMing on 77.615860169 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:-2.30, Y:23.93, Z:-33.66 [[ 0.45467807 -0.26176326 -0.85132124 -2.30235477] [ 0.60697106 0.7905762 0.08108882 23.92709807] [ 0.65180824 -0.55359666 0.51834039 -33.65868771] [ 0. 0. 0. 1. ]] SLAMing on 77.645860169 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:-2.30, Y:23.99, Z:-33.72 [[ 0.49459293 -0.17925322 -0.85043878 -2.29808013] [ 0.45938769 0.88456024 0.0807226 23.99454369] [ 0.73779454 -0.43060593 0.51984397 -33.7172015 ] [ 0. 0. 0. 1. ]] SLAMing on 77.675860169 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:-2.28, Y:24.01, Z:-33.74 [[ 0.50120668 -0.15918355 -0.85056009 -2.27911226] [ 0.42310784 0.90250353 0.0804185 24.01125192] [ 0.75483218 -0.40018493 0.51969261 -33.73894677] [ 0. 0. 0. 1. ]] SLAMing on 77.705860169 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:-2.25, Y:23.99, Z:-33.74 [[ 0.49157005 -0.18594982 -0.85075352 -2.2525973 ] [ 0.47098105 0.87849722 0.08012165 23.98533673] [ 0.732486 -0.44007419 0.51942176 -33.74098285] [ 0. 0. 0. 1. ]] SLAMing on 77.735860169 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:-2.23, Y:23.98, Z:-33.75 [[ 0.4891919 -0.19106355 -0.85099119 -2.22886444] [ 0.48005606 0.87359879 0.07982063 23.97942143] [ 0.72817407 -0.44757108 0.51907866 -33.7528886 ] [ 0. 0. 0. 1. ]] SLAMing on 77.76586016899999 meters Centerline goodness : 0.998662 Centerline is valid? [True, True] Translation: X:-2.21, Y:23.99, Z:-33.78 [[ 0.49568246 -0.17333527 -0.85103101 -2.2092047 ] [ 0.44807067 0.890446 0.07961528 23.99228771] [ 0.74399702 -0.42078594 0.51904492 -33.77560979] [ 0. 0. 0. 1. ]] SLAMing on 77.795860169 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:-2.20, Y:24.15, Z:-33.83 [[ 5.21787322e-01 -4.18910625e-03 -8.53065321e-01 -2.20161890e+00] [ 1.30935110e-01 9.88532192e-01 7.52336454e-02 2.41452506e+01] [ 8.42967371e-01 -1.50952164e-01 5.16352066e-01 -3.38349128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.825860169 meters Centerline goodness : 0.998728 Centerline is valid? [True, True] Translation: X:-2.17, Y:24.06, Z:-33.83 [[ 0.51598321 -0.09997802 -0.85074422 -2.17411369] [ 0.30951555 0.94782531 0.07633684 24.05748499] [ 0.79872489 -0.30270709 0.5200067 -33.82766098] [ 0. 0. 0. 1. ]] SLAMing on 77.855860169 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:-2.10, Y:23.85, Z:-33.72 [[ 0.4070021 -0.33231806 -0.85083136 -2.09852977] [ 0.72579639 0.68320143 0.08034551 23.85319077] [ 0.55458894 -0.65023112 0.51925967 -33.72286535] [ 0. 0. 0. 1. ]] SLAMing on 77.885860169 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:-2.09, Y:23.88, Z:-33.76 [[ 0.43228798 -0.29627288 -0.85167452 -2.08841791] [ 0.66612067 0.74152487 0.08015063 23.88054646] [ 0.60779138 -0.60196615 0.51790577 -33.76453296] [ 0. 0. 0. 1. ]] SLAMing on 77.915860169 meters Centerline goodness : 0.285571 Centerline is valid? [True, False] Translation: X:-2.13, Y:23.92, Z:-33.77 [[ 0.45972875 -0.25181657 -0.851609 -2.13090557] [ 0.59318135 0.80073239 0.08344772 23.91546659] [ 0.6608974 -0.54352189 0.51749259 -33.77491784] [ 0. 0. 0. 1. ]] SLAMing on 77.945860169 meters Centerline goodness : 0.999047 Centerline is valid? [False, True] Translation: X:-2.16, Y:23.95, Z:-33.79 [[ 0.47905321 -0.21046563 -0.85218087 -2.15947792] [ 0.52589204 0.84612505 0.08666004 23.94760149] [ 0.70281262 -0.48966991 0.51602112 -33.7852012 ] [ 0. 0. 0. 1. ]] SLAMing on 77.975860169 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:-2.11, Y:23.86, Z:-33.74 [[ 0.42362172 -0.30559033 -0.85273629 -2.11153483] [ 0.69354945 0.7149747 0.08831951 23.86337653] [ 0.58269528 -0.62882886 0.51482082 -33.7417268 ] [ 0. 0. 0. 1. ]] SLAMing on 78.005860169 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:-2.08, Y:23.85, Z:-33.74 [[ 0.41100808 -0.32018645 -0.85355316 -2.08451336] [ 0.71951931 0.68886698 0.08805822 23.8495279 ] [ 0.55978954 -0.65034062 0.51351022 -33.744773 ] [ 0. 0. 0. 1. ]] SLAMing on 78.035860169 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:-2.04, Y:23.81, Z:-33.72 [[ 0.37514545 -0.36184089 -0.85342666 -2.04442918] [ 0.78772772 0.60974266 0.0877435 23.81327369] [ 0.48862145 -0.70518441 0.51377429 -33.72436952] [ 0. 0. 0. 1. ]] SLAMing on 78.065860169 meters Centerline goodness : 0.968417 Centerline is valid? [True, True] Translation: X:-2.09, Y:24.02, Z:-33.89 [[ 0.51205295 -0.11016538 -0.85185994 -2.08737102] [ 0.34608584 0.93413928 0.08722616 24.02434266] [ 0.78614653 -0.33948108 0.51645545 -33.88563065] [ 0. 0. 0. 1. ]] SLAMing on 78.095860169 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:-2.05, Y:23.97, Z:-33.88 [[ 0.49070893 -0.17377322 -0.85381943 -2.05485697] [ 0.46039837 0.88365711 0.08475522 23.96817328] [ 0.73975543 -0.43468721 0.51362334 -33.87509477] [ 0. 0. 0. 1. ]] SLAMing on 78.12586016899999 meters Centerline goodness : 0.991607 Centerline is valid? [True, True] Translation: X:-2.03, Y:23.97, Z:-33.89 [[ 0.49450775 -0.16558466 -0.85325483 -2.03339654] [ 0.44785658 0.88987572 0.08686593 23.97046555] [ 0.74490709 -0.42509166 0.51420862 -33.8939288 ] [ 0. 0. 0. 1. ]] SLAMing on 78.155860169 meters Centerline goodness : 0.971578 Centerline is valid? [True, True] Translation: X:-2.01, Y:23.97, Z:-33.91 [[ 0.49498464 -0.16857207 -0.8523929 -2.01088643] [ 0.45137608 0.88813395 0.0864738 23.96629902] [ 0.74246201 -0.42755297 0.51570206 -33.90608974] [ 0. 0. 0. 1. ]] SLAMing on 78.185860169 meters Centerline goodness : 0.987760 Centerline is valid? [True, True] Translation: X:-1.99, Y:23.96, Z:-33.92 [[ 0.49552308 -0.1696417 -0.8518677 -1.98720893] [ 0.45199051 0.88785679 0.08610984 23.96390833] [ 0.7417287 -0.42770553 0.51662996 -33.91920289] [ 0. 0. 0. 1. ]] SLAMing on 78.215860169 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:-1.91, Y:23.81, Z:-33.81 [[ 0.38359641 -0.35022615 -0.85451474 -1.9092856 ] [ 0.76950101 0.63281922 0.08606988 23.81002923] [ 0.51060943 -0.69056605 0.51224656 -33.81473249] [ 0. 0. 0. 1. ]] SLAMing on 78.245860169 meters Centerline goodness : 0.998707 Centerline is valid? [True, True] Translation: X:-1.88, Y:23.80, Z:-33.82 [[ 0.37783298 -0.3561499 -0.85463412 -1.88328693] [ 0.7792514 0.62081085 0.08579713 23.80306038] [ 0.5000095 -0.69839182 0.51209312 -33.8228431 ] [ 0. 0. 0. 1. ]] SLAMing on 78.275860169 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:-1.93, Y:24.07, Z:-33.99 [[ 0.51675589 -0.05718039 -0.85422114 -1.92607648] [ 0.24438363 0.96610539 0.08316862 24.06538174] [ 0.82051203 -0.25173554 0.51321461 -33.99114231] [ 0. 0. 0. 1. ]] SLAMing on 78.305860169 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:-1.85, Y:23.83, Z:-33.88 [[ 0.40434791 -0.32367629 -0.85541594 -1.84997478] [ 0.72645071 0.68189561 0.08536828 23.82662863] [ 0.55567268 -0.655936 0.51085794 -33.87636679] [ 0. 0. 0. 1. ]] SLAMing on 78.335860169 meters Centerline goodness : 0.291216 Centerline is valid? [True, False] Translation: X:-1.91, Y:23.87, Z:-33.89 [[ 0.43803016 -0.27285625 -0.85655067 -1.90553695] [ 0.64604901 0.7581028 0.08888658 23.86590091] [ 0.6251002 -0.59230871 0.5083504 -33.88791834] [ 0. 0. 0. 1. ]] SLAMing on 78.365860169 meters Centerline goodness : 0.998754 Centerline is valid? [False, True] Translation: X:-1.96, Y:23.91, Z:-33.89 [[ 0.46485838 -0.21960828 -0.85771726 -1.96255912] [ 0.55822085 0.82464267 0.09139991 23.91054492] [ 0.68723807 -0.52128367 0.50593198 -33.89260379] [ 0. 0. 0. 1. ]] SLAMing on 78.395860169 meters Centerline goodness : 0.989575 Centerline is valid? [True, True] Translation: X:-1.96, Y:23.99, Z:-33.95 [[ 0.50290969 -0.12631142 -0.8550598 -1.95921959] [ 0.38895641 0.91651154 0.09337835 23.98710117] [ 0.77187742 -0.37954187 0.51005217 -33.95351735] [ 0. 0. 0. 1. ]] SLAMing on 78.425860169 meters Centerline goodness : 0.349317 Centerline is valid? [True, False] Translation: X:-2.01, Y:24.03, Z:-33.94 [[ 0.51020023 -0.08348681 -0.85599397 -2.00520734] [ 0.3139397 0.94468002 0.09498173 24.02680921] [ 0.80071068 -0.31719019 0.50818578 -33.94050008] [ 0. 0. 0. 1. ]] SLAMing on 78.455860169 meters Centerline goodness : 0.315684 Centerline is valid? [False, False] Translation: X:-2.03, Y:24.06, Z:-33.93 [[ 0.5133907 -0.04988794 -0.85670367 -2.03483028] [ 0.2539205 0.96243717 0.09612007 24.05808672] [ 0.81972823 -0.26688177 0.50677387 -33.93211877] [ 0. 0. 0. 1. ]] SLAMing on 78.485860169 meters Centerline goodness : 0.333851 Centerline is valid? [False, False] Translation: X:-2.06, Y:24.08, Z:-33.93 [[ 5.14787682e-01 -2.52431403e-02 -8.56945988e-01 -2.05737069e+00] [ 2.08496471e-01 9.73242804e-01 9.65798446e-02 2.40828870e+01] [ 8.31578537e-01 -2.28388328e-01 5.06276513e-01 -3.39252466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.51586016899999 meters Centerline goodness : 0.999014 Centerline is valid? [False, True] Translation: X:-2.09, Y:24.11, Z:-33.91 [[ 5.14947129e-01 -2.48394630e-03 -8.57218341e-01 -2.08714364e+00] [ 1.66361749e-01 9.81272989e-01 9.70932043e-02 2.41070139e+01] [ 8.40924029e-01 -1.92606209e-01 5.05716942e-01 -3.39112100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.545860169 meters Centerline goodness : 0.998191 Centerline is valid? [True, True] Translation: X:-2.06, Y:23.99, Z:-33.89 [[ 0.50142235 -0.1264037 -0.85591923 -2.05889373] [ 0.40056813 0.91077619 0.10015937 23.98695945] [ 0.76689034 -0.39307611 0.50731683 -33.89010923] [ 0. 0. 0. 1. ]] SLAMing on 78.575860169 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:-2.04, Y:24.19, Z:-33.95 [[ 5.06431746e-01 8.94332763e-02 -8.57629626e-01 -2.03784137e+00] [-1.17037343e-02 9.95228138e-01 9.68709195e-02 2.41881501e+01] [ 8.62200620e-01 -3.90210397e-02 5.05061827e-01 -3.39482661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.605860169 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:-2.01, Y:23.97, Z:-33.91 [[ 0.49714437 -0.13829062 -0.85657643 -2.00942849] [ 0.42238241 0.90091841 0.0996951 23.97320912] [ 0.75791858 -0.41136568 0.50629804 -33.90998572] [ 0. 0. 0. 1. ]] SLAMing on 78.635860169 meters Centerline goodness : 0.464748 Centerline is valid? [True, False] Translation: X:-2.05, Y:24.01, Z:-33.91 [[ 0.507781 -0.09224044 -0.8565338 -2.04722133] [ 0.34302866 0.93368166 0.10280999 24.01338708] [ 0.79024666 -0.3460206 0.50574693 -33.90803927] [ 0. 0. 0. 1. ]] SLAMing on 78.665860169 meters Centerline goodness : 0.993543 Centerline is valid? [False, True] Translation: X:-2.09, Y:24.05, Z:-33.90 [[ 0.51312877 -0.05370298 -0.85662994 -2.08639083] [ 0.27456072 0.9558702 0.10453981 24.04933643] [ 0.81321293 -0.28883932 0.50522923 -33.89761685] [ 0. 0. 0. 1. ]] SLAMing on 78.695860169 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:-2.03, Y:23.90, Z:-33.83 [[ 0.46299115 -0.22394234 -0.85760657 -2.03413641] [ 0.58428817 0.80468406 0.10531335 23.89980139] [ 0.66651821 -0.54984852 0.50340846 -33.83424912] [ 0. 0. 0. 1. ]] SLAMing on 78.725860169 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:-2.03, Y:23.97, Z:-33.89 [[ 0.49817585 -0.13581426 -0.85637335 -2.0277588 ] [ 0.4252968 0.89896137 0.10483841 23.97246222] [ 0.755608 -0.41644081 0.50560222 -33.89417446] [ 0. 0. 0. 1. ]] SLAMing on 78.755860169 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:-2.00, Y:23.95, Z:-33.90 [[ 0.49237243 -0.15583627 -0.85632029 -2.00154374] [ 0.4606757 0.88139738 0.10448233 23.95196389] [ 0.73847633 -0.44593017 0.50576575 -33.8991111 ] [ 0. 0. 0. 1. ]] SLAMing on 78.785860169 meters Centerline goodness : 0.995097 Centerline is valid? [True, True] Translation: X:-1.98, Y:23.97, Z:-33.92 [[ 0.49920802 -0.13082574 -0.85654888 -1.98188331] [ 0.41552585 0.90359753 0.10416221 23.97147399] [ 0.76034835 -0.40791681 0.50544461 -33.92497944] [ 0. 0. 0. 1. ]] SLAMing on 78.815860169 meters Centerline goodness : 0.993289 Centerline is valid? [True, True] Translation: X:-1.96, Y:24.00, Z:-33.95 [[ 0.50811279 -0.09549721 -0.85597995 -1.96264581] [ 0.34969816 0.93110513 0.10370355 24.00167708] [ 0.78710393 -0.35202772 0.50650163 -33.95124911] [ 0. 0. 0. 1. ]] SLAMing on 78.845860169 meters Centerline goodness : 0.993289 Centerline is valid? [True, True] Translation: X:-1.94, Y:24.00, Z:-33.96 [[ 0.50798528 -0.09584861 -0.85601635 -1.93865459] [ 0.3499211 0.93105483 0.10340276 23.99934382] [ 0.78708714 -0.35206527 0.5065016 -33.96492714] [ 0. 0. 0. 1. ]] SLAMing on 78.87586016899999 meters Centerline goodness : 0.998476 Centerline is valid? [True, True] Translation: X:-1.91, Y:23.97, Z:-33.97 [[ 0.50248027 -0.12174326 -0.85597439 -1.91100155] [ 0.39652575 0.91222398 0.1030279 23.97491014] [ 0.76829741 -0.39118537 0.50664889 -33.96751741] [ 0. 0. 0. 1. ]] SLAMing on 78.905860169 meters Centerline goodness : 0.997608 Centerline is valid? [True, True] Translation: X:-1.89, Y:23.96, Z:-33.97 [[ 0.4979613 -0.13861731 -0.85604894 -1.88539966] [ 0.42663791 0.89857602 0.10267051 23.9580441 ] [ 0.75499314 -0.41634887 0.50659548 -33.97390173] [ 0. 0. 0. 1. ]] SLAMing on 78.935860169 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:-1.86, Y:23.95, Z:-33.98 [[ 0.49449932 -0.14710594 -0.85663894 -1.85947495] [ 0.44239257 0.89095926 0.10237384 23.95000277] [ 0.7481706 -0.4295945 0.50565732 -33.98305235] [ 0. 0. 0. 1. ]] SLAMing on 78.965860169 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:-1.84, Y:23.95, Z:-34.00 [[ 0.49431539 -0.14747708 -0.85668128 -1.83545352] [ 0.44260128 0.8908963 0.10201908 23.9477124 ] [ 0.7481687 -0.42959783 0.50565729 -33.99673788] [ 0. 0. 0. 1. ]] SLAMing on 78.995860169 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:-1.76, Y:23.80, Z:-33.89 [[ 0.39226716 -0.33275757 -0.85755401 -1.76235459] [ 0.76350996 0.63772313 0.10179265 23.79514246] [ 0.51300975 -0.69468094 0.50422156 -33.89464436] [ 0. 0. 0. 1. ]] SLAMing on 79.025860169 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:-1.75, Y:23.81, Z:-33.92 [[ 0.40678883 -0.31622755 -0.85704316 -1.74548296] [ 0.7348857 0.67057011 0.1013841 23.80647916] [ 0.54264708 -0.67107068 0.50517154 -33.92161003] [ 0. 0. 0. 1. ]] SLAMing on 79.055860169 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:-1.71, Y:23.78, Z:-33.91 [[ 0.38705791 -0.34139469 -0.85652545 -1.7129257 ] [ 0.7743949 0.62459007 0.100994 23.78385157] [ 0.50049848 -0.70237946 0.50612683 -33.91476989] [ 0. 0. 0. 1. ]] SLAMing on 79.085860169 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:-1.69, Y:23.78, Z:-33.92 [[ 0.3793124 -0.34989301 -0.85656114 -1.68726815] [ 0.78780831 0.60764038 0.10065404 23.77550446] [ 0.48526299 -0.71298531 0.50613416 -33.92053954] [ 0. 0. 0. 1. ]] SLAMing on 79.115860169 meters Centerline goodness : 0.997839 Centerline is valid? [True, True] Translation: X:-1.72, Y:23.97, Z:-34.08 [[ 0.50526597 -0.11019648 -0.85589896 -1.72451495] [ 0.37112614 0.92315701 0.10023234 23.96863423] [ 0.77908388 -0.36829046 0.50733662 -34.07973766] [ 0. 0. 0. 1. ]] SLAMing on 79.145860169 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:-1.67, Y:23.84, Z:-34.01 [[ 0.44237487 -0.26395765 -0.85710608 -1.66979669] [ 0.64554373 0.75714706 0.10000812 23.84105886] [ 0.62255744 -0.59754053 0.50533904 -34.01298497] [ 0. 0. 0. 1. ]] SLAMing on 79.175860169 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:-1.65, Y:23.85, Z:-34.03 [[ 0.44975596 -0.25164719 -0.85696748 -1.64953753] [ 0.6236993 0.77528378 0.09967064 23.85000583] [ 0.63931115 -0.57931748 0.50564068 -34.03462597] [ 0. 0. 0. 1. ]] SLAMing on 79.205860169 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:-1.62, Y:23.82, Z:-34.03 [[ 0.43181427 -0.28272945 -0.85650482 -1.61741154] [ 0.67540231 0.73073375 0.09929705 23.82221187] [ 0.59780277 -0.62136322 0.50649738 -34.02846415] [ 0. 0. 0. 1. ]] SLAMing on 79.235860169 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:-1.60, Y:23.85, Z:-34.06 [[ 0.45252352 -0.24824243 -0.85650345 -1.6039039 ] [ 0.61601509 0.78149337 0.09896224 23.84887466] [ 0.64478514 -0.57240179 0.50656521 -34.06415211] [ 0. 0. 0. 1. ]] SLAMing on 79.26586016899999 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:-1.58, Y:23.84, Z:-34.07 [[ 0.45032959 -0.25382081 -0.85602468 -1.57874691] [ 0.62426306 0.7749642 0.09862109 23.84200232] [ 0.6383564 -0.57879658 0.50744027 -34.0742408 ] [ 0. 0. 0. 1. ]] SLAMing on 79.295860169 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:-1.54, Y:23.81, Z:-34.06 [[ 0.42527179 -0.29379707 -0.85605326 -1.54414147] [ 0.69197198 0.7152002 0.09830281 23.80708017] [ 0.58336839 -0.63417028 0.50745382 -34.0609824 ] [ 0. 0. 0. 1. ]] SLAMing on 79.325860169 meters Centerline goodness : 0.998698 Centerline is valid? [True, True] Translation: X:-1.56, Y:23.96, Z:-34.17 [[ 0.50642415 -0.11003516 -0.85523496 -1.55958717] [ 0.36633737 0.92532039 0.09787289 23.95605303] [ 0.78059689 -0.36286973 0.50891458 -34.17445775] [ 0. 0. 0. 1. ]] SLAMing on 79.355860169 meters Centerline goodness : 0.998719 Centerline is valid? [True, True] Translation: X:-1.53, Y:23.94, Z:-34.18 [[ 0.5040344 -0.120822 -0.85519084 -1.53412486] [ 0.38539402 0.91758585 0.09750723 23.94420674] [ 0.77292999 -0.37873244 0.5090589 -34.18482277] [ 0. 0. 0. 1. ]] SLAMing on 79.385860169 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:-1.47, Y:23.81, Z:-34.11 [[ 0.43044281 -0.28599042 -0.85611241 -1.47454617] [ 0.67767699 0.72890311 0.09723242 23.80696737] [ 0.59621546 -0.62202068 0.50756023 -34.10858371] [ 0. 0. 0. 1. ]] SLAMing on 79.415860169 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:-1.48, Y:23.91, Z:-34.19 [[ 0.49169091 -0.16149786 -0.8556626 -1.48040718] [ 0.45866572 0.8833156 0.0968468 23.90848514] [ 0.74017958 -0.4400818 0.50839178 -34.19371932] [ 0. 0. 0. 1. ]] SLAMing on 79.445860169 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:-1.46, Y:23.94, Z:-34.22 [[ 0.50195252 -0.12388979 -0.85597604 -1.46162225] [ 0.390614 0.9154765 0.09655817 23.93910488] [ 0.77166338 -0.38282384 0.50791882 -34.22331892] [ 0. 0. 0. 1. ]] SLAMing on 79.475860169 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:-1.44, Y:23.97, Z:-34.25 [[ 0.50968954 -0.090664 -0.85556801 -1.44196279] [ 0.32874323 0.93949832 0.09628494 23.96520939] [ 0.79507513 -0.33033761 0.50865764 -34.25028694] [ 0. 0. 0. 1. ]] SLAMing on 79.505860169 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:-1.41, Y:23.91, Z:-34.24 [[ 0.49322205 -0.15376589 -0.85620562 -1.4104826 ] [ 0.44446234 0.89062928 0.09608699 23.90975812] [ 0.74778689 -0.42794338 0.50762114 -34.23871498] [ 0. 0. 0. 1. ]] SLAMing on 79.535860169 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:-1.38, Y:23.88, Z:-34.24 [[ 0.47855228 -0.18913482 -0.85744722 -1.38185417] [ 0.50968034 0.85500661 0.09586265 23.87625732] [ 0.71499207 -0.48289928 0.50556366 -34.2380809 ] [ 0. 0. 0. 1. ]] SLAMing on 79.565860169 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:-1.36, Y:23.90, Z:-34.26 [[ 0.4882854 -0.16366861 -0.8571989 -1.36261989] [ 0.46295451 0.88122715 0.09545591 23.89591409] [ 0.73976381 -0.44345382 0.50606147 -34.26457048] [ 0. 0. 0. 1. ]] SLAMing on 79.595860169 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:-1.33, Y:23.86, Z:-34.26 [[ 0.47200551 -0.20408147 -0.85764885 -1.33150954] [ 0.53560642 0.83909541 0.09510344 23.85940753] [ 0.70024036 -0.50425158 0.505365 -34.25757904] [ 0. 0. 0. 1. ]] SLAMing on 79.62586016899999 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:-1.31, Y:23.87, Z:-34.28 [[ 0.47749866 -0.19198563 -0.85740104 -1.3108416 ] [ 0.51306553 0.85310842 0.09470895 23.86684129] [ 0.71327329 -0.48512632 0.50585934 -34.27932324] [ 0. 0. 0. 1. ]] SLAMing on 79.655860169 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:-1.29, Y:23.87, Z:-34.29 [[ 0.47802202 -0.18990118 -0.85757361 -1.28795284] [ 0.50907072 0.8555422 0.0943109 23.86646041] [ 0.71578066 -0.48164829 0.50564114 -34.29382306] [ 0. 0. 0. 1. ]] SLAMing on 79.685860169 meters Centerline goodness : 0.998005 Centerline is valid? [True, True] Translation: X:-1.24, Y:23.78, Z:-34.25 [[ 0.42241183 -0.29221161 -0.85800969 -1.23918238] [ 0.68840703 0.71921132 0.09397257 23.77549172] [ 0.5896304 -0.63035502 0.50496389 -34.24550191] [ 0. 0. 0. 1. ]] SLAMing on 79.715860169 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] SLAMing on 79.745860169 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:-1.08, Y:23.62, Z:-33.99 [[ 0.13615599 -0.49404691 -0.85870786 -1.07975099] [ 0.98951774 0.10992704 0.09365193 23.62124101] [ 0.04812677 -0.86245794 0.50383541 -33.99402493] [ 0. 0. 0. 1. ]] SLAMing on 79.775860169 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] SLAMing on 79.805860169 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] SLAMing on 79.835860169 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] SLAMing on 79.865860169 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] SLAMing on 79.895860169 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] SLAMing on 79.925860169 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] SLAMing on 79.955860169 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] SLAMing on 79.985860169 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] SLAMing on 80.01586016899999 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] SLAMing on 80.045860169 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] SLAMing on 80.075860169 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] SLAMing on 80.105860169 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] SLAMing on 80.135860169 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] SLAMing on 80.165860169 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] SLAMing on 80.195860169 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] SLAMing on 80.225860169 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] SLAMing on 80.255860169 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] SLAMing on 80.285860169 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:-1.19, Y:23.78, Z:-34.28 [[ 0.42132864 -0.28460702 -0.86109293 -1.19121047] [ 0.68145681 0.72585801 0.09352415 23.78238128] [ 0.59841357 -0.62620204 0.49977216 -34.27543048] [ 0. 0. 0. 1. ]] SLAMing on 80.315860169 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] SLAMing on 80.345860169 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:-1.09, Y:23.65, Z:-34.12 [[ 0.24654475 -0.44358701 -0.86165321 -1.08576529] [ 0.93612596 0.33906199 0.09330139 23.65125041] [ 0.25076657 -0.82961891 0.49884726 -34.1216085 ] [ 0. 0. 0. 1. ]] SLAMing on 80.37586016899999 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:-1.09, Y:23.67, Z:-34.18 [[ 0.29428887 -0.41340229 -0.86168011 -1.0853235 ] [ 0.89239143 0.44159233 0.092918 23.67043493] [ 0.34209881 -0.79630067 0.49887237 -34.17936438] [ 0. 0. 0. 1. ]] SLAMing on 80.405860169 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:-1.05, Y:23.66, Z:-34.18 [[ 0.27991341 -0.42411652 -0.86126283 -1.05372805] [ 0.90701034 0.41082928 0.09247452 23.66492411] [ 0.31461202 -0.80705915 0.4996747 -34.1793676 ] [ 0. 0. 0. 1. ]] SLAMing on 80.435860169 meters Centerline goodness : 0.348616 Centerline is valid? [True, False] Translation: X:-1.10, Y:23.69, Z:-34.20 [[ 0.32241431 -0.38926795 -0.86285542 -1.09836773] [ 0.86281932 0.49577603 0.09873679 23.688006 ] [ 0.38934797 -0.77632248 0.49571319 -34.19679368] [ 0. 0. 0. 1. ]] SLAMing on 80.465860169 meters Centerline goodness : 0.999282 Centerline is valid? [False, True] Translation: X:-1.16, Y:23.72, Z:-34.21 [[ 0.36268801 -0.3483145 -0.86436938 -1.15702022] [ 0.80779016 0.58000254 0.10522413 23.71540861] [ 0.46468534 -0.7363926 0.49172499 -34.20676168] [ 0. 0. 0. 1. ]] SLAMing on 80.495860169 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:-1.19, Y:23.97, Z:-34.39 [[ 0.50626679 -0.04960549 -0.86094903 -1.19475659] [ 0.27118631 0.95685534 0.10433526 23.96628694] [ 0.81862808 -0.28629906 0.49787641 -34.38661448] [ 0. 0. 0. 1. ]] SLAMing on 80.525860169 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:-1.15, Y:23.86, Z:-34.35 [[ 0.47678289 -0.17560229 -0.86130245 -1.15438672] [ 0.50389022 0.85747023 0.10411267 23.85836713] [ 0.72025879 -0.48364102 0.49731141 -34.34598081] [ 0. 0. 0. 1. ]] SLAMing on 80.555860169 meters Centerline goodness : 0.328898 Centerline is valid? [True, False] Translation: X:-1.16, Y:23.88, Z:-34.35 [[ 0.48573639 -0.14929493 -0.86126139 -1.16423799] [ 0.45674944 0.88344115 0.10445904 23.87844782] [ 0.74527855 -0.44412022 0.49730988 -34.35366953] [ 0. 0. 0. 1. ]] SLAMing on 80.585860169 meters Centerline goodness : 0.307448 Centerline is valid? [False, False] Translation: X:-1.17, Y:23.89, Z:-34.36 [[ 0.48337898 -0.13501748 -0.86493644 -1.16576145] [ 0.43686858 0.89341294 0.10468599 23.88683237] [ 0.75861097 -0.42846656 0.49084193 -34.35889714] [ 0. 0. 0. 1. ]] SLAMing on 80.615860169 meters Centerline goodness : 0.997450 Centerline is valid? [False, True] Translation: X:-1.20, Y:23.93, Z:-34.36 [[ 0.49131751 -0.09083638 -0.86623083 -1.1975968 ] [ 0.35629114 0.92848822 0.10471985 23.92608191] [ 0.79477275 -0.36008107 0.48854672 -34.36257117] [ 0. 0. 0. 1. ]] SLAMing on 80.645860169 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:-1.16, Y:23.82, Z:-34.32 [[ 0.45205529 -0.20551916 -0.86799072 -1.15623273] [ 0.5710469 0.81422407 0.10461646 23.82465328] [ 0.68523825 -0.54295583 0.48543538 -34.3220051 ] [ 0. 0. 0. 1. ]] SLAMing on 80.675860169 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:-1.14, Y:23.85, Z:-34.35 [[ 0.46579804 -0.17437723 -0.86753949 -1.13738082] [ 0.51311077 0.85196771 0.10425142 23.84879643] [ 0.72093656 -0.49370396 0.48631973 -34.35237669] [ 0. 0. 0. 1. ]] SLAMing on 80.705860169 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:-1.12, Y:23.86, Z:-34.38 [[ 0.47545754 -0.15383266 -0.86618453 -1.11630638] [ 0.4722724 0.87532197 0.1037797 23.86422344] [ 0.74222564 -0.45841789 0.48882935 -34.37597029] [ 0. 0. 0. 1. ]] SLAMing on 80.735860169 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:-1.09, Y:23.86, Z:-34.39 [[ 0.47529185 -0.15413967 -0.86622088 -1.09130755] [ 0.47243924 0.8752679 0.10347594 23.86161326] [ 0.74222558 -0.45841801 0.48882933 -34.38953279] [ 0. 0. 0. 1. ]] SLAMing on 80.76586016899999 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:-1.07, Y:23.86, Z:-34.40 [[ 0.47512613 -0.15444659 -0.86625713 -1.06630782] [ 0.4726059 0.87521379 0.10317216 23.85901192] [ 0.74222559 -0.45841802 0.48882931 -34.40309533] [ 0. 0. 0. 1. ]] SLAMing on 80.795860169 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:-1.05, Y:23.90, Z:-34.44 [[ 0.48791285 -0.10466454 -0.8665947 -1.04938679] [ 0.37993901 0.9192717 0.10288775 23.90001435] [ 0.78586729 -0.37945339 0.48829062 -34.43732622] [ 0. 0. 0. 1. ]] SLAMing on 80.825860169 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:-1.03, Y:23.94, Z:-34.46 [[ 0.4956079 -0.06017176 -0.86645956 -1.02919855] [ 0.29461005 0.95010086 0.10253431 23.93779137] [ 0.8170543 -0.3060845 0.4886047 -34.46492616] [ 0. 0. 0. 1. ]] SLAMing on 80.855860169 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:-1.01, Y:23.99, Z:-34.49 [[ 4.99752014e-01 -4.88111599e-03 -8.66154778e-01 -1.00850920e+00] [ 1.85471168e-01 9.77393080e-01 1.01504746e-01 2.39865831e+01] [ 8.46078229e-01 -2.11373939e-01 4.89359467e-01 -3.44936210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.885860169 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:-0.99, Y:23.96, Z:-34.50 [[ 5.01816329e-01 -2.44203054e-02 -8.64629412e-01 -9.85709057e-01] [ 2.22622566e-01 9.69572821e-01 1.01822090e-01 2.39642556e+01] [ 8.35834652e-01 -2.43582006e-01 4.91983985e-01 -3.45031762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.915860169 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:-0.96, Y:23.97, Z:-34.52 [[ 5.01770666e-01 -2.11389403e-02 -8.64742357e-01 -9.62873296e-01] [ 2.15795028e-01 9.71151455e-01 1.01475892e-01 2.39650655e+01] [ 8.37650706e-01 -2.37524727e-01 4.91856990e-01 -3.45184340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.945860169 meters Centerline goodness : 0.998730 Centerline is valid? [True, True] Translation: X:-0.94, Y:23.96, Z:-34.53 [[ 5.01640769e-01 -2.46309096e-02 -8.64725307e-01 -9.39916983e-01] [ 2.21935044e-01 9.69803466e-01 1.01124049e-01 2.39599523e+01] [ 8.36122823e-01 -2.42640795e-01 4.91959419e-01 -3.45314584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.975860169 meters Centerline goodness : 0.998783 Centerline is valid? [True, True] Translation: X:-0.92, Y:23.93, Z:-34.54 [[ 0.49856487 -0.05350594 -0.86519951 -0.91538787] [ 0.27749476 0.95542254 0.10081878 23.93250752] [ 0.82123671 -0.29035303 0.49118773 -34.53633796] [ 0. 0. 0. 1. ]] SLAMing on 81.005860169 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:-0.89, Y:23.93, Z:-34.55 [[ 0.49898005 -0.05071118 -0.86512848 -0.89235466] [ 0.27152128 0.95717092 0.10049887 23.93325871] [ 0.8229794 -0.28504772 0.49137836 -34.55023657] [ 0. 0. 0. 1. ]] SLAMing on 81.035860169 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:-0.87, Y:23.97, Z:-34.57 [[ 5.02005107e-01 -1.24572615e-02 -8.64774936e-01 -8.69776369e-01] [ 1.96761810e-01 9.75320719e-01 1.00171276e-01 2.39653411e+01] [ 8.42185053e-01 -2.20441174e-01 4.92067095e-01 -3.45728292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.065860169 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:-0.85, Y:23.96, Z:-34.59 [[ 5.02929186e-01 -1.62540491e-02 -8.64174774e-01 -8.46351288e-01] [ 2.03077049e-01 9.74056800e-01 9.98652244e-02 2.39596403e+01] [ 8.40132100e-01 -2.25719198e-01 4.93182418e-01 -3.45860526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.095860169 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:-0.82, Y:23.96, Z:-34.60 [[ 5.03115990e-01 -1.35107745e-02 -8.64113279e-01 -8.22541608e-01] [ 1.97109814e-01 9.75317684e-01 9.95145011e-02 2.39600723e+01] [ 8.41440444e-01 -2.20392544e-01 4.93361029e-01 -3.45998795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12586016899999 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:-0.79, Y:24.05, Z:-34.62 [[ 4.91330307e-01 8.64222135e-02 -8.66675101e-01 -7.94670843e-01] [-2.47729508e-03 9.95199676e-01 9.78338810e-02 2.40518673e+01] [ 8.70969800e-01 -4.59217408e-02 4.89185855e-01 -3.46220712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.155860169 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:-0.78, Y:24.01, Z:-34.64 [[ 0.50438438 0.04605012 -0.86225042 -0.77632676] [ 0.07829369 0.99202452 0.09877984 24.01125004] [ 0.85992238 -0.11733177 0.49675623 -34.63862486] [ 0. 0. 0. 1. ]] SLAMing on 81.185860169 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:-0.75, Y:24.01, Z:-34.65 [[ 0.50514454 0.04430127 -0.86189697 -0.7534767 ] [ 0.08083635 0.99186244 0.0983584 24.00791163] [ 0.85924064 -0.11935782 0.49745275 -34.65147074] [ 0. 0. 0. 1. ]] SLAMing on 81.215860169 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:-0.73, Y:24.01, Z:-34.67 [[ 0.5048983 0.04820212 -0.86183192 -0.72995684] [ 0.07254627 0.99253738 0.09801319 24.0094343 ] [ 0.86012484 -0.11200938 0.49763355 -34.6653523 ] [ 0. 0. 0. 1. ]] SLAMing on 81.245860169 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:-0.71, Y:24.00, Z:-34.68 [[ 0.50646488 0.03850278 -0.86140053 -0.7075059 ] [ 0.09069516 0.99108221 0.09762396 23.99706231] [ 0.85747753 -0.12756797 0.49845631 -34.67893265] [ 0. 0. 0. 1. ]] SLAMing on 81.275860169 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:-0.68, Y:24.02, Z:-34.69 [[ 0.50258255 0.06244312 -0.86227121 -0.68177155] [ 0.04092064 0.99455205 0.09587347 24.02004679] [ 0.86356024 -0.08346902 0.49728929 -34.69215995] [ 0. 0. 0. 1. ]] SLAMing on 81.305860169 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:-0.66, Y:24.01, Z:-34.71 [[ 0.504716 0.05980733 -0.86121126 -0.65998856] [ 0.04753824 0.9941582 0.09689987 24.01398157] [ 0.86197556 -0.08984738 0.49892442 -34.70908194] [ 0. 0. 0. 1. ]] SLAMing on 81.335860169 meters Centerline goodness : 0.996391 Centerline is valid? [True, True] Translation: X:-0.64, Y:24.01, Z:-34.72 [[ 0.50602203 0.0582976 -0.86054814 -0.63729757] [ 0.04983922 0.99406987 0.0966496 24.01012302] [ 0.86107942 -0.09179587 0.50011574 -34.72352534] [ 0. 0. 0. 1. ]] SLAMing on 81.365860169 meters Centerline goodness : 0.998798 Centerline is valid? [True, True] Translation: X:-0.61, Y:24.01, Z:-34.74 [[ 0.50413715 0.06304944 -0.86131905 -0.61387016] [ 0.04039282 0.99451865 0.09644204 24.01319359] [ 0.86267848 -0.08341112 0.49882705 -34.73657673] [ 0. 0. 0. 1. ]] SLAMing on 81.395860169 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:-0.59, Y:24.01, Z:-34.75 [[ 0.50470159 0.0603055 -0.86118497 -0.59015641] [ 0.0451247 0.99435061 0.09607613 24.00874746] [ 0.86211372 -0.08735049 0.49912907 -34.7496716 ] [ 0. 0. 0. 1. ]] SLAMing on 81.425860169 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:-0.56, Y:24.05, Z:-34.76 [[ 4.97259192e-01 1.01130823e-01 -8.61687793e-01 -5.62224425e-01] [-3.98935448e-02 9.94797923e-01 9.37315130e-02 2.40494790e+01] [ 8.66684372e-01 -1.22330758e-02 4.98706878e-01 -3.47621339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.455860169 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:-0.54, Y:24.04, Z:-34.78 [[ 4.98351788e-01 9.36355562e-02 -8.61903636e-01 -5.39621397e-01] [-2.47754957e-02 9.95282700e-01 9.38004358e-02 2.40397006e+01] [ 8.66620834e-01 -2.53915250e-02 4.98320780e-01 -3.47757147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.485860169 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:-0.52, Y:24.01, Z:-34.79 [[ 5.03933317e-01 6.82390502e-02 -8.61042765e-01 -5.19726963e-01] [ 2.81395558e-02 9.95048096e-01 9.53281300e-02 2.40103774e+01] [ 8.63284065e-01 -7.22683817e-02 4.99517671e-01 -3.47920038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.51586016899999 meters Centerline goodness : 0.997629 Centerline is valid? [True, True] Translation: X:-0.50, Y:23.98, Z:-34.80 [[ 0.50694642 0.03990823 -0.86105323 -0.49920961] [ 0.08359565 0.99194269 0.09519179 23.9805743 ] [ 0.85791439 -0.12023744 0.49952564 -34.80285746] [ 0. 0. 0. 1. ]] SLAMing on 81.545860169 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:-0.48, Y:23.97, Z:-34.82 [[ 5.08413234e-01 2.96903796e-02 -8.60601223e-01 -4.76835059e-01] [ 1.02649633e-01 9.90189605e-01 9.48029529e-02 2.39681873e+01] [ 8.54973120e-01 -1.36539476e-01 5.00377793e-01 -3.48152285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.575860169 meters Centerline goodness : 0.993877 Centerline is valid? [True, True] Translation: X:-0.45, Y:23.98, Z:-34.83 [[ 0.508338 0.04055361 -0.86020223 -0.45370027] [ 0.08053279 0.99227444 0.09437105 23.9765309 ] [ 0.85738378 -0.11724688 0.50114491 -34.83093768] [ 0. 0. 0. 1. ]] SLAMing on 81.605860169 meters Centerline goodness : 0.985957 Centerline is valid? [True, True] Translation: X:-0.43, Y:23.98, Z:-34.84 [[ 0.50706119 0.04618349 -0.86067185 -0.43073398] [ 0.06911853 0.99316865 0.09401414 23.9805278 ] [ 0.8591342 -0.1071593 0.50040514 -34.84493376] [ 0. 0. 0. 1. ]] SLAMing on 81.635860169 meters Centerline goodness : 0.994498 Centerline is valid? [True, True] Translation: X:-0.41, Y:23.96, Z:-34.85 [[ 5.07823313e-01 2.61137054e-02 -8.61065362e-01 -4.07026150e-01] [ 1.07972391e-01 9.89728981e-01 9.36936869e-02 2.39593956e+01] [ 8.54668032e-01 -1.40551125e-01 4.99787891e-01 -3.48539644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.665860169 meters Centerline goodness : 0.992190 Centerline is valid? [True, True] Translation: X:-0.38, Y:23.95, Z:-34.87 [[ 5.08142159e-01 1.80283595e-02 -8.61084505e-01 -3.84261185e-01] [ 1.23056347e-01 9.88003841e-01 9.33035093e-02 2.39506687e+01] [ 8.52436908e-01 -1.53373360e-01 4.99827901e-01 -3.48671830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.695860169 meters Centerline goodness : 0.989265 Centerline is valid? [True, True] Translation: X:-0.36, Y:23.95, Z:-34.88 [[ 5.07902123e-01 1.57660224e-02 -8.61270495e-01 -3.61763884e-01] [ 1.26900940e-01 9.87554232e-01 9.29128063e-02 2.39472108e+01] [ 8.52016188e-01 -1.56486647e-01 4.99580168e-01 -3.48800092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.725860169 meters Centerline goodness : 0.997332 Centerline is valid? [True, True] Translation: X:-0.34, Y:23.94, Z:-34.89 [[ 5.07679468e-01 4.90282700e-03 -8.61532077e-01 -3.38362314e-01] [ 1.47523618e-01 9.84720211e-01 9.25358754e-02 2.39359820e+01] [ 8.48821736e-01 -1.74074893e-01 4.99198950e-01 -3.48888353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.755860169 meters Centerline goodness : 0.997901 Centerline is valid? [True, True] Translation: X:-0.32, Y:23.92, Z:-34.90 [[ 5.07525823e-01 -1.07240590e-02 -8.61569808e-01 -3.15802890e-01] [ 1.77130437e-01 9.79864244e-01 9.21459270e-02 2.39191473e+01] [ 8.43233270e-01 -1.99376674e-01 4.99205964e-01 -3.48980768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.785860169 meters Centerline goodness : 0.985926 Centerline is valid? [True, True] Translation: X:-0.29, Y:23.92, Z:-34.91 [[ 5.08391997e-01 -1.20472442e-02 -8.61041486e-01 -2.93273124e-01] [ 1.78532428e-01 9.79651085e-01 9.17056411e-02 2.39154709e+01] [ 8.42415426e-01 -2.00346241e-01 5.00197595e-01 -3.49121228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.815860169 meters Centerline goodness : 0.984625 Centerline is valid? [True, True] Translation: X:-0.27, Y:23.92, Z:-34.92 [[ 5.07746377e-01 -9.16540741e-03 -8.61457841e-01 -2.70401791e-01] [ 1.72681475e-01 9.80733022e-01 9.13446621e-02 2.39162332e+01] [ 8.44022941e-01 -1.95137732e-01 4.99546335e-01 -3.49249514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.845860169 meters Centerline goodness : 0.993758 Centerline is valid? [True, True] Translation: X:-0.25, Y:23.92, Z:-34.94 [[ 5.08184672e-01 -2.16818233e-03 -8.61245399e-01 -2.46677139e-01] [ 1.58331295e-01 9.83188383e-01 9.09494616e-02 2.39231788e+01] [ 8.46569277e-01 -1.82581221e-01 4.99984557e-01 -3.49390444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.87586016899999 meters Centerline goodness : 0.988308 Centerline is valid? [True, True] Translation: X:-0.22, Y:23.93, Z:-34.95 [[ 5.08805045e-01 6.52146408e-03 -8.60857071e-01 -2.22840042e-01] [ 1.40562518e-01 9.85922565e-01 9.05476407e-02 2.39288871e+01] [ 8.49328914e-01 -1.67075334e-01 5.00725701e-01 -3.49543099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.905860169 meters Centerline goodness : 0.996140 Centerline is valid? [True, True] Translation: X:-0.20, Y:23.92, Z:-34.97 [[ 5.07884530e-01 1.15715696e-03 -8.61424381e-01 -1.98110008e-01] [ 1.50819472e-01 9.84433636e-01 9.02435811e-02 2.39219383e+01] [ 8.48119562e-01 -1.75752889e-01 4.99804093e-01 -3.49671740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.935860169 meters Centerline goodness : 0.989823 Centerline is valid? [True, True] Translation: X:-0.17, Y:23.92, Z:-34.98 [[ 5.07827473e-01 3.98019828e-03 -8.61449601e-01 -1.73950844e-01] [ 1.44752261e-01 9.85376840e-01 8.98847363e-02 2.39229081e+01] [ 8.49210245e-01 -1.70342716e-01 4.99825288e-01 -3.49824504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.965860169 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:-0.15, Y:23.91, Z:-34.99 [[ 5.07362025e-01 -4.23979042e-03 -8.61722577e-01 -1.48447553e-01] [ 1.60478740e-01 9.82959553e-01 8.96498223e-02 2.39140574e+01] [ 8.46658343e-01 -1.83773069e-01 4.99396746e-01 -3.49915252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.995860169 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:-0.12, Y:23.92, Z:-35.01 [[ 5.07253680e-01 5.74093038e-03 -8.61777666e-01 -1.24587406e-01] [ 1.40529305e-01 9.86042341e-01 8.92861473e-02 2.39219447e+01] [ 8.50261853e-01 -1.66395744e-01 4.99366837e-01 -3.50063991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.025860169 meters Centerline goodness : 0.992725 Centerline is valid? [True, True] Translation: X:-0.10, Y:23.91, Z:-35.02 [[ 5.07745515e-01 -7.70918326e-03 -8.61472612e-01 -1.00917352e-01] [ 1.65737619e-01 9.82155108e-01 8.88953614e-02 2.39068668e+01] [ 8.45414415e-01 -1.87914641e-01 4.99962553e-01 -3.50188734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.055860169 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:-0.08, Y:23.96, Z:-35.04 [[ 0.5038431 0.04174194 -0.86278603 -0.07559199] [ 0.06282031 0.99441607 0.08479557 23.95785889] [ 0.86150783 -0.09692415 0.49840744 -35.03577682] [ 0. 0. 0. 1. ]] SLAMing on 82.085860169 meters Centerline goodness : 0.994286 Centerline is valid? [True, True] Translation: X:-0.05, Y:23.89, Z:-35.04 [[ 5.06448538e-01 -2.15300648e-02 -8.62001354e-01 -5.27300423e-02] [ 1.91638197e-01 9.77496542e-01 8.81777276e-02 2.38897753e+01] [ 8.40704871e-01 -2.09849866e-01 4.99177677e-01 -3.50426893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.115860169 meters Centerline goodness : 0.994338 Centerline is valid? [True, True] Translation: X:-0.03, Y:23.87, Z:-35.05 [[ 5.05612883e-01 -3.65457146e-02 -8.61986092e-01 -2.80003019e-02] [ 2.20450383e-01 9.71409172e-01 8.81240570e-02 2.38738954e+01] [ 8.34120639e-01 -2.34581823e-01 4.99213509e-01 -3.50525869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.145860169 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:-0.00, Y:23.88, Z:-35.07 [[ 5.05590508e-01 -2.88816706e-02 -8.62290025e-01 -2.59781675e-03] [ 2.05410273e-01 9.74730368e-01 8.77913935e-02 2.38788267e+01] [ 8.37964712e-01 -2.21509725e-01 4.98747014e-01 -3.50666957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.175860169 meters Centerline goodness : 0.979015 Centerline is valid? [True, True] Translation: X:0.02, Y:23.94, Z:-35.09 [[ 5.04621296e-01 3.22311920e-02 -8.62738951e-01 1.98130107e-02] [ 8.61291840e-02 9.92438179e-01 8.74541317e-02 2.39355783e+01] [ 8.59033825e-01 -1.18438219e-01 4.98029393e-01 -3.50931002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.205860169 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:0.05, Y:23.95, Z:-35.10 [[ 0.50337163 0.04254577 -0.86302193 0.04668688] [ 0.06534966 0.99405193 0.08712162 23.94593486] [ 0.86159528 -0.10025274 0.49759719 -35.1049478 ] [ 0. 0. 0. 1. ]] SLAMing on 82.235860169 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:0.07, Y:23.95, Z:-35.12 [[ 0.50399295 0.04702126 -0.86242687 0.07188261] [ 0.05555094 0.99468486 0.0866956 23.94974016] [ 0.86191949 -0.09160259 0.49870208 -35.11784564] [ 0. 0. 0. 1. ]] SLAMing on 82.26586016899999 meters Centerline goodness : 0.989051 Centerline is valid? [True, True] Translation: X:0.10, Y:23.96, Z:-35.13 [[ 5.03157321e-01 6.01938458e-02 -8.62095941e-01 9.53669435e-02] [ 2.87258668e-02 9.95855067e-01 8.62989524e-02 2.39610947e+01] [ 8.63717277e-01 -6.81864029e-02 4.99342647e-01 -3.51330175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.295860169 meters Centerline goodness : 0.988712 Centerline is valid? [True, True] Translation: X:0.12, Y:23.95, Z:-35.15 [[ 0.50347575 0.05316653 -0.86237202 0.1182117 ] [ 0.04209369 0.99541035 0.08594396 23.95298826] [ 0.86298337 -0.07957112 0.49892699 -35.1458177 ] [ 0. 0. 0. 1. ]] SLAMing on 82.325860169 meters Centerline goodness : 0.980113 Centerline is valid? [True, True] Translation: X:0.14, Y:23.93, Z:-35.16 [[ 5.06104394e-01 3.34617822e-02 -8.61822865e-01 1.40514931e-01] [ 7.98772157e-02 9.93133858e-01 8.54679559e-02 2.39322382e+01] [ 8.58765377e-01 -1.12095719e-01 4.99956576e-01 -3.51565590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.355860169 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:0.16, Y:23.93, Z:-35.16 [[ 5.05617151e-01 2.72190323e-02 -8.62328488e-01 1.64708358e-01] [ 9.17307220e-02 9.92140692e-01 8.51018340e-02 2.39254147e+01] [ 8.57867572e-01 -1.22130962e-01 4.99146528e-01 -3.51647929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.385860169 meters Centerline goodness : 0.995335 Centerline is valid? [True, True] Translation: X:0.19, Y:23.94, Z:-35.18 [[ 0.50508586 0.04062511 -0.86211245 0.1891424 ] [ 0.06464956 0.99430436 0.0847306 23.93684879] [ 0.86064436 -0.09853142 0.49958267 -35.18180205] [ 0. 0. 0. 1. ]] SLAMing on 82.415860169 meters Centerline goodness : 0.995372 Centerline is valid? [True, True] Translation: X:0.21, Y:23.95, Z:-35.20 [[ 0.50276762 0.05365704 -0.86275468 0.21359511] [ 0.03852755 0.99568883 0.08437638 23.94898215] [ 0.86356259 -0.07566153 0.49853284 -35.19503955] [ 0. 0. 0. 1. ]] SLAMing on 82.445860169 meters Centerline goodness : 0.997062 Centerline is valid? [True, True] Translation: X:0.24, Y:23.95, Z:-35.21 [[ 0.50297586 0.05203352 -0.86273275 0.2376151 ] [ 0.04109695 0.99561726 0.08400776 23.94617488] [ 0.86332284 -0.07770956 0.49863303 -35.20819705] [ 0. 0. 0. 1. ]] SLAMing on 82.475860169 meters Centerline goodness : 0.985978 Centerline is valid? [True, True] Translation: X:0.26, Y:23.96, Z:-35.22 [[ 5.01599624e-01 6.23473965e-02 -8.62850288e-01 2.62817328e-01] [ 2.00772269e-02 9.96291994e-01 8.36610272e-02 2.39557361e+01] [ 8.64866881e-01 -5.92879808e-02 4.98487927e-01 -3.52222157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.505860169 meters Centerline goodness : 0.998558 Centerline is valid? [True, True] Translation: X:0.29, Y:23.95, Z:-35.23 [[ 5.00322542e-01 6.03074212e-02 -8.63736284e-01 2.86521646e-01] [ 2.37579572e-02 9.96239524e-01 8.33208925e-02 2.39536396e+01] [ 8.65513092e-01 -6.22079304e-02 4.97008310e-01 -3.52339277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.535860169 meters Centerline goodness : 0.981426 Centerline is valid? [True, True] Translation: X:0.31, Y:24.01, Z:-35.25 [[ 0.49016766 0.12049897 -0.86325875 0.31222767] [ -0.1006829 0.99159585 0.08124421 24.01203336] [ 0.86579363 0.04709211 0.49818041 -35.25267114] [ 0. 0. 0. 1. ]] SLAMing on 82.565860169 meters Centerline goodness : 0.995710 Centerline is valid? [True, True] Translation: X:0.36, Y:24.13, Z:-35.24 [[ 0.44236206 0.23564646 -0.86532454 0.35752294] [ -0.3484748 0.93421059 0.07626201 24.13138336] [ 0.82636622 0.26780837 0.49537617 -35.24351694] [ 0. 0. 0. 1. ]] SLAMing on 82.595860169 meters Centerline goodness : 0.987176 Centerline is valid? [True, True] Translation: X:0.35, Y:23.90, Z:-35.27 [[ 5.04560723e-01 1.66798298e-02 -8.63215072e-01 3.53016800e-01] [ 1.07997421e-01 9.90741245e-01 8.22699397e-02 2.39046391e+01] [ 8.56595023e-01 -1.34735181e-01 4.98087740e-01 -3.52718795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62586016899999 meters Centerline goodness : 0.987176 Centerline is valid? [True, True] Translation: X:0.38, Y:23.90, Z:-35.29 [[ 5.04644974e-01 1.26874018e-02 -8.63233734e-01 3.77920958e-01] [ 1.15500527e-01 9.89911125e-01 8.20706582e-02 2.38991428e+01] [ 8.55565940e-01 -1.41120497e-01 4.98088273e-01 -3.52850138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.655860169 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:0.40, Y:23.99, Z:-35.30 [[ 4.92576740e-01 1.05311747e-01 -8.63873597e-01 4.03699681e-01] [-7.43827017e-02 9.94113440e-01 7.87761477e-02 2.39912447e+01] [ 8.67084407e-01 2.54539540e-02 4.97510530e-01 -3.53048645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.685860169 meters Centerline goodness : 0.985205 Centerline is valid? [True, True] Translation: X:0.43, Y:23.91, Z:-35.31 [[ 5.03595627e-01 2.72357295e-02 -8.63510081e-01 4.25995389e-01] [ 8.50008558e-02 9.93091565e-01 8.08949821e-02 2.39108710e+01] [ 8.59747811e-01 -1.14137455e-01 4.97801509e-01 -3.53141817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.715860169 meters Centerline goodness : 0.993654 Centerline is valid? [True, True] Translation: X:0.45, Y:23.91, Z:-35.33 [[ 5.03502272e-01 2.35049233e-02 -8.63674117e-01 4.50121592e-01] [ 9.26481908e-02 9.92397142e-01 8.10199030e-02 2.39053151e+01] [ 8.59012093e-01 -1.20811550e-01 4.97496527e-01 -3.53264865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.745860169 meters Centerline goodness : 0.976328 Centerline is valid? [True, True] Translation: X:0.47, Y:23.90, Z:-35.34 [[ 5.03511522e-01 1.96037391e-02 -8.63766080e-01 4.72635373e-01] [ 9.97212845e-02 9.91742467e-01 8.06383556e-02 2.38998123e+01] [ 8.58214316e-01 -1.26738204e-01 4.97398849e-01 -3.53392598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.775860169 meters Centerline goodness : 0.996275 Centerline is valid? [True, True] Translation: X:0.50, Y:23.89, Z:-35.35 [[ 5.02461848e-01 6.75775518e-03 -8.64572972e-01 4.97702539e-01] [ 1.24956401e-01 9.88903305e-01 8.03501761e-02 2.38866245e+01] [ 8.55522056e-01 -1.48406825e-01 4.96041758e-01 -3.53492138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.805860169 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:0.52, Y:23.88, Z:-35.36 [[ 5.01667409e-01 2.49969257e-04 -8.65060546e-01 5.23419043e-01] [ 1.37512211e-01 9.87261533e-01 8.00316002e-02 2.38798377e+01] [ 8.54061006e-01 -1.59105634e-01 4.95242561e-01 -3.53591997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.835860169 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:0.55, Y:23.82, Z:-35.35 [[ 0.49314143 -0.06718243 -0.86735117 0.55267221] [ 0.27115303 0.95921687 0.07986877 23.81752882] [ 0.8266121 -0.2745715 0.4912463 -35.35099308] [ 0. 0. 0. 1. ]] SLAMing on 82.865860169 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:0.57, Y:23.87, Z:-35.38 [[ 5.00660247e-01 -1.29504191e-02 -8.65546997e-01 5.73112093e-01] [ 1.62666358e-01 9.83483113e-01 7.93764647e-02 2.38657753e+01] [ 8.50222896e-01 -1.80536018e-01 4.94497496e-01 -3.53811882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.895860169 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:0.61, Y:23.77, Z:-35.36 [[ 0.48263937 -0.11644653 -0.86804346 0.60628324] [ 0.36620212 0.92715576 0.07923507 23.76789146] [ 0.79558485 -0.35612132 0.49012484 -35.36167973] [ 0. 0. 0. 1. ]] SLAMing on 82.925860169 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:0.63, Y:23.75, Z:-35.37 [[ 0.48317599 -0.13283086 -0.86538831 0.6304067 ] [ 0.39272685 0.91628765 0.07862933 23.74508406] [ 0.78250022 -0.37785303 0.49489443 -35.37146957] [ 0. 0. 0. 1. ]] SLAMing on 82.955860169 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:0.64, Y:23.94, Z:-35.43 [[ 4.93061946e-01 7.02822219e-02 -8.67150694e-01 6.43244677e-01] [-1.28824971e-02 9.97212108e-01 7.34986594e-02 2.39385875e+01] [ 8.69898821e-01 -2.50683257e-02 4.92592753e-01 -3.54319031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.985860169 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:0.67, Y:23.76, Z:-35.41 [[ 0.48743865 -0.11639887 -0.86536401 0.67266261] [ 0.3604463 0.92951275 0.07800327 23.75608934] [ 0.79528739 -0.34993906 0.49503598 -35.40801178] [ 0. 0. 0. 1. ]] SLAMing on 83.01586016899999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:0.69, Y:23.93, Z:-35.46 [[ 4.93779750e-01 6.57384964e-02 -8.67098615e-01 6.89002152e-01] [-2.00408441e-03 9.97221805e-01 7.44624482e-02 2.39311412e+01] [ 8.69584695e-01 -3.50303102e-02 4.92539679e-01 -3.54613600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.045860169 meters Centerline goodness : 0.986443 Centerline is valid? [True, True] Translation: X:0.72, Y:23.80, Z:-35.45 [[ 0.49521698 -0.06797323 -0.8661061 0.71598375] [ 0.26678406 0.96066371 0.07714595 23.79893539] [ 0.82679285 -0.26926729 0.49387116 -35.44935397] [ 0. 0. 0. 1. ]] SLAMing on 83.075860169 meters Centerline goodness : 0.998577 Centerline is valid? [True, True] Translation: X:0.75, Y:23.74, Z:-35.44 [[ 0.47994769 -0.13287639 -0.86717592 0.7486545 ] [ 0.39307395 0.91626433 0.07715279 23.73814879] [ 0.78431058 -0.37789357 0.49198919 -35.43730202] [ 0. 0. 0. 1. ]] SLAMing on 83.105860169 meters Centerline goodness : 0.977297 Centerline is valid? [True, True] Translation: X:0.77, Y:23.75, Z:-35.46 [[ 0.48423334 -0.11798676 -0.86694706 0.76920889] [ 0.36365216 0.92836582 0.07677242 23.74889079] [ 0.79578589 -0.35244294 0.49245182 -35.45880095] [ 0. 0. 0. 1. ]] SLAMing on 83.135860169 meters Centerline goodness : 0.978906 Centerline is valid? [True, True] Translation: X:0.79, Y:23.78, Z:-35.48 [[ 0.49045666 -0.08778307 -0.8670331 0.78907955] [ 0.30496712 0.94929348 0.07639992 23.77720182] [ 0.81636225 -0.30188744 0.49235826 -35.48198439] [ 0. 0. 0. 1. ]] SLAMing on 83.165860169 meters Centerline goodness : 0.991491 Centerline is valid? [True, True] Translation: X:0.81, Y:23.76, Z:-35.49 [[ 0.48804068 -0.10483763 -0.8665018 0.81364525] [ 0.33657167 0.93858521 0.07600863 23.76003017] [ 0.80531721 -0.32873526 0.49335314 -35.48938593] [ 0. 0. 0. 1. ]] SLAMing on 83.195860169 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:0.85, Y:24.05, Z:-35.53 [[ 0.45808407 0.19003487 -0.86835807 0.84709355] [ -0.26551599 0.96153569 0.07035884 24.05169798] [ 0.84832791 0.19833269 0.49092148 -35.5273672 ] [ 0. 0. 0. 1. ]] SLAMing on 83.225860169 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:0.87, Y:23.72, Z:-35.50 [[ 0.47801549 -0.14228776 -0.8667499 0.8662651 ] [ 0.40768328 0.91000084 0.07545076 23.72290665] [ 0.77800741 -0.38942608 0.49300283 -35.50076133] [ 0. 0. 0. 1. ]] SLAMing on 83.255860169 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:0.90, Y:24.05, Z:-35.55 [[ 0.45535341 0.19050247 -0.8696908 0.89544804] [ -0.26824907 0.96080229 0.07001003 24.05084654] [ 0.84893799 0.20141444 0.48860671 -35.54909454] [ 0. 0. 0. 1. ]] SLAMing on 83.285860169 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:0.91, Y:23.99, Z:-35.57 [[ 0.47838861 0.12924604 -0.86858494 0.90654205] [ -0.139218 0.98776304 0.07030303 23.98746335] [ 0.86704249 0.08729049 0.49052797 -35.57169413] [ 0. 0. 0. 1. ]] SLAMing on 83.315860169 meters Centerline goodness : 0.727529 Centerline is valid? [True, False] Translation: X:0.88, Y:23.97, Z:-35.56 [[ 0.4846393 0.10310422 -0.86861629 0.8752205 ] [ -0.08671236 0.99380038 0.06958285 23.96574927] [ 0.87040549 0.04159718 0.49057513 -35.55642179] [ 0. 0. 0. 1. ]] SLAMing on 83.345860169 meters Centerline goodness : 0.999178 Centerline is valid? [False, True] Translation: X:0.86, Y:23.95, Z:-35.55 [[ 4.90551090e-01 8.06565729e-02 -8.67671681e-01 8.57650876e-01] [-4.44254604e-02 9.96727234e-01 6.75366572e-02 2.39473380e+01] [ 8.70279269e-01 5.41653308e-03 4.92528836e-01 -3.55499239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.37586016899999 meters Centerline goodness : 0.987943 Centerline is valid? [True, True] Translation: X:0.89, Y:24.04, Z:-35.56 [[ 0.46842574 0.18593055 -0.86371706 0.8851849 ] [ -0.249746 0.96559973 0.07241611 24.03633227] [ 0.84746933 0.18178831 0.49874718 -35.56442136] [ 0. 0. 0. 1. ]] SLAMing on 83.405860169 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:0.89, Y:23.94, Z:-35.58 [[ 4.95427033e-01 9.12448638e-02 -8.63843985e-01 8.93749401e-01] [-5.56180010e-02 9.95759282e-01 7.32808933e-02 2.39391299e+01] [ 8.66867172e-01 1.17399401e-02 4.98400924e-01 -3.55846441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.435860169 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:0.92, Y:23.93, Z:-35.60 [[ 4.99189008e-01 7.99488092e-02 -8.62796918e-01 9.15221971e-01] [-3.26951797e-02 9.96763119e-01 7.34459626e-02 2.39264375e+01] [ 8.65876065e-01 -8.45411695e-03 5.00187133e-01 -3.55997074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.465860169 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:0.94, Y:23.97, Z:-35.61 [[ 0.48831777 0.12522087 -0.86363504 0.94305345] [ -0.12660629 0.98934659 0.07186223 23.97286841] [ 0.86343303 0.07425002 0.49896927 -35.61087543] [ 0. 0. 0. 1. ]] SLAMing on 83.495860169 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:0.96, Y:23.90, Z:-35.63 [[ 5.03699334e-01 5.21737624e-02 -8.62302082e-01 9.60541303e-01] [ 2.23676327e-02 9.97052268e-01 7.33925282e-02 2.38969470e+01] [ 8.63589411e-01 -5.62554238e-02 5.01047560e-01 -3.56270968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.525860169 meters Centerline goodness : 0.403096 Centerline is valid? [True, False] Translation: X:0.94, Y:23.90, Z:-35.61 [[ 5.00028517e-01 5.14162040e-02 -8.64481264e-01 9.36241811e-01] [ 2.40754448e-02 9.97024810e-01 7.32249994e-02 2.38991038e+01] [ 8.65674220e-01 -5.74273588e-02 4.97302969e-01 -3.56095510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.555860169 meters Centerline goodness : 0.711103 Centerline is valid? [False, False] Translation: X:0.91, Y:23.90, Z:-35.59 [[ 4.96856991e-01 5.06050609e-02 -8.66355734e-01 9.06476738e-01] [ 2.50249653e-02 9.97047803e-01 7.25908437e-02 2.39025531e+01] [ 8.67471545e-01 -5.77477904e-02 4.94123781e-01 -3.55901593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.585860169 meters Centerline goodness : 0.999290 Centerline is valid? [False, True] Translation: X:0.87, Y:23.91, Z:-35.57 [[ 4.93873796e-01 5.10019877e-02 -8.68036561e-01 8.73958390e-01] [ 2.28164412e-02 9.97174503e-01 7.15710916e-02 2.39071769e+01] [ 8.69234194e-01 -5.51525919e-02 4.91314673e-01 -3.55696266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.615860169 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:0.90, Y:23.96, Z:-35.59 [[ 0.48305821 0.11126556 -0.86848992 0.89960153] [ -0.09601054 0.99264294 0.07376976 23.96007154] [ 0.87030842 0.04774909 0.49018699 -35.58606297] [ 0. 0. 0. 1. ]] SLAMing on 83.645860169 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:0.93, Y:23.99, Z:-35.59 [[ 0.47510849 0.13766659 -0.86909138 0.92734498] [ -0.15273982 0.98559451 0.07262234 23.98843655] [ 0.86656937 0.09824137 0.48929149 -35.5949732 ] [ 0. 0. 0. 1. ]] SLAMing on 83.675860169 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:0.96, Y:23.66, Z:-35.54 [[ 0.45503983 -0.20541051 -0.86645558 0.96384951] [ 0.52900817 0.8450723 0.07748009 23.65595943] [ 0.71630239 -0.49361861 0.49320539 -35.53658703] [ 0. 0. 0. 1. ]] SLAMing on 83.705860169 meters Centerline goodness : 0.985584 Centerline is valid? [True, True] Translation: X:0.98, Y:23.70, Z:-35.57 [[ 0.47580667 -0.15461064 -0.86585424 0.97698522] [ 0.43250735 0.89831362 0.07726593 23.69964148] [ 0.76586252 -0.41125197 0.49429385 -35.57472144] [ 0. 0. 0. 1. ]] SLAMing on 83.735860169 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:0.99, Y:23.92, Z:-35.64 [[ 4.93574464e-01 7.10120376e-02 -8.66799596e-01 9.89675748e-01] [-1.63815817e-02 9.97243275e-01 7.23705304e-02 2.39161039e+01] [ 8.69549246e-01 -2.15206974e-02 4.93377105e-01 -3.56407205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76586016899999 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:1.04, Y:23.63, Z:-35.56 [[ 0.44416265 -0.23143396 -0.86553906 1.03953487] [ 0.57404985 0.81522961 0.07659931 23.62994624] [ 0.68788539 -0.53088512 0.49494917 -35.56279695] [ 0. 0. 0. 1. ]] SLAMing on 83.795860169 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:1.04, Y:23.89, Z:-35.66 [[ 4.96954233e-01 4.56961617e-02 -8.66572762e-01 1.03517740e+00] [ 3.19021136e-02 9.96975453e-01 7.08674962e-02 2.38894604e+01] [ 8.67190144e-01 -6.28634049e-02 4.93993367e-01 -3.56635471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.825860169 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:1.10, Y:23.57, Z:-35.55 [[ 0.40515984 -0.2941765 -0.86562445 1.10466256] [ 0.68727364 0.72239276 0.07618165 23.57139101] [ 0.60290999 -0.62578661 0.49486429 -35.54766565] [ 0. 0. 0. 1. ]] SLAMing on 83.855860169 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:1.12, Y:23.59, Z:-35.58 [[ 0.42121487 -0.27024446 -0.86576323 1.12006588] [ 0.64429696 0.76099736 0.07592392 23.59063469] [ 0.63832551 -0.5897889 0.49466109 -35.57896038] [ 0. 0. 0. 1. ]] SLAMing on 83.885860169 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:1.18, Y:23.51, Z:-35.51 [[ 0.34075658 -0.36374396 -0.86693442 1.18195675] [ 0.81130192 0.57971126 0.0756574 23.51387067] [ 0.47505172 -0.72912632 0.4926466 -35.50867189] [ 0. 0. 0. 1. ]] SLAMing on 83.915860169 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:1.21, Y:23.51, Z:-35.52 [[ 0.34048015 -0.36394549 -0.86695845 1.20628718] [ 0.81143951 0.57955459 0.07538165 23.51221992] [ 0.47501494 -0.72915029 0.49264659 -35.52194533] [ 0. 0. 0. 1. ]] SLAMing on 83.945860169 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:1.16, Y:23.93, Z:-35.73 [[ 4.86839960e-01 9.46877511e-02 -8.68343874e-01 1.15692662e+00] [-7.14369345e-02 9.95093119e-01 6.84576434e-02 2.39327723e+01] [ 8.70565114e-01 2.87039081e-02 4.91215297e-01 -3.57298833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.975860169 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:1.21, Y:23.60, Z:-35.64 [[ 0.43211436 -0.25364368 -0.86541439 1.21027128] [ 0.61145045 0.78777556 0.07441779 23.60098397] [ 0.6628767 -0.56131501 0.49549968 -35.64194526] [ 0. 0. 0. 1. ]] SLAMing on 84.005860169 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:1.22, Y:23.64, Z:-35.68 [[ 0.4580284 -0.20622926 -0.86468461 1.22206514] [ 0.52251117 0.84939824 0.07419374 23.64355803] [ 0.71916066 -0.48579021 0.49680561 -35.68324102] [ 0. 0. 0. 1. ]] SLAMing on 84.035860169 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:1.29, Y:23.53, Z:-35.60 [[ 0.36365049 -0.34356288 -0.86586539 1.29119944] [ 0.77224024 0.63101187 0.07395293 23.52517981] [ 0.52096386 -0.69554911 0.49478085 -35.59545226] [ 0. 0. 0. 1. ]] SLAMing on 84.065860169 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:1.32, Y:23.52, Z:-35.60 [[ 0.35833533 -0.34806575 -0.86628287 1.31697685] [ 0.78078458 0.62044062 0.07368098 23.51881072] [ 0.51183126 -0.7027828 0.49409017 -35.60344533] [ 0. 0. 0. 1. ]] SLAMing on 84.095860169 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:1.30, Y:23.61, Z:-35.70 [[ 0.43932827 -0.24093881 -0.86541271 1.30053752] [ 0.58664132 0.80652598 0.07326528 23.60625137] [ 0.68032539 -0.53987437 0.49567433 -35.70154475] [ 0. 0. 0. 1. ]] SLAMing on 84.12586016899999 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:1.37, Y:23.50, Z:-35.61 [[ 0.33870798 -0.36577224 -0.86688383 1.37196814] [ 0.8121103 0.57891448 0.07304023 23.50032495] [ 0.47513552 -0.7287446 0.49313036 -35.61129375] [ 0. 0. 0. 1. ]] SLAMing on 84.155860169 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:1.40, Y:23.49, Z:-35.61 [[ 0.32744094 -0.37607148 -0.86680602 1.40167203] [ 0.8291327 0.55430195 0.07272081 23.49065148] [ 0.45312404 -0.74250898 0.49331432 -35.613331 ] [ 0. 0. 0. 1. ]] SLAMing on 84.185860169 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:1.42, Y:23.50, Z:-35.64 [[ 0.34028314 -0.36371862 -0.86713099 1.41928063] [ 0.80863388 0.58383567 0.07243724 23.49917676] [ 0.47991523 -0.72584067 0.49278463 -35.64019148] [ 0. 0. 0. 1. ]] SLAMing on 84.215860169 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:1.43, Y:23.51, Z:-35.67 [[ 0.35934157 -0.3463287 -0.86656221 1.43475436] [ 0.77677037 0.62564755 0.07206197 23.51277654] [ 0.5172054 -0.69901472 0.49383905 -35.67113472] [ 0. 0. 0. 1. ]] SLAMing on 84.245860169 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:1.41, Y:23.63, Z:-35.78 [[ 0.4530923 -0.21199725 -0.86588945 1.41304521] [ 0.52709882 0.84704432 0.06843062 23.63149638] [ 0.71893963 -0.4874147 0.49553276 -35.78027912] [ 0. 0. 0. 1. ]] SLAMing on 84.275860169 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:1.44, Y:23.60, Z:-35.78 [[ 0.43773627 -0.24464456 -0.86517975 1.44390736] [ 0.58995961 0.80429984 0.07105938 23.59587684] [ 0.67847964 -0.54152637 0.49640161 -35.77700896] [ 0. 0. 0. 1. ]] SLAMing on 84.305860169 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:1.47, Y:23.61, Z:-35.80 [[ 0.44395996 -0.23325797 -0.86515332 1.46523347] [ 0.56849298 0.8196412 0.07073923 23.60572024] [ 0.69261482 -0.52323898 0.49649339 -35.79791322] [ 0. 0. 0. 1. ]] SLAMing on 84.335860169 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:1.52, Y:23.53, Z:-35.75 [[ 0.3864943 -0.31607051 -0.86644191 1.51673777] [ 0.72138958 0.68893437 0.07047342 23.53463823] [ 0.57464705 -0.65227974 0.49427918 -35.74925521] [ 0. 0. 0. 1. ]] SLAMing on 84.365860169 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:1.54, Y:23.54, Z:-35.77 [[ 0.39578091 -0.30303448 -0.8669069 1.53547294] [ 0.6988451 0.71181669 0.07023194 23.54467544] [ 0.5957961 -0.6336301 0.49349762 -35.77256453] [ 0. 0. 0. 1. ]] SLAMing on 84.395860169 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:1.52, Y:23.67, Z:-35.87 [[ 0.47601048 -0.15697708 -0.86531625 1.51972243] [ 0.42456637 0.90270267 0.06979461 23.67234593] [ 0.77016714 -0.40060715 0.49634312 -35.87473629] [ 0. 0. 0. 1. ]] SLAMing on 84.425860169 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:1.57, Y:23.58, Z:-35.83 [[ 0.4244891 -0.26091241 -0.86702579 1.56869516] [ 0.62171873 0.78014006 0.06962261 23.58067284] [ 0.65823615 -0.56860021 0.49337508 -35.82911414] [ 0. 0. 0. 1. ]] SLAMing on 84.455860169 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:1.57, Y:23.68, Z:-35.90 [[ 0.47534274 -0.14930734 -0.86703898 1.56746144] [ 0.41180982 0.90863096 0.0692997 23.67795356] [ 0.77747151 -0.38999628 0.49339736 -35.9030841 ] [ 0. 0. 0. 1. ]] SLAMing on 84.48586016899999 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:1.58, Y:23.77, Z:-35.95 [[ 0.49017924 -0.05111893 -0.87012135 1.58174456] [ 0.22417431 0.97209067 0.06917812 23.76851393] [ 0.84230054 -0.22896853 0.48795821 -35.94587511] [ 0. 0. 0. 1. ]] SLAMing on 84.51586016899999 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:1.60, Y:23.83, Z:-35.97 [[ 4.91587888e-01 1.35865061e-02 -8.70721974e-01 1.60299574e+00] [ 9.44890841e-02 9.93142723e-01 6.88429037e-02 2.38296341e+01] [ 8.65686526e-01 -1.16116059e-01 4.86933157e-01 -3.59707411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.545860169 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:1.63, Y:23.83, Z:-35.98 [[ 4.91553603e-01 1.32054561e-02 -8.70747191e-01 1.62723622e+00] [ 9.47030268e-02 9.93144442e-01 6.85233785e-02 2.38282582e+01] [ 8.65682616e-01 -1.16145308e-01 4.86933132e-01 -3.59840218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.575860169 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:1.65, Y:23.85, Z:-36.00 [[ 4.89613612e-01 3.25526723e-02 -8.71331645e-01 1.65265766e+00] [ 5.51187782e-02 9.96148754e-01 6.81878231e-02 2.38466541e+01] [ 8.70195628e-01 -8.14124221e-02 4.85933726e-01 -3.59990517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.605860169 meters Centerline goodness : 0.996814 Centerline is valid? [True, True] Translation: X:1.68, Y:23.95, Z:-36.01 [[ 0.46906863 0.13495004 -0.87279042 1.6840653 ] [ -0.15708596 0.98524699 0.06791439 23.95056396] [ 0.86907918 0.10524662 0.48334721 -36.01310061] [ 0. 0. 0. 1. ]] SLAMing on 84.635860169 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] SLAMing on 84.665860169 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] SLAMing on 84.695860169 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] SLAMing on 84.725860169 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] SLAMing on 84.755860169 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] SLAMing on 84.785860169 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] SLAMing on 84.815860169 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] SLAMing on 84.845860169 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] SLAMing on 84.87586016899999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] SLAMing on 84.905860169 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] SLAMing on 84.935860169 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] SLAMing on 84.965860169 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] SLAMing on 84.995860169 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] SLAMing on 85.025860169 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] SLAMing on 85.055860169 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] SLAMing on 85.085860169 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] SLAMing on 85.115860169 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] SLAMing on 85.145860169 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] SLAMing on 85.175860169 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] SLAMing on 85.205860169 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] SLAMing on 85.23586016899999 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] SLAMing on 85.26586016899999 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] SLAMing on 85.295860169 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] SLAMing on 85.325860169 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] SLAMing on 85.355860169 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] SLAMing on 85.385860169 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] SLAMing on 85.415860169 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] SLAMing on 85.445860169 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] SLAMing on 85.475860169 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] SLAMing on 85.505860169 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:1.95, Y:24.45, Z:-35.58 [[-5.84195119e-04 4.34355444e-01 -9.00741365e-01 1.94632777e+00] [-9.99532136e-01 -2.77987617e-02 -1.27568492e-02 2.44545043e+01] [-3.05805015e-02 9.00312488e-01 4.34168465e-01 -3.55800025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.535860169 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:1.99, Y:24.53, Z:-35.47 [[ -0.04435403 0.44762041 -0.893123 1.99357977] [ -0.95683324 -0.27607436 -0.09084651 24.53481787] [ -0.28723312 0.85054036 0.4405431 -35.46552956] [ 0. 0. 0. 1. ]] SLAMing on 85.565860169 meters Centerline goodness : 0.360348 Centerline is valid? [True, False] Translation: X:1.64, Y:24.10, Z:-35.41 [[ 0.83853017 -0.45008521 -0.3070675 1.64102848] [ 0.53459869 0.57080439 0.6232067 24.10164155] [ -0.10522065 -0.6867355 0.71925167 -35.40602875] [ 0. 0. 0. 1. ]] SLAMing on 85.595860169 meters Centerline goodness : 0.999041 Centerline is valid? [False, True] Translation: X:1.60, Y:24.16, Z:-35.39 [[ 0.86956535 -0.38306898 -0.3116316 1.60499821] [ 0.49098459 0.60317325 0.62858266 24.15779307] [ -0.05282267 -0.69960002 0.71257953 -35.39356198] [ 0. 0. 0. 1. ]] SLAMing on 85.62586016899999 meters Centerline goodness : 0.993336 Centerline is valid? [True, True] Translation: X:1.60, Y:24.29, Z:-35.56 [[ 0.94318095 0.05208647 -0.32817173 1.59749918] [ 0.17223088 0.76797335 0.61689015 24.29488226] [ 0.28415878 -0.63836034 0.71536694 -35.56401284] [ 0. 0. 0. 1. ]] SLAMing on 85.655860169 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:1.61, Y:24.31, Z:-35.62 [[ 0.93309469 0.14758547 -0.32795248 1.60751789] [ 0.09268495 0.78242086 0.61581417 24.31466818] [ 0.34748208 -0.6050092 0.7163938 -35.61646553] [ 0. 0. 0. 1. ]] SLAMing on 85.685860169 meters Centerline goodness : 0.998548 Centerline is valid? [True, True] Translation: X:1.64, Y:24.35, Z:-35.67 [[ 8.98585249e-01 2.83835217e-01 -3.34637295e-01 1.63676473e+00] [-2.05266020e-02 7.88976206e-01 6.14080780e-01 2.43525114e+01] [ 4.38318615e-01 -5.44934965e-01 7.14788553e-01 -3.56745797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.715860169 meters Centerline goodness : 0.998637 Centerline is valid? [True, True] Translation: X:1.65, Y:24.34, Z:-35.70 [[ 8.98714518e-01 2.83880062e-01 -3.34251888e-01 1.64613339e+00] [-2.12104133e-02 7.89448941e-01 6.13449662e-01 2.43361017e+01] [ 4.38020927e-01 -5.44226497e-01 7.15510438e-01 -3.56956550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.745860169 meters Centerline goodness : 0.951264 Centerline is valid? [True, True] Translation: X:1.64, Y:24.28, Z:-35.68 [[ 0.92642049 0.17552338 -0.3330715 1.6447835 ] [ 0.0723206 0.78523373 0.61496155 24.27560794] [ 0.3694791 -0.59380092 0.71476266 -35.68205186] [ 0. 0. 0. 1. ]] SLAMing on 85.775860169 meters Centerline goodness : 0.936919 Centerline is valid? [True, False] Translation: X:1.62, Y:24.27, Z:-35.66 [[ 0.93677246 0.12901871 -0.32528683 1.62453634] [ 0.10500264 0.78308538 0.61298592 24.2739272 ] [ 0.33381401 -0.60838431 0.72002551 -35.65856343] [ 0. 0. 0. 1. ]] SLAMing on 85.805860169 meters Centerline goodness : 0.936919 Centerline is valid? [False, False] Translation: X:1.60, Y:24.29, Z:-35.62 [[ 0.94342397 0.09329774 -0.31819293 1.6003775 ] [ 0.12947252 0.7797803 0.61251902 24.2867513 ] [ 0.30526722 -0.61906237 0.72358393 -35.62247849] [ 0. 0. 0. 1. ]] SLAMing on 85.835860169 meters Centerline goodness : 0.922282 Centerline is valid? [False, False] Translation: X:1.59, Y:24.28, Z:-35.62 [[ 0.94911867 0.07155569 -0.30668148 1.58910298] [ 0.13989958 0.77666969 0.61417612 24.27809628] [ 0.282138 -0.62583063 0.72714109 -35.62051496] [ 0. 0. 0. 1. ]] SLAMing on 85.865860169 meters Centerline goodness : 0.924462 Centerline is valid? [False, False] Translation: X:1.57, Y:24.29, Z:-35.60 [[ 0.95333198 0.05155639 -0.29748961 1.57116343] [ 0.14984989 0.77459544 0.61444846 24.28693244] [ 0.26211284 -0.63035216 0.73072089 -35.59995086] [ 0. 0. 0. 1. ]] SLAMing on 85.895860169 meters Centerline goodness : 0.936707 Centerline is valid? [False, False] Translation: X:1.55, Y:24.29, Z:-35.58 [[ 9.56981008e-01 2.97634413e-02 -2.88619972e-01 1.55413433e+00] [ 1.61125128e-01 7.72739319e-01 6.13932111e-01 2.42949578e+01] [ 2.41300733e-01 -6.34025301e-01 7.34701214e-01 -3.55786594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.925860169 meters Centerline goodness : 0.965106 Centerline is valid? [False, True] Translation: X:1.54, Y:24.30, Z:-35.56 [[ 9.60081932e-01 1.16368907e-02 -2.79476773e-01 1.53837879e+00] [ 1.69464319e-01 7.70701357e-01 6.14248535e-01 2.43000185e+01] [ 2.22541071e-01 -6.37090261e-01 7.37964410e-01 -3.55615011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.955860169 meters Centerline goodness : 0.977434 Centerline is valid? [True, True] Translation: X:2.02, Y:24.62, Z:-35.69 [[ -0.32627373 0.91114807 -0.25170349 2.02342018] [ -0.71165024 -0.0615065 0.69983633 24.61517693] [ 0.62217312 0.40746305 0.6684867 -35.69317817] [ 0. 0. 0. 1. ]] SLAMing on 85.98586016899999 meters Centerline goodness : 0.984776 Centerline is valid? [True, True] Translation: X:2.19, Y:24.23, Z:-35.30 [[ -0.82865036 -0.5382987 -0.15353529 2.18987832] [ 0.31406171 -0.67413704 0.66850915 24.23352321] [ -0.46336144 0.5057408 0.72768292 -35.29729671] [ 0. 0. 0. 1. ]] SLAMing on 86.01586016899999 meters Centerline goodness : 0.900189 Centerline is valid? [True, False] Translation: X:1.95, Y:24.44, Z:-35.28 [[ 0.71830243 0.58934927 0.36974187 1.94854655] [ -0.69078442 0.66740346 0.2781897 24.44465519] [ -0.08281611 -0.45523626 0.88651082 -35.28303898] [ 0. 0. 0. 1. ]] SLAMing on 86.045860169 meters Centerline goodness : 0.903177 Centerline is valid? [False, False] Translation: X:1.91, Y:24.42, Z:-35.26 [[ 0.79400308 0.4849618 0.36656672 1.91310078] [ -0.58829563 0.7649233 0.26229867 24.41728495] [ -0.15319059 -0.42391555 0.89265237 -35.25884772] [ 0. 0. 0. 1. ]] SLAMing on 86.075860169 meters Centerline goodness : 0.905307 Centerline is valid? [False, False] Translation: X:1.89, Y:24.39, Z:-35.24 [[ 0.84425038 0.39356951 0.36379161 1.88891499] [ -0.49544005 0.83198498 0.24968011 24.38998894] [ -0.20440267 -0.39102946 0.89739373 -35.24243354] [ 0. 0. 0. 1. ]] SLAMing on 86.105860169 meters Centerline goodness : 0.910004 Centerline is valid? [False, False] Translation: X:1.87, Y:24.36, Z:-35.25 [[ 0.87753466 0.31430083 0.36214349 1.86618417] [ -0.41412927 0.87747004 0.24195719 24.36120386] [ -0.24172272 -0.36230004 0.90017154 -35.24551827] [ 0. 0. 0. 1. ]] SLAMing on 86.135860169 meters Centerline goodness : 0.917477 Centerline is valid? [False, False] Translation: X:1.85, Y:24.33, Z:-35.25 [[ 0.90096554 0.2403454 0.36124117 1.84924542] [ -0.33744637 0.91149553 0.23517196 24.33417302] [ -0.27274722 -0.33378135 0.90232974 -35.24544026] [ 0. 0. 0. 1. ]] SLAMing on 86.165860169 meters Centerline goodness : 0.913071 Centerline is valid? [False, False] Translation: X:1.84, Y:24.31, Z:-35.24 [[ 0.9185776 0.15914176 0.36178598 1.83624296] [ -0.2525459 0.94045193 0.22753185 24.30579138] [ -0.3040325 -0.30037323 0.90406867 -35.23934158] [ 0. 0. 0. 1. ]] SLAMing on 86.195860169 meters Centerline goodness : 0.916467 Centerline is valid? [False, False] Translation: X:1.82, Y:24.29, Z:-35.25 [[ 0.92513254 0.11280089 0.3624993 1.82480497] [ -0.20367829 0.95326192 0.22317454 24.2867645 ] [ -0.32038249 -0.28029926 0.90486871 -35.24745643] [ 0. 0. 0. 1. ]] SLAMing on 86.225860169 meters Centerline goodness : 0.938026 Centerline is valid? [False, False] Translation: X:1.82, Y:24.27, Z:-35.24 [[ 0.93044777 0.05261295 0.36262766 1.81804162] [ -0.13967801 0.96584288 0.21826037 24.26526339] [ -0.33875802 -0.25373098 0.90601523 -35.24276112] [ 0. 0. 0. 1. ]] SLAMing on 86.255860169 meters Centerline goodness : 0.999003 Centerline is valid? [False, True] Translation: X:1.81, Y:24.25, Z:-35.25 [[ 9.31346543e-01 8.92548682e-03 3.64024658e-01 1.80857009e+00] [-9.34206588e-02 9.72095901e-01 2.15179320e-01 2.42466310e+01] [-3.51946298e-01 -2.34413939e-01 9.06191982e-01 -3.52498478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.285860169 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:2.52, Y:24.44, Z:-35.50 [[ -0.35065487 0.88666511 0.30144011 2.51922964] [ -0.8515752 -0.43582373 0.29133719 24.4362965 ] [ 0.38969327 -0.15454011 0.90788573 -35.501888 ] [ 0. 0. 0. 1. ]] SLAMing on 86.315860169 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] SLAMing on 86.345860169 meters Centerline goodness : 0.960538 Centerline is valid? [True, True] SLAMing on 86.37586016899999 meters Centerline goodness : 0.933088 Centerline is valid? [True, False] Translation: X:2.54, Y:24.39, Z:-35.51 [[ 7.78371038e-01 5.43268411e-01 -3.14639414e-01 2.53979294e+00] [-5.02117213e-01 8.39551864e-01 2.07439083e-01 2.43940643e+01] [ 3.76851208e-01 -3.47870821e-03 9.26267276e-01 -3.55094149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.405860169 meters Centerline goodness : 0.987030 Centerline is valid? [False, True] Translation: X:2.52, Y:24.37, Z:-35.51 [[ 8.29958537e-01 4.57196376e-01 -3.19593962e-01 2.52046884e+00] [-4.12929362e-01 8.88744494e-01 1.99054177e-01 2.43661850e+01] [ 3.75044222e-01 -3.32369830e-02 9.26410888e-01 -3.55116603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.435860169 meters Centerline goodness : 0.987030 Centerline is valid? [True, True] Translation: X:2.47, Y:24.23, Z:-35.52 [[ 0.93712056 0.1566966 -0.3118513 2.46832138] [ -0.09724578 0.97539043 0.19788069 24.22912687] [ 0.335184 -0.15511185 0.92929651 -35.51828913] [ 0. 0. 0. 1. ]] SLAMing on 86.465860169 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:2.49, Y:24.09, Z:-35.51 [[ 0.94012878 -0.13008642 -0.3150165 2.48580379] [ 0.19995394 0.9590283 0.20070661 24.09136928] [ 0.27600053 -0.25167885 0.9276214 -35.51308595] [ 0. 0. 0. 1. ]] SLAMing on 86.495860169 meters Centerline goodness : 0.996293 Centerline is valid? [True, True] SLAMing on 86.525860169 meters Centerline goodness : 0.992366 Centerline is valid? [True, True] SLAMing on 86.555860169 meters Centerline goodness : 0.994736 Centerline is valid? [True, True] Translation: X:2.49, Y:24.16, Z:-35.56 [[ 9.47773073e-01 4.22235759e-02 -3.16138215e-01 2.49283432e+00] [ 2.25873020e-02 9.79823997e-01 1.98581843e-01 2.41615878e+01] [ 3.18144645e-01 -1.95351233e-01 9.27697084e-01 -3.55587953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.585860169 meters Centerline goodness : 0.711301 Centerline is valid? [True, False] Translation: X:2.49, Y:24.16, Z:-35.55 [[ 9.46733289e-01 4.35829767e-02 -3.19055799e-01 2.49046309e+00] [ 2.19320298e-02 9.79771213e-01 1.98915452e-01 2.41643791e+01] [ 3.21271015e-01 -1.95317422e-01 9.26626160e-01 -3.55479802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.615860169 meters Centerline goodness : 0.979236 Centerline is valid? [False, True] Translation: X:2.49, Y:24.17, Z:-35.55 [[ 9.46823015e-01 4.53433501e-02 -3.18543810e-01 2.48850405e+00] [ 2.03402969e-02 9.79604949e-01 1.99901016e-01 2.41651645e+01] [ 3.21111274e-01 -1.95750159e-01 9.26590214e-01 -3.55471964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.645860169 meters Centerline goodness : 0.981587 Centerline is valid? [True, True] Translation: X:2.55, Y:24.34, Z:-35.59 [[ 8.45934232e-01 4.21968072e-01 -3.26095418e-01 2.54815095e+00] [-3.82540372e-01 9.06186434e-01 1.80247082e-01 2.43359070e+01] [ 3.71561758e-01 -2.77325141e-02 9.27993948e-01 -3.55911824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.675860169 meters Centerline goodness : 0.465711 Centerline is valid? [True, False] Translation: X:2.53, Y:24.31, Z:-35.59 [[ 0.87955265 0.3433177 -0.32942389 2.53399293] [ -0.30123145 0.93772687 0.17299689 24.31091047] [ 0.36830252 -0.05292703 0.92819824 -35.58868629] [ 0. 0. 0. 1. ]] SLAMing on 86.705860169 meters Centerline goodness : 0.653114 Centerline is valid? [False, False] Translation: X:2.52, Y:24.28, Z:-35.58 [[ 0.90820078 0.25751152 -0.32993812 2.51985446] [ -0.21275113 0.9629171 0.16591446 24.28286688] [ 0.36042794 -0.08048893 0.92930793 -35.58391954] [ 0. 0. 0. 1. ]] SLAMing on 86.73586016899999 meters Centerline goodness : 0.350411 Centerline is valid? [False, False] Translation: X:2.51, Y:24.26, Z:-35.58 [[ 0.92644952 0.18254294 -0.32919502 2.50871686] [ -0.13570301 0.97770493 0.16024284 24.2591693 ] [ 0.3511068 -0.10378414 0.93056589 -35.57707624] [ 0. 0. 0. 1. ]] SLAMing on 86.76586016899999 meters Centerline goodness : 0.665104 Centerline is valid? [False, False] Translation: X:2.50, Y:24.24, Z:-35.57 [[ 0.93666666 0.12197717 -0.32829428 2.5022244 ] [ -0.07303093 0.98480887 0.1575372 24.23854545] [ 0.34252306 -0.12358421 0.93134574 -35.57320111] [ 0. 0. 0. 1. ]] SLAMing on 86.795860169 meters Centerline goodness : 0.521752 Centerline is valid? [False, False] Translation: X:2.49, Y:24.23, Z:-35.56 [[ 9.41492749e-01 8.17306139e-02 -3.26973257e-01 2.49248445e+00] [-3.21471742e-02 9.87505174e-01 1.54272778e-01 2.42276948e+01] [ 3.35496592e-01 -1.34735436e-01 9.32356369e-01 -3.55565456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.825860169 meters Centerline goodness : 0.700732 Centerline is valid? [False, False] Translation: X:2.49, Y:24.22, Z:-35.54 [[ 9.44077108e-01 4.87521194e-02 -3.26100666e-01 2.48539306e+00] [ 2.05047717e-03 9.88121557e-01 1.53660614e-01 2.42182729e+01] [ 3.29718379e-01 -1.45736130e-01 9.32762977e-01 -3.55438450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.855860169 meters Centerline goodness : 0.700732 Centerline is valid? [False, False] Translation: X:2.49, Y:24.22, Z:-35.54 [[ 9.44077108e-01 4.87521194e-02 -3.26100666e-01 2.48539306e+00] [ 2.05047717e-03 9.88121557e-01 1.53660614e-01 2.42182729e+01] [ 3.29718379e-01 -1.45736130e-01 9.32762977e-01 -3.55438450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.885860169 meters Centerline goodness : 0.390093 Centerline is valid? [False, False] Translation: X:2.49, Y:24.22, Z:-35.54 [[ 9.44076833e-01 4.92372992e-02 -3.26028560e-01 2.48545392e+00] [ 1.59624812e-03 9.88093619e-01 1.53845546e-01 2.42193206e+01] [ 3.29721679e-01 -1.45762439e-01 9.32757699e-01 -3.55439516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.915860169 meters Centerline goodness : 0.929877 Centerline is valid? [False, False] Translation: X:2.48, Y:24.22, Z:-35.54 [[ 9.44183543e-01 4.80557816e-02 -3.25895811e-01 2.48404400e+00] [ 2.57570584e-03 9.88195087e-01 1.53179098e-01 2.42199071e+01] [ 3.29409781e-01 -1.45468595e-01 9.32913760e-01 -3.55432507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.945860169 meters Centerline goodness : 0.913145 Centerline is valid? [False, False] Translation: X:2.48, Y:24.22, Z:-35.53 [[ 9.42973683e-01 4.84842451e-02 -3.29317341e-01 2.48299392e+00] [ 3.14211869e-03 9.87994638e-01 1.54456213e-01 2.42211815e+01] [ 3.32852460e-01 -1.46682899e-01 9.31500600e-01 -3.55333903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.975860169 meters Centerline goodness : 0.908596 Centerline is valid? [False, False] Translation: X:2.48, Y:24.22, Z:-35.53 [[ 9.43208949e-01 4.63701709e-02 -3.28947846e-01 2.48089479e+00] [ 4.87566431e-03 9.88171096e-01 1.53277893e-01 2.42207876e+01] [ 3.32164275e-01 -1.46176920e-01 9.31825736e-01 -3.55323857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.005860169 meters Centerline goodness : 0.913802 Centerline is valid? [False, False] Translation: X:2.48, Y:24.22, Z:-35.53 [[ 9.42932834e-01 4.48280747e-02 -3.29951686e-01 2.47844694e+00] [ 7.39503552e-03 9.87832921e-01 1.55342955e-01 2.42214155e+01] [ 3.32900863e-01 -1.48917977e-01 9.31128590e-01 -3.55267433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.035860169 meters Centerline goodness : 0.919881 Centerline is valid? [False, False] Translation: X:2.48, Y:24.22, Z:-35.53 [[ 9.43027275e-01 4.15526402e-02 -3.30110491e-01 2.47720832e+00] [ 1.02109708e-02 9.88088846e-01 1.53545330e-01 2.42197295e+01] [ 3.32558708e-01 -1.48168183e-01 9.31370439e-01 -3.55258705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.065860169 meters Centerline goodness : 0.963939 Centerline is valid? [False, True] Translation: X:2.47, Y:24.22, Z:-35.52 [[ 9.42996442e-01 4.04922115e-02 -3.30330276e-01 2.47481173e+00] [ 1.16433230e-02 9.87948870e-01 1.54342034e-01 2.42197023e+01] [ 3.32599074e-01 -1.49390131e-01 9.31160805e-01 -3.55228851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.095860169 meters Centerline goodness : 0.923431 Centerline is valid? [True, False] Translation: X:2.48, Y:24.22, Z:-35.52 [[ 9.42966776e-01 4.04572071e-02 -3.30419239e-01 2.47508621e+00] [ 1.17359176e-02 9.87929855e-01 1.54456694e-01 2.42193999e+01] [ 3.32679917e-01 -1.49525303e-01 9.31110228e-01 -3.55232643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12586016899999 meters Centerline goodness : 0.960065 Centerline is valid? [False, True] Translation: X:2.47, Y:24.22, Z:-35.51 [[ 9.42216924e-01 3.53128049e-02 -3.33137020e-01 2.47073595e+00] [ 1.79134612e-02 9.87695258e-01 1.55361467e-01 2.42194330e+01] [ 3.34524104e-01 -1.52351841e-01 9.29990613e-01 -3.55062410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.155860169 meters Centerline goodness : 0.919213 Centerline is valid? [True, False] Translation: X:2.47, Y:24.22, Z:-35.50 [[ 9.42457147e-01 3.80552934e-02 -3.32154061e-01 2.46779392e+00] [ 1.53874850e-02 9.87510363e-01 1.56800858e-01 2.42216355e+01] [ 3.33972680e-01 -1.52889105e-01 9.30100624e-01 -3.55049572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.185860169 meters Centerline goodness : 0.919213 Centerline is valid? [False, False] Translation: X:2.47, Y:24.22, Z:-35.50 [[ 9.42457147e-01 3.80552934e-02 -3.32154061e-01 2.46779392e+00] [ 1.53874850e-02 9.87510363e-01 1.56800858e-01 2.42216355e+01] [ 3.33972680e-01 -1.52889105e-01 9.30100624e-01 -3.55049572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.215860169 meters Centerline goodness : 0.973590 Centerline is valid? [False, True] Translation: X:2.47, Y:24.22, Z:-35.50 [[ 9.42577522e-01 4.00345212e-02 -3.31579331e-01 2.46558798e+00] [ 1.36405481e-02 9.87346966e-01 1.57987040e-01 2.42222551e+01] [ 3.33708782e-01 -1.53437956e-01 9.30104963e-01 -3.55039218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.245860169 meters Centerline goodness : 0.929112 Centerline is valid? [True, False] Translation: X:2.47, Y:24.22, Z:-35.50 [[ 9.42527459e-01 4.01087749e-02 -3.31712641e-01 2.46588680e+00] [ 1.36068060e-02 9.87338066e-01 1.58045555e-01 2.42223853e+01] [ 3.33851531e-01 -1.53475825e-01 9.30047486e-01 -3.55041021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.275860169 meters Centerline goodness : 0.973891 Centerline is valid? [False, True] Translation: X:2.46, Y:24.23, Z:-35.48 [[ 9.45440146e-01 3.12996226e-02 -3.24288860e-01 2.45705121e+00] [ 2.01458266e-02 9.87853130e-01 1.54079000e-01 2.42252594e+01] [ 3.25172380e-01 -1.52205540e-01 9.33325451e-01 -3.54823753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.305860169 meters Centerline goodness : 0.973122 Centerline is valid? [True, True] Translation: X:2.48, Y:24.34, Z:-35.54 [[ 8.93734144e-01 3.23016841e-01 -3.11286685e-01 2.48494195e+00] [-2.92646524e-01 9.45743314e-01 1.41165138e-01 2.43444326e+01] [ 3.39996018e-01 -3.50671375e-02 9.39772847e-01 -3.55370582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.335860169 meters Centerline goodness : 0.984127 Centerline is valid? [True, True] Translation: X:2.51, Y:24.38, Z:-35.56 [[ 8.60739810e-01 4.01045079e-01 -3.13512079e-01 2.50772321e+00] [-3.77069708e-01 9.16058089e-01 1.36587017e-01 2.43762297e+01] [ 3.41972827e-01 6.50024742e-04 9.39709616e-01 -3.55628215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.365860169 meters Centerline goodness : 0.988011 Centerline is valid? [True, True] Translation: X:2.52, Y:24.38, Z:-35.59 [[ 8.49270134e-01 4.26923591e-01 -3.10606643e-01 2.51809773e+00] [-4.05022368e-01 9.04223223e-01 1.35415082e-01 2.43832927e+01] [ 3.38669633e-01 1.07986529e-02 9.40843382e-01 -3.55910043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.395860169 meters Centerline goodness : 0.961432 Centerline is valid? [True, True] SLAMing on 87.425860169 meters Centerline goodness : 0.989777 Centerline is valid? [True, True] Translation: X:2.53, Y:24.39, Z:-35.62 [[ 8.38022754e-01 4.47080259e-01 -3.12789235e-01 2.53005885e+00] [-4.26387687e-01 8.94280762e-01 1.35850874e-01 2.43874808e+01] [ 3.40457639e-01 1.95233550e-02 9.40057144e-01 -3.56177865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.455860169 meters Centerline goodness : 0.991692 Centerline is valid? [True, True] Translation: X:2.54, Y:24.39, Z:-35.64 [[ 8.28019270e-01 4.65614371e-01 -3.12389734e-01 2.54296867e+00] [-4.46372412e-01 8.84562593e-01 1.35280042e-01 2.43903955e+01] [ 3.39316605e-01 2.74276772e-02 9.40272282e-01 -3.56441961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48586016899999 meters Centerline goodness : 0.958476 Centerline is valid? [True, True] SLAMing on 87.51586016899999 meters Centerline goodness : 0.987787 Centerline is valid? [True, True] Translation: X:2.56, Y:24.39, Z:-35.66 [[ 0.81254407 0.48838291 -0.31820476 2.55794058] [ -0.46990654 0.87183401 0.1381785 24.39437409] [ 0.34490576 0.03725037 0.93789788 -35.66400021] [ 0. 0. 0. 1. ]] SLAMing on 87.545860169 meters Centerline goodness : 0.979924 Centerline is valid? [True, True] Translation: X:2.55, Y:24.36, Z:-35.70 [[ 8.59251222e-01 4.03883908e-01 -3.13950834e-01 2.54993330e+00] [-3.80514691e-01 9.14805004e-01 1.35426640e-01 2.43573572e+01] [ 3.41900435e-01 3.09739900e-03 9.39731078e-01 -3.57014964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.575860169 meters Centerline goodness : 0.958480 Centerline is valid? [True, True] Translation: X:2.59, Y:24.30, Z:-35.71 [[ 8.93988993e-01 3.17684465e-01 -3.16006743e-01 2.58789271e+00] [-2.88823575e-01 9.47721361e-01 1.35665638e-01 2.43045042e+01] [ 3.42585206e-01 -3.00133902e-02 9.39007227e-01 -3.57108516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.605860169 meters Centerline goodness : 0.972207 Centerline is valid? [True, True] SLAMing on 87.635860169 meters Centerline goodness : 0.952507 Centerline is valid? [True, True] SLAMing on 87.665860169 meters Centerline goodness : 0.972109 Centerline is valid? [True, True] Translation: X:2.57, Y:24.34, Z:-35.75 [[ 8.62071544e-01 4.02078564e-01 -3.08489029e-01 2.56860306e+00] [-3.78020515e-01 9.15603956e-01 1.37003233e-01 2.43406762e+01] [ 3.37539839e-01 -1.49140657e-03 9.41310062e-01 -3.57524077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.695860169 meters Centerline goodness : 0.970005 Centerline is valid? [True, True] Translation: X:2.59, Y:24.35, Z:-35.78 [[ 8.43026033e-01 4.35029369e-01 -3.16317176e-01 2.59422415e+00] [-4.13125001e-01 9.00290112e-01 1.37132953e-01 2.43508982e+01] [ 3.44434088e-01 1.50718843e-02 9.38689510e-01 -3.57806430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.725860169 meters Centerline goodness : 0.973232 Centerline is valid? [True, True] Translation: X:2.60, Y:24.35, Z:-35.81 [[ 8.42657538e-01 4.35527676e-01 -3.16613198e-01 2.60019287e+00] [-4.13412490e-01 9.00054279e-01 1.37812947e-01 2.43464036e+01] [ 3.44990416e-01 1.47627318e-02 9.38490104e-01 -3.58051237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.755860169 meters Centerline goodness : 0.975903 Centerline is valid? [True, True] Translation: X:2.60, Y:24.35, Z:-35.83 [[ 8.36584198e-01 4.48220087e-01 -3.15001005e-01 2.60456904e+00] [-4.27815428e-01 8.93665168e-01 1.35412434e-01 2.43520707e+01] [ 3.42199999e-01 2.14783871e-02 9.39381626e-01 -3.58347562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.785860169 meters Centerline goodness : 0.952516 Centerline is valid? [True, True] SLAMing on 87.815860169 meters Centerline goodness : 0.967980 Centerline is valid? [True, True] Translation: X:2.62, Y:24.36, Z:-35.86 [[ 8.16126582e-01 4.83149159e-01 -3.17024120e-01 2.62425440e+00] [-4.64679600e-01 8.74817607e-01 1.36992787e-01 2.43590033e+01] [ 3.43526232e-01 3.55111858e-02 9.38471461e-01 -3.58556873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.845860169 meters Centerline goodness : 0.992196 Centerline is valid? [True, True] Translation: X:2.64, Y:24.37, Z:-35.88 [[ 0.79743129 0.51148376 -0.32013701 2.63801859] [ -0.49614744 0.85774666 0.13456736 24.37229821] [ 0.34342547 0.05152694 0.93776539 -35.88019419] [ 0. 0. 0. 1. ]] SLAMing on 87.87586016899999 meters Centerline goodness : 0.995723 Centerline is valid? [True, True] Translation: X:2.63, Y:24.37, Z:-35.91 [[ 0.81205104 0.49555498 -0.30821806 2.63237349] [ -0.48039892 0.86749925 0.12908112 24.36684189] [ 0.33134573 0.04324716 0.94251774 -35.91047437] [ 0. 0. 0. 1. ]] SLAMing on 87.905860169 meters Centerline goodness : 0.995723 Centerline is valid? [True, True] Translation: X:2.64, Y:24.36, Z:-35.94 [[ 0.81543889 0.49063059 -0.30714988 2.63848317] [ -0.47523589 0.87040016 0.12866396 24.361776 ] [ 0.33046978 0.04105105 0.9429234 -35.93754463] [ 0. 0. 0. 1. ]] SLAMing on 87.935860169 meters Centerline goodness : 0.983892 Centerline is valid? [True, True] Translation: X:2.71, Y:24.48, Z:-35.94 [[ 5.66166704e-01 -7.52327464e-01 3.36836237e-01 2.70798754e+00] [-7.92307549e-01 -6.09413524e-01 -2.93922592e-02 2.44826127e+01] [ 2.27385162e-01 -2.50236975e-01 -9.41104375e-01 -3.59389659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.965860169 meters Centerline goodness : 0.997243 Centerline is valid? [True, True] Translation: X:2.74, Y:23.90, Z:-35.92 [[ 0.48320951 0.82845797 0.28313595 2.74215789] [ 0.85008717 -0.52132834 0.07462284 23.89928642] [ 0.20942868 0.20463177 -0.9561723 -35.92132952] [ 0. 0. 0. 1. ]] SLAMing on 87.995860169 meters Centerline goodness : 0.984653 Centerline is valid? [True, True] Translation: X:3.75, Y:24.79, Z:-39.59 [[ 0.76437251 0.57169682 -0.29815669 3.74795883] [ -0.62304612 0.77393476 -0.11330718 24.79146091] [ 0.16597647 0.27237426 0.94776794 -39.59273193] [ 0. 0. 0. 1. ]] SLAMing on 88.025860169 meters Centerline goodness : 0.995869 Centerline is valid? [True, True] Translation: X:4.05, Y:24.99, Z:-39.54 [[ -0.30318869 0.92572412 -0.22607848 4.04677839] [ -0.92555888 -0.34252612 -0.16129666 24.99230692] [ -0.22675399 0.16034562 0.96066222 -39.54381324] [ 0. 0. 0. 1. ]] SLAMing on 88.055860169 meters Centerline goodness : 0.296288 Centerline is valid? [True, False] Translation: X:3.84, Y:24.49, Z:-39.45 [[ 0.39436885 -0.91642444 0.06811362 3.83875167] [ 0.7976949 0.37818909 0.46974021 24.48605461] [ -0.45624123 -0.13091701 0.88017309 -39.44841495] [ 0. 0. 0. 1. ]] SLAMing on 88.085860169 meters Centerline goodness : 0.716236 Centerline is valid? [False, False] Translation: X:3.79, Y:24.51, Z:-39.44 [[ 0.52330591 -0.85038548 0.05473082 3.79239205] [ 0.73297 0.48194951 0.48008297 24.50828293] [ -0.43463307 -0.21111421 0.87551407 -39.44318821] [ 0. 0. 0. 1. ]] SLAMing on 88.115860169 meters Centerline goodness : 0.359271 Centerline is valid? [False, False] Translation: X:3.76, Y:24.53, Z:-39.46 [[ 0.62508238 -0.77894948 0.05009704 3.75527362] [ 0.66676787 0.56622475 0.48457211 24.52591949] [ -0.40582338 -0.26949439 0.87331561 -39.45669621] [ 0. 0. 0. 1. ]] SLAMing on 88.145860169 meters Centerline goodness : 0.977631 Centerline is valid? [False, True] Translation: X:3.72, Y:24.54, Z:-39.48 [[ 0.72061349 -0.69187294 0.0450337 3.71994951] [ 0.58664455 0.64305539 0.49226816 24.54226378] [ -0.36954618 -0.3283163 0.86927788 -39.48013156] [ 0. 0. 0. 1. ]] SLAMing on 88.175860169 meters Centerline goodness : 0.958273 Centerline is valid? [True, True] Translation: X:4.26, Y:25.19, Z:-39.64 [[ -0.25277873 0.96656349 -0.0431038 4.26079994] [ -0.84906471 -0.20024917 0.4888654 25.1884297 ] [ 0.46388795 0.16017269 0.87129368 -39.6418222 ] [ 0. 0. 0. 1. ]] SLAMing on 88.205860169 meters Centerline goodness : 0.946779 Centerline is valid? [True, False] Translation: X:4.19, Y:25.21, Z:-39.66 [[-2.02670580e-02 9.97567305e-01 -6.66987172e-02 4.18660082e+00] [-8.76980289e-01 1.42972719e-02 4.80313606e-01 2.52132393e+01] [ 4.80098759e-01 6.82280040e-02 8.74557100e-01 -3.96566006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.23586016899999 meters Centerline goodness : 0.946779 Centerline is valid? [False, False] Translation: X:4.12, Y:25.22, Z:-39.66 [[ 1.86881386e-01 9.78862511e-01 -8.30874923e-02 4.11681220e+00] [-8.59646954e-01 2.03883337e-01 4.68442844e-01 2.52221002e+01] [ 4.75481294e-01 -1.61173383e-02 8.79578177e-01 -3.96628781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26586016899999 meters Centerline goodness : 0.980384 Centerline is valid? [False, True] Translation: X:4.05, Y:25.21, Z:-39.67 [[ 0.37101161 0.92372066 -0.09534432 4.05199121] [ -0.8088334 0.37188409 0.45551152 25.2147514 ] [ 0.45622244 -0.09188239 0.88510944 -39.6671262 ] [ 0. 0. 0. 1. ]] SLAMing on 88.295860169 meters Centerline goodness : 0.746906 Centerline is valid? [True, False] Translation: X:3.99, Y:25.20, Z:-39.66 [[ 0.53179843 0.84069275 -0.10210844 3.99232156] [ -0.73283597 0.51725961 0.44203386 25.19920168] [ 0.42443124 -0.16024418 0.89116773 -39.66407962] [ 0. 0. 0. 1. ]] SLAMing on 88.325860169 meters Centerline goodness : 0.673095 Centerline is valid? [False, False] Translation: X:3.94, Y:25.18, Z:-39.65 [[ 0.67108515 0.73373758 -0.10617855 3.93742639] [ -0.635562 0.64310784 0.42716889 25.17646993] [ 0.38171413 -0.21918364 0.89791584 -39.65454319] [ 0. 0. 0. 1. ]] SLAMing on 88.355860169 meters Centerline goodness : 0.673095 Centerline is valid? [False, False] Translation: X:3.89, Y:25.15, Z:-39.64 [[ 0.78336673 0.61229713 -0.10690552 3.89055146] [ -0.52480464 0.74372511 0.41406889 25.14695747] [ 0.33304151 -0.26826328 0.90394589 -39.64189108] [ 0. 0. 0. 1. ]] SLAMing on 88.385860169 meters Centerline goodness : 0.943477 Centerline is valid? [False, False] Translation: X:3.86, Y:25.11, Z:-39.64 [[ 0.86632695 0.48833469 -0.10491351 3.85584795] [ -0.41170486 0.81708547 0.40357211 25.10865015] [ 0.28280157 -0.30643199 0.90891292 -39.63808621] [ 0. 0. 0. 1. ]] SLAMing on 88.415860169 meters Centerline goodness : 0.939505 Centerline is valid? [False, False] Translation: X:3.83, Y:25.07, Z:-39.63 [[ 0.92211769 0.37291626 -0.10311368 3.83190621] [ -0.30567062 0.86554016 0.39674388 25.07085388] [ 0.23720127 -0.33432573 0.91211943 -39.63355316] [ 0. 0. 0. 1. ]] SLAMing on 88.445860169 meters Centerline goodness : 0.939369 Centerline is valid? [False, False] Translation: X:3.81, Y:25.04, Z:-39.61 [[ 0.96122849 0.25700819 -0.09993285 3.81214555] [ -0.1999195 0.89911752 0.38938397 25.03862159] [ 0.18992624 -0.35430844 0.91563833 -39.6126337 ] [ 0. 0. 0. 1. ]] SLAMing on 88.475860169 meters Centerline goodness : 0.709775 Centerline is valid? [False, False] Translation: X:3.80, Y:25.01, Z:-39.60 [[ 0.98193793 0.16263867 -0.09667759 3.80138247] [ -0.11363793 0.91550253 0.38592946 25.01015005] [ 0.15127563 -0.36797253 0.91744858 -39.5982088 ] [ 0. 0. 0. 1. ]] SLAMing on 88.505860169 meters Centerline goodness : 0.698541 Centerline is valid? [False, False] Translation: X:3.79, Y:24.99, Z:-39.58 [[ 0.99189193 0.08419108 -0.09519593 3.793595 ] [ -0.0413679 0.92218005 0.38454213 24.99056852] [ 0.1201628 -0.37748618 0.91818576 -39.57646688] [ 0. 0. 0. 1. ]] SLAMing on 88.535860169 meters Centerline goodness : 0.587753 Centerline is valid? [False, False] Translation: X:3.79, Y:24.99, Z:-39.54 [[ 9.95045236e-01 3.15405141e-02 -9.42877235e-02 3.78888102e+00] [ 7.06912880e-03 9.23502754e-01 3.83526649e-01 2.49851280e+01] [ 9.91716000e-02 -3.82292897e-01 9.18704052e-01 -3.95418457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.565860169 meters Centerline goodness : 0.333115 Centerline is valid? [False, False] Translation: X:3.79, Y:24.99, Z:-39.50 [[ 9.95489581e-01 -1.96990682e-03 -9.48504788e-02 3.78611379e+00] [ 3.82179081e-02 9.23399509e-01 3.81932899e-01 2.49882971e+01] [ 8.68325133e-02 -3.83835208e-01 9.19309876e-01 -3.95031611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.595860169 meters Centerline goodness : 0.701597 Centerline is valid? [False, False] Translation: X:3.78, Y:24.99, Z:-39.47 [[ 9.95352769e-01 -2.00299431e-02 -9.41895246e-02 3.78351337e+00] [ 5.47687899e-02 9.22270247e-01 3.82646013e-01 2.49939244e+01] [ 7.92038182e-02 -3.86026415e-01 9.19081260e-01 -3.94731119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62586016899999 meters Centerline goodness : 0.371787 Centerline is valid? [False, False] Translation: X:3.78, Y:25.00, Z:-39.45 [[ 9.95018417e-01 -3.48315459e-02 -9.34083099e-02 3.78185091e+00] [ 6.81942726e-02 9.21273089e-01 3.82890894e-01 2.49992873e+01] [ 7.27178804e-02 -3.87353403e-01 9.19059003e-01 -3.94473969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.655860169 meters Centerline goodness : 0.720823 Centerline is valid? [False, False] Translation: X:3.78, Y:25.00, Z:-39.43 [[ 0.99436182 -0.04386657 -0.09654167 3.78254754] [ 0.07787688 0.92000752 0.38408509 25.00268033] [ 0.07197057 -0.38943792 0.91823654 -39.42744148] [ 0. 0. 0. 1. ]] SLAMing on 88.685860169 meters Centerline goodness : 0.993854 Centerline is valid? [False, True] Translation: X:3.78, Y:25.01, Z:-39.40 [[ 0.99366101 -0.05440489 -0.09837634 3.78151539] [ 0.08849507 0.91822287 0.38605102 25.00780203] [ 0.06932835 -0.39230967 0.91721682 -39.40311545] [ 0. 0. 0. 1. ]] SLAMing on 88.715860169 meters Centerline goodness : 0.423882 Centerline is valid? [True, False] Translation: X:3.78, Y:25.02, Z:-39.38 [[ 0.99310314 -0.05867333 -0.10150664 3.78099535] [ 0.09366284 0.91779217 0.38585594 25.01697774] [ 0.07052255 -0.39270214 0.91695779 -39.377292 ] [ 0. 0. 0. 1. ]] SLAMing on 88.745860169 meters Centerline goodness : 0.720887 Centerline is valid? [False, False] Translation: X:3.78, Y:25.02, Z:-39.36 [[ 0.99241717 -0.06421642 -0.10480653 3.78195477] [ 0.10024946 0.91624644 0.38786918 25.02152254] [ 0.07112104 -0.39543483 0.91573636 -39.35992258] [ 0. 0. 0. 1. ]] SLAMing on 88.775860169 meters Centerline goodness : 0.271890 Centerline is valid? [False, False] Translation: X:3.78, Y:25.03, Z:-39.33 [[ 0.99193932 -0.0659758 -0.10818305 3.78129448] [ 0.10316066 0.91624214 0.38711524 25.03176545] [ 0.07358163 -0.39515507 0.91566272 -39.33409338] [ 0. 0. 0. 1. ]] SLAMing on 88.805860169 meters Centerline goodness : 0.263725 Centerline is valid? [False, False] Translation: X:3.78, Y:25.03, Z:-39.33 [[ 0.99204148 -0.06534981 -0.10762482 3.77952699] [ 0.10238478 0.91619812 0.3874253 25.03241847] [ 0.07328749 -0.39536111 0.91559737 -39.33272437] [ 0. 0. 0. 1. ]] SLAMing on 88.835860169 meters Centerline goodness : 0.269429 Centerline is valid? [False, False] Translation: X:3.78, Y:25.04, Z:-39.31 [[ 0.99108338 -0.07469925 -0.11033478 3.77963053] [ 0.11225098 0.9142279 0.38934184 25.03630379] [ 0.07178759 -0.39825542 0.91446113 -39.31188965] [ 0. 0. 0. 1. ]] SLAMing on 88.865860169 meters Centerline goodness : 0.998760 Centerline is valid? [False, True] Translation: X:3.78, Y:25.04, Z:-39.31 [[ 0.99123123 -0.0735008 -0.10981019 3.77804918] [ 0.11099359 0.91406174 0.39009172 25.0369892 ] [ 0.07170124 -0.39885932 0.91420467 -39.31077038] [ 0. 0. 0. 1. ]] SLAMing on 88.895860169 meters Centerline goodness : 0.311037 Centerline is valid? [True, False] Translation: X:3.78, Y:25.04, Z:-39.30 [[ 0.99075547 -0.0746689 -0.11326145 3.77885152] [ 0.11342542 0.91394758 0.38965946 25.04118445] [ 0.07441959 -0.39890397 0.91396791 -39.30074052] [ 0. 0. 0. 1. ]] SLAMing on 88.925860169 meters Centerline goodness : 0.271084 Centerline is valid? [False, False] Translation: X:3.78, Y:25.04, Z:-39.30 [[ 0.99056098 -0.0740841 -0.11532774 3.77953997] [ 0.11352043 0.91493759 0.38730132 25.04350165] [ 0.07682482 -0.39673763 0.91471154 -39.29652061] [ 0. 0. 0. 1. ]] SLAMing on 88.955860169 meters Centerline goodness : 0.297224 Centerline is valid? [False, False] Translation: X:3.78, Y:25.04, Z:-39.28 [[ 0.98962816 -0.09044449 -0.11160598 3.77683777] [ 0.12712408 0.91319704 0.38718295 25.04333485] [ 0.06689968 -0.39735496 0.91522318 -39.2807329 ] [ 0. 0. 0. 1. ]] SLAMing on 88.98586016899999 meters Centerline goodness : 0.998871 Centerline is valid? [False, True] Translation: X:3.78, Y:25.04, Z:-39.28 [[ 0.98957476 -0.09191914 -0.1108723 3.77510833] [ 0.12811893 0.91348231 0.3861808 25.04408022] [ 0.06578248 -0.39635961 0.91573562 -39.27919704] [ 0. 0. 0. 1. ]] SLAMing on 89.01586016899999 meters Centerline goodness : 0.998082 Centerline is valid? [True, True] Translation: X:3.84, Y:25.26, Z:-39.39 [[ 0.82064737 0.55943364 -0.11649852 3.84164743] [ -0.48247541 0.78757974 0.38332183 25.25860389] [ 0.30619501 -0.25836438 0.91623821 -39.39376842] [ 0. 0. 0. 1. ]] SLAMing on 89.045860169 meters Centerline goodness : 0.278285 Centerline is valid? [True, False] Translation: X:3.81, Y:25.23, Z:-39.37 [[ 0.89131422 0.4384692 -0.11534172 3.81009469] [ -0.37005603 0.85054291 0.37367807 25.22865543] [ 0.26194941 -0.29038168 0.92035916 -39.36889095] [ 0. 0. 0. 1. ]] SLAMing on 89.075860169 meters Centerline goodness : 0.999052 Centerline is valid? [False, True] Translation: X:3.79, Y:25.20, Z:-39.35 [[ 0.9392805 0.32408029 -0.11280118 3.78663392] [ -0.26397063 0.89242713 0.36591437 25.19854334] [ 0.21925246 -0.31392003 0.92378708 -39.34799642] [ 0. 0. 0. 1. ]] SLAMing on 89.105860169 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:3.84, Y:25.27, Z:-39.40 [[ 0.81656878 0.56553364 -0.11570277 3.83773755] [ -0.49460181 0.78880643 0.364902 25.27397563] [ 0.29763144 -0.24074078 0.92382867 -39.40274186] [ 0. 0. 0. 1. ]] SLAMing on 89.135860169 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:3.79, Y:25.13, Z:-39.38 [[ 0.97750685 0.1761682 -0.11595313 3.78795604] [ -0.12307715 0.92295827 0.3646917 25.1284829 ] [ 0.17126698 -0.34221746 0.92388031 -39.38027152] [ 0. 0. 0. 1. ]] SLAMing on 89.165860169 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:3.79, Y:25.13, Z:-39.41 [[ 0.97236971 0.20250032 -0.11614979 3.7931009 ] [ -0.14788385 0.91930189 0.36471139 25.12776346] [ 0.18063089 -0.33745763 0.92384784 -39.40822292] [ 0. 0. 0. 1. ]] SLAMing on 89.195860169 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:3.80, Y:25.11, Z:-39.43 [[ 0.97546903 0.1869209 -0.11627878 3.79571308] [ -0.13322948 0.92177757 0.36410988 25.11223733] [ 0.17524292 -0.33968615 0.92406885 -39.43189859] [ 0. 0. 0. 1. ]] SLAMing on 89.225860169 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:3.80, Y:25.12, Z:-39.46 [[ 0.9643485 0.23766948 -0.11638382 3.80357019] [ -0.18122636 0.91358794 0.36402483 25.11927825] [ 0.19284445 -0.32995498 0.92408913 -39.46363376] [ 0. 0. 0. 1. ]] SLAMing on 89.255860169 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:3.88, Y:25.25, Z:-39.54 [[ 0.75364128 0.64691648 -0.11629228 3.87736526] [ -0.57411006 0.73403404 0.36275566 25.25303934] [ 0.3200351 -0.20662307 0.92459961 -39.5375293 ] [ 0. 0. 0. 1. ]] SLAMing on 89.285860169 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:3.81, Y:25.10, Z:-39.51 [[ 0.96653004 0.22838689 -0.1168722 3.81036078] [ -0.17238588 0.91552427 0.36345346 25.09610073] [ 0.19000734 -0.33114157 0.92425238 -39.51282351] [ 0. 0. 0. 1. ]] SLAMing on 89.315860169 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:3.81, Y:25.08, Z:-39.54 [[ 0.96731912 0.22482094 -0.11725727 3.81386404] [ -0.16883238 0.91609879 0.36367379 25.08469998] [ 0.18918073 -0.33199179 0.92411693 -39.53814383] [ 0. 0. 0. 1. ]] SLAMing on 89.345860169 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:3.82, Y:25.07, Z:-39.56 [[ 0.96792963 0.22213427 -0.11733963 3.81675741] [ -0.16629128 0.91662418 0.36352074 25.07408171] [ 0.18830676 -0.33234994 0.9241667 -39.56323972] [ 0. 0. 0. 1. ]] SLAMing on 89.37586016899999 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:4.03, Y:25.31, Z:-39.66 [[ 0.39720226 0.90952352 -0.12246359 4.02526646] [ -0.83501012 0.41353372 0.36297103 25.31003364] [ 0.38077351 -0.04191457 0.92371787 -39.6609506 ] [ 0. 0. 0. 1. ]] SLAMing on 89.405860169 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:3.82, Y:25.06, Z:-39.62 [[ 0.96382242 0.23908933 -0.11782457 3.82485942] [ -0.18210956 0.91345945 0.36390651 25.06006938] [ 0.19463413 -0.32928427 0.92395315 -39.6168544 ] [ 0. 0. 0. 1. ]] SLAMing on 89.435860169 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:3.83, Y:25.04, Z:-39.64 [[ 0.97195767 0.20333773 -0.11811878 3.82620384] [ -0.14825471 0.91976033 0.36340263 25.03789488] [ 0.18253444 -0.33570031 0.92411389 -39.63833514] [ 0. 0. 0. 1. ]] SLAMing on 89.465860169 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:3.83, Y:25.03, Z:-39.66 [[ 0.97315723 0.19722664 -0.11860296 3.82981009] [ -0.14220821 0.92051786 0.36390068 25.02581775] [ 0.18094705 -0.33726626 0.92385585 -39.66359665] [ 0. 0. 0. 1. ]] SLAMing on 89.495860169 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:3.85, Y:25.06, Z:-39.70 [[ 0.93949925 0.32133862 -0.11867037 3.84569882] [ -0.26006759 0.89458037 0.36344298 25.05817535] [ 0.22294845 -0.31059209 0.92402735 -39.70399312] [ 0. 0. 0. 1. ]] SLAMing on 89.525860169 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:3.86, Y:25.07, Z:-39.74 [[ 0.9164926 0.38194053 -0.11900733 3.85812566] [ -0.31774866 0.87572517 0.36351234 25.06934007] [ 0.24305781 -0.29534195 0.92395673 -39.73701936] [ 0. 0. 0. 1. ]] SLAMing on 89.555860169 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:3.86, Y:25.06, Z:-39.76 [[ 0.91690557 0.3808903 -0.11919213 3.86214545] [ -0.31670821 0.8761328 0.36343807 25.05871809] [ 0.24285817 -0.29548927 0.92396212 -39.76210872] [ 0. 0. 0. 1. ]] SLAMing on 89.585860169 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:3.87, Y:25.06, Z:-39.79 [[ 0.90189415 0.4151806 -0.1192141 3.87006016] [ -0.34958811 0.86367354 0.36312006 25.06036755] [ 0.25372247 -0.28582003 0.92408432 -39.79126747] [ 0. 0. 0. 1. ]] SLAMing on 89.615860169 meters Centerline goodness : 0.998755 Centerline is valid? [True, True] Translation: X:3.87, Y:25.05, Z:-39.82 [[ 0.9020458 0.4148104 -0.1193554 3.87412234] [ -0.34923829 0.86388633 0.36295045 25.0503148 ] [ 0.25366512 -0.28571445 0.92413271 -39.81644166] [ 0. 0. 0. 1. ]] SLAMing on 89.645860169 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:3.89, Y:25.07, Z:-39.85 [[ 0.86327863 0.4903138 -0.11975966 3.8922744 ] [ -0.42151775 0.83087972 0.36326529 25.06710252] [ 0.27761986 -0.26311834 0.92395668 -39.85140732] [ 0. 0. 0. 1. ]] SLAMing on 89.675860169 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:3.91, Y:25.07, Z:-39.88 [[ 0.83574658 0.53586094 -0.11991961 3.9069616 ] [ -0.4655173 0.80723807 0.3628503 25.07229797] [ 0.29124097 -0.24742624 0.92409899 -39.88223514] [ 0. 0. 0. 1. ]] SLAMing on 89.705860169 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:3.95, Y:25.11, Z:-39.92 [[ 0.72533666 0.67798323 -0.11927056 3.95208234] [ -0.60479687 0.71036891 0.3599955 25.11127164] [ 0.32879701 -0.18898347 0.92529875 -39.92285657] [ 0. 0. 0. 1. ]] SLAMing on 89.73586016899999 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:4.20, Y:25.22, Z:-39.96 [[ 0.05705598 0.99084442 -0.12235994 4.19693092] [ -0.93170932 0.0968782 0.35004622 25.22455273] [ 0.35869535 0.09403167 0.92870646 -39.96352988] [ 0. 0. 0. 1. ]] SLAMing on 89.76586016899999 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:4.00, Y:25.13, Z:-39.98 [[ 0.61343662 0.78090856 -0.11780212 4.00227236] [ -0.70838288 0.61002535 0.3550532 25.127107 ] [ 0.34912636 -0.13435363 0.92739414 -39.98310041] [ 0. 0. 0. 1. ]] SLAMing on 89.795860169 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:4.00, Y:25.11, Z:-40.01 [[ 0.62765901 0.76950106 -0.11795034 4.00035516] [ -0.69719957 0.62303758 0.35459402 25.11277731] [ 0.34634797 -0.14032921 0.92755097 -40.00678084] [ 0. 0. 0. 1. ]] SLAMing on 89.825860169 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:4.01, Y:25.11, Z:-40.03 [[ 0.6131441 0.78106922 -0.11825896 4.00931333] [ -0.70863756 0.6099776 0.35462676 25.10694319] [ 0.34912336 -0.13363456 0.92749915 -40.0334592 ] [ 0. 0. 0. 1. ]] SLAMing on 89.855860169 meters Centerline goodness : 0.998748 Centerline is valid? [True, True] Translation: X:4.01, Y:25.10, Z:-40.06 [[ 0.61269096 0.78142535 -0.11825486 4.01300307] [ -0.70912938 0.60961737 0.35426288 25.09718883] [ 0.34892022 -0.13319567 0.92763872 -40.05844444] [ 0. 0. 0. 1. ]] SLAMing on 89.885860169 meters Centerline goodness : 0.998235 Centerline is valid? [True, True] Translation: X:4.18, Y:25.17, Z:-40.09 [[ 0.14492752 0.9816729 -0.12375106 4.18231344] [ -0.91915682 0.17987292 0.35042327 25.1684817 ] [ 0.36626049 0.06296066 0.92837988 -40.09238889] [ 0. 0. 0. 1. ]] SLAMing on 89.915860169 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:4.01, Y:25.07, Z:-40.11 [[ 0.64113102 0.75830621 -0.11799449 4.00965469] [ -0.68613211 0.6352678 0.35448208 25.0684714 ] [ 0.34376406 -0.14630965 0.92758814 -40.10807716] [ 0. 0. 0. 1. ]] SLAMing on 89.945860169 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:4.02, Y:25.06, Z:-40.13 [[ 0.63235701 0.76555773 -0.11851572 4.01599285] [ -0.69318029 0.62747563 0.35464831 25.06133865] [ 0.34586948 -0.14211159 0.92745814 -40.13359963] [ 0. 0. 0. 1. ]] SLAMing on 89.975860169 meters Centerline goodness : 0.998480 Centerline is valid? [True, True] Translation: X:4.02, Y:25.05, Z:-40.16 [[ 0.6241276 0.77223493 -0.11881899 4.02259818] [ -0.69955691 0.62004135 0.35520255 25.05380926] [ 0.3479725 -0.13857108 0.9272072 -40.15935949] [ 0. 0. 0. 1. ]] SLAMing on 90.005860169 meters Centerline goodness : 0.998588 Centerline is valid? [True, True] Translation: X:4.02, Y:25.04, Z:-40.18 [[ 0.63815005 0.76064723 -0.11908106 4.02126524] [ -0.68803311 0.63283048 0.35515634 25.03914238] [ 0.34550681 -0.14471132 0.92719128 -40.18456237] [ 0. 0. 0. 1. ]] SLAMing on 90.035860169 meters Centerline goodness : 0.998656 Centerline is valid? [True, True] Translation: X:4.02, Y:25.03, Z:-40.21 [[ 0.63962356 0.75939935 -0.11913996 4.02412548] [ -0.68684322 0.63420688 0.35500426 25.02883281] [ 0.34514939 -0.14523861 0.92724196 -40.20972458] [ 0. 0. 0. 1. ]] SLAMing on 90.065860169 meters Centerline goodness : 0.998786 Centerline is valid? [True, True] Translation: X:4.02, Y:25.01, Z:-40.23 [[ 0.6636543 0.73842364 -0.11955546 4.01922437] [ -0.66588022 0.655991 0.35535805 25.0111481 ] [ 0.34083209 -0.15622528 0.92705294 -40.23355222] [ 0. 0. 0. 1. ]] SLAMing on 90.095860169 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:4.02, Y:25.00, Z:-40.26 [[ 0.66388471 0.73821612 -0.11955777 4.02242554] [ -0.66580051 0.65625723 0.35501569 25.00092387] [ 0.34053895 -0.15608786 0.9271838 -40.25847369] [ 0. 0. 0. 1. ]] SLAMing on 90.12586016899999 meters Centerline goodness : 0.998654 Centerline is valid? [True, True] Translation: X:4.01, Y:24.98, Z:-40.28 [[ 0.70208725 0.7019033 -0.12002187 4.01182244] [ -0.6297128 0.69067758 0.35556473 24.97777164] [ 0.33246847 -0.17405816 0.92691341 -40.28104829] [ 0. 0. 0. 1. ]] SLAMing on 90.155860169 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:4.00, Y:24.95, Z:-40.30 [[ 0.75547141 0.64394707 -0.12081028 3.99577942] [ -0.57220539 0.73829507 0.35707335 24.94779982] [ 0.31912997 -0.20063041 0.9262308 -40.30193989] [ 0. 0. 0. 1. ]] SLAMing on 90.185860169 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:3.98, Y:24.92, Z:-40.32 [[ 0.80484148 0.58096151 -0.12130095 3.98087185] [ -0.51054376 0.78195568 0.35761766 24.91534805] [ 0.30261406 -0.22589608 0.92595663 -40.32156126] [ 0. 0. 0. 1. ]] SLAMing on 90.215860169 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:4.00, Y:24.92, Z:-40.35 [[ 0.76353639 0.63421397 -0.12159287 3.99973786] [ -0.56217495 0.74546509 0.35810769 24.92440725] [ 0.31776014 -0.20507179 0.92572893 -40.3523121 ] [ 0. 0. 0. 1. ]] SLAMing on 90.245860169 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:4.00, Y:24.91, Z:-40.38 [[ 0.76372419 0.63396806 -0.12169576 4.00337634] [ -0.5619246 0.74567061 0.35807275 24.91417712] [ 0.31775164 -0.20508498 0.92572893 -40.37759524] [ 0. 0. 0. 1. ]] SLAMing on 90.275860169 meters Centerline goodness : 0.998783 Centerline is valid? [True, True] Translation: X:4.00, Y:24.89, Z:-40.40 [[ 0.7880458 0.6034008 -0.12202989 3.99807508] [ -0.53200188 0.76724156 0.35820998 24.8931349 ] [ 0.30977059 -0.21736574 0.92563185 -40.40000407] [ 0. 0. 0. 1. ]] SLAMing on 90.305860169 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:4.00, Y:24.88, Z:-40.42 [[ 0.79854575 0.58934535 -0.12246122 3.99777778] [ -0.5180786 0.77650661 0.3586531 24.87826096] [ 0.30646248 -0.22295636 0.92540327 -40.4247055 ] [ 0. 0. 0. 1. ]] SLAMing on 90.335860169 meters Centerline goodness : 0.998395 Centerline is valid? [True, True] Translation: X:4.06, Y:24.94, Z:-40.47 [[ 0.62823952 0.76844018 -0.12171602 4.05847352] [ -0.69502049 0.62461741 0.35608933 24.93558262] [ 0.34965929 -0.13911426 0.92649101 -40.46938611] [ 0. 0. 0. 1. ]] SLAMing on 90.365860169 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:3.98, Y:24.83, Z:-40.47 [[ 0.85640793 0.50143516 -0.12299691 3.98327421] [ -0.43272636 0.82706199 0.35877063 24.82708333] [ 0.28162628 -0.25403001 0.92528666 -40.46619338] [ 0. 0. 0. 1. ]] SLAMing on 90.395860169 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:3.99, Y:24.83, Z:-40.49 [[ 0.84155997 0.52584179 -0.12356066 3.9919058 ] [ -0.45577533 0.81402657 0.36004109 24.82534658] [ 0.28990631 -0.24668027 0.92471789 -40.49390948] [ 0. 0. 0. 1. ]] SLAMing on 90.425860169 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:3.98, Y:24.80, Z:-40.51 [[ 0.87296352 0.47185206 -0.12365408 3.98391311] [ -0.40380972 0.84127436 0.35943729 24.79634553] [ 0.27362823 -0.26384292 0.92494027 -40.51354952] [ 0. 0. 0. 1. ]] SLAMing on 90.455860169 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:3.99, Y:24.79, Z:-40.54 [[ 0.87324401 0.4712233 -0.12407056 3.98672224] [ -0.40283596 0.8413755 0.36029218 24.78603245] [ 0.27416801 -0.26464291 0.9245518 -40.5379712 ] [ 0. 0. 0. 1. ]] SLAMing on 90.48586016899999 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:3.95, Y:24.68, Z:-40.53 [[ 0.97081781 0.20487461 -0.12465622 3.95029941] [ -0.14792529 0.92070019 0.36114993 24.68155064] [ 0.18876145 -0.33217097 0.92413828 -40.5309845 ] [ 0. 0. 0. 1. ]] SLAMing on 90.51586016899999 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] SLAMing on 90.545860169 meters Centerline goodness : 0.998576 Centerline is valid? [True, True] Translation: X:3.94, Y:24.54, Z:-40.50 [[ 0.97937561 -0.1590451 -0.12461168 3.93510358] [ 0.19402114 0.91241388 0.36035637 24.53511966] [ 0.05638452 -0.37710154 0.92445401 -40.50417778] [ 0. 0. 0. 1. ]] SLAMing on 90.575860169 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] SLAMing on 90.605860169 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] SLAMing on 90.635860169 meters Centerline goodness : 0.998707 Centerline is valid? [True, True] SLAMing on 90.665860169 meters Centerline goodness : 0.998337 Centerline is valid? [True, True] SLAMing on 90.695860169 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] SLAMing on 90.725860169 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] SLAMing on 90.755860169 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] SLAMing on 90.785860169 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] SLAMing on 90.815860169 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] SLAMing on 90.845860169 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] SLAMing on 90.87586016899999 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] SLAMing on 90.905860169 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] SLAMing on 90.935860169 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] SLAMing on 90.965860169 meters Centerline goodness : 0.964976 Centerline is valid? [True, True] Translation: X:3.95, Y:24.48, Z:-40.51 [[ 9.46589991e-01 -2.97300371e-01 -1.24819381e-01 3.95377095e+00] [ 3.22432427e-01 8.75376145e-01 3.60213735e-01 2.44783093e+01] [ 2.17223124e-03 -3.81220533e-01 9.24481577e-01 -4.05084374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.995860169 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] SLAMing on 91.025860169 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] SLAMing on 91.055860169 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] SLAMing on 91.085860169 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] SLAMing on 91.115860169 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] SLAMing on 91.145860169 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] SLAMing on 91.175860169 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] SLAMing on 91.205860169 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] SLAMing on 91.23586016899999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] SLAMing on 91.26586016899999 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] SLAMing on 91.295860169 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] SLAMing on 91.325860169 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] SLAMing on 91.355860169 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] SLAMing on 91.385860169 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] SLAMing on 91.415860169 meters Centerline goodness : 0.998740 Centerline is valid? [True, True] SLAMing on 91.445860169 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] SLAMing on 91.475860169 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] SLAMing on 91.505860169 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] SLAMing on 91.535860169 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] SLAMing on 91.565860169 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] SLAMing on 91.595860169 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] SLAMing on 91.62586016899999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] SLAMing on 91.655860169 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] SLAMing on 91.685860169 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] SLAMing on 91.715860169 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] SLAMing on 91.745860169 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] SLAMing on 91.775860169 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] SLAMing on 91.805860169 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] SLAMing on 91.835860169 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] SLAMing on 91.865860169 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] SLAMing on 91.895860169 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] SLAMing on 91.925860169 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] SLAMing on 91.955860169 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] SLAMing on 91.98586016899999 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] SLAMing on 92.01586016899999 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] SLAMing on 92.045860169 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] SLAMing on 92.075860169 meters Centerline goodness : 0.998783 Centerline is valid? [True, True] SLAMing on 92.105860169 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] SLAMing on 92.135860169 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] SLAMing on 92.165860169 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] SLAMing on 92.195860169 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] SLAMing on 92.225860169 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] SLAMing on 92.255860169 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] SLAMing on 92.285860169 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] SLAMing on 92.315860169 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] SLAMing on 92.345860169 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] SLAMing on 92.37586016899999 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] SLAMing on 92.405860169 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:3.97, Y:24.48, Z:-40.54 [[ 9.54333467e-01 -2.70479120e-01 -1.26841154e-01 3.96572837e+00] [ 2.98453799e-01 8.81897033e-01 3.64942398e-01 2.44797546e+01] [ 1.31515389e-02 -3.86132968e-01 9.22349374e-01 -4.05382666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.435860169 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] SLAMing on 92.465860169 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:3.96, Y:24.53, Z:-40.59 [[ 0.98754227 -0.09337391 -0.12665532 3.95764193] [ 0.13383132 0.92175286 0.3639517 24.53178904] [ 0.08276131 -0.37636814 0.92276627 -40.58975273] [ 0. 0. 0. 1. ]] SLAMing on 92.495860169 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:3.98, Y:24.47, Z:-40.59 [[ 9.56106045e-01 -2.64543877e-01 -1.26007016e-01 3.97609107e+00] [ 2.92592218e-01 8.85176690e-01 3.61734738e-01 2.44659781e+01] [ 1.58437634e-02 -3.82725442e-01 9.23726264e-01 -4.05902302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.525860169 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:3.96, Y:24.56, Z:-40.66 [[ 9.90801066e-01 4.79320149e-02 -1.26553429e-01 3.96442227e+00] [ 1.17345089e-03 9.32093188e-01 3.62216663e-01 2.45615005e+01] [ 1.35321364e-01 -3.59033160e-01 9.23462678e-01 -4.06612398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.555860169 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:3.99, Y:24.44, Z:-40.64 [[ 9.53014520e-01 -2.75398933e-01 -1.26169541e-01 3.98521805e+00] [ 3.02687577e-01 8.82213371e-01 3.60665772e-01 2.44423220e+01] [ 1.19814877e-02 -3.81909670e-01 9.24121987e-01 -4.06395088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.585860169 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:3.99, Y:24.43, Z:-40.66 [[ 9.48881253e-01 -2.89231119e-01 -1.26371388e-01 3.99063898e+00] [ 3.15561721e-01 8.77837005e-01 3.60309580e-01 2.44266916e+01] [ 6.72073747e-03 -3.81768978e-01 9.24233346e-01 -4.06633258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.615860169 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] SLAMing on 92.645860169 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] SLAMing on 92.675860169 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:3.98, Y:24.50, Z:-40.73 [[ 9.91056305e-01 -4.04214017e-02 -1.27175117e-01 3.97603291e+00] [ 8.43121030e-02 9.28374407e-01 3.61956392e-01 2.45003247e+01] [ 1.03435339e-01 -3.69441566e-01 9.23479323e-01 -4.07260266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.705860169 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] SLAMing on 92.73586016899999 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:3.98, Y:24.49, Z:-40.75 [[ 0.99045965 -0.05175381 -0.12771543 3.97983242] [ 0.09521595 0.92700019 0.36277345 24.48629721] [ 0.09961732 -0.37147301 0.92308407 -40.74919557] [ 0. 0. 0. 1. ]] SLAMing on 92.76586016899999 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:3.99, Y:24.54, Z:-40.80 [[ 0.98182253 0.14037493 -0.12774738 3.98735107] [ -0.08564017 0.92829345 0.36185223 24.54466999] [ 0.16938204 -0.34433436 0.92344116 -40.80181533] [ 0. 0. 0. 1. ]] SLAMing on 92.795860169 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:3.99, Y:24.51, Z:-40.82 [[ 9.89557185e-01 6.64475294e-02 -1.27911314e-01 3.99013985e+00] [-1.58097052e-02 9.32085654e-01 3.61892784e-01 2.45090243e+01] [ 1.43271182e-01 -3.56091364e-01 9.23402571e-01 -4.08168081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.825860169 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:4.01, Y:24.58, Z:-40.87 [[ 0.94895835 0.28822527 -0.1280791 4.0093486 ] [ -0.22601391 0.90466268 0.3612522 24.57777598] [ 0.21999039 -0.31386564 0.92363012 -40.8725009 ] [ 0. 0. 0. 1. ]] SLAMing on 92.855860169 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:4.00, Y:24.43, Z:-40.84 [[ 0.98652787 -0.10209836 -0.12782284 4.00179577] [ 0.14205359 0.92215695 0.35978791 24.43251989] [ 0.08113896 -0.37309849 0.92423697 -40.8442597 ] [ 0. 0. 0. 1. ]] SLAMing on 92.885860169 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:4.01, Y:24.43, Z:-40.87 [[ 0.98790448 -0.08749961 -0.1280178 4.00576701] [ 0.12847036 0.92416927 0.35973119 24.42706308] [ 0.08683378 -0.37182655 0.92423207 -40.8713956 ] [ 0. 0. 0. 1. ]] SLAMing on 92.915860169 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:4.01, Y:24.42, Z:-40.90 [[ 0.98909795 -0.07216407 -0.12836506 4.0091632 ] [ 0.11425494 0.92601087 0.35979115 24.42226879] [ 0.09290345 -0.37053503 0.92416056 -40.89910168] [ 0. 0. 0. 1. ]] SLAMing on 92.945860169 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:4.02, Y:24.51, Z:-40.96 [[ 0.96716812 0.21930666 -0.12841502 4.01840917] [ -0.16081061 0.91939025 0.35897287 24.5119484 ] [ 0.19678866 -0.32653661 0.92447178 -40.96414357] [ 0. 0. 0. 1. ]] SLAMing on 92.975860169 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:4.02, Y:24.39, Z:-40.94 [[ 0.98428101 -0.1213921 -0.12827643 4.01788868] [ 0.16011997 0.91982897 0.35815675 24.38533538] [ 0.07451498 -0.3730665 0.9248075 -40.94251552] [ 0. 0. 0. 1. ]] SLAMing on 93.005860169 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:4.02, Y:24.40, Z:-40.98 [[ 0.98979878 -0.06150357 -0.12851334 4.01993964] [ 0.10416037 0.92781536 0.35820285 24.39634393] [ 0.0972059 -0.36793474 0.92475674 -40.97637543] [ 0. 0. 0. 1. ]] SLAMing on 93.035860169 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:4.03, Y:24.47, Z:-41.03 [[ 0.97607499 0.17512112 -0.1288806 4.02507953] [ -0.11884273 0.92603746 0.3582332 24.46528876] [ 0.18208246 -0.33434594 0.92469388 -41.03423826] [ 0. 0. 0. 1. ]] SLAMing on 93.065860169 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:4.03, Y:24.34, Z:-41.01 [[ 0.97860298 -0.1623248 -0.1264392 4.03198541] [ 0.19718828 0.91537484 0.35100668 24.33521438] [ 0.05876217 -0.36842851 0.92779709 -41.00993741] [ 0. 0. 0. 1. ]] SLAMing on 93.095860169 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:4.04, Y:24.48, Z:-41.10 [[ 0.95314904 0.27247352 -0.13139669 4.04385215] [ -0.21237581 0.91206694 0.3507569 24.47739252] [ 0.21541455 -0.30641813 0.92720251 -41.09501926] [ 0. 0. 0. 1. ]] SLAMing on 93.12586016899999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:4.04, Y:24.34, Z:-41.08 [[ 0.98868265 -0.08116165 -0.12617209 4.03530629] [ 0.12095689 0.92876536 0.35037742 24.34358348] [ 0.08874706 -0.36167346 0.92807126 -41.07510089] [ 0. 0. 0. 1. ]] SLAMing on 93.155860169 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:4.04, Y:24.32, Z:-41.09 [[ 0.98497827 -0.11776796 -0.12628746 4.04105118] [ 0.15530021 0.92390605 0.3496848 24.32139137] [ 0.07549609 -0.3640444 0.92831676 -41.09496628] [ 0. 0. 0. 1. ]] SLAMing on 93.185860169 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:4.05, Y:24.30, Z:-41.12 [[ 0.98179729 -0.14159058 -0.12659461 4.04623119] [ 0.17774309 0.91986741 0.34964459 24.30298131] [ 0.06694388 -0.36578143 0.92829007 -41.11712352] [ 0. 0. 0. 1. ]] SLAMing on 93.215860169 meters Centerline goodness : 0.740597 Centerline is valid? [True, False] Translation: X:4.04, Y:24.33, Z:-41.11 [[ 0.98670991 -0.10128574 -0.12706203 4.0408292 ] [ 0.14006459 0.92656477 0.34908401 24.32580297] [ 0.08237397 -0.36224154 0.92843718 -41.10768174] [ 0. 0. 0. 1. ]] SLAMing on 93.245860169 meters Centerline goodness : 0.999143 Centerline is valid? [False, True] Translation: X:4.04, Y:24.34, Z:-41.10 [[ 0.98834943 -0.08576615 -0.12573609 4.03608878] [ 0.12484693 0.92935576 0.34743506 24.33943346] [ 0.08705539 -0.35908501 0.92923588 -41.09535181] [ 0. 0. 0. 1. ]] SLAMing on 93.275860169 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:4.06, Y:24.46, Z:-41.17 [[ 0.94725056 0.2924343 -0.13114327 4.05593166] [ -0.23192793 0.90787701 0.34924028 24.46158648] [ 0.2211918 -0.30040226 0.92781069 -41.16969893] [ 0. 0. 0. 1. ]] SLAMing on 93.305860169 meters Centerline goodness : 0.998508 Centerline is valid? [True, True] Translation: X:4.04, Y:24.38, Z:-41.17 [[ 0.98595618 0.11071902 -0.12502683 4.04128479] [ -0.060486 0.93456162 0.35062234 24.38388347] [ 0.15566584 -0.33813589 0.92813376 -41.1734599 ] [ 0. 0. 0. 1. ]] SLAMing on 93.335860169 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:4.07, Y:24.44, Z:-41.22 [[ 0.94198771 0.30645212 -0.13691695 4.06560536] [ -0.24318048 0.90428096 0.35091195 24.44447631] [ 0.23134911 -0.29725922 0.92634472 -41.21988605] [ 0. 0. 0. 1. ]] SLAMing on 93.365860169 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:4.10, Y:24.51, Z:-41.27 [[ 0.8501091 0.50745403 -0.14072998 4.10341665] [ -0.43638954 0.82842787 0.35110032 24.50590537] [ 0.29475191 -0.23706049 0.9257017 -41.26812013] [ 0. 0. 0. 1. ]] SLAMing on 93.395860169 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:4.06, Y:24.26, Z:-41.21 [[ 0.9759838 -0.18102009 -0.12119137 4.05800533] [ 0.21237596 0.91450895 0.3443397 24.25760715] [ 0.04849819 -0.3618081 0.93099024 -41.21152091] [ 0. 0. 0. 1. ]] SLAMing on 93.425860169 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:4.06, Y:24.26, Z:-41.24 [[ 0.98003284 -0.15660788 -0.12251371 4.06021407] [ 0.18996058 0.91947443 0.34421177 24.25668157] [ 0.05874195 -0.36061161 0.93086446 -41.24134446] [ 0. 0. 0. 1. ]] SLAMing on 93.455860169 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:4.06, Y:24.25, Z:-41.27 [[ 0.97912436 -0.16197314 -0.12280145 4.06493914] [ 0.19509402 0.91842521 0.34414162 24.2452981 ] [ 0.05704225 -0.36091527 0.93085249 -41.26620728] [ 0. 0. 0. 1. ]] SLAMing on 93.48586016899999 meters Centerline goodness : 0.306918 Centerline is valid? [True, False] Translation: X:4.06, Y:24.26, Z:-41.26 [[ 0.98428248 -0.12613189 -0.12360721 4.06246009] [ 0.16182894 0.92441925 0.34534106 24.2594077 ] [ 0.07070636 -0.35991638 0.93030146 -41.26495276] [ 0. 0. 0. 1. ]] SLAMing on 93.51586016899999 meters Centerline goodness : 0.315127 Centerline is valid? [False, False] Translation: X:4.06, Y:24.27, Z:-41.26 [[ 0.98788222 -0.09597643 -0.12197235 4.05733656] [ 0.13275805 0.9296348 0.34373599 24.27440879] [ 0.08039919 -0.35576348 0.93111133 -41.25739245] [ 0. 0. 0. 1. ]] SLAMing on 93.545860169 meters Centerline goodness : 0.998902 Centerline is valid? [False, True] Translation: X:4.06, Y:24.28, Z:-41.26 [[ 0.98789342 -0.0957575 -0.12205364 4.05757644] [ 0.13256597 0.92972751 0.34355934 24.2750143 ] [ 0.08057824 -0.35558017 0.93116588 -41.2579776 ] [ 0. 0. 0. 1. ]] SLAMing on 93.575860169 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:4.06, Y:24.24, Z:-41.28 [[ 0.98040036 -0.155978 -0.12035779 4.06408527] [ 0.18850848 0.92024929 0.342937 24.2442241 ] [ 0.05726855 -0.35890403 0.93161592 -41.27567046] [ 0. 0. 0. 1. ]] SLAMing on 93.605860169 meters Centerline goodness : 0.322116 Centerline is valid? [True, False] Translation: X:4.06, Y:24.26, Z:-41.28 [[ 0.98478312 -0.12469581 -0.12105023 4.06162642] [ 0.15949479 0.92511307 0.34456817 24.25552825] [ 0.06901894 -0.3586318 0.93092407 -41.27722408] [ 0. 0. 0. 1. ]] SLAMing on 93.635860169 meters Centerline goodness : 0.998980 Centerline is valid? [False, True] Translation: X:4.06, Y:24.25, Z:-41.28 [[ 0.98475978 -0.12496362 -0.12096391 4.06157033] [ 0.15970979 0.92510292 0.34449582 24.25479737] [ 0.06885462 -0.35856475 0.93096206 -41.2768374 ] [ 0. 0. 0. 1. ]] SLAMing on 93.665860169 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:4.07, Y:24.24, Z:-41.30 [[ 0.98150976 -0.14874629 -0.12047046 4.06628721] [ 0.18199735 0.92017243 0.34664053 24.23664186] [ 0.0592921 -0.36215637 0.93022965 -41.29865079] [ 0. 0. 0. 1. ]] SLAMing on 93.695860169 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:4.07, Y:24.22, Z:-41.32 [[ 0.97680129 -0.17701554 -0.12051861 4.07217241] [ 0.20845996 0.91482796 0.34588183 24.21727745] [ 0.04902734 -0.36298112 0.93050579 -41.32048293] [ 0. 0. 0. 1. ]] SLAMing on 93.725860169 meters Centerline goodness : 0.392852 Centerline is valid? [True, False] Translation: X:4.07, Y:24.23, Z:-41.33 [[ 0.98395846 -0.13257828 -0.11936812 4.06878446] [ 0.16639449 0.92332843 0.34608883 24.23173007] [ 0.06433211 -0.36039923 0.93057712 -41.32540203] [ 0. 0. 0. 1. ]] SLAMing on 93.755860169 meters Centerline goodness : 0.999209 Centerline is valid? [False, True] Translation: X:4.07, Y:24.24, Z:-41.32 [[ 0.98447499 -0.12729784 -0.12084808 4.06831622] [ 0.16190664 0.92448515 0.34512816 24.23666124] [ 0.06778819 -0.35933615 0.93074287 -41.32188061] [ 0. 0. 0. 1. ]] SLAMing on 93.785860169 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:4.07, Y:24.21, Z:-41.34 [[ 0.97723687 -0.17457697 -0.12054455 4.07365838] [ 0.20621161 0.91515294 0.34636956 24.21071909] [ 0.04984855 -0.36334279 0.93032099 -41.33984998] [ 0. 0. 0. 1. ]] SLAMing on 93.815860169 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:4.08, Y:24.19, Z:-41.36 [[ 9.71814029e-01 -2.02328841e-01 -1.20998069e-01 4.07907317e+00] [ 2.32366157e-01 9.08714502e-01 3.46762056e-01 2.41920209e+01] [ 3.97927353e-02 -3.65104087e-01 9.30115876e-01 -4.13623609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.845860169 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:4.08, Y:24.19, Z:-41.39 [[ 0.97730342 -0.17369757 -0.12127312 4.08088194] [ 0.20569991 0.91495332 0.34720019 24.19220496] [ 0.05065142 -0.3642658 0.92991659 -41.39132859] [ 0. 0. 0. 1. ]] SLAMing on 93.87586016899999 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:4.08, Y:24.20, Z:-41.42 [[ 0.98343266 -0.13500808 -0.12096701 4.08314982] [ 0.16920982 0.92306451 0.34542719 24.19576573] [ 0.0650249 -0.36017319 0.93061648 -41.42330091] [ 0. 0. 0. 1. ]] SLAMing on 93.905860169 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:4.09, Y:24.20, Z:-41.45 [[ 0.98795241 -0.09578739 -0.12155166 4.08634903] [ 0.13268805 0.92852277 0.34675547 24.19972494] [ 0.07964868 -0.35870635 0.93004615 -41.45332645] [ 0. 0. 0. 1. ]] SLAMing on 93.935860169 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:4.09, Y:24.19, Z:-41.48 [[ 0.98773859 -0.09758096 -0.12186236 4.09051197] [ 0.13448771 0.92825777 0.34677164 24.18857121] [ 0.07928137 -0.35890872 0.92999946 -41.47838046] [ 0. 0. 0. 1. ]] SLAMing on 93.965860169 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:4.09, Y:24.19, Z:-41.51 [[ 0.99008392 -0.06966793 -0.12198443 4.09395001] [ 0.1082837 0.93167376 0.3467833 24.18780339] [ 0.08949002 -0.35655349 0.92997911 -41.5072754 ] [ 0. 0. 0. 1. ]] SLAMing on 93.995860169 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:4.10, Y:24.19, Z:-41.54 [[ 9.91972133e-01 -3.26914730e-02 -1.22157906e-01 4.09745252e+00] [ 7.35364577e-02 9.35006337e-01 3.46922959e-01 2.41902793e+01] [ 1.02876994e-01 -3.53120968e-01 9.29904246e-01 -4.15374479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.025860169 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:4.10, Y:24.17, Z:-41.56 [[ 0.99048048 -0.06281264 -0.12248667 4.10261244] [ 0.1020318 0.93230792 0.34697471 24.16995983] [ 0.0924009 -0.35616921 0.92984169 -41.55911442] [ 0. 0. 0. 1. ]] SLAMing on 94.055860169 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:4.11, Y:24.16, Z:-41.59 [[ 0.99040162 -0.06353045 -0.1227539 4.10675015] [ 0.10279443 0.93225925 0.34688037 24.15936336] [ 0.09240099 -0.35616929 0.92984165 -41.58534847] [ 0. 0. 0. 1. ]] SLAMing on 94.085860169 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:4.11, Y:24.16, Z:-41.62 [[ 9.92127859e-01 -2.47702131e-02 -1.22754826e-01 4.10982671e+00] [ 6.62386081e-02 9.35692336e-01 3.46543359e-01 2.41627931e+01] [ 1.06276797e-01 -3.51946429e-01 9.29967179e-01 -4.16154175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.115860169 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:4.11, Y:24.16, Z:-41.64 [[ 9.92313637e-01 -1.28635259e-02 -1.23077927e-01 4.11401422e+00] [ 5.51293018e-02 9.36387045e-01 3.46612265e-01 2.41569745e+01] [ 1.10789920e-01 -3.50733277e-01 9.29898791e-01 -4.16425616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.145860169 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:4.12, Y:24.15, Z:-41.67 [[ 9.92275137e-01 -1.35126633e-02 -1.23318533e-01 4.11795622e+00] [ 5.58117409e-02 9.36395569e-01 3.46479995e-01 2.41464413e+01] [ 1.10793061e-01 -3.50686107e-01 9.29916207e-01 -4.16687389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.175860169 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:4.12, Y:24.12, Z:-41.69 [[ 0.99102538 -0.05119219 -0.12348305 4.12199306] [ 0.09136001 0.93373002 0.34612368 24.12326694] [ 0.09758101 -0.35429876 0.93002706 -41.68891382] [ 0. 0. 0. 1. ]] SLAMing on 94.205860169 meters Centerline goodness : 0.328824 Centerline is valid? [True, False] Translation: X:4.12, Y:24.12, Z:-41.69 [[ 0.99101626 -0.05277578 -0.12288815 4.12024984] [ 0.09253821 0.93397153 0.34515774 24.123966 ] [ 0.09655807 -0.35342878 0.93046474 -41.68754731] [ 0. 0. 0. 1. ]] SLAMing on 94.23586016899999 meters Centerline goodness : 0.998969 Centerline is valid? [False, True] Translation: X:4.12, Y:24.12, Z:-41.69 [[ 0.99097291 -0.05299843 -0.12314165 4.12070444] [ 0.09282489 0.93399253 0.34502391 24.12346612] [ 0.09672765 -0.35333995 0.93048086 -41.68794449] [ 0. 0. 0. 1. ]] SLAMing on 94.26586016899999 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:4.12, Y:24.14, Z:-41.72 [[ 9.92100955e-01 1.56034113e-02 -1.24467779e-01 4.12498986e+00] [ 2.84870852e-02 9.38285072e-01 3.44687700e-01 2.41371738e+01] [ 1.22164562e-01 -3.45510720e-01 9.30429020e-01 -4.17227585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.295860169 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:4.13, Y:24.10, Z:-41.74 [[ 0.99106016 -0.0471211 -0.12481734 4.12941978] [ 0.08786368 0.9345415 0.34483643 24.10499311] [ 0.10039791 -0.35272055 0.93032708 -41.7401388 ] [ 0. 0. 0. 1. ]] SLAMing on 94.325860169 meters Centerline goodness : 0.625113 Centerline is valid? [True, False] Translation: X:4.13, Y:24.11, Z:-41.74 [[ 0.99104775 -0.04924181 -0.12409516 4.12736863] [ 0.08947244 0.9348479 0.34359001 24.10518971] [ 0.09909111 -0.3516172 0.93088469 -41.73828828] [ 0. 0. 0. 1. ]] SLAMing on 94.355860169 meters Centerline goodness : 0.718025 Centerline is valid? [False, False] Translation: X:4.13, Y:24.11, Z:-41.72 [[ 0.99030764 -0.05636431 -0.12694028 4.12757706] [ 0.09738505 0.93343727 0.34526948 24.10823854] [ 0.09902991 -0.35428509 0.9298791 -41.71939932] [ 0. 0. 0. 1. ]] SLAMing on 94.385860169 meters Centerline goodness : 0.999095 Centerline is valid? [False, True] Translation: X:4.13, Y:24.11, Z:-41.72 [[ 0.99028775 -0.05646447 -0.12705092 4.12774828] [ 0.09752438 0.93340472 0.34531816 24.10798585] [ 0.09909172 -0.3543549 0.92984592 -41.71927091] [ 0. 0. 0. 1. ]] SLAMing on 94.415860169 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:4.13, Y:24.13, Z:-41.76 [[ 9.90806132e-01 4.44333253e-02 -1.27784537e-01 4.13162057e+00] [ 2.39453872e-03 9.38620132e-01 3.44944220e-01 2.41331296e+01] [ 1.35268157e-01 -3.42078833e-01 9.29884185e-01 -4.17578225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.445860169 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:4.14, Y:24.11, Z:-41.78 [[ 9.91751182e-01 4.88122751e-04 -1.28177045e-01 4.13548631e+00] [ 4.41556893e-02 9.37483113e-01 3.45218319e-01 2.41067801e+01] [ 1.20332324e-01 -3.48030421e-01 9.29728432e-01 -4.17776645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.475860169 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:4.14, Y:24.06, Z:-41.79 [[ 0.98485742 -0.1162639 -0.12860235 4.14127457] [ 0.1543893 0.92562363 0.34552111 24.05507249] [ 0.07886574 -0.36014385 0.92955721 -41.78684892] [ 0. 0. 0. 1. ]] SLAMing on 94.505860169 meters Centerline goodness : 0.674664 Centerline is valid? [True, False] Translation: X:4.14, Y:24.06, Z:-41.78 [[ 0.98523456 -0.11155966 -0.12987417 4.13966393] [ 0.15027318 0.92696452 0.34373646 24.06003271] [ 0.08204163 -0.35817765 0.9300419 -41.78099747] [ 0. 0. 0. 1. ]] SLAMing on 94.535860169 meters Centerline goodness : 0.999048 Centerline is valid? [False, True] Translation: X:4.14, Y:24.06, Z:-41.78 [[ 0.98550025 -0.1096015 -0.12952517 4.13782462] [ 0.14842079 0.92677433 0.34505161 24.06062592] [ 0.08222243 -0.35927268 0.92960347 -41.7797844 ] [ 0. 0. 0. 1. ]] SLAMing on 94.565860169 meters Centerline goodness : 0.998756 Centerline is valid? [True, True] Translation: X:4.15, Y:24.02, Z:-41.79 [[ 0.97300862 -0.19148203 -0.12879775 4.14528202] [ 0.22502244 0.91103176 0.34552283 24.02210579] [ 0.05117743 -0.36517908 0.92952951 -41.79283271] [ 0. 0. 0. 1. ]] SLAMing on 94.595860169 meters Centerline goodness : 0.539573 Centerline is valid? [True, False] Translation: X:4.14, Y:24.04, Z:-41.79 [[ 0.9804106 -0.14835233 -0.12956324 4.14089764] [ 0.18506231 0.91901512 0.34808497 24.03952975] [ 0.06743136 -0.36524347 0.9284666 -41.78911403] [ 0. 0. 0. 1. ]] SLAMing on 94.62586016899999 meters Centerline goodness : 0.999092 Centerline is valid? [False, True] Translation: X:4.14, Y:24.06, Z:-41.78 [[ 0.98483114 -0.11644925 -0.12863595 4.13632338] [ 0.1546527 0.92524006 0.34642946 24.05601469] [ 0.07867768 -0.36106842 0.92921441 -41.78217909] [ 0. 0. 0. 1. ]] SLAMing on 94.655860169 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:4.14, Y:24.02, Z:-41.80 [[ 0.97363366 -0.18954057 -0.12693254 4.14407258] [ 0.22256308 0.91132613 0.3463385 24.02059696] [ 0.05003174 -0.36545731 0.92948253 -41.79727148] [ 0. 0. 0. 1. ]] SLAMing on 94.685860169 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:4.15, Y:24.03, Z:-41.83 [[ 0.98340152 -0.12985805 -0.1267215 4.14511715] [ 0.16647134 0.92354742 0.34546701 24.03141631] [ 0.07217164 -0.36082828 0.92983558 -41.83085768] [ 0. 0. 0. 1. ]] SLAMing on 94.715860169 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:4.15, Y:24.02, Z:-41.85 [[ 0.9812289 -0.14525927 -0.12684477 4.15055266] [ 0.18094532 0.92097482 0.34505678 24.01558142] [ 0.06669814 -0.36153165 0.92997109 -41.85454834] [ 0. 0. 0. 1. ]] SLAMing on 94.745860169 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:4.15, Y:24.13, Z:-41.93 [[ 0.97303137 0.19273807 -0.1267359 4.15058278] [ -0.13913827 0.92861438 0.34397075 24.1254937 ] [ 0.18398504 -0.31706051 0.93038816 -41.92717556] [ 0. 0. 0. 1. ]] SLAMing on 94.775860169 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:4.16, Y:24.07, Z:-41.94 [[ 9.88175511e-01 8.29846802e-02 -1.28929056e-01 4.15857480e+00] [-3.31191203e-02 9.36550116e-01 3.48965621e-01 2.40744761e+01] [ 1.49707323e-01 -3.40569264e-01 9.28224269e-01 -4.19367092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.805860169 meters Centerline goodness : 0.982735 Centerline is valid? [True, True] Translation: X:4.19, Y:24.19, Z:-42.01 [[ 0.8952192 0.42688332 -0.12787966 4.1894167 ] [ -0.3633603 0.86538101 0.34508695 24.19063002] [ 0.2579765 -0.26246207 0.92981815 -42.00865376] [ 0. 0. 0. 1. ]] SLAMing on 94.835860169 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:4.17, Y:24.09, Z:-42.00 [[ 0.97337929 0.18926367 -0.12927499 4.1730589 ] [ -0.1341029 0.92768819 0.34844086 24.0917525 ] [ 0.18587408 -0.32182897 0.92837328 -42.00122808] [ 0. 0. 0. 1. ]] SLAMing on 94.865860169 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:4.18, Y:24.11, Z:-42.04 [[ 0.95582446 0.26335419 -0.1305533 4.18349057] [ -0.2045976 0.91497916 0.34778292 24.1083815 ] [ 0.21104364 -0.30570853 0.9284411 -42.03701494] [ 0. 0. 0. 1. ]] SLAMing on 94.895860169 meters Centerline goodness : 0.997253 Centerline is valid? [True, True] Translation: X:4.20, Y:24.16, Z:-42.08 [[ 0.90001405 0.41655454 -0.12828492 4.20034349] [ -0.35333636 0.86962172 0.34483544 24.15546379] [ 0.25520212 -0.26502901 0.92985563 -42.0849854 ] [ 0. 0. 0. 1. ]] SLAMing on 94.925860169 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:4.18, Y:24.04, Z:-42.07 [[ 0.98446208 0.11799137 -0.13004787 4.18116313] [ -0.06603044 0.93499412 0.3484623 24.03641522] [ 0.16270954 -0.33446081 0.92825728 -42.07071488] [ 0. 0. 0. 1. ]] SLAMing on 94.955860169 meters Centerline goodness : 0.996831 Centerline is valid? [True, True] Translation: X:4.20, Y:24.12, Z:-42.13 [[ 0.91576246 0.38043317 -0.12903383 4.2015487 ] [ -0.31828145 0.88308608 0.34475483 24.12359747] [ 0.24510415 -0.27464446 0.9297819 -42.13142454] [ 0. 0. 0. 1. ]] SLAMing on 94.98586016899999 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:4.19, Y:24.03, Z:-42.12 [[ 0.97976349 0.15186547 -0.1303855 4.19057598] [ -0.09820762 0.9323458 0.34797497 24.03026189] [ 0.17440976 -0.32812832 0.92839272 -42.12493457] [ 0. 0. 0. 1. ]] SLAMing on 95.01586016899999 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:4.22, Y:24.12, Z:-42.19 [[ 0.89850882 0.4194911 -0.12926372 4.217827 ] [ -0.35612525 0.86879906 0.34403924 24.11761805] [ 0.2566256 -0.26308822 0.93001499 -42.18591326] [ 0. 0. 0. 1. ]] SLAMing on 95.045860169 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:4.20, Y:24.01, Z:-42.18 [[ 0.97809102 0.161844 -0.13093692 4.19999395] [ -0.10749704 0.93127367 0.34810018 24.01399877] [ 0.17827604 -0.32639832 0.92826817 -42.17728426] [ 0. 0. 0. 1. ]] SLAMing on 95.075860169 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:4.20, Y:24.00, Z:-42.20 [[ 0.97937758 0.15372341 -0.13110559 4.20278998] [ -0.09969162 0.93210517 0.34819754 24.00158852] [ 0.17573031 -0.32794673 0.92820784 -42.20101235] [ 0. 0. 0. 1. ]] SLAMing on 95.105860169 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:4.21, Y:23.99, Z:-42.23 [[ 0.98071617 0.14476064 -0.13130176 4.2065071 ] [ -0.0911592 0.93310253 0.34786445 23.98814066] [ 0.17287508 -0.32918692 0.928305 -42.22594229] [ 0. 0. 0. 1. ]] SLAMing on 95.135860169 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:4.21, Y:23.99, Z:-42.25 [[ 0.97727014 0.16641459 -0.13133646 4.21165132] [ -0.11185049 0.93101993 0.34740662 23.98586464] [ 0.18009039 -0.32482007 0.92847153 -42.25344087] [ 0. 0. 0. 1. ]] SLAMing on 95.165860169 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:4.24, Y:24.07, Z:-42.31 [[ 0.90167336 0.41229293 -0.13038287 4.23597309] [ -0.34889851 0.87178384 0.34389353 24.06606641] [ 0.25545055 -0.26458925 0.92991265 -42.31250267] [ 0. 0. 0. 1. ]] SLAMing on 95.195860169 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:4.22, Y:23.98, Z:-42.31 [[ 0.96838166 0.21178055 -0.13185579 4.22358656] [ -0.1549544 0.92482848 0.34739232 23.9822857 ] [ 0.19551493 -0.31597672 0.92840327 -42.31098174] [ 0. 0. 0. 1. ]] SLAMing on 95.225860169 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:4.23, Y:23.98, Z:-42.34 [[ 0.96390177 0.23134012 -0.13181474 4.23058722] [ -0.17379682 0.92171546 0.34674958 23.97901857] [ 0.20171277 -0.31132355 0.92864934 -42.3377225 ] [ 0. 0. 0. 1. ]] SLAMing on 95.255860169 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:4.24, Y:23.97, Z:-42.37 [[ 0.96010293 0.246589 -0.1318948 4.2368435 ] [ -0.1884887 0.9190436 0.34616595 23.97411852] [ 0.20657778 -0.30749426 0.92885569 -42.36512084] [ 0. 0. 0. 1. ]] SLAMing on 95.285860169 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:4.25, Y:23.98, Z:-42.40 [[ 0.94284722 0.30601018 -0.1318973 4.24908647] [ -0.24564765 0.9057372 0.34539449 23.9846549 ] [ 0.22515852 -0.29325397 0.92914248 -42.39827998] [ 0. 0. 0. 1. ]] SLAMing on 95.315860169 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:4.25, Y:23.98, Z:-42.43 [[ 0.93962949 0.3157183 -0.13197868 4.25477654] [ -0.25509248 0.90334163 0.34482128 23.9781879 ] [ 0.22808823 -0.29033748 0.92934381 -42.42513273] [ 0. 0. 0. 1. ]] SLAMing on 95.345860169 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:4.26, Y:23.96, Z:-42.45 [[ 0.94345201 0.30396817 -0.1322938 4.25731229] [ -0.24358134 0.90631965 0.34533002 23.96452486] [ 0.22486981 -0.293578 0.92911007 -42.4489686 ] [ 0. 0. 0. 1. ]] SLAMing on 95.37586016899999 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:4.26, Y:23.96, Z:-42.48 [[ 0.93579182 0.32662727 -0.13269629 4.2641581 ] [ -0.26517683 0.90013692 0.34559337 23.96271802] [ 0.23232505 -0.28821547 0.92895474 -42.47756987] [ 0. 0. 0. 1. ]] SLAMing on 95.405860169 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:4.26, Y:23.94, Z:-42.50 [[ 0.94655445 0.2939656 -0.13273623 4.2645361 ] [ -0.2339518 0.90903076 0.34486176 23.94106262] [ 0.22203881 -0.29537655 0.92922089 -42.49927909] [ 0. 0. 0. 1. ]] SLAMing on 95.435860169 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:4.26, Y:23.88, Z:-42.51 [[ 0.97750467 0.16506074 -0.13129954 4.25538535] [ -0.11184743 0.93346053 0.34079553 23.88114496] [ 0.1788149 -0.3184437 0.93092365 -42.50586894] [ 0. 0. 0. 1. ]] SLAMing on 95.465860169 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:4.26, Y:23.87, Z:-42.53 [[ 0.97747107 0.16443375 -0.13233232 4.25782442] [ -0.11055124 0.93293239 0.34265956 23.8703693 ] [ 0.1798019 -0.3203103 0.93009278 -42.53149603] [ 0. 0. 0. 1. ]] SLAMing on 95.495860169 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:4.26, Y:23.86, Z:-42.55 [[ 0.97967596 0.15089469 -0.13215827 4.25882068] [ -0.09787419 0.93470342 0.34168721 23.85709676] [ 0.17508758 -0.32180786 0.93047517 -42.55499513] [ 0. 0. 0. 1. ]] SLAMing on 95.525860169 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:4.26, Y:23.83, Z:-42.57 [[ 0.98562771 0.10451698 -0.13271857 4.26103258] [ -0.05338237 0.93807336 0.34229913 23.83034013] [ 0.16027582 -0.33029468 0.93017046 -42.57434909] [ 0. 0. 0. 1. ]] SLAMing on 95.555860169 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:4.26, Y:23.81, Z:-42.60 [[ 9.87287070e-01 8.66151024e-02 -1.33274397e-01 4.26390830e+00] [-3.59781531e-02 9.38497502e-01 3.43406481e-01 2.38137072e+01] [ 1.54821877e-01 -3.34245812e-01 9.29682701e-01 -4.25966486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.585860169 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:4.27, Y:23.78, Z:-42.61 [[ 9.90595350e-01 2.78873091e-02 -1.33952046e-01 4.26667006e+00] [ 2.01413729e-02 9.38621974e-01 3.44358990e-01 2.37820727e+01] [ 1.35333580e-01 -3.43818393e-01 9.29232874e-01 -4.26144740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.615860169 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:4.27, Y:23.76, Z:-42.63 [[ 9.90844087e-01 -1.29973143e-02 -1.34384024e-01 4.27115300e+00] [ 5.90320890e-02 9.36875276e-01 3.44644642e-01 2.37569930e+01] [ 1.21421615e-01 -3.49422075e-01 9.29064586e-01 -4.26346341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.645860169 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:4.28, Y:23.73, Z:-42.65 [[ 0.9893408 -0.05535334 -0.13468776 4.27614939] [ 0.09919909 0.93331153 0.34509293 23.73143872] [ 0.10660359 -0.35477542 0.92885417 -42.65362035] [ 0. 0. 0. 1. ]] SLAMing on 95.675860169 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:4.28, Y:23.70, Z:-42.67 [[ 0.98592698 -0.09821133 -0.13528681 4.28321843] [ 0.13987096 0.92783408 0.34577454 23.70422522] [ 0.09156474 -0.35983115 0.92851357 -42.67206573] [ 0. 0. 0. 1. ]] SLAMing on 95.705860169 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:4.30, Y:23.64, Z:-42.68 [[ 0.96549263 -0.22207132 -0.13604528 4.30126365] [ 0.25638561 0.90220742 0.34682587 23.6448789 ] [ 0.04572098 -0.36973788 0.9280105 -42.67637851] [ 0. 0. 0. 1. ]] SLAMing on 95.73586016899999 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:4.31, Y:23.66, Z:-42.71 [[ 0.98404906 -0.11721091 -0.13382469 4.3050346 ] [ 0.15675979 0.92697313 0.34080374 23.6571024 ] [ 0.08410597 -0.35634593 0.93056099 -42.70961938] [ 0. 0. 0. 1. ]] SLAMing on 95.76586016899999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] SLAMing on 95.795860169 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] SLAMing on 95.825860169 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] SLAMing on 95.855860169 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] SLAMing on 95.885860169 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] SLAMing on 95.915860169 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] SLAMing on 95.945860169 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] SLAMing on 95.975860169 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] SLAMing on 96.005860169 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] SLAMing on 96.035860169 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:4.33, Y:23.63, Z:-42.72 [[ 0.98893623 -0.04783703 -0.14041637 4.32672317] [ 0.09560146 0.92930954 0.35671295 23.62562245] [ 0.11342619 -0.36619037 0.92360116 -42.72400275] [ 0. 0. 0. 1. ]] SLAMing on 96.065860169 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:4.33, Y:23.62, Z:-42.75 [[ 0.98868473 -0.0456685 -0.14288772 4.32669373] [ 0.09514417 0.92733053 0.36194707 23.61524002] [ 0.11597456 -0.37144648 0.92118262 -42.75017548] [ 0. 0. 0. 1. ]] SLAMing on 96.095860169 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:4.33, Y:23.61, Z:-42.78 [[ 0.98861757 -0.04658267 -0.14305721 4.33101124] [ 0.09605729 0.9272625 0.36188016 23.60507751] [ 0.11579424 -0.37150277 0.9211826 -42.77542995] [ 0. 0. 0. 1. ]] SLAMing on 96.12586016899999 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] SLAMing on 96.155860169 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] SLAMing on 96.185860169 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] SLAMing on 96.215860169 meters Centerline goodness : 0.969426 Centerline is valid? [True, True] Translation: X:4.41, Y:23.94, Z:-42.92 [[ 0.71705972 0.68304235 -0.13884705 4.4145104 ] [ -0.61305351 0.71283042 0.34064378 23.93553512] [ 0.33164853 -0.15914127 0.92988349 -42.9217506 ] [ 0. 0. 0. 1. ]] SLAMing on 96.245860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.34, Y:23.57, Z:-42.82 [[ 9.56013247e-01 -2.66739991e-01 -1.22018228e-01 4.34058238e+00] [ 2.91895645e-01 9.06134169e-01 3.06133632e-01 2.35664530e+01] [ 2.89068035e-02 -3.28284397e-01 9.44136511e-01 -4.28196310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.275860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.33, Y:23.57, Z:-42.85 [[ 0.96939525 -0.21237679 -0.1231623 4.33479094] [ 0.24073357 0.92071396 0.30713704 23.57444199] [ 0.04816847 -0.32738649 0.94366196 -42.8545587 ] [ 0. 0. 0. 1. ]] SLAMing on 96.305860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.35, Y:23.55, Z:-42.87 [[ 9.58804227e-01 -2.55642552e-01 -1.23860165e-01 4.34719284e+00] [ 2.82071028e-01 9.08403107e-01 3.08609351e-01 2.35516712e+01] [ 3.36212766e-02 -3.30833314e-01 9.43090095e-01 -4.28734866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.335860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.35, Y:23.54, Z:-42.90 [[ 9.57908528e-01 -2.58888867e-01 -1.24047600e-01 4.35208394e+00] [ 2.85199331e-01 9.07518418e-01 3.08336931e-01 2.35405288e+01] [ 3.27504830e-02 -3.30736868e-01 9.43154563e-01 -4.28990606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.365860169 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.36, Y:23.53, Z:-42.92 [[ 9.59719997e-01 -2.52290873e-01 -1.23639975e-01 4.35600533e+00] [ 2.78759036e-01 9.10003044e-01 3.06900406e-01 2.35326226e+01] [ 3.50845826e-02 -3.29004217e-01 9.43676479e-01 -4.29247782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.395860169 meters Centerline goodness : 0.968131 Centerline is valid? [True, True] Translation: X:4.35, Y:23.54, Z:-42.96 [[ 0.98230726 -0.14743424 -0.11547983 4.35230119] [ 0.17500917 0.9421728 0.28580098 23.54229086] [ 0.0666651 -0.30095441 0.95130553 -42.9594824 ] [ 0. 0. 0. 1. ]] SLAMing on 96.425860169 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:4.37, Y:23.51, Z:-42.97 [[ 0.97199856 -0.20603809 -0.11299165 4.374234 ] [ 0.23008278 0.93219173 0.27942887 23.5107095 ] [ 0.04775689 -0.29760189 0.95349483 -42.97257784] [ 0. 0. 0. 1. ]] SLAMing on 96.455860169 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:4.38, Y:23.50, Z:-43.00 [[ 0.97338539 -0.19938068 -0.11299656 4.37852523] [ 0.22366414 0.93395018 0.27876767 23.50190505] [ 0.04995227 -0.29662165 0.95368777 -42.99841718] [ 0. 0. 0. 1. ]] SLAMing on 96.48586016899999 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:4.38, Y:23.49, Z:-43.02 [[ 0.97411506 -0.19599532 -0.11263074 4.38242714] [ 0.22025018 0.93507685 0.27770695 23.49233037] [ 0.05088913 -0.29532546 0.95404044 -43.02379643] [ 0. 0. 0. 1. ]] SLAMing on 96.51586016899999 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:4.39, Y:23.48, Z:-43.05 [[ 0.97629074 -0.18521562 -0.11203376 4.387308 ] [ 0.20960275 0.93815224 0.27556679 23.48440146] [ 0.05406545 -0.29251589 0.95473105 -43.05059021] [ 0. 0. 0. 1. ]] SLAMing on 96.545860169 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:4.40, Y:23.47, Z:-43.07 [[ 0.97833737 -0.17610212 -0.10883027 4.39574085] [ 0.19941977 0.94280668 0.26710917 23.47157234] [ 0.05556742 -0.28302579 0.95750126 -43.07466708] [ 0. 0. 0. 1. ]] SLAMing on 96.575860169 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:4.40, Y:23.46, Z:-43.10 [[ 0.97821268 -0.1767648 -0.1088768 4.40009385] [ 0.20007054 0.94267418 0.2670902 23.46149948] [ 0.0554232 -0.28305406 0.95750126 -43.09992563] [ 0. 0. 0. 1. ]] SLAMing on 96.605860169 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:4.41, Y:23.45, Z:-43.13 [[ 0.98157418 -0.15878677 -0.10629627 4.40688231] [ 0.18160561 0.94823468 0.26051945 23.45282758] [ 0.05942677 -0.27502317 0.95959925 -43.12500916] [ 0. 0. 0. 1. ]] SLAMing on 96.635860169 meters Centerline goodness : 0.998666 Centerline is valid? [True, True] Translation: X:4.41, Y:23.44, Z:-43.15 [[ 0.98626527 -0.12910291 -0.10302064 4.41292962] [ 0.15142788 0.9558464 0.2518477 23.44398518] [ 0.06595764 -0.26398883 0.96226789 -43.15139881] [ 0. 0. 0. 1. ]] SLAMing on 96.665860169 meters Centerline goodness : 0.997994 Centerline is valid? [True, True] Translation: X:4.42, Y:23.44, Z:-43.18 [[ 0.991647 -0.08103592 -0.10034642 4.42025051] [ 0.10355065 0.96402817 0.24479983 23.43970968] [ 0.07689919 -0.25314596 0.96436696 -43.17948649] [ 0. 0. 0. 1. ]] SLAMing on 96.695860169 meters Centerline goodness : 0.997220 Centerline is valid? [True, True] Translation: X:4.43, Y:23.42, Z:-43.20 [[ 0.99219709 -0.0806511 -0.09508063 4.42668231] [ 0.10083205 0.96760639 0.23145361 23.4216205 ] [ 0.07333364 -0.23923477 0.96818846 -43.20148529] [ 0. 0. 0. 1. ]] SLAMing on 96.725860169 meters Centerline goodness : 0.995960 Centerline is valid? [True, True] Translation: X:4.42, Y:23.44, Z:-43.23 [[ 9.94088319e-01 3.42783608e-02 -1.03021398e-01 4.41904557e+00] [-1.17643074e-02 9.77274453e-01 2.11651232e-01 2.34406676e+01] [ 1.07935237e-01 -2.09188042e-01 9.71900380e-01 -4.32334954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.755860169 meters Centerline goodness : 0.994341 Centerline is valid? [True, True] Translation: X:4.44, Y:23.38, Z:-43.24 [[ 0.99160271 -0.09980855 -0.0822333 4.44371432] [ 0.11535876 0.97007852 0.21363527 23.38101712] [ 0.05845014 -0.22132765 0.97344628 -43.24277338] [ 0. 0. 0. 1. ]] SLAMing on 96.785860169 meters Centerline goodness : 0.989539 Centerline is valid? [True, True] Translation: X:4.44, Y:23.37, Z:-43.27 [[ 0.99170381 -0.09735695 -0.0839356 4.43979274] [ 0.11269296 0.97259767 0.203357 23.36613724] [ 0.06183735 -0.21112886 0.97550025 -43.26758879] [ 0. 0. 0. 1. ]] SLAMing on 96.815860169 meters Centerline goodness : 0.985893 Centerline is valid? [True, True] Translation: X:4.42, Y:23.38, Z:-43.31 [[ 0.99203248 -0.07948656 -0.09774171 4.41658901] [ 0.10073063 0.96640637 0.23645734 23.38472511] [ 0.07566303 -0.24441895 0.96671324 -43.30878762] [ 0. 0. 0. 1. ]] SLAMing on 96.845860169 meters Centerline goodness : 0.984420 Centerline is valid? [True, True] Translation: X:4.43, Y:23.33, Z:-43.32 [[ 9.53767969e-01 -2.82441522e-01 -1.02729980e-01 4.43123340e+00] [ 2.99537776e-01 9.21265834e-01 2.48085435e-01 2.33322449e+01] [ 2.45719924e-02 -2.67387451e-01 9.63275749e-01 -4.33166470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.87586016899999 meters Centerline goodness : 0.980585 Centerline is valid? [True, True] Translation: X:4.41, Y:23.42, Z:-43.38 [[ 0.9906127 -0.05454567 -0.12534449 4.40693174] [ 0.08729649 0.95804309 0.27300687 23.422604 ] [ 0.10519408 -0.28138621 0.95381131 -43.38017654] [ 0. 0. 0. 1. ]] SLAMing on 96.905860169 meters Centerline goodness : 0.968994 Centerline is valid? [True, True] Translation: X:4.43, Y:23.50, Z:-43.44 [[ 0.95246399 0.28457271 -0.10876912 4.42692083] [ -0.24854083 0.93229926 0.26276518 23.49842077] [ 0.17618117 -0.22324081 0.95870941 -43.44079586] [ 0. 0. 0. 1. ]] SLAMing on 96.935860169 meters Centerline goodness : 0.971966 Centerline is valid? [True, True] Translation: X:4.46, Y:23.57, Z:-43.50 [[ 0.89878174 0.42343577 -0.11354972 4.45791389] [ -0.37842473 0.88011871 0.28668064 23.56906834] [ 0.22132807 -0.2146933 0.95127318 -43.49646613] [ 0. 0. 0. 1. ]] SLAMing on 96.965860169 meters Centerline goodness : 0.971955 Centerline is valid? [True, True] Translation: X:4.46, Y:23.57, Z:-43.52 [[ 0.88997802 0.4412705 -0.11497596 4.46480699] [ -0.39579392 0.87272949 0.28581534 23.56529884] [ 0.22646479 -0.20886259 0.95136224 -43.52474367] [ 0. 0. 0. 1. ]] SLAMing on 96.995860169 meters Centerline goodness : 0.971736 Centerline is valid? [True, True] Translation: X:4.47, Y:23.55, Z:-43.55 [[ 0.89962314 0.42133844 -0.11468271 4.46749876] [ -0.37604154 0.88102972 0.28701812 23.54754399] [ 0.22197064 -0.21508268 0.95103548 -43.54896429] [ 0. 0. 0. 1. ]] SLAMing on 97.025860169 meters Centerline goodness : 0.972155 Centerline is valid? [True, True] Translation: X:4.48, Y:23.56, Z:-43.58 [[ 0.87562673 0.46818319 -0.11866898 4.47749959] [ -0.42170881 0.86087226 0.28471148 23.55526108] [ 0.23545596 -0.19925722 0.95123974 -43.57887237] [ 0. 0. 0. 1. ]] SLAMing on 97.055860169 meters Centerline goodness : 0.972155 Centerline is valid? [True, True] Translation: X:4.48, Y:23.54, Z:-43.60 [[ 0.87909335 0.461772 -0.11815877 4.48071048] [ -0.41548121 0.86385287 0.28483959 23.54329786] [ 0.23360274 -0.20130784 0.9512649 -43.60353754] [ 0. 0. 0. 1. ]] SLAMing on 97.085860169 meters Centerline goodness : 0.971781 Centerline is valid? [True, True] Translation: X:4.48, Y:23.51, Z:-43.62 [[ 0.9039917 0.41230946 -0.11313674 4.48002433] [ -0.36854748 0.88559946 0.28264174 23.51300349] [ 0.21672969 -0.21380953 0.95253017 -43.6229296 ] [ 0. 0. 0. 1. ]] SLAMing on 97.115860169 meters Centerline goodness : 0.970831 Centerline is valid? [True, True] Translation: X:4.49, Y:23.51, Z:-43.65 [[ 0.88115415 0.45839619 -0.11593232 4.49160102] [ -0.4150043 0.86728044 0.27494741 23.51151381] [ 0.22658068 -0.19415863 0.95444414 -43.64928445] [ 0. 0. 0. 1. ]] SLAMing on 97.145860169 meters Centerline goodness : 0.969272 Centerline is valid? [True, True] Translation: X:4.48, Y:23.47, Z:-43.67 [[ 0.91801185 0.38263006 -0.10415601 4.48481286] [ -0.3444332 0.89952394 0.26874236 23.47108825] [ 0.19651973 -0.21083388 0.95756413 -43.66673302] [ 0. 0. 0. 1. ]] SLAMing on 97.175860169 meters Centerline goodness : 0.969064 Centerline is valid? [True, True] Translation: X:4.49, Y:23.48, Z:-43.70 [[ 0.9005615 0.4208128 -0.10911269 4.49361379] [ -0.38134285 0.88519091 0.26648579 23.47608487] [ 0.20872619 -0.1983775 0.95764281 -43.69583273] [ 0. 0. 0. 1. ]] SLAMing on 97.205860169 meters Centerline goodness : 0.971156 Centerline is valid? [True, True] Translation: X:4.50, Y:23.46, Z:-43.72 [[ 0.90383882 0.41224796 -0.11457314 4.49609699] [ -0.37089639 0.88837951 0.27058773 23.46054933] [ 0.21333366 -0.20207293 0.95585317 -43.71825931] [ 0. 0. 0. 1. ]] SLAMing on 97.23586016899999 meters Centerline goodness : 0.972671 Centerline is valid? [True, True] Translation: X:4.49, Y:23.44, Z:-43.74 [[ 0.92781802 0.35466604 -0.11561019 4.48881002] [ -0.31308693 0.90886949 0.2755591 23.43608884] [ 0.20280603 -0.21947266 0.9543068 -43.74051583] [ 0. 0. 0. 1. ]] SLAMing on 97.26586016899999 meters Centerline goodness : 0.976452 Centerline is valid? [True, True] Translation: X:4.51, Y:23.47, Z:-43.78 [[ 0.88094197 0.45806881 -0.11880327 4.51410489] [ -0.41257165 0.86640181 0.28130505 23.47118018] [ 0.23178844 -0.19879856 0.95223592 -43.78067552] [ 0. 0. 0. 1. ]] SLAMing on 97.295860169 meters Centerline goodness : 0.978376 Centerline is valid? [True, True] Translation: X:4.53, Y:23.48, Z:-43.81 [[ 0.85497342 0.50408051 -0.12216093 4.53437098] [ -0.45624271 0.84293605 0.28513402 23.4792856 ] [ 0.24670435 -0.18804697 0.95067097 -43.81070047] [ 0. 0. 0. 1. ]] SLAMing on 97.325860169 meters Centerline goodness : 0.982703 Centerline is valid? [True, True] Translation: X:4.52, Y:23.44, Z:-43.82 [[ 0.89508615 0.42815514 -0.12451489 4.52223601] [ -0.38214414 0.88048649 0.28055193 23.43558187] [ 0.22975343 -0.20353551 0.95172825 -43.82418135] [ 0. 0. 0. 1. ]] SLAMing on 97.355860169 meters Centerline goodness : 0.982703 Centerline is valid? [True, True] Translation: X:4.53, Y:23.42, Z:-43.85 [[ 0.89835964 0.42139961 -0.12398516 4.52574885] [ -0.37559793 0.88327975 0.28061195 23.42328773] [ 0.22776335 -0.20552188 0.95177971 -43.84975206] [ 0. 0. 0. 1. ]] SLAMing on 97.385860169 meters Centerline goodness : 0.984646 Centerline is valid? [True, True] Translation: X:4.52, Y:23.38, Z:-43.86 [[ 0.91464542 0.384886 -0.12363865 4.51912436] [ -0.34194265 0.8997253 0.27123717 23.38215655] [ 0.21563621 -0.20580851 0.95453857 -43.86269847] [ 0. 0. 0. 1. ]] SLAMing on 97.415860169 meters Centerline goodness : 0.984646 Centerline is valid? [True, True] Translation: X:4.52, Y:23.37, Z:-43.89 [[ 0.91825651 0.3764819 -0.12274507 4.52245549] [ -0.33380905 0.90269438 0.27150391 23.36940504] [ 0.2130176 -0.20833682 0.95457806 -43.88701672] [ 0. 0. 0. 1. ]] SLAMing on 97.445860169 meters Centerline goodness : 0.986082 Centerline is valid? [True, True] Translation: X:4.50, Y:23.30, Z:-43.89 [[ 0.9723595 0.19689368 -0.12549852 4.50417851] [ -0.15743345 0.94980331 0.27034864 23.30232843] [ 0.17242884 -0.2431184 0.95454792 -43.89263018] [ 0. 0. 0. 1. ]] SLAMing on 97.475860169 meters Centerline goodness : 0.988178 Centerline is valid? [True, True] Translation: X:4.52, Y:23.30, Z:-43.93 [[ 0.96496155 0.23481547 -0.11709357 4.51516505] [ -0.19427029 0.93932403 0.28271793 23.30464768] [ 0.17637535 -0.25006413 0.95202924 -43.92734102] [ 0. 0. 0. 1. ]] SLAMing on 97.505860169 meters Centerline goodness : 0.992263 Centerline is valid? [True, True] Translation: X:4.51, Y:23.24, Z:-43.93 [[ 9.90138831e-01 6.93994967e-02 -1.21691436e-01 4.50542827e+00] [-3.16191626e-02 9.56963924e-01 2.88479247e-01 2.32436712e+01] [ 1.36474629e-01 -2.81786723e-01 9.49721495e-01 -4.39340959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.535860169 meters Centerline goodness : 0.997406 Centerline is valid? [True, True] Translation: X:5.19, Y:23.49, Z:-43.88 [[-8.57529247e-01 4.45563163e-01 -2.57132375e-01 5.18779524e+00] [-5.14161035e-01 -7.58645113e-01 4.00120011e-01 2.34888862e+01] [-1.67934823e-02 4.75322060e-01 8.79651589e-01 -4.38751255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.565860169 meters Centerline goodness : 0.997450 Centerline is valid? [True, True] Translation: X:5.29, Y:23.47, Z:-43.88 [[ -0.8983424 0.27978657 -0.33867448 5.29196082] [ -0.39935313 -0.84133096 0.36425168 23.46573982] [ -0.1830246 0.46247345 0.86753692 -43.8776019 ] [ 0. 0. 0. 1. ]] SLAMing on 97.595860169 meters Centerline goodness : 0.997880 Centerline is valid? [True, True] Translation: X:5.33, Y:23.58, Z:-43.90 [[ -0.79180417 0.43260264 -0.43116251 5.32734436] [ -0.58304186 -0.74566159 0.32256934 23.58329935] [ -0.18195698 0.50679754 0.84264341 -43.89832022] [ 0. 0. 0. 1. ]] SLAMing on 97.62586016899999 meters Centerline goodness : 0.997579 Centerline is valid? [True, True] Translation: X:5.32, Y:23.72, Z:-43.93 [[ -0.63628032 0.56671152 -0.52343616 5.32484482] [ -0.75277805 -0.6044989 0.26058836 23.72200904] [ -0.16873815 0.55983849 0.81123874 -43.9281501 ] [ 0. 0. 0. 1. ]] SLAMing on 97.655860169 meters Centerline goodness : 0.998395 Centerline is valid? [True, True] Translation: X:5.33, Y:23.84, Z:-43.94 [[ -0.53313841 0.62359928 -0.57174065 5.33058935] [ -0.82115643 -0.54407589 0.17228912 23.83981386] [ -0.20363093 0.56134246 0.80214032 -43.93564271] [ 0. 0. 0. 1. ]] SLAMing on 97.685860169 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:5.29, Y:23.96, Z:-43.96 [[ -0.32565039 0.72346784 -0.60872498 5.28549242] [ -0.92824945 -0.36702505 0.06037862 23.964313 ] [ -0.17973532 0.58471095 0.79108047 -43.96441744] [ 0. 0. 0. 1. ]] SLAMing on 97.715860169 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:5.23, Y:24.07, Z:-43.99 [[ -0.1402325 0.77765932 -0.6128465 5.2267603 ] [ -0.97342239 -0.22147368 -0.05829456 24.07421848] [ -0.18106268 0.58838372 0.7880488 -43.98687135] [ 0. 0. 0. 1. ]] SLAMing on 97.745860169 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:5.15, Y:24.18, Z:-44.01 [[ 0.05840411 0.7974576 -0.6005417 5.14675285] [ -0.98404523 -0.05528351 -0.16911157 24.1793421 ] [ -0.16805936 0.600837 0.78150556 -44.01053323] [ 0. 0. 0. 1. ]] SLAMing on 97.775860169 meters Centerline goodness : 0.997985 Centerline is valid? [True, True] Translation: X:5.08, Y:24.27, Z:-44.02 [[ 1.64538282e-01 7.92878660e-01 -5.86745758e-01 5.08014648e+00] [-9.64243289e-01 4.00327582e-03 -2.64988404e-01 2.42664068e+01] [-2.07754745e-01 6.09366396e-01 7.65186618e-01 -4.40160251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.805860169 meters Centerline goodness : 0.997869 Centerline is valid? [True, True] Translation: X:4.98, Y:24.34, Z:-44.04 [[ 0.35278945 0.75974634 -0.54619145 4.97828137] [ -0.91545864 0.1594862 -0.36945855 24.3373277 ] [ -0.19358479 0.63035676 0.75178141 -44.03893683] [ 0. 0. 0. 1. ]] SLAMing on 97.835860169 meters Centerline goodness : 0.998031 Centerline is valid? [True, True] Translation: X:4.85, Y:24.38, Z:-44.07 [[ 0.56566806 0.67889377 -0.46810565 4.84612062] [ -0.80869299 0.34562266 -0.47598384 24.37692644] [ -0.16135454 0.64780262 0.74452433 -44.07287462] [ 0. 0. 0. 1. ]] SLAMing on 97.865860169 meters Centerline goodness : 0.998031 Centerline is valid? [True, True] Translation: X:4.73, Y:24.41, Z:-44.09 [[ 0.69550564 0.60772178 -0.38333555 4.73322898] [ -0.70007735 0.45305442 -0.55193604 24.4066024 ] [ -0.16175169 0.65223916 0.74055416 -44.09474781] [ 0. 0. 0. 1. ]] SLAMing on 97.895860169 meters Centerline goodness : 0.998143 Centerline is valid? [True, True] Translation: X:4.63, Y:24.43, Z:-44.10 [[ 0.76809829 0.56838726 -0.29489139 4.62679614] [ -0.61009548 0.50975899 -0.60657174 24.42898853] [ -0.19444411 0.64581863 0.73831551 -44.10325927] [ 0. 0. 0. 1. ]] SLAMing on 97.925860169 meters Centerline goodness : 0.950583 Centerline is valid? [True, True] Translation: X:4.47, Y:24.46, Z:-44.11 [[ 0.83541345 0.51103888 -0.20229592 4.46919686] [ -0.50408059 0.56570826 -0.65259246 24.46192637] [ -0.21905965 0.64715796 0.73020507 -44.10730958] [ 0. 0. 0. 1. ]] SLAMing on 97.955860169 meters Centerline goodness : 0.997498 Centerline is valid? [True, True] Translation: X:4.33, Y:24.45, Z:-44.12 [[ 0.90780319 0.40454514 -0.11061913 4.32916103] [ -0.3634841 0.62733997 -0.68871174 24.44775685] [ -0.20921919 0.66542302 0.71654696 -44.12432426] [ 0. 0. 0. 1. ]] SLAMing on 97.98586016899999 meters Centerline goodness : 0.977413 Centerline is valid? [True, True] Translation: X:4.17, Y:24.41, Z:-44.14 [[ 9.52900320e-01 3.03135349e-01 9.48365904e-03 4.17034119e+00] [-2.07419659e-01 6.74195684e-01 -7.08828092e-01 2.44114122e+01] [-2.21264693e-01 6.73475419e-01 7.05317514e-01 -4.41362915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.01586016899999 meters Centerline goodness : 0.996932 Centerline is valid? [True, True] Translation: X:4.21, Y:24.46, Z:-44.10 [[ 0.91481088 -0.37900695 0.13955209 4.21095954] [ -0.36916419 -0.64451689 0.66956387 24.45638208] [ -0.16382568 -0.66404195 -0.72952686 -44.10034276] [ 0. 0. 0. 1. ]] SLAMing on 98.045860169 meters Centerline goodness : 0.908110 Centerline is valid? [True, False] Translation: X:3.94, Y:25.36, Z:-46.10 [[ 0.96366666 0.05165305 0.26206589 3.93633848] [ 0.15535384 0.68972386 -0.70721014 25.36382307] [ -0.21728265 0.72222778 0.65663939 -46.09761763] [ 0. 0. 0. 1. ]] SLAMing on 98.075860169 meters Centerline goodness : 0.995484 Centerline is valid? [False, True] Translation: X:3.96, Y:25.37, Z:-46.05 [[ 9.67828133e-01 1.52039100e-01 2.00481465e-01 3.95652708e+00] [ 4.12635058e-02 6.90091430e-01 -7.22544906e-01 2.53727724e+01] [-2.48205618e-01 7.07571855e-01 6.61616234e-01 -4.60492588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.105860169 meters Centerline goodness : 0.996047 Centerline is valid? [True, True] Translation: X:3.96, Y:25.32, Z:-46.17 [[ 0.92531259 -0.12141835 0.35924114 3.95843255] [ 0.34921997 0.64206838 -0.68249074 25.31668835] [ -0.14779047 0.75697145 0.63651567 -46.1721403 ] [ 0. 0. 0. 1. ]] SLAMing on 98.135860169 meters Centerline goodness : 0.995092 Centerline is valid? [True, True] Translation: X:4.05, Y:25.24, Z:-45.84 [[ 0.92217162 0.09397855 0.37519001 4.05474475] [ 0.21811487 0.67472294 -0.70510628 25.23690785] [ -0.31941417 0.73206352 0.60171222 -45.84499177] [ 0. 0. 0. 1. ]] SLAMing on 98.165860169 meters Centerline goodness : 0.994975 Centerline is valid? [True, True] Translation: X:4.70, Y:25.51, Z:-45.96 [[-8.48632863e-01 5.21302730e-01 8.98093936e-02 4.70063657e+00] [-5.28692350e-01 -8.41474784e-01 -1.11375880e-01 2.55123509e+01] [ 1.75117896e-02 -1.41998772e-01 9.89711921e-01 -4.59577658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.195860169 meters Centerline goodness : 0.995267 Centerline is valid? [True, True] Translation: X:4.70, Y:25.51, Z:-45.96 [[-8.51976924e-01 5.16715892e-01 8.44985744e-02 4.70294963e+00] [-5.23304851e-01 -8.45592908e-01 -1.05473540e-01 2.55063005e+01] [ 1.69515411e-02 -1.34079536e-01 9.90825577e-01 -4.59600080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.225860169 meters Centerline goodness : 0.994966 Centerline is valid? [True, True] Translation: X:4.71, Y:25.50, Z:-45.97 [[-8.53545607e-01 5.14046329e-01 8.49486240e-02 4.71178234e+00] [-5.20734657e-01 -8.47043679e-01 -1.06547746e-01 2.54958942e+01] [ 1.71847173e-02 -1.35179053e-01 9.90672150e-01 -4.59706398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.255860169 meters Centerline goodness : 0.996301 Centerline is valid? [True, True] Translation: X:4.25, Y:25.72, Z:-45.95 [[ 3.04207978e-01 9.52051768e-01 -3.24797974e-02 4.25402044e+00] [-7.31468636e-01 2.11611301e-01 -6.48208525e-01 2.57223713e+01] [-6.10254980e-01 2.20948158e-01 7.60769854e-01 -4.59541975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.285860169 meters Centerline goodness : 0.996781 Centerline is valid? [True, True] Translation: X:4.32, Y:25.74, Z:-45.98 [[ 0.09744611 0.99413595 -0.0468826 4.32167873] [ -0.77374747 0.04604742 -0.6318184 25.74221896] [ -0.62595456 0.09784354 0.77369731 -45.98377039] [ 0. 0. 0. 1. ]] SLAMing on 98.315860169 meters Centerline goodness : 0.997150 Centerline is valid? [True, True] Translation: X:4.63, Y:25.59, Z:-46.25 [[-8.45449441e-01 5.16456673e-01 1.35969655e-01 4.62598184e+00] [-5.34044692e-01 -8.19190022e-01 -2.09102785e-01 2.55892091e+01] [ 3.39245610e-03 -2.49399705e-01 9.68394691e-01 -4.62464652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.345860169 meters Centerline goodness : 0.996799 Centerline is valid? [True, True] Translation: X:4.64, Y:25.57, Z:-46.26 [[-8.80719952e-01 4.53744138e-01 1.35825712e-01 4.64139881e+00] [-4.73001784e-01 -8.57448177e-01 -2.02612776e-01 2.55678342e+01] [ 2.45291501e-02 -2.42690918e-01 9.69793503e-01 -4.62555328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.37586016899999 meters Centerline goodness : 0.996612 Centerline is valid? [True, True] Translation: X:4.64, Y:25.57, Z:-46.27 [[-8.88498218e-01 4.38786494e-01 1.34303125e-01 4.64018749e+00] [-4.58053276e-01 -8.65622856e-01 -2.02198582e-01 2.55677100e+01] [ 2.75338479e-02 -2.41171066e-01 9.70091957e-01 -4.62665630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.405860169 meters Centerline goodness : 0.996214 Centerline is valid? [True, True] Translation: X:4.64, Y:25.57, Z:-46.27 [[-8.90887952e-01 4.34537400e-01 1.32272090e-01 4.64073950e+00] [-4.53397655e-01 -8.68276880e-01 -2.01310274e-01 2.55660369e+01] [ 2.73719546e-02 -2.39316753e-01 9.70555649e-01 -4.62678297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.435860169 meters Centerline goodness : 0.996214 Centerline is valid? [True, True] Translation: X:4.64, Y:25.57, Z:-46.27 [[-8.93507959e-01 4.29478111e-01 1.31118571e-01 4.63999232e+00] [-4.48211056e-01 -8.70790098e-01 -2.02067944e-01 2.55662455e+01] [ 2.73929947e-02 -2.39318109e-01 9.70554721e-01 -4.62710967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.465860169 meters Centerline goodness : 0.994427 Centerline is valid? [True, True] Translation: X:4.63, Y:25.58, Z:-46.26 [[-8.59386766e-01 4.93908576e-01 1.32320460e-01 4.62531142e+00] [-5.11203599e-01 -8.35578536e-01 -2.01194906e-01 2.55807150e+01] [ 1.11922466e-02 -2.40546935e-01 9.70572978e-01 -4.62564959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.495860169 meters Centerline goodness : 0.980954 Centerline is valid? [True, True] Translation: X:4.64, Y:25.56, Z:-46.26 [[-8.78897186e-01 4.61543353e-01 1.20488462e-01 4.64232593e+00] [-4.76755271e-01 -8.58215080e-01 -1.90187507e-01 2.55631474e+01] [ 1.56252350e-02 -2.24598774e-01 9.74326045e-01 -4.62562631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.525860169 meters Centerline goodness : 0.955771 Centerline is valid? [True, True] Translation: X:4.67, Y:25.53, Z:-46.25 [[-8.98086634e-01 4.25226881e-01 1.12349892e-01 4.67125945e+00] [-4.39265867e-01 -8.80002488e-01 -1.80668536e-01 2.55328952e+01] [ 2.20430666e-02 -2.11607470e-01 9.77106126e-01 -4.62507983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.555860169 meters Centerline goodness : 0.996674 Centerline is valid? [True, True] Translation: X:4.44, Y:25.93, Z:-46.44 [[ -0.48341565 0.86460391 -0.1370014 4.44188455] [ -0.74827435 -0.48934774 -0.44791102 25.93448962] [ -0.45430695 -0.11401257 0.88351929 -46.44466224] [ 0. 0. 0. 1. ]] SLAMing on 98.585860169 meters Centerline goodness : 0.997521 Centerline is valid? [True, True] SLAMing on 98.615860169 meters Centerline goodness : 0.914531 Centerline is valid? [True, False] Translation: X:4.20, Y:25.28, Z:-45.94 [[ 0.05877792 -0.99422717 0.08976355 4.19787246] [ -0.12495354 0.0818844 0.98877781 25.28175292] [ -0.99042 -0.06933457 -0.11941921 -45.94455263] [ 0. 0. 0. 1. ]] SLAMing on 98.645860169 meters Centerline goodness : 0.921255 Centerline is valid? [False, False] Translation: X:4.05, Y:26.30, Z:-46.25 [[ 0.73111307 0.39413094 -0.55689719 4.04666937] [ -0.06091928 0.85071 0.52209323 26.30192233] [ 0.6795311 -0.34778341 0.64597537 -46.24906866] [ 0. 0. 0. 1. ]] SLAMing on 98.675860169 meters Centerline goodness : 0.997879 Centerline is valid? [False, True] Translation: X:4.02, Y:26.28, Z:-46.25 [[ 7.86274836e-01 3.27104627e-01 -5.24189322e-01 4.01772285e+00] [-1.34198956e-02 8.57212416e-01 5.14788093e-01 2.62831281e+01] [ 6.17731162e-01 -3.97730358e-01 6.78394261e-01 -4.62474142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.705860169 meters Centerline goodness : 0.843955 Centerline is valid? [True, False] Translation: X:4.00, Y:26.26, Z:-46.25 [[ 8.29274486e-01 2.56544915e-01 -4.96476115e-01 3.99685405e+00] [ 3.94195018e-02 8.59336278e-01 5.09889462e-01 2.62589861e+01] [ 5.57449486e-01 -4.42409163e-01 7.02512778e-01 -4.62457567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.73586016899999 meters Centerline goodness : 0.955803 Centerline is valid? [False, True] Translation: X:3.98, Y:26.24, Z:-46.24 [[ 0.86098648 0.19494912 -0.46978412 3.9821684 ] [ 0.08266138 0.85771967 0.50742888 26.23960871] [ 0.50186589 -0.47572241 0.72237028 -46.24301866] [ 0. 0. 0. 1. ]] SLAMing on 98.76586016899999 meters Centerline goodness : 0.959914 Centerline is valid? [True, True] Translation: X:3.84, Y:26.14, Z:-46.13 [[ 0.9544749 -0.20064936 -0.2207204 3.84284549] [ 0.29289437 0.77054147 0.56610841 26.14128609] [ 0.05648493 -0.60498403 0.79423156 -46.1336114 ] [ 0. 0. 0. 1. ]] SLAMing on 98.795860169 meters Centerline goodness : 0.741615 Centerline is valid? [True, False] Translation: X:3.85, Y:26.16, Z:-46.14 [[ 0.95664445 -0.15690293 -0.24538312 3.84863359] [ 0.27213299 0.7817709 0.56105071 26.15772066] [ 0.10380288 -0.60350289 0.79057525 -46.14070662] [ 0. 0. 0. 1. ]] SLAMing on 98.825860169 meters Centerline goodness : 0.954246 Centerline is valid? [False, True] Translation: X:3.86, Y:26.17, Z:-46.15 [[ 0.95615468 -0.11549514 -0.26912654 3.85549805] [ 0.25218057 0.79194054 0.55608915 26.17335245] [ 0.14890662 -0.59957573 0.78634329 -46.14717333] [ 0. 0. 0. 1. ]] SLAMing on 98.855860169 meters Centerline goodness : 0.966106 Centerline is valid? [True, True] Translation: X:3.84, Y:26.13, Z:-46.12 [[ 9.54860662e-01 -2.09473882e-01 -2.10622433e-01 3.83679605e+00] [ 2.94163207e-01 7.65465213e-01 5.72303255e-01 2.61320729e+01] [ 4.13415608e-02 -6.08427235e-01 7.92532129e-01 -4.61225575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.885860169 meters Centerline goodness : 0.957467 Centerline is valid? [True, True] Translation: X:3.84, Y:26.11, Z:-46.13 [[ 9.52653561e-01 -2.28344752e-01 -2.00773171e-01 3.84356840e+00] [ 3.03118159e-01 7.65097137e-01 5.68107167e-01 2.61085114e+01] [ 2.38866884e-02 -6.02067310e-01 7.98087953e-01 -4.61344161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.915860169 meters Centerline goodness : 0.957467 Centerline is valid? [True, True] Translation: X:3.85, Y:26.09, Z:-46.15 [[ 9.53286880e-01 -2.22497320e-01 -2.04301411e-01 3.85336106e+00] [ 3.00470219e-01 7.67904275e-01 5.65721372e-01 2.60861416e+01] [ 3.10124379e-02 -6.00681252e-01 7.98886889e-01 -4.61490991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.945860169 meters Centerline goodness : 0.946298 Centerline is valid? [True, False] Translation: X:3.86, Y:26.10, Z:-46.16 [[ 0.95693824 -0.17578313 -0.23101838 3.86319212] [ 0.27833886 0.78161411 0.55821758 26.10457511] [ 0.08244199 -0.59848114 0.79688371 -46.16404946] [ 0. 0. 0. 1. ]] SLAMing on 98.975860169 meters Centerline goodness : 0.925571 Centerline is valid? [False, False] Translation: X:3.88, Y:26.12, Z:-46.18 [[ 0.95706109 -0.14393126 -0.25163042 3.88003913] [ 0.26396559 0.79147967 0.55125502 26.12064921] [ 0.11981754 -0.5940065 0.7954873 -46.18239679] [ 0. 0. 0. 1. ]] SLAMing on 99.005860169 meters Centerline goodness : 0.892728 Centerline is valid? [False, False] Translation: X:3.91, Y:26.14, Z:-46.22 [[ 0.9580678 -0.13967622 -0.25019321 3.90687354] [ 0.2595451 0.79300091 0.55116776 26.14370141] [ 0.12141841 -0.59299251 0.79600091 -46.2178189 ] [ 0. 0. 0. 1. ]] SLAMing on 99.035860169 meters Centerline goodness : 0.966396 Centerline is valid? [False, True] Translation: X:3.92, Y:26.16, Z:-46.23 [[ 0.95678812 -0.09368737 -0.27528018 3.9184179 ] [ 0.23559238 0.80466178 0.54499143 26.15602925] [ 0.17044862 -0.58629523 0.79196286 -46.22771226] [ 0. 0. 0. 1. ]] SLAMing on 99.065860169 meters Centerline goodness : 0.960936 Centerline is valid? [True, True] Translation: X:3.87, Y:26.12, Z:-46.20 [[ 9.59070870e-01 -2.03501984e-01 -1.96901013e-01 3.87344490e+00] [ 2.80664650e-01 7.75386178e-01 5.65688633e-01 2.61227827e+01] [ 3.75555645e-02 -5.97798643e-01 8.00766109e-01 -4.61997190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.095860169 meters Centerline goodness : 0.912639 Centerline is valid? [True, False] Translation: X:3.88, Y:26.14, Z:-46.21 [[ 0.96283704 -0.1497313 -0.22477851 3.8839296 ] [ 0.25317488 0.79021536 0.55808796 26.13814553] [ 0.0940602 -0.59425603 0.79875681 -46.21245986] [ 0. 0. 0. 1. ]] SLAMing on 99.12586016899999 meters Centerline goodness : 0.912729 Centerline is valid? [False, False] Translation: X:3.90, Y:26.15, Z:-46.22 [[ 0.96259463 -0.10456771 -0.24995434 3.895522 ] [ 0.23049141 0.80097065 0.55255744 26.1507678 ] [ 0.14242643 -0.58950115 0.79511201 -46.22235283] [ 0. 0. 0. 1. ]] SLAMing on 99.155860169 meters Centerline goodness : 0.939316 Centerline is valid? [False, False] Translation: X:3.91, Y:26.16, Z:-46.23 [[ 0.96000809 -0.06474902 -0.27238215 3.90616224] [ 0.20999527 0.80997089 0.54758483 26.16013527] [ 0.18516603 -0.58288483 0.79117559 -46.23229523] [ 0. 0. 0. 1. ]] SLAMing on 99.185860169 meters Centerline goodness : 0.404273 Centerline is valid? [False, False] Translation: X:3.91, Y:26.16, Z:-46.24 [[ 9.55499166e-01 -3.48372954e-02 -2.92929525e-01 3.91392366e+00] [ 1.95865261e-01 8.17453407e-01 5.41670313e-01 2.61646371e+01] [ 2.20585910e-01 -5.74940250e-01 7.87899464e-01 -4.62437411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.215860169 meters Centerline goodness : 0.389704 Centerline is valid? [False, False] Translation: X:3.92, Y:26.17, Z:-46.25 [[ 9.53510999e-01 -1.64291492e-02 -3.00910051e-01 3.91815498e+00] [ 1.83964354e-01 8.22609097e-01 5.38025454e-01 2.61699472e+01] [ 2.38692045e-01 -5.68369911e-01 7.87389200e-01 -4.62518951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.245860169 meters Centerline goodness : 0.373420 Centerline is valid? [False, False] Translation: X:3.92, Y:26.17, Z:-46.26 [[ 9.53456261e-01 -9.59958774e-03 -3.01378510e-01 3.92078088e+00] [ 1.78077282e-01 8.24499284e-01 5.37112104e-01 2.61731709e+01] [ 2.43330311e-01 -5.65781564e-01 7.87833473e-01 -4.62606761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.275860169 meters Centerline goodness : 0.356373 Centerline is valid? [False, False] Translation: X:3.93, Y:26.18, Z:-46.28 [[ 9.52644313e-01 6.23220866e-04 -3.04086213e-01 3.92696264e+00] [ 1.71389087e-01 8.24932810e-01 5.38620126e-01 2.61820601e+01] [ 2.51186373e-01 -5.65230458e-01 7.85760736e-01 -4.62750715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.305860169 meters Centerline goodness : 0.369598 Centerline is valid? [False, False] Translation: X:3.93, Y:26.19, Z:-46.28 [[ 9.52347790e-01 7.28204066e-03 -3.04927301e-01 3.92882068e+00] [ 1.65613846e-01 8.27166778e-01 5.36998302e-01 2.61857455e+01] [ 2.56136176e-01 -5.61909329e-01 7.86544446e-01 -4.62845041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.335860169 meters Centerline goodness : 0.245851 Centerline is valid? [False, False] Translation: X:3.93, Y:26.18, Z:-46.30 [[ 9.51727709e-01 1.12162439e-02 -3.06738593e-01 3.93252111e+00] [ 1.61608703e-01 8.31290652e-01 5.31825609e-01 2.61827608e+01] [ 2.60954011e-01 -5.55724795e-01 7.89349705e-01 -4.62972577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.365860169 meters Centerline goodness : 0.260030 Centerline is valid? [False, False] Translation: X:3.93, Y:26.18, Z:-46.31 [[ 9.51669491e-01 1.34172899e-02 -3.06830826e-01 3.93346390e+00] [ 1.58721899e-01 8.33802209e-01 5.28754418e-01 2.61838105e+01] [ 2.62930672e-01 -5.51900219e-01 7.91374507e-01 -4.63059784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.395860169 meters Centerline goodness : 0.260030 Centerline is valid? [False, False] Translation: X:3.93, Y:26.18, Z:-46.31 [[ 9.51669491e-01 1.34172899e-02 -3.06830826e-01 3.93346390e+00] [ 1.58721899e-01 8.33802209e-01 5.28754418e-01 2.61838105e+01] [ 2.62930672e-01 -5.51900219e-01 7.91374507e-01 -4.63059784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.425860169 meters Centerline goodness : 0.340272 Centerline is valid? [False, False] Translation: X:3.95, Y:26.17, Z:-46.34 [[ 9.51972122e-01 1.12740075e-02 -3.05977083e-01 3.94543557e+00] [ 1.61138155e-01 8.31288857e-01 5.31971175e-01 2.61733297e+01] [ 2.60352787e-01 -5.55726311e-01 7.89547145e-01 -4.63387467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.455860169 meters Centerline goodness : 0.354137 Centerline is valid? [False, False] Translation: X:3.95, Y:26.17, Z:-46.35 [[ 9.52374039e-01 1.17622970e-02 -3.04705330e-01 3.94948806e+00] [ 1.59738517e-01 8.31932773e-01 5.31386364e-01 2.61666297e+01] [ 2.59744674e-01 -5.54751755e-01 7.90432283e-01 -4.63533712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48586016899999 meters Centerline goodness : 0.359981 Centerline is valid? [False, False] Translation: X:3.95, Y:26.16, Z:-46.37 [[ 9.51415387e-01 2.09042266e-02 -3.07199894e-01 3.95348256e+00] [ 1.52210574e-01 8.35336245e-01 5.28247384e-01 2.61641930e+01] [ 2.67657809e-01 -5.49341762e-01 7.91569912e-01 -4.63664013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.51586016899999 meters Centerline goodness : 0.852328 Centerline is valid? [False, False] Translation: X:3.96, Y:26.15, Z:-46.39 [[ 9.51969508e-01 1.65053694e-02 -3.05747655e-01 3.96456257e+00] [ 1.55491232e-01 8.34150566e-01 5.29164728e-01 2.61512226e+01] [ 2.63773639e-01 -5.51289765e-01 7.91519464e-01 -4.63931682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.545860169 meters Centerline goodness : 0.863938 Centerline is valid? [False, False] Translation: X:3.97, Y:26.14, Z:-46.42 [[ 9.51935621e-01 1.96875564e-02 -3.05664805e-01 3.96915374e+00] [ 1.51126141e-01 8.37817379e-01 5.24616936e-01 2.61373496e+01] [ 2.66419712e-01 -5.45595491e-01 7.94572902e-01 -4.64176856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.575860169 meters Centerline goodness : 0.870500 Centerline is valid? [False, False] Translation: X:3.97, Y:26.13, Z:-46.43 [[ 9.52591379e-01 1.89198162e-02 -3.03663802e-01 3.97257249e+00] [ 1.50691022e-01 8.37711864e-01 5.24910516e-01 2.61300513e+01] [ 2.64313980e-01 -5.45784641e-01 7.95146053e-01 -4.64299871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.605860169 meters Centerline goodness : 0.884906 Centerline is valid? [False, False] Translation: X:3.98, Y:26.13, Z:-46.43 [[ 9.52296563e-01 1.95470205e-02 -3.04547483e-01 3.97709359e+00] [ 1.50541237e-01 8.37985857e-01 5.24516005e-01 2.61300795e+01] [ 2.65459209e-01 -5.45341744e-01 7.95068419e-01 -4.64334141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.635860169 meters Centerline goodness : 0.813843 Centerline is valid? [False, False] Translation: X:3.98, Y:26.13, Z:-46.43 [[ 9.52203785e-01 2.09164094e-02 -3.04746542e-01 3.97848295e+00] [ 1.49675999e-01 8.37729940e-01 5.25172013e-01 2.61298306e+01] [ 2.66280015e-01 -5.45684022e-01 7.94558935e-01 -4.64341601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.665860169 meters Centerline goodness : 0.871863 Centerline is valid? [False, False] Translation: X:3.98, Y:26.12, Z:-46.44 [[ 9.53223036e-01 1.35946144e-02 -3.01961967e-01 3.97900787e+00] [ 1.52768410e-01 8.40340061e-01 5.20086911e-01 2.61221161e+01] [ 2.60821119e-01 -5.41889074e-01 7.98954677e-01 -4.64442858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.695860169 meters Centerline goodness : 0.871863 Centerline is valid? [False, False] Translation: X:3.98, Y:26.12, Z:-46.44 [[ 9.53223036e-01 1.35946144e-02 -3.01961967e-01 3.97900787e+00] [ 1.52768410e-01 8.40340061e-01 5.20086911e-01 2.61221161e+01] [ 2.60821119e-01 -5.41889074e-01 7.98954677e-01 -4.64442858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.725860169 meters Centerline goodness : 0.892579 Centerline is valid? [False, False] Translation: X:3.98, Y:26.11, Z:-46.46 [[ 9.53671631e-01 1.18034220e-02 -3.00617864e-01 3.98464536e+00] [ 1.53200658e-01 8.40916433e-01 5.19027082e-01 2.61139732e+01] [ 2.58920798e-01 -5.41036258e-01 8.00149853e-01 -4.64577430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.755860169 meters Centerline goodness : 0.892579 Centerline is valid? [False, False] Translation: X:3.98, Y:26.11, Z:-46.46 [[ 9.53671631e-01 1.18034220e-02 -3.00617864e-01 3.98464536e+00] [ 1.53200658e-01 8.40916433e-01 5.19027082e-01 2.61139732e+01] [ 2.58920798e-01 -5.41036258e-01 8.00149853e-01 -4.64577430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.785860169 meters Centerline goodness : 0.892579 Centerline is valid? [False, False] Translation: X:3.98, Y:26.11, Z:-46.46 [[ 9.53671631e-01 1.18034220e-02 -3.00617864e-01 3.98464536e+00] [ 1.53200658e-01 8.40916433e-01 5.19027082e-01 2.61139732e+01] [ 2.58920798e-01 -5.41036258e-01 8.00149853e-01 -4.64577430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.815860169 meters Centerline goodness : 0.915917 Centerline is valid? [False, False] Translation: X:3.99, Y:26.10, Z:-46.47 [[ 9.54676415e-01 -9.95173176e-04 -2.97644003e-01 3.98699511e+00] [ 1.62719411e-01 8.39076495e-01 5.19107916e-01 2.61016833e+01] [ 2.49229484e-01 -5.44012541e-01 8.01208474e-01 -4.64713461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.845860169 meters Centerline goodness : 0.934756 Centerline is valid? [False, False] Translation: X:3.98, Y:26.08, Z:-46.49 [[ 9.56832586e-01 -2.70881033e-02 -2.89374561e-01 3.98459167e+00] [ 1.82762221e-01 8.30238163e-01 5.26595256e-01 2.60812277e+01] [ 2.25985338e-01 -5.56750238e-01 7.99349611e-01 -4.64933348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.87586016899999 meters Centerline goodness : 0.827943 Centerline is valid? [False, False] Translation: X:3.99, Y:26.09, Z:-46.51 [[ 9.53370384e-01 4.83594387e-04 -3.01802379e-01 3.98729221e+00] [ 1.67434866e-01 8.31146906e-01 5.30245591e-01 2.60859001e+01] [ 2.51098538e-01 -5.56052684e-01 7.92309875e-01 -4.65140164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.905860169 meters Centerline goodness : 0.991983 Centerline is valid? [False, True] Translation: X:3.98, Y:26.08, Z:-46.52 [[ 9.54616201e-01 9.51594393e-03 -2.97686675e-01 3.98321452e+00] [ 1.58046987e-01 8.30976012e-01 5.33385431e-01 2.60819117e+01] [ 2.52446151e-01 -5.56226856e-01 7.91759197e-01 -4.65171457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.935860169 meters Centerline goodness : 0.991620 Centerline is valid? [True, True] Translation: X:4.29, Y:26.31, Z:-46.53 [[ 4.60985642e-01 8.18923082e-01 -3.41843859e-01 4.28964477e+00] [-6.60250926e-01 5.73898397e-01 4.84468105e-01 2.63085074e+01] [ 5.92925757e-01 2.36988391e-03 8.05253644e-01 -4.65340536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.965860169 meters Centerline goodness : 0.745771 Centerline is valid? [True, False] Translation: X:4.24, Y:26.29, Z:-46.58 [[ 0.58784168 0.73818807 -0.33093885 4.24342015] [ -0.58478171 0.67042006 0.4566917 26.29208277] [ 0.55899241 -0.07493543 0.82577973 -46.57749565] [ 0. 0. 0. 1. ]] SLAMing on 99.995860169 meters Centerline goodness : 0.779758 Centerline is valid? [False, False] Translation: X:4.20, Y:26.27, Z:-46.61 [[ 0.69475151 0.646344 -0.31553094 4.20102486] [ -0.49983109 0.74932095 0.43438117 26.27199019] [ 0.5171936 -0.1440748 0.84365468 -46.61360021] [ 0. 0. 0. 1. ]] SLAMing on 100.025860169 meters Centerline goodness : 0.793029 Centerline is valid? [False, False] Translation: X:4.16, Y:26.25, Z:-46.64 [[ 0.78330839 0.54378454 -0.30120813 4.15553615] [ -0.40492646 0.81398471 0.41648944 26.24645456] [ 0.47165933 -0.20427253 0.8577938 -46.64227594] [ 0. 0. 0. 1. ]] SLAMing on 100.055860169 meters Centerline goodness : 0.768504 Centerline is valid? [False, False] Translation: X:4.11, Y:26.21, Z:-46.66 [[ 0.85256073 0.43635396 -0.28763767 4.11252175] [ -0.30623472 0.86308151 0.40163491 26.21490841] [ 0.42350974 -0.25433351 0.86945613 -46.66444475] [ 0. 0. 0. 1. ]] SLAMing on 100.085860169 meters Centerline goodness : 0.767862 Centerline is valid? [False, False] Translation: X:4.08, Y:26.18, Z:-46.68 [[ 0.90289027 0.33214236 -0.27289305 4.08073299] [ -0.21083654 0.89538509 0.39221613 26.18160578] [ 0.37461596 -0.2965923 0.87846223 -46.68237532] [ 0. 0. 0. 1. ]] SLAMing on 100.115860169 meters Centerline goodness : 0.622411 Centerline is valid? [False, False] Translation: X:4.06, Y:26.15, Z:-46.70 [[ 0.93624819 0.23894953 -0.25757029 4.05862872] [ -0.12639184 0.91309617 0.38766027 26.15122366] [ 0.32781768 -0.33039144 0.88508591 -46.69513871] [ 0. 0. 0. 1. ]] SLAMing on 100.145860169 meters Centerline goodness : 0.984640 Centerline is valid? [False, True] Translation: X:4.04, Y:26.12, Z:-46.71 [[ 0.95597801 0.15985715 -0.24607263 4.04039114] [ -0.05419242 0.920339 0.38734909 26.11909306] [ 0.28839076 -0.35696194 0.88848689 -46.71426161] [ 0. 0. 0. 1. ]] SLAMing on 100.175860169 meters Centerline goodness : 0.991106 Centerline is valid? [True, True] Translation: X:4.64, Y:26.16, Z:-46.55 [[ -0.94758454 -0.16520792 0.27347739 4.63912612] [ -0.2373225 0.93702308 -0.25625335 26.16354541] [ -0.21391954 -0.30772405 -0.92711614 -46.55468937] [ 0. 0. 0. 1. ]] SLAMing on 100.205860169 meters Centerline goodness : 0.607084 Centerline is valid? [True, False] Translation: X:4.93, Y:25.87, Z:-47.99 [[ 0.31183593 -0.78268727 0.53866407 4.9342408 ] [ 0.6129632 0.59889853 0.51536072 25.87437132] [ -0.7259714 0.16947326 0.66651657 -47.9861682 ] [ 0. 0. 0. 1. ]] SLAMing on 100.23586016899999 meters Centerline goodness : 0.583886 Centerline is valid? [False, False] Translation: X:4.91, Y:25.89, Z:-48.00 [[ 0.37621714 -0.7577421 0.53318624 4.91252339] [ 0.56712638 0.64339793 0.51420499 25.88580878] [ -0.7326857 0.10893125 0.67179287 -47.99955091] [ 0. 0. 0. 1. ]] SLAMing on 100.26586016899999 meters Centerline goodness : 0.597210 Centerline is valid? [False, False] Translation: X:4.89, Y:25.90, Z:-48.01 [[ 0.42838054 -0.73161939 0.5303048 4.89464337] [ 0.52469953 0.67920657 0.51319473 25.89780217] [ -0.73564972 0.05840804 0.67483923 -48.01029075] [ 0. 0. 0. 1. ]] SLAMing on 100.295860169 meters Centerline goodness : 0.997755 Centerline is valid? [False, True] Translation: X:4.88, Y:25.91, Z:-48.02 [[ 4.73719194e-01 -7.04190851e-01 5.28871791e-01 4.87884593e+00] [ 4.81518850e-01 7.09922529e-01 5.13954861e-01 2.59100600e+01] [-7.37380310e-01 1.11914535e-02 6.75385097e-01 -4.80192487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.325860169 meters Centerline goodness : 0.592327 Centerline is valid? [True, False] Translation: X:4.86, Y:25.92, Z:-48.03 [[ 5.10285056e-01 -6.78426748e-01 5.28532222e-01 4.86338548e+00] [ 4.42357793e-01 7.34091602e-01 5.15198120e-01 2.59200660e+01] [-7.37515251e-01 -2.90975548e-02 6.74703333e-01 -4.80290709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.355860169 meters Centerline goodness : 0.537609 Centerline is valid? [False, False] Translation: X:4.86, Y:25.93, Z:-48.03 [[ 0.53633371 -0.66268067 0.52268583 4.85823757] [ 0.41190541 0.7460483 0.52320728 25.9294147 ] [ -0.73666823 -0.06531658 0.67309261 -48.03370246] [ 0. 0. 0. 1. ]] SLAMing on 100.385860169 meters Centerline goodness : 0.998141 Centerline is valid? [False, True] Translation: X:4.85, Y:25.94, Z:-48.04 [[ 0.55476053 -0.6498577 0.51954375 4.85369922] [ 0.38892244 0.75456981 0.52854871 25.93686395] [ -0.73551348 -0.09115574 0.67134979 -48.03713813] [ 0. 0. 0. 1. ]] SLAMing on 100.415860169 meters Centerline goodness : 0.998477 Centerline is valid? [True, True] Translation: X:5.05, Y:26.10, Z:-48.11 [[ 9.08720207e-01 -2.21703288e-01 3.53659778e-01 5.04657576e+00] [-4.53285740e-02 7.89854432e-01 6.11616953e-01 2.60964056e+01] [-4.14937232e-01 -5.71819577e-01 7.07707189e-01 -4.81098168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.445860169 meters Centerline goodness : 0.998444 Centerline is valid? [True, True] Translation: X:5.29, Y:26.18, Z:-48.10 [[ 0.89702452 0.36986625 0.24196274 5.29231932] [ -0.41764439 0.53017782 0.73789203 26.17704229] [ 0.14463808 -0.76296162 0.63005507 -48.10256947] [ 0. 0. 0. 1. ]] SLAMing on 100.475860169 meters Centerline goodness : 0.591864 Centerline is valid? [True, False] Translation: X:5.26, Y:26.17, Z:-48.07 [[ 9.34516951e-01 2.50798157e-01 2.52543765e-01 5.26182626e+00] [-3.54392849e-01 5.90054262e-01 7.25425169e-01 2.61719702e+01] [ 3.29207709e-02 -7.67421821e-01 6.40296784e-01 -4.80667175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.505860169 meters Centerline goodness : 0.998837 Centerline is valid? [False, True] Translation: X:5.24, Y:26.16, Z:-48.03 [[ 0.95522333 0.13562476 0.26297207 5.23517662] [ -0.28732029 0.63746857 0.71489921 26.16215667] [ -0.0706784 -0.75844562 0.64789259 -48.02827749] [ 0. 0. 0. 1. ]] SLAMing on 100.535860169 meters Centerline goodness : 0.998740 Centerline is valid? [True, True] Translation: X:5.50, Y:26.22, Z:-47.97 [[ 0.64346444 0.73441569 0.21584047 5.4997685 ] [ -0.53152221 0.22576117 0.81640433 26.22285522] [ 0.55085176 -0.64005116 0.53562754 -47.97416874] [ 0. 0. 0. 1. ]] SLAMing on 100.565860169 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:5.87, Y:26.11, Z:-47.76 [[ -0.52345945 0.80026788 0.292509 5.8736164 ] [ -0.19706055 -0.44769944 0.87219972 26.10931342] [ 0.82894954 0.3989192 0.39205373 -47.76310173] [ 0. 0. 0. 1. ]] SLAMing on 100.59586016899999 meters Centerline goodness : 0.998600 Centerline is valid? [True, True] Translation: X:5.92, Y:26.08, Z:-47.57 [[ -0.84777991 0.39677788 0.35190416 5.91927132] [ 0.11975674 -0.5031748 0.85584662 26.07813745] [ 0.51665032 0.76771247 0.37906466 -47.56779565] [ 0. 0. 0. 1. ]] SLAMing on 100.62586016899999 meters Centerline goodness : 0.978206 Centerline is valid? [True, True] Translation: X:5.93, Y:26.13, Z:-47.53 [[ -0.88965539 0.27033679 0.36800994 5.92565599] [ 0.18826622 -0.51708297 0.83497367 26.13142276] [ 0.41601577 0.81212266 0.40913037 -47.53237141] [ 0. 0. 0. 1. ]] SLAMing on 100.655860169 meters Centerline goodness : 0.998787 Centerline is valid? [True, True] Translation: X:5.92, Y:26.17, Z:-47.48 [[ -0.91239156 0.14326606 0.38342728 5.92325857] [ 0.26653085 -0.50299064 0.82216891 26.16952505] [ 0.31064923 0.85233518 0.42073959 -47.47918327] [ 0. 0. 0. 1. ]] SLAMing on 100.685860169 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:5.95, Y:26.22, Z:-47.48 [[ -0.91174155 0.15136516 0.38185853 5.94568264] [ 0.25492225 -0.5204376 0.81495973 26.2216328 ] [ 0.32209004 0.84037688 0.43591824 -47.47974558] [ 0. 0. 0. 1. ]] SLAMing on 100.715860169 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:5.95, Y:26.25, Z:-47.42 [[-9.21661024e-01 1.89016411e-02 3.87535397e-01 5.95015863e+00] [ 3.29884744e-01 -4.87616254e-01 8.08335602e-01 2.62509844e+01] [ 2.04247428e-01 8.72853434e-01 4.43181533e-01 -4.74163304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.745860169 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:5.97, Y:26.31, Z:-47.40 [[-9.20592830e-01 7.80173784e-03 3.90445867e-01 5.97267017e+00] [ 3.34911121e-01 -4.98451310e-01 7.99612927e-01 2.63062863e+01] [ 2.00856624e-01 8.66882590e-01 4.56257813e-01 -4.74038782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.775860169 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:5.99, Y:26.35, Z:-47.39 [[-9.21445645e-01 -6.23797795e-03 3.88457220e-01 5.99347617e+00] [ 3.37806666e-01 -5.06735448e-01 7.93161927e-01 2.63532655e+01] [ 1.91897317e-01 8.62079041e-01 4.69036402e-01 -4.73916030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.805860169 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:6.01, Y:26.40, Z:-47.38 [[-9.20339929e-01 -2.24834808e-02 3.90472673e-01 6.01138676e+00] [ 3.45968875e-01 -5.12452141e-01 7.85937873e-01 2.64011142e+01] [ 1.82427938e-01 8.58421398e-01 4.79408752e-01 -4.73751553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.835860169 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:6.03, Y:26.45, Z:-47.36 [[-9.18745827e-01 -4.43040370e-02 3.92356035e-01 6.03372954e+00] [ 3.57395557e-01 -5.15730240e-01 7.78646733e-01 2.64524669e+01] [ 1.67852678e-01 8.55604740e-01 4.89659072e-01 -4.73573007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.865860169 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:6.05, Y:26.50, Z:-47.32 [[ -0.91251741 -0.10078024 0.3964282 6.05092267] [ 0.39059171 -0.50245326 0.77134871 26.50041746] [ 0.12144993 0.8587107 0.49786128 -47.31964833] [ 0. 0. 0. 1. ]] SLAMing on 100.895860169 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:6.08, Y:26.60, Z:-47.28 [[ -0.90283828 -0.15961908 0.39925531 6.07909076] [ 0.42225646 -0.50434133 0.7532193 26.60020738] [ 0.08113278 0.84862334 0.52273884 -47.27737498] [ 0. 0. 0. 1. ]] SLAMing on 100.925860169 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:6.09, Y:26.69, Z:-47.21 [[-8.83440936e-01 -2.30644983e-01 4.07841887e-01 6.09153833e+00] [ 4.67882395e-01 -4.80460613e-01 7.41784108e-01 2.66851291e+01] [ 2.48631800e-02 8.46144486e-01 5.32373301e-01 -4.72062890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.955860169 meters Centerline goodness : 0.998766 Centerline is valid? [True, True] Translation: X:5.80, Y:26.86, Z:-46.96 [[ 0.08502937 -0.92347235 0.37412409 5.79523478] [ 0.61153685 0.34481089 0.7121293 26.85887809] [ -0.78663377 0.16823876 0.59405642 -46.9625115 ] [ 0. 0. 0. 1. ]] SLAMing on 100.98586016899999 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:5.70, Y:27.17, Z:-47.05 [[ 0.8471926 -0.42154607 0.32336296 5.70083917] [ 0.06266282 0.68367691 0.72708958 27.16848207] [ -0.52757755 -0.59572207 0.60562129 -47.04735182] [ 0. 0. 0. 1. ]] SLAMing on 101.01586016899999 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:5.94, Y:27.42, Z:-47.26 [[ 0.63938362 0.70727507 0.30158011 5.93813781] [ -0.59889943 0.21214073 0.77221485 27.41679836] [ 0.48219089 -0.67435769 0.55922595 -47.25536046] [ 0. 0. 0. 1. ]] SLAMing on 101.045860169 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:5.81, Y:27.30, Z:-47.14 [[ 0.95697853 0.25134442 0.14497614 5.80892866] [ -0.26375993 0.54531593 0.79565145 27.29651876] [ 0.12092475 -0.79966025 0.58815022 -47.13988531] [ 0. 0. 0. 1. ]] SLAMing on 101.075860169 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:5.88, Y:27.27, Z:-46.95 [[ 9.83194382e-01 -1.76628374e-01 4.61651839e-02 5.87764559e+00] [ 6.98767509e-02 5.97711102e-01 7.98660552e-01 2.72687363e+01] [-1.68659558e-01 -7.82012695e-01 6.00008415e-01 -4.69517008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.105860169 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:6.28, Y:27.54, Z:-47.10 [[ 3.06967173e-02 9.96218879e-01 8.12751930e-02 6.27690855e+00] [-5.51059208e-01 -5.09717749e-02 8.32907935e-01 2.75418929e+01] [ 8.33901350e-01 -7.03549828e-02 5.47410920e-01 -4.71004552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.135860169 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:6.25, Y:27.11, Z:-46.50 [[ 2.29877449e-03 -9.99404156e-01 -3.44390456e-02 6.24738345e+00] [ 6.05669838e-01 -2.60122560e-02 7.95290771e-01 2.71143056e+01] [-7.95712739e-01 -2.26868853e-02 6.05249157e-01 -4.64963037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.165860169 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:6.66, Y:27.32, Z:-46.82 [[-9.95021267e-01 9.79245399e-02 -1.85327300e-02 6.66161060e+00] [-7.68177503e-02 -6.35089721e-01 7.68609185e-01 2.73240185e+01] [ 6.34957545e-02 7.66206128e-01 6.39450122e-01 -4.68223909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.195860169 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:6.66, Y:27.30, Z:-46.83 [[-9.97445076e-01 6.83040481e-02 -2.09255253e-02 6.66256964e+00] [-5.97886326e-02 -6.37864938e-01 7.67823965e-01 2.72953757e+01] [ 3.90978262e-02 7.67113341e-01 6.40319047e-01 -4.68295642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.225860169 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:6.66, Y:27.28, Z:-46.86 [[-9.94817587e-01 9.94044592e-02 -2.13710657e-02 6.66392254e+00] [-7.99351900e-02 -6.34734725e-01 7.68584539e-01 2.72807165e+01] [ 6.28357730e-02 7.66309717e-01 6.39391182e-01 -4.68564689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.255860169 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:6.67, Y:27.25, Z:-46.87 [[-9.96609219e-01 7.93378699e-02 -2.18074769e-02 6.66533093e+00] [-6.74232472e-02 -6.35535263e-01 7.69122250e-01 2.72548606e+01] [ 4.71611004e-02 7.67984656e-01 6.38729519e-01 -4.68676993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.285860169 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:6.67, Y:27.23, Z:-46.89 [[-9.96572117e-01 7.96860973e-02 -2.22293029e-02 6.66640915e+00] [-6.79696231e-02 -6.35491620e-01 7.69110220e-01 2.72325905e+01] [ 4.71608561e-02 7.67984718e-01 6.38729463e-01 -4.68851706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.315860169 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:6.67, Y:27.21, Z:-46.91 [[-9.95676898e-01 9.00807397e-02 -2.26489410e-02 6.66735975e+00] [-7.49190828e-02 -6.34717346e-01 7.69104038e-01 2.72126731e+01] [ 5.49057849e-02 7.67475961e-01 6.38722165e-01 -4.69053829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34586016899999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:6.67, Y:27.19, Z:-46.93 [[-9.94355434e-01 1.03559081e-01 -2.30822049e-02 6.66918927e+00] [-8.38059089e-02 -6.33187384e-01 7.69448053e-01 2.71941255e+01] [ 6.50679720e-02 7.67039278e-01 6.38292178e-01 -4.69265354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.37586016899999 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:6.67, Y:27.16, Z:-46.93 [[-9.97106090e-01 7.22956389e-02 -2.35113822e-02 6.67090455e+00] [-6.42218596e-02 -6.35535486e-01 7.69395996e-01 2.71649795e+01] [ 4.06816574e-02 7.68679379e-01 6.38339264e-01 -4.69339805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.405860169 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:6.67, Y:27.15, Z:-46.95 [[-9.96390816e-01 8.14494668e-02 -2.39024281e-02 6.67217735e+00] [-7.03418423e-02 -6.34665404e-01 7.69579009e-01 2.71461756e+01] [ 4.75117557e-02 7.68482797e-01 6.38104085e-01 -4.69531593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.435860169 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:6.67, Y:27.12, Z:-46.97 [[-9.97223323e-01 7.03787891e-02 -2.43407012e-02 6.67357189e+00] [-6.36045437e-02 -6.34955452e-01 7.69925994e-01 2.71217961e+01] [ 3.87311982e-02 7.69336338e-01 6.37668796e-01 -4.69673262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.465860169 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:6.68, Y:27.09, Z:-46.97 [[-9.99472908e-01 2.09632157e-02 -2.47881049e-02 6.67515499e+00] [-3.24617001e-02 -6.36410768e-01 7.70666966e-01 2.70890622e+01] [ 3.80240962e-04 7.71065418e-01 6.36755822e-01 -4.69705558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.495860169 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:5.94, Y:27.00, Z:-46.97 [[ 0.98622606 0.13169358 0.10007473 5.93503432] [ 0.15842804 -0.57827159 -0.80031402 26.9958192 ] [ -0.04752584 0.80514519 -0.59117047 -46.97232178] [ 0. 0. 0. 1. ]] SLAMing on 101.525860169 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] SLAMing on 101.555860169 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:5.94, Y:26.95, Z:-47.00 [[ 0.98002568 0.17232919 0.09925879 5.94382381] [ 0.18171401 -0.57316281 -0.79903968 26.94654276] [ -0.08080641 0.80111612 -0.5930289 -46.99714497] [ 0. 0. 0. 1. ]] SLAMing on 101.585860169 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:5.95, Y:26.91, Z:-47.03 [[ 0.98314782 0.15718392 0.09334656 5.95177135] [ 0.16809222 -0.57651292 -0.79961106 26.90815547] [ -0.0718705 0.8018267 -0.59321882 -47.03381616] [ 0. 0. 0. 1. ]] SLAMing on 101.615860169 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:5.96, Y:26.87, Z:-47.07 [[ 0.9841458 0.15325091 0.08928163 5.96006633] [ 0.16251842 -0.57760773 -0.79997317 26.86737328] [ -0.07102685 0.80180014 -0.59335632 -47.06693316] [ 0. 0. 0. 1. ]] SLAMing on 101.645860169 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:5.97, Y:26.83, Z:-47.11 [[ 0.9865922 0.13934542 0.08496289 5.96828089] [ 0.15096114 -0.58133108 -0.79954044 26.82858482] [ -0.06202073 0.80164645 -0.59457245 -47.10515439] [ 0. 0. 0. 1. ]] SLAMing on 101.675860169 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:5.98, Y:26.78, Z:-47.14 [[ 0.98556273 0.14906811 0.08027957 5.97843713] [ 0.15293571 -0.58037438 -0.79986015 26.78373128] [ -0.07264144 0.80058996 -0.59479319 -47.13627126] [ 0. 0. 0. 1. ]] SLAMing on 101.705860169 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:5.99, Y:26.74, Z:-47.17 [[ 0.98640126 0.14565908 0.0761314 5.98745276] [ 0.14758882 -0.58119381 -0.80026951 26.74063193] [ -0.07231942 0.800623 -0.59478796 -47.1718219 ] [ 0. 0. 0. 1. ]] SLAMing on 101.73586016899999 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:5.99, Y:26.71, Z:-47.22 [[ 9.92276672e-01 1.01046801e-01 7.19482525e-02 5.99284255e+00] [ 1.17896519e-01 -5.87913245e-01 -8.00286466e-01 2.67077633e+01] [-3.85670567e-02 8.02588039e-01 -5.95285664e-01 -4.72181168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76586016899999 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:6.00, Y:26.67, Z:-47.26 [[ 9.94724764e-01 7.72428476e-02 6.74995346e-02 6.00044120e+00] [ 1.00205220e-01 -5.90922333e-01 -8.00480924e-01 2.66713925e+01] [-2.19444436e-02 8.03022004e-01 -5.95545215e-01 -4.72581638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.795860169 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:6.75, Y:26.78, Z:-47.25 [[-9.87680100e-01 2.68413262e-04 1.56486252e-01 6.74778445e+00] [-1.21041171e-01 6.32493736e-01 -7.65049481e-01 2.67827843e+01] [-9.91819238e-02 -7.74565427e-01 -6.24668988e-01 -4.72536788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.825860169 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:6.00, Y:26.66, Z:-47.27 [[ 9.87080374e-01 7.26219905e-02 1.42822901e-01 6.00270415e+00] [ 1.58009303e-01 -5.88959662e-01 -7.92565187e-01 2.66558084e+01] [ 2.65592660e-02 8.04892889e-01 -5.92825474e-01 -4.72696383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.855860169 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] SLAMing on 101.885860169 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:6.67, Y:26.68, Z:-47.38 [[-9.68759176e-01 -1.19202792e-01 2.17477247e-01 6.67380378e+00] [-2.44207784e-01 6.11339089e-01 -7.52746356e-01 2.66757438e+01] [-4.32228743e-02 -7.82339577e-01 -6.21350602e-01 -4.73808367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.915860169 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] SLAMing on 101.945860169 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:5.97, Y:26.40, Z:-47.38 [[ 0.94530187 0.24225269 0.21844452 5.97460904] [ 0.31876862 -0.5439498 -0.77621207 26.40036936] [ -0.06921661 0.80338798 -0.59141932 -47.3779502 ] [ 0. 0. 0. 1. ]] SLAMing on 101.975860169 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] SLAMing on 102.005860169 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:6.25, Y:26.57, Z:-47.73 [[ 0.27219557 -0.94270285 0.19292722 6.25122191] [ -0.60743593 -0.32383849 -0.72536213 26.57134454] [ 0.74627821 0.08024943 -0.66077898 -47.73078286] [ 0. 0. 0. 1. ]] SLAMing on 102.035860169 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:6.51, Y:26.08, Z:-47.33 [[ -0.26328668 0.93643121 0.23189807 6.51058456] [ 0.5500702 0.34319608 -0.76134041 26.08216497] [ -0.79252943 -0.07289057 -0.60546186 -47.32828928] [ 0. 0. 0. 1. ]] SLAMing on 102.065860169 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:6.54, Y:26.03, Z:-47.49 [[ -0.23958072 0.94253692 0.23286311 6.5401862 ] [ 0.50059298 0.32543203 -0.80218493 26.02564483] [ -0.83187003 -0.0756184 -0.54979461 -47.49248196] [ 0. 0. 0. 1. ]] SLAMing on 102.09586016899999 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:6.36, Y:26.22, Z:-48.12 [[ 0.2448205 -0.94858993 0.20059929 6.36014928] [ -0.56301589 -0.30752724 -0.76709849 26.22393889] [ 0.78935165 0.07486085 -0.60936018 -48.11923108] [ 0. 0. 0. 1. ]] SLAMing on 102.12586016899999 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:6.62, Y:25.76, Z:-47.69 [[ -0.2476016 0.94097219 0.23079165 6.61765041] [ 0.49775231 0.32791256 -0.80294208 25.76050759] [ -0.83122565 -0.08393267 -0.54956276 -47.69363414] [ 0. 0. 0. 1. ]] SLAMing on 102.155860169 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:6.65, Y:25.69, Z:-47.86 [[ -0.21900275 0.95065496 0.21975654 6.65364746] [ 0.45031586 0.29828016 -0.84157268 25.6910254 ] [ -0.86559426 -0.08534687 -0.49341918 -47.85500926] [ 0. 0. 0. 1. ]] SLAMing on 102.185860169 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:6.49, Y:25.84, Z:-48.49 [[ 0.21742554 -0.95582168 0.19781569 6.49132758] [ -0.51649001 -0.28462931 -0.807604 25.84336513] [ 0.82822956 0.07342391 -0.55555803 -48.49206445] [ 0. 0. 0. 1. ]] SLAMing on 102.215860169 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:6.72, Y:25.40, Z:-48.04 [[ -0.2108525 0.95151062 0.22398386 6.71783284] [ 0.45314925 0.29817216 -0.84008876 25.39971093] [ -0.86613912 -0.07563669 -0.49404667 -48.04171626] [ 0. 0. 0. 1. ]] SLAMing on 102.245860169 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:6.75, Y:25.32, Z:-48.20 [[ -0.18224314 0.95854897 0.21902355 6.75161804] [ 0.40081227 0.27582905 -0.87365202 25.31652954] [ -0.8978513 -0.07142976 -0.43446614 -48.20423796] [ 0. 0. 0. 1. ]] SLAMing on 102.275860169 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:6.61, Y:25.45, Z:-48.85 [[ 0.1853521 -0.96257444 0.19772469 6.61250223] [ -0.46675137 -0.2633033 -0.84428344 25.44805861] [ 0.86474722 0.06420144 -0.49808676 -48.85253857] [ 0. 0. 0. 1. ]] SLAMing on 102.305860169 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:6.64, Y:25.29, Z:-48.84 [[ 0.20390577 -0.95945262 0.19461016 6.64453162] [ -0.5192681 -0.27451492 -0.80932206 25.28727416] [ 0.82992956 0.06397059 -0.55418832 -48.84416997] [ 0. 0. 0. 1. ]] SLAMing on 102.335860169 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:6.86, Y:24.84, Z:-48.40 [[ -0.19656658 0.95505236 0.22189315 6.85689679] [ 0.4583963 0.28956696 -0.84025223 24.84063029] [ -0.8667378 -0.06345051 -0.49471165 -48.40466237] [ 0. 0. 0. 1. ]] SLAMing on 102.365860169 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:6.88, Y:24.77, Z:-48.55 [[ -0.17624956 0.9585379 0.2239223 6.88411413] [ 0.4024833 0.2777745 -0.87226631 24.76542476] [ -0.89830022 -0.06361157 -0.43475313 -48.55205769] [ 0. 0. 0. 1. ]] SLAMing on 102.395860169 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:6.58, Y:24.67, Z:-48.69 [[ 0.67011872 0.71404522 0.20268281 6.5848156 ] [ 0.44247969 -0.16505612 -0.881458 24.67450525] [ -0.59594684 0.68036453 -0.4265577 -48.68852545] [ 0. 0. 0. 1. ]] SLAMing on 102.425860169 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:6.54, Y:24.65, Z:-48.78 [[ 0.82485841 0.52930508 0.19860698 6.54201364] [ 0.3858135 -0.27025894 -0.88210433 24.64827065] [ -0.41322699 0.80423643 -0.4271384 -48.77878022] [ 0. 0. 0. 1. ]] SLAMing on 102.455860169 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:6.57, Y:24.59, Z:-48.79 [[ 0.78903626 0.5831753 0.19320543 6.57370437] [ 0.39818225 -0.24596687 -0.88371443 24.58965462] [ -0.46783829 0.77421371 -0.42628684 -48.78543542] [ 0. 0. 0. 1. ]] SLAMing on 102.48586016899999 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:6.61, Y:24.54, Z:-48.78 [[ 0.73079435 0.6558068 0.18935963 6.60996413] [ 0.41728326 -0.20967388 -0.88425762 24.5362036 ] [ -0.54019839 0.72522708 -0.42688568 -48.78145594] [ 0. 0. 0. 1. ]] SLAMing on 102.51586016899999 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] SLAMing on 102.545860169 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:6.90, Y:24.48, Z:-48.69 [[ 2.76022696e-02 9.81309406e-01 1.90446747e-01 6.89783032e+00] [ 4.39792347e-01 1.59168217e-01 -8.83882441e-01 2.44757201e+01] [-8.97675223e-01 1.08154184e-01 -4.27178963e-01 -4.86858217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.575860169 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:6.95, Y:24.38, Z:-48.74 [[ 5.42364264e-03 9.85633917e-01 1.68808666e-01 6.94996291e+00] [ 4.30601444e-01 1.50056728e-01 -8.89980547e-01 2.43787302e+01] [-9.02525889e-01 7.75161918e-02 -4.23601534e-01 -4.87399960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.605860169 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:7.33, Y:24.44, Z:-49.09 [[-9.24272443e-01 3.48693884e-01 1.55348081e-01 7.33420036e+00] [-1.56738431e-03 4.03484302e-01 -9.14985225e-01 2.44416535e+01] [-3.81730264e-01 -8.45939119e-01 -3.72382884e-01 -4.90860417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.635860169 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:7.26, Y:24.42, Z:-49.46 [[ -0.88390709 -0.41821465 0.20929587 7.2594556 ] [ -0.32594902 0.22999614 -0.91698365 24.41777304] [ 0.33535875 -0.87874813 -0.33961187 -49.46207627] [ 0. 0. 0. 1. ]] SLAMing on 102.665860169 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:6.79, Y:24.09, Z:-49.04 [[ 4.60952345e-01 8.64550235e-01 2.00189477e-01 6.78683727e+00] [ 3.81662812e-01 1.05200428e-02 -9.24241758e-01 2.40943371e+01] [-8.01159431e-01 5.02436284e-01 -3.25117436e-01 -4.90390555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.695860169 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:6.79, Y:24.05, Z:-49.06 [[ 5.02022278e-01 8.42240397e-01 1.96480908e-01 6.78565541e+00] [ 3.79318850e-01 -1.02590425e-02 -9.25209145e-01 2.40483777e+01] [-7.77232811e-01 5.39004514e-01 -3.24627926e-01 -4.90649654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.725860169 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] SLAMing on 102.755860169 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:6.82, Y:24.00, Z:-49.07 [[ 4.57634360e-01 8.67985519e-01 1.92800239e-01 6.81630390e+00] [ 3.78090466e-01 6.28710113e-03 -9.25747304e-01 2.40028020e+01] [-8.04747409e-01 4.96549707e-01 -3.25299856e-01 -4.90726544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.785860169 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:6.81, Y:23.96, Z:-49.10 [[ 5.05189843e-01 8.42025733e-01 1.89145153e-01 6.81252686e+00] [ 3.75787968e-01 -1.73308641e-02 -9.26543601e-01 2.39571884e+01] [-7.76895505e-01 5.39158888e-01 -3.25178515e-01 -4.91000698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.815860169 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:6.85, Y:23.91, Z:-49.11 [[ 4.50923856e-01 8.73091387e-01 1.85416035e-01 6.84778269e+00] [ 3.74107347e-01 3.73020178e-03 -9.27377905e-01 2.39091675e+01] [-8.10377301e-01 4.87542322e-01 -3.24947865e-01 -4.91062420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84586016899999 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:6.86, Y:23.86, Z:-49.12 [[ 4.50037521e-01 8.74432406e-01 1.81202086e-01 6.86280351e+00] [ 3.72513465e-01 5.89318606e-04 -9.28026600e-01 2.38600311e+01] [-8.11603319e-01 4.85147008e-01 -3.25472630e-01 -4.91246685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.87586016899999 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:6.89, Y:23.81, Z:-49.14 [[ 4.09755605e-01 8.94864484e-01 1.76968642e-01 6.89381619e+00] [ 3.69386550e-01 1.46101970e-02 -9.29160976e-01 2.38107343e+01] [-8.34058704e-01 4.46098753e-01 -3.24564294e-01 -4.91354654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.905860169 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:6.88, Y:23.76, Z:-49.16 [[ 4.70607992e-01 8.65153848e-01 1.73311679e-01 6.88414928e+00] [ 3.68158725e-01 -1.40298812e-02 -9.29657096e-01 2.37628834e+01] [-8.01864871e-01 5.01310266e-01 -3.25116512e-01 -4.91644040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.935860169 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:6.92, Y:23.71, Z:-49.17 [[ 4.08169027e-01 8.97093558e-01 1.69177994e-01 6.92151135e+00] [ 3.66362561e-01 8.77340968e-03 -9.30430815e-01 2.37135844e+01] [-8.36167758e-01 4.41753524e-01 -3.25080459e-01 -4.91711791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.965860169 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:6.98, Y:23.67, Z:-49.17 [[ 0.29361311 0.94148298 0.16553288 6.97702165] [ 0.36002402 0.05150329 -0.93152033 23.66821447] [ -0.88553602 0.33310239 -0.32383445 -49.17120087] [ 0. 0. 0. 1. ]] SLAMing on 102.995860169 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:7.02, Y:23.62, Z:-49.18 [[ 0.221968 0.96154231 0.16176088 7.01625018] [ 0.35385327 0.07515198 -0.9322768 23.62253814] [ -0.90858025 0.26417524 -0.32356356 -49.18161565] [ 0. 0. 0. 1. ]] SLAMing on 103.025860169 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:7.00, Y:23.57, Z:-49.21 [[ 2.93665220e-01 9.42794238e-01 1.57796587e-01 7.00238312e+00] [ 3.57393612e-01 4.48145497e-02 -9.32878053e-01 2.35716713e+01] [-8.86583636e-01 3.30349331e-01 -3.23788163e-01 -4.92068636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.055860169 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:7.03, Y:23.52, Z:-49.22 [[ 0.24359651 0.95768827 0.15327725 7.03354353] [ 0.35320862 0.0595874 -0.93364501 23.52040029] [ -0.90327427 0.28157152 -0.32374847 -49.22121717] [ 0. 0. 0. 1. ]] SLAMing on 103.085860169 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:7.06, Y:23.47, Z:-49.23 [[ 0.20423606 0.96742725 0.14957321 7.05998665] [ 0.34909919 0.07076915 -0.9344097 23.47321324] [ -0.91455857 0.24305604 -0.32327446 -49.23455351] [ 0. 0. 0. 1. ]] SLAMing on 103.115860169 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:7.06, Y:23.42, Z:-49.26 [[ 0.24654042 0.95815585 0.14544824 7.0568688 ] [ 0.35064669 0.05172117 -0.93507851 23.42149027] [ -0.9034737 0.28153559 -0.32322282 -49.25681832] [ 0. 0. 0. 1. ]] SLAMing on 103.145860169 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:7.05, Y:23.37, Z:-49.28 [[ 3.02884957e-01 9.42417057e-01 1.41812529e-01 7.04730015e+00] [ 3.51430251e-01 2.78699409e-02 -9.35799148e-01 2.33715932e+01] [-8.85865386e-01 3.33276697e-01 -3.22752477e-01 -4.92805222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.175860169 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:7.06, Y:23.32, Z:-49.30 [[ 3.04184460e-01 9.42642092e-01 1.37468907e-01 7.05946346e+00] [ 3.49988171e-01 2.36278772e-02 -9.36456087e-01 2.33203595e+01] [-8.85991024e-01 3.32967881e-01 -3.22726348e-01 -4.92991791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.205860169 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:7.07, Y:23.27, Z:-49.32 [[ 2.99912019e-01 9.44554305e-01 1.33678515e-01 7.07230888e+00] [ 3.48444286e-01 2.19825610e-02 -9.37071687e-01 2.32713730e+01] [-8.88053692e-01 3.27618577e-01 -3.22531716e-01 -4.93164713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.23586016899999 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:7.07, Y:23.22, Z:-49.34 [[ 3.34071284e-01 9.33562464e-01 1.29836445e-01 7.07053126e+00] [ 3.47833977e-01 5.91839139e-03 -9.37537464e-01 2.32221743e+01] [-8.76018208e-01 3.58365872e-01 -3.22747580e-01 -4.93392423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26586016899999 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:7.09, Y:23.17, Z:-49.35 [[ 3.08056182e-01 9.42983823e-01 1.26027370e-01 7.09147537e+00] [ 3.46152559e-01 1.22924176e-02 -9.38097704e-01 2.31725652e+01] [-8.86160141e-01 3.32611494e-01 -3.22629508e-01 -4.93540402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.295860169 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:7.11, Y:23.12, Z:-49.37 [[ 2.89478889e-01 9.49345680e-01 1.22248735e-01 7.10965483e+00] [ 3.44756532e-01 1.57351166e-02 -9.38560248e-01 2.31227476e+01] [-8.92941715e-01 3.13839428e-01 -3.22738141e-01 -4.93697809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.325860169 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:7.13, Y:23.07, Z:-49.39 [[ 2.75502079e-01 9.53980984e-01 1.18401383e-01 7.12524857e+00] [ 3.43349042e-01 1.73914055e-02 -9.39046843e-01 2.30727661e+01] [-8.97891998e-01 2.99362359e-01 -3.22757089e-01 -4.93858496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.355860169 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:7.14, Y:23.02, Z:-49.40 [[ 2.68520963e-01 9.56432734e-01 1.14598940e-01 7.13788904e+00] [ 3.41876596e-01 1.65991077e-02 -9.39598245e-01 2.30234837e+01] [-9.00564759e-01 2.91480521e-01 -3.22524760e-01 -4.94029859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.385860169 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:7.16, Y:22.97, Z:-49.42 [[ 2.37150949e-01 9.65131830e-01 1.10815061e-01 7.15958001e+00] [ 3.40645864e-01 2.42126025e-02 -9.39879857e-01 2.29739981e+01] [-9.09791087e-01 2.60642092e-01 -3.23026125e-01 -4.94181259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.415860169 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:7.16, Y:22.92, Z:-49.44 [[ 2.60272139e-01 9.59623828e-01 1.06679534e-01 7.16161937e+00] [ 3.40077455e-01 1.22963774e-02 -9.40317034e-01 2.29237883e+01] [-9.03662403e-01 2.81017630e-01 -3.23146025e-01 -4.94387187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.445860169 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:7.19, Y:22.87, Z:-49.45 [[ 2.13871331e-01 9.71483655e-01 1.02364842e-01 7.18940424e+00] [ 3.39403047e-01 2.43624167e-02 -9.40325499e-01 2.28720064e+01] [-9.16004708e-01 2.35851606e-01 -3.24514090e-01 -4.94521687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.475860169 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:6.94, Y:22.85, Z:-49.94 [[ 0.87492695 -0.47372906 0.10041721 6.94045397] [ -0.1087667 -0.39430872 -0.91251873 22.84694661] [ 0.47188202 0.78746518 -0.39651727 -49.93683354] [ 0. 0. 0. 1. ]] SLAMing on 103.505860169 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:6.95, Y:22.66, Z:-49.91 [[ 0.88077307 -0.46174161 0.1050404 6.95199746] [ -0.1309353 -0.45064214 -0.88305017 22.6588429 ] [ 0.45507663 0.76401332 -0.45737174 -49.91355047] [ 0. 0. 0. 1. ]] SLAMing on 103.535860169 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:7.60, Y:22.47, Z:-49.73 [[ -0.86748257 0.47872109 0.13527788 7.60389011] [ 0.08541453 0.41122749 -0.90752207 22.47216436] [ -0.49007994 -0.77570488 -0.39762242 -49.73244391] [ 0. 0. 0. 1. ]] SLAMing on 103.565860169 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:7.60, Y:22.37, Z:-49.88 [[-8.67893938e-01 4.71775153e-01 1.55525938e-01 7.59821172e+00] [ 3.42274550e-02 3.69136994e-01 -9.28744508e-01 2.23665034e+01] [-4.95568959e-01 -8.00728472e-01 -3.36519422e-01 -4.98816145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.59586016899999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:6.99, Y:22.22, Z:-50.20 [[ 0.88017164 -0.45807469 0.12436023 6.99444804] [ -0.0826491 -0.40590421 -0.91017081 22.21921258] [ 0.46740455 0.79082827 -0.39512484 -50.20066433] [ 0. 0. 0. 1. ]] SLAMing on 103.62586016899999 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:7.05, Y:22.05, Z:-50.18 [[ 0.8806522 -0.46271059 0.1017379 7.04600671] [ -0.13220672 -0.44623175 -0.88509808 22.04965087] [ 0.45494294 0.76601314 -0.45414843 -50.18268867] [ 0. 0. 0. 1. ]] SLAMing on 103.655860169 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:7.10, Y:21.88, Z:-50.18 [[ 0.87963372 -0.46904323 0.07901238 7.09516287] [ -0.18141463 -0.4843904 -0.85583566 21.87817658] [ 0.43969677 0.7384879 -0.51117744 -50.17577273] [ 0. 0. 0. 1. ]] SLAMing on 103.685860169 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:7.74, Y:21.67, Z:-50.01 [[ -0.86676194 0.48642939 0.11004627 7.74184082] [ 0.13933865 0.44806616 -0.883075 21.66505687] [ -0.47886164 -0.75008211 -0.45614511 -50.00726093] [ 0. 0. 0. 1. ]] SLAMing on 103.715860169 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:7.13, Y:21.59, Z:-50.34 [[ 0.88155214 -0.46602841 0.075388 7.12931592] [ -0.18191944 -0.48270628 -0.85667962 21.59417699] [ 0.4356273 0.74149321 -0.51031038 -50.33524058] [ 0. 0. 0. 1. ]] SLAMing on 103.745860169 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:7.18, Y:21.43, Z:-50.34 [[ 0.87461208 -0.48197592 0.05246832 7.17634555] [ -0.23517916 -0.51640325 -0.82341875 21.42780665] [ 0.42396282 0.70783254 -0.56500321 -50.34382422] [ 0. 0. 0. 1. ]] SLAMing on 103.775860169 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:7.81, Y:21.18, Z:-50.20 [[ -0.8651779 0.49422387 0.08491159 7.81323039] [ 0.19200185 0.48290131 -0.85436621 21.18386361] [ -0.46325209 -0.72287557 -0.51268744 -50.19656212] [ 0. 0. 0. 1. ]] SLAMing on 103.805860169 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:7.83, Y:21.09, Z:-50.36 [[ -0.86016297 0.50358201 0.08077641 7.82742234] [ 0.16817141 0.42956788 -0.88723718 21.09356163] [ -0.48149564 -0.74958428 -0.45418648 -50.35607397] [ 0. 0. 0. 1. ]] SLAMing on 103.835860169 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:7.81, Y:21.08, Z:-50.66 [[-9.90051091e-01 -3.90495694e-02 1.35181245e-01 7.81084061e+00] [-1.39116167e-01 4.15768281e-01 -8.98767728e-01 2.10751633e+01] [-2.11075813e-02 -9.08631866e-01 -4.17064267e-01 -5.06553868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.865860169 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:7.20, Y:20.82, Z:-50.45 [[ 0.70585304 0.69683085 0.12727233 7.19992263] [ 0.37185538 -0.21158568 -0.90385567 20.82442179] [ -0.60290551 0.68531617 -0.4084687 -50.45215894] [ 0. 0. 0. 1. ]] SLAMing on 103.895860169 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:7.23, Y:20.76, Z:-50.47 [[ 0.6666251 0.73536207 0.12187534 7.22862092] [ 0.37988566 -0.19449283 -0.9043558 20.76458307] [ -0.64132508 0.64916497 -0.40900731 -50.4650636 ] [ 0. 0. 0. 1. ]] SLAMing on 103.925860169 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:7.24, Y:20.71, Z:-50.49 [[ 0.66153383 0.74059617 0.11785716 7.24179521] [ 0.37885353 -0.19442007 -0.90480431 20.71429519] [ -0.6471808 0.64320926 -0.40919293 -50.48712725] [ 0. 0. 0. 1. ]] SLAMing on 103.955860169 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] SLAMing on 103.98586016899999 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:7.30, Y:20.65, Z:-50.47 [[ 0.5265959 0.84248977 0.11361225 7.30346503] [ 0.40537554 -0.1313828 -0.90465973 20.65367033] [ -0.74723987 0.52244573 -0.4107104 -50.47463884] [ 0. 0. 0. 1. ]] SLAMing on 104.01586016899999 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:7.29, Y:20.61, Z:-50.51 [[ 0.58993958 0.79996652 0.10965787 7.2907946 ] [ 0.39178588 -0.16484586 -0.90516831 20.60835552] [ -0.7060277 0.57695702 -0.41066468 -50.51299745] [ 0. 0. 0. 1. ]] SLAMing on 104.045860169 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:7.30, Y:20.56, Z:-50.54 [[ 0.59279435 0.79841109 0.1055206 7.30017596] [ 0.38927614 -0.16936202 -0.90541736 20.55887879] [ -0.70502408 0.57780295 -0.41119923 -50.53742297] [ 0. 0. 0. 1. ]] SLAMing on 104.075860169 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:7.52, Y:20.49, Z:-50.49 [[ 3.20346400e-02 9.94391554e-01 1.00792952e-01 7.52277152e+00] [ 4.06150147e-01 7.91919918e-02 -9.10368434e-01 2.04921494e+01] [-9.13244677e-01 7.01003972e-02 -4.01335389e-01 -5.04885664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.105860169 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:7.51, Y:20.44, Z:-50.51 [[ 1.06451689e-01 9.89589386e-01 9.68549737e-02 7.50581372e+00] [ 4.08991680e-01 4.52081164e-02 -9.11417595e-01 2.04396185e+01] [-9.06307808e-01 1.36634821e-01 -3.99921345e-01 -5.05135234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.135860169 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:7.53, Y:20.39, Z:-50.53 [[ 0.05990649 0.99386777 0.09294124 7.53381799] [ 0.40509029 0.0608912 -0.91224674 20.3894919 ] [ -0.91231194 0.0922991 -0.3989584 -50.53489838] [ 0. 0. 0. 1. ]] SLAMing on 104.165860169 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:7.56, Y:20.34, Z:-50.56 [[ 2.04844398e-02 9.95895632e-01 8.81605262e-02 7.55977058e+00] [ 4.02275524e-01 7.25162618e-02 -9.12642205e-01 2.03358946e+01] [-9.15289457e-01 5.41597861e-02 -3.99138982e-01 -5.05590373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.195860169 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:7.56, Y:20.28, Z:-50.58 [[ 4.75803312e-02 9.95326581e-01 8.40304027e-02 7.55919295e+00] [ 4.04176067e-01 5.77467444e-02 -9.12856517e-01 2.02846396e+01] [-9.13442839e-01 7.73970930e-02 -3.99539573e-01 -5.05829422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.225860169 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:7.58, Y:20.23, Z:-50.61 [[ 2.60589920e-02 9.96463275e-01 7.98866075e-02 7.57698471e+00] [ 4.02880237e-01 6.26678256e-02 -9.13104736e-01 2.02339560e+01] [-9.14881656e-01 5.59793243e-02 -3.99822300e-01 -5.06056736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.255860169 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:7.59, Y:20.18, Z:-50.63 [[ 1.26896867e-02 9.97093801e-01 7.51194026e-02 7.59244123e+00] [ 4.02903118e-01 6.36582663e-02 -9.13026124e-01 2.01802066e+01] [-9.15154659e-01 4.18518570e-02 -4.00924398e-01 -5.06305152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.285860169 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:7.60, Y:20.13, Z:-50.65 [[ 5.17245128e-03 9.97459551e-01 7.10470974e-02 7.60450445e+00] [ 4.02044262e-01 6.29785355e-02 -9.13451759e-01 2.01296789e+01] [-9.15605623e-01 3.32888625e-02 -4.00697135e-01 -5.06530152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.315860169 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:7.61, Y:20.08, Z:-50.68 [[ 6.96613418e-03 9.97738579e-01 6.68520837e-02 7.61256555e+00] [ 4.02009570e-01 5.84190825e-02 -9.13769947e-01 2.00791034e+01] [-9.15608966e-01 3.32406215e-02 -4.00693502e-01 -5.06761848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34586016899999 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:7.60, Y:20.03, Z:-50.70 [[ 6.03471895e-02 9.96209023e-01 6.26561924e-02 7.60118048e+00] [ 4.04174696e-01 3.30074755e-02 -9.14086058e-01 2.00267203e+01] [-9.12688902e-01 8.04865721e-02 -4.00650571e-01 -5.06996537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.37586016899999 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:7.61, Y:19.98, Z:-50.72 [[ 6.22045676e-02 9.96338883e-01 5.86465786e-02 7.60886006e+00] [ 4.03905280e-01 2.86036735e-02 -9.14353518e-01 1.99753965e+01] [-9.12683470e-01 8.05646279e-02 -4.00647256e-01 -5.07231721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.405860169 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:7.60, Y:19.92, Z:-50.75 [[ 9.29184589e-02 9.94170599e-01 5.46898526e-02 7.60487072e+00] [ 4.03372094e-01 1.26313376e-02 -9.14948853e-01 1.99237642e+01] [-9.10306055e-01 1.07075998e-01 -3.99846992e-01 -5.07471330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.435860169 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:7.59, Y:19.87, Z:-50.77 [[ 1.45965183e-01 9.87989475e-01 5.07046528e-02 7.59253519e+00] [ 4.02849518e-01 -1.25488275e-02 -9.15180197e-01 1.98735461e+01] [-9.03552119e-01 1.54010790e-01 -3.99842775e-01 -5.07727177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.465860169 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:7.62, Y:19.82, Z:-50.79 [[ 9.23757429e-02 9.94629836e-01 4.66713115e-02 7.62056250e+00] [ 4.03259441e-01 5.48554988e-03 -9.15069250e-01 1.98207591e+01] [-9.10411196e-01 1.03350849e-01 -4.00587139e-01 -5.07947389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.495860169 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:7.63, Y:19.77, Z:-50.82 [[ 9.85390615e-02 9.94222921e-01 4.25539363e-02 7.62565636e+00] [ 4.03166397e-01 -7.89973874e-04 -9.15126348e-01 1.97703483e+01] [-9.09805974e-01 1.07332009e-01 -4.00915116e-01 -5.08174957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.525860169 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:7.65, Y:19.72, Z:-50.84 [[ 6.67951192e-02 9.97038665e-01 3.81092106e-02 7.64587583e+00] [ 4.02159355e-01 8.05185091e-03 -9.15534282e-01 1.97167958e+01] [-9.13129928e-01 7.64791971e-02 -4.00430602e-01 -5.08415469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.555860169 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:7.65, Y:19.67, Z:-50.86 [[ 6.79825091e-02 9.97103425e-01 3.41048148e-02 7.65248772e+00] [ 4.00671985e-01 4.02022411e-03 -9.16212747e-01 1.96661992e+01] [-9.13695977e-01 7.59512853e-02 -3.99238103e-01 -5.08639544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.585860169 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:7.66, Y:19.61, Z:-50.89 [[ 6.42616299e-02 9.97484512e-01 2.99180857e-02 7.66099778e+00] [ 4.01159911e-01 1.63007430e-03 -9.16006588e-01 1.96146216e+01] [-9.13751152e-01 7.08660130e-02 -4.00046047e-01 -5.08872897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.615860169 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:7.68, Y:19.56, Z:-50.91 [[ 3.11030005e-02 9.99184805e-01 2.57357623e-02 7.67946581e+00] [ 4.00579913e-01 1.11287920e-02 -9.16194239e-01 1.95632666e+01] [-9.15733769e-01 3.88056193e-02 -3.99907223e-01 -5.09105332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.645860169 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:7.69, Y:19.51, Z:-50.93 [[ 1.98104029e-02 9.99570328e-01 2.16034122e-02 7.69005329e+00] [ 4.00304169e-01 1.18702377e-02 -9.16305446e-01 1.95124511e+01] [-9.16168172e-01 2.68003160e-02 -3.99897015e-01 -5.09338831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.675860169 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:7.67, Y:19.46, Z:-50.96 [[ 8.36144799e-02 9.96344053e-01 1.75255895e-02 7.67178546e+00] [ 4.00350241e-01 -1.74821259e-02 -9.16195427e-01 1.94610628e+01] [-9.12539480e-01 8.36235781e-02 -4.00348341e-01 -5.09584574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.705860169 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:7.71, Y:19.41, Z:-50.98 [[-1.84554148e-03 9.99894284e-01 1.44227033e-02 7.70917192e+00] [ 4.01942201e-01 1.39481085e-02 -9.15558801e-01 1.94116079e+01] [-9.15663181e-01 4.10739135e-03 -4.01925451e-01 -5.09814251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.73586016899999 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:8.08, Y:19.44, Z:-51.45 [[-9.95166837e-01 9.54922244e-02 2.28954564e-02 8.08417038e+00] [ 1.18049555e-02 3.47800647e-01 -9.37494188e-01 1.94449418e+01] [-9.74864600e-02 -9.32692846e-01 -3.47246951e-01 -5.14456394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76586016899999 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:7.32, Y:19.25, Z:-51.48 [[ 9.94756866e-01 -1.02175529e-01 4.35193057e-03 7.32376403e+00] [-3.81832462e-02 -4.10546719e-01 -9.11039753e-01 1.92520817e+01] [ 9.48726393e-02 9.06096878e-01 -4.12295561e-01 -5.14774149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.795860169 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:8.09, Y:19.11, Z:-51.58 [[-9.94855045e-01 9.89566638e-02 2.17029613e-02 8.09088353e+00] [ 1.39997685e-02 3.46457477e-01 -9.37961206e-01 1.91114827e+01] [-1.00336665e-01 -9.32831601e-01 -3.46060339e-01 -5.15789564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.825860169 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:8.13, Y:18.96, Z:-51.72 [[-9.93090510e-01 1.16156647e-01 -1.66994717e-02 8.13317693e+00] [ 4.92665183e-02 2.83522661e-01 -9.57699176e-01 1.89611818e+01] [-1.06508446e-01 -9.51904688e-01 -2.87286297e-01 -5.17178551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.855860169 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] SLAMing on 104.885860169 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] SLAMing on 104.915860169 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] SLAMing on 104.945860169 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] SLAMing on 104.975860169 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] SLAMing on 105.005860169 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] SLAMing on 105.035860169 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] SLAMing on 105.065860169 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:8.15, Y:18.97, Z:-51.64 [[-9.90802795e-01 1.27134580e-01 -4.63316362e-02 8.14916840e+00] [ 8.78651045e-02 3.44087075e-01 -9.34817527e-01 1.89695567e+01] [-1.02905516e-01 -9.30290752e-01 -3.52093128e-01 -5.16445354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.09586016899999 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] SLAMing on 105.12586016899999 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:7.36, Y:18.96, Z:-51.55 [[ 9.35504731e-01 3.51068272e-01 3.97739409e-02 7.36196304e+00] [ 1.60554947e-01 -3.22135754e-01 -9.32979456e-01 1.89648417e+01] [-3.14726877e-01 8.79192598e-01 -3.57725269e-01 -5.15508218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.155860169 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:7.50, Y:19.10, Z:-51.97 [[ 5.26979941e-01 -8.48536814e-01 4.77222989e-02 7.50397855e+00] [-2.20827731e-01 -1.90934954e-01 -9.56440775e-01 1.91048901e+01] [ 8.20687063e-01 4.93486697e-01 -2.87999349e-01 -5.19697430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.185860169 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:7.50, Y:19.08, Z:-51.97 [[ 5.44166544e-01 -8.37881977e-01 4.28551558e-02 7.49731388e+00] [-1.61363351e-01 -1.54651330e-01 -9.74702434e-01 1.90847869e+01] [ 8.23313210e-01 5.23485203e-01 -2.19359524e-01 -5.19711375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.215860169 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:7.97, Y:19.09, Z:-51.92 [[-7.30410794e-01 -6.81919717e-01 3.85431123e-02 7.96578166e+00] [-1.73906659e-01 1.31108396e-01 -9.75995421e-01 1.90915606e+01] [ 6.60497196e-01 -7.19580495e-01 -2.14353367e-01 -5.19191430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.245860169 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:7.44, Y:18.94, Z:-51.43 [[ 0.72280453 0.68105151 0.1171429 7.43991872] [ 0.23830445 -0.08653079 -0.96732798 18.93996007] [ -0.64866371 0.72710471 -0.22484245 -51.42998647] [ 0. 0. 0. 1. ]] SLAMing on 105.275860169 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:7.68, Y:18.93, Z:-51.32 [[ 0.07039158 0.98154167 0.17782285 7.67981535] [ 0.27579109 0.15216646 -0.94909675 18.93112323] [ -0.95863669 0.11585038 -0.25998921 -51.31804153] [ 0. 0. 0. 1. ]] SLAMing on 105.305860169 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:7.70, Y:19.11, Z:-52.03 [[ 2.69179410e-02 9.91961159e-01 -1.23646609e-01 7.70225827e+00] [-2.88381402e-01 1.26138395e-01 9.49170834e-01 1.91079082e+01] [ 9.57137185e-01 1.01076580e-02 2.89458535e-01 -5.20321684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.335860169 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:7.56, Y:19.05, Z:-52.01 [[ 0.43538301 0.89206785 -0.12106442 7.55503099] [ -0.21175241 0.23218523 0.94934237 19.05394547] [ 0.87498717 -0.38769185 0.28998702 -52.01327502] [ 0. 0. 0. 1. ]] SLAMing on 105.365860169 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:7.56, Y:19.03, Z:-52.02 [[ 0.44367979 0.88790976 -0.12150925 7.55603845] [ -0.20931519 0.2345049 0.9493127 19.02720896] [ 0.87139853 -0.39575713 0.28989808 -52.02056675] [ 0. 0. 0. 1. ]] SLAMing on 105.395860169 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:7.58, Y:19.01, Z:-52.04 [[ 0.39162499 0.9120013 -0.12199793 7.57965405] [ -0.22173951 0.22222466 0.94944604 19.00527184] [ 0.89300697 -0.34477504 0.28925545 -52.03696656] [ 0. 0. 0. 1. ]] SLAMing on 105.425860169 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:7.54, Y:18.97, Z:-52.03 [[ 0.51387869 0.84908206 -0.12242695 7.53764423] [ -0.18945788 0.25151553 0.94912889 18.96711618] [ 0.83668059 -0.46454236 0.29011376 -52.02565821] [ 0. 0. 0. 1. ]] SLAMing on 105.455860169 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:7.58, Y:18.95, Z:-52.05 [[ 0.40465847 0.90617518 -0.12287418 7.58144772] [ -0.21967009 0.22675658 0.94885537 18.95093185] [ 0.88769171 -0.35697058 0.29081855 -52.05257779] [ 0. 0. 0. 1. ]] SLAMing on 105.48586016899999 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:7.59, Y:18.92, Z:-52.06 [[ 0.40476825 0.90606169 -0.12334862 7.58536826] [ -0.21946769 0.22720965 0.94879382 18.92383029] [ 0.88769172 -0.35697058 0.29081852 -52.06065664] [ 0. 0. 0. 1. ]] SLAMing on 105.51586016899999 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:7.68, Y:18.92, Z:-52.10 [[ 0.16434443 0.97861624 -0.12369785 7.67856067] [ -0.27438549 0.16580804 0.94721713 18.91713729] [ 0.94747217 -0.12172897 0.29576772 -52.09583132] [ 0. 0. 0. 1. ]] SLAMing on 105.545860169 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:7.76, Y:18.90, Z:-52.10 [[-4.71491643e-02 9.90895317e-01 -1.26108790e-01 7.76142018e+00] [-2.98633617e-01 1.06491815e-01 9.48407853e-01 1.89003251e+01] [ 9.53202455e-01 8.23769617e-02 2.90893652e-01 -5.20967255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.575860169 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:7.64, Y:18.86, Z:-52.10 [[ 0.2813966 0.95149292 -0.12440731 7.64246843] [ -0.24821043 0.19740643 0.94837876 18.85539606] [ 0.92693448 -0.23599137 0.29171997 -52.0986592 ] [ 0. 0. 0. 1. ]] SLAMing on 105.605860169 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:7.63, Y:18.83, Z:-52.10 [[ 0.32359755 0.93792 -0.12486274 7.63012322] [ -0.23944464 0.20884133 0.9481833 18.82581241] [ 0.91539658 -0.27693208 0.29216046 -52.10314366] [ 0. 0. 0. 1. ]] SLAMing on 105.635860169 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:7.69, Y:18.81, Z:-52.12 [[ 0.16953682 0.97751967 -0.12534979 7.69140713] [ -0.26968391 0.16835238 0.94811817 18.81119159] [ 0.94790709 -0.12693612 0.29216325 -52.12342264] [ 0. 0. 0. 1. ]] SLAMing on 105.665860169 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:7.69, Y:18.78, Z:-52.13 [[ 0.18870647 0.97394286 -0.12579817 7.68840468] [ -0.2664442 0.17407239 0.94800121 18.78333225] [ 0.94519699 -0.14537577 0.29235001 -52.13085664] [ 0. 0. 0. 1. ]] SLAMing on 105.695860169 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:7.72, Y:18.76, Z:-52.14 [[ 0.12365676 0.98421093 -0.12664061 7.71618732] [ -0.28153854 0.1571725 0.94659012 18.76220551] [ 0.95154877 -0.08139806 0.29652875 -52.14445094] [ 0. 0. 0. 1. ]] SLAMing on 105.725860169 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:7.73, Y:18.74, Z:-52.16 [[ 0.09699846 0.98721198 -0.12650616 7.73024732] [ -0.28816529 0.14951767 0.94583573 18.73633223] [ 0.95265527 -0.05528993 0.29898321 -52.15634954] [ 0. 0. 0. 1. ]] SLAMing on 105.755860169 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:7.72, Y:18.71, Z:-52.15 [[ 0.13221734 0.98303537 -0.12712217 7.72142747] [ -0.2746159 0.15955604 0.94822359 18.70629084] [ 0.95242043 -0.09046183 0.29105322 -52.15494691] [ 0. 0. 0. 1. ]] SLAMing on 105.785860169 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:7.71, Y:18.68, Z:-52.16 [[ 0.17162094 0.97685819 -0.12764921 7.71076194] [ -0.26705599 0.17085063 0.94841508 18.67885897] [ 0.94827599 -0.1286784 0.29019738 -52.16148859] [ 0. 0. 0. 1. ]] SLAMing on 105.815860169 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:7.76, Y:18.66, Z:-52.17 [[ 3.97321764e-02 9.90963601e-01 -1.28111263e-01 7.76463226e+00] [-2.87343291e-01 1.34128242e-01 9.48389924e-01 1.86600415e+01] [ 9.57003233e-01 -8.69683866e-04 2.90075949e-01 -5.21722163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84586016899999 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:7.73, Y:18.63, Z:-52.18 [[ 0.13689563 0.98220441 -0.12858494 7.73190276] [ -0.27288349 0.162177 0.94827908 18.62934479] [ 0.95225742 -0.09472655 0.29022869 -52.17893018] [ 0. 0. 0. 1. ]] SLAMing on 105.87586016899999 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:7.76, Y:18.61, Z:-52.19 [[ 7.63385132e-02 9.88694720e-01 -1.29054961e-01 7.75906650e+00] [-2.81848520e-01 1.45551247e-01 9.48354494e-01 1.86059145e+01] [ 9.56417191e-01 -3.60220224e-02 2.89773309e-01 -5.21878152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.905860169 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:7.78, Y:18.58, Z:-52.20 [[ 4.30125557e-02 9.90647180e-01 -1.29491641e-01 7.77573689e+00] [-2.87102985e-01 1.36400782e-01 9.48138546e-01 1.85810346e+01] [ 9.56933538e-01 -3.60442527e-03 2.90284709e-01 -5.21960258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.935860169 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:7.75, Y:18.55, Z:-52.20 [[ 0.11164082 0.98521079 -0.12998475 7.75389143] [ -0.27658451 0.15643947 0.94817071 18.55131301] [ 0.95448276 -0.06990279 0.28995907 -52.20330659] [ 0. 0. 0. 1. ]] SLAMing on 105.965860169 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:7.79, Y:18.53, Z:-52.21 [[ 1.55903918e-02 9.91335861e-01 -1.30422965e-01 7.79362874e+00] [-2.90755066e-01 1.29296940e-01 9.48020988e-01 1.85297599e+01] [ 9.56670493e-01 2.31411193e-02 2.90251714e-01 -5.22120270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.995860169 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:7.82, Y:18.51, Z:-52.22 [[ -0.05239165 0.99000833 -0.13091459 7.82321056] [ -0.29817844 0.10960581 0.94819628 18.50588212] [ 0.95307121 0.08871348 0.2894567 -52.21758685] [ 0. 0. 0. 1. ]] SLAMing on 106.025860169 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:7.87, Y:18.48, Z:-52.22 [[ -0.1735552 0.97603847 -0.13125353 7.87270957] [ -0.30930699 0.07250939 0.94819385 18.48428771] [ 0.93499079 0.20516161 0.28931114 -52.2178627 ] [ 0. 0. 0. 1. ]] SLAMing on 106.055860169 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:7.81, Y:18.46, Z:-52.25 [[-7.93169399e-03 9.91295534e-01 -1.31416333e-01 7.81491958e+00] [-3.03256398e-01 1.22846796e-01 9.44957259e-01 1.84556947e+01] [ 9.52875986e-01 4.73479556e-02 2.99642330e-01 -5.22462283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.085860169 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:7.87, Y:18.43, Z:-52.23 [[ -0.14943349 0.97986057 -0.13244959 7.87180036] [ -0.30858702 0.08104638 0.94773706 18.43233765] [ 0.93938474 0.18249588 0.29026121 -52.23468031] [ 0. 0. 0. 1. ]] SLAMing on 106.115860169 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:7.89, Y:18.41, Z:-52.24 [[ -0.18750093 0.97322967 -0.13291884 7.89079545] [ -0.31102369 0.06953198 0.94785525 18.407014 ] [ 0.93172296 0.21906465 0.28966017 -52.23930544] [ 0. 0. 0. 1. ]] SLAMing on 106.145860169 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:7.95, Y:18.38, Z:-52.23 [[-3.46351909e-01 9.28573288e-01 -1.33386667e-01 7.95499678e+00] [-3.18281237e-01 1.74368199e-02 9.47835962e-01 1.83829386e+01] [ 8.82460996e-01 3.70739269e-01 2.89508179e-01 -5.22274065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.175860169 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:7.85, Y:18.35, Z:-52.27 [[ -0.05836776 0.98931761 -0.13358098 7.85223045] [ -0.30737722 0.10949845 0.9452668 18.35272928] [ 0.949796 0.09623286 0.29770252 -52.27376091] [ 0. 0. 0. 1. ]] SLAMing on 106.205860169 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:7.93, Y:18.33, Z:-52.25 [[-2.66815920e-01 9.54304865e-01 -1.34578936e-01 7.93411158e+00] [-3.15396872e-01 4.54889117e-02 9.47868964e-01 1.83302417e+01] [ 9.10677812e-01 2.95352305e-01 2.88847603e-01 -5.22540621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.23586016899999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:7.91, Y:18.30, Z:-52.27 [[ -0.18835337 0.97276677 -0.1350845 7.90867326] [ -0.3103309 0.07154757 0.94793232 18.30295648] [ 0.93178202 0.22046714 0.28840336 -52.27059207] [ 0. 0. 0. 1. ]] SLAMing on 106.26586016899999 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:7.93, Y:18.28, Z:-52.28 [[ -0.21896277 0.96627036 -0.13556145 7.92505955] [ -0.31222136 0.06224251 0.94796819 18.27754921] [ 0.92443125 0.24989492 0.28806145 -52.27536374] [ 0. 0. 0. 1. ]] SLAMing on 106.295860169 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:8.00, Y:18.25, Z:-52.26 [[-4.10265642e-01 9.01754944e-01 -1.36088661e-01 8.00042980e+00] [-3.17692040e-01 -1.44144796e-03 9.48192855e-01 1.82537176e+01] [ 8.54841430e-01 4.32245235e-01 2.87071745e-01 -5.22550818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.325860169 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:8.04, Y:18.23, Z:-52.24 [[-4.97176164e-01 8.56826232e-01 -1.36618707e-01 8.03673476e+00] [-3.15721092e-01 -3.19922127e-02 9.48312549e-01 1.82270938e+01] [ 8.08168333e-01 5.14611802e-01 2.86423879e-01 -5.22443046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.355860169 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:8.01, Y:18.20, Z:-52.27 [[-4.23121954e-01 8.95630057e-01 -1.37166368e-01 8.01239851e+00] [-3.16611494e-01 -4.30616338e-03 9.48545528e-01 1.82022967e+01] [ 8.48955225e-01 4.44778886e-01 2.85388803e-01 -5.22678235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.385860169 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:8.01, Y:18.18, Z:-52.28 [[-3.96415316e-01 9.07697647e-01 -1.37622234e-01 8.00663102e+00] [-3.16646053e-01 5.52513547e-03 9.48527675e-01 1.81761731e+01] [ 8.61736720e-01 4.19588435e-01 2.85228629e-01 -5.22806274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.415860169 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:7.99, Y:18.15, Z:-52.30 [[-3.51673282e-01 9.25876360e-01 -1.38126279e-01 7.99394661e+00] [-3.16118663e-01 2.14274840e-02 9.48477651e-01 1.81509393e+01] [ 8.81132733e-01 3.77218543e-01 2.85151323e-01 -5.22965881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.445860169 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:8.07, Y:18.13, Z:-52.26 [[-5.50830590e-01 8.23042241e-01 -1.38517619e-01 8.07224801e+00] [-3.12944491e-01 -4.98156816e-02 9.48464097e-01 1.81250231e+01] [ 7.73725666e-01 5.65791364e-01 2.85006537e-01 -5.22617980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.475860169 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:7.94, Y:18.10, Z:-52.34 [[ -0.17484638 0.97477391 -0.13872482 7.93728972] [ -0.31455101 0.07821034 0.94601311 18.10060738] [ 0.93299861 0.209043 0.29294132 -52.34226905] [ 0. 0. 0. 1. ]] SLAMing on 106.505860169 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:8.01, Y:18.07, Z:-52.32 [[-3.68596846e-01 9.19049710e-01 -1.39585086e-01 8.01261787e+00] [-3.16728340e-01 1.70092771e-02 9.48363772e-01 1.80744501e+01] [ 8.73967690e-01 3.93774448e-01 2.84819523e-01 -5.23169181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.535860169 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:7.93, Y:18.05, Z:-52.36 [[ -0.12227067 0.98259125 -0.13987254 7.92534298] [ -0.30831767 0.09635332 0.94639117 18.04544458] [ 0.94339287 0.15884106 0.29116906 -52.36203386] [ 0. 0. 0. 1. ]] SLAMing on 106.565860169 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] SLAMing on 106.59586016899999 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] SLAMing on 106.62586016899999 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] SLAMing on 106.655860169 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] SLAMing on 106.685860169 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] SLAMing on 106.715860169 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] SLAMing on 106.745860169 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] SLAMing on 106.775860169 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] SLAMing on 106.805860169 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] SLAMing on 106.835860169 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] SLAMing on 106.865860169 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] SLAMing on 106.895860169 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:8.22, Y:18.00, Z:-52.16 [[ -0.87815309 0.45720917 -0.1407371 8.21825682] [ -0.25254908 -0.19322603 0.94809423 17.99959848] [ 0.4062833 0.8681149 0.28514979 -52.15775733] [ 0. 0. 0. 1. ]] SLAMing on 106.925860169 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:8.17, Y:17.99, Z:-52.24 [[ -0.74367486 0.65344585 -0.1412665 8.17231482] [ -0.29254859 -0.12807794 0.94763462 17.98992942] [ 0.60113479 0.74605935 0.286413 -52.24158065] [ 0. 0. 0. 1. ]] SLAMing on 106.955860169 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] SLAMing on 106.98586016899999 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] SLAMing on 107.01586016899999 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] SLAMing on 107.045860169 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] SLAMing on 107.075860169 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] SLAMing on 107.105860169 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] SLAMing on 107.135860169 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:8.00, Y:17.97, Z:-52.36 [[-2.96288932e-01 9.44516118e-01 -1.41782130e-01 8.00478948e+00] [-3.17773464e-01 4.25034482e-02 9.47213536e-01 1.79720587e+01] [ 9.00684681e-01 3.25703485e-01 2.87548858e-01 -5.23621679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.165860169 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] SLAMing on 107.195860169 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] SLAMing on 107.225860169 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:8.06, Y:17.95, Z:-52.34 [[-4.40449988e-01 8.86443567e-01 -1.42202706e-01 8.06492135e+00] [-3.21148881e-01 -7.65347321e-03 9.46997793e-01 1.79480606e+01] [ 8.38371758e-01 4.62773407e-01 2.88051332e-01 -5.23442922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.255860169 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] SLAMing on 107.285860169 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] SLAMing on 107.315860169 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] SLAMing on 107.34586016899999 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] SLAMing on 107.37586016899999 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] SLAMing on 107.405860169 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] SLAMing on 107.435860169 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] SLAMing on 107.465860169 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] SLAMing on 107.495860169 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] SLAMing on 107.525860169 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] SLAMing on 107.555860169 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] SLAMing on 107.585860169 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] SLAMing on 107.615860169 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:7.54, Y:17.77, Z:-52.12 [[ 0.9727124 0.18336378 -0.14215592 7.54051534] [ 0.07686896 0.32340425 0.94313353 17.77345376] [ 0.21891036 -0.92832506 0.30048434 -52.1183928 ] [ 0. 0. 0. 1. ]] SLAMing on 107.645860169 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:7.58, Y:17.78, Z:-52.22 [[ 8.73836377e-01 4.64865759e-01 -1.42512496e-01 7.58293656e+00] [-2.18282438e-02 3.30314188e-01 9.43618601e-01 1.77828430e+01] [ 4.85729877e-01 -8.21457463e-01 2.98787757e-01 -5.22241778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.675860169 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:7.55, Y:17.72, Z:-52.14 [[ 0.96933441 0.20020365 -0.1425107 7.54705886] [ 0.0698798 0.3314151 0.94089364 17.72208483] [ 0.23560054 -0.9219992 0.30726187 -52.13869501] [ 0. 0. 0. 1. ]] SLAMing on 107.705860169 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:7.55, Y:17.69, Z:-52.15 [[ 0.96930824 0.20006472 -0.14288333 7.5515818 ] [ 0.07026633 0.33149379 0.94083713 17.69499102] [ 0.23559326 -0.92200107 0.30726185 -52.14674243] [ 0. 0. 0. 1. ]] SLAMing on 107.73586016899999 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:7.69, Y:17.75, Z:-52.36 [[ 0.60006837 0.78690697 -0.1438589 7.69235468] [ -0.15427752 0.29030099 0.94441716 17.74969827] [ 0.78493083 -0.54452067 0.2956025 -52.35914606] [ 0. 0. 0. 1. ]] SLAMing on 107.76586016899999 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:7.70, Y:17.72, Z:-52.37 [[ 0.60013732 0.78677655 -0.14428392 7.69689224] [ -0.15400758 0.29065501 0.94435233 17.72265605] [ 0.78493112 -0.54452026 0.29560247 -52.36719606] [ 0. 0. 0. 1. ]] SLAMing on 107.795860169 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:7.61, Y:17.66, Z:-52.28 [[ 8.42492228e-01 5.18983073e-01 -1.44441740e-01 7.60834528e+00] [-4.20137901e-02 3.30609243e-01 9.42832101e-01 1.76558898e+01] [ 5.37067675e-01 -7.88260172e-01 3.00340163e-01 -5.22838185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.825860169 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:7.61, Y:17.63, Z:-52.29 [[ 8.42509103e-01 5.18849489e-01 -1.44822716e-01 7.61290075e+00] [-4.16733541e-02 3.30818911e-01 9.42773663e-01 1.76288197e+01] [ 5.37067726e-01 -7.88260145e-01 3.00340142e-01 -5.22918687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.855860169 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:7.67, Y:17.63, Z:-52.36 [[ 0.7170738 0.68166766 -0.14537663 7.66521687] [ -0.1058536 0.31266368 0.94394726 17.62837626] [ 0.68891231 -0.66149121 0.29635991 -52.35818832] [ 0. 0. 0. 1. ]] SLAMing on 107.885860169 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:7.71, Y:17.62, Z:-52.40 [[ 0.61426535 0.77481913 -0.14944364 7.70685439] [ -0.14768705 0.29892325 0.94277963 17.61895615] [ 0.77515587 -0.55704596 0.29804894 -52.39990063] [ 0. 0. 0. 1. ]] SLAMing on 107.915860169 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:7.64, Y:17.56, Z:-52.34 [[ 0.80713888 0.5720383 -0.14594181 7.63824788] [ -0.06062119 0.32620926 0.94335179 17.56022658] [ 0.58724093 -0.75256873 0.29797382 -52.33903045] [ 0. 0. 0. 1. ]] SLAMing on 107.945860169 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:7.64, Y:17.53, Z:-52.35 [[ 0.80876936 0.56964526 -0.14627511 7.64222389] [ -0.0594156 0.32658018 0.94330015 17.53283756] [ 0.58511701 -0.75422123 0.29797386 -52.34628959] [ 0. 0. 0. 1. ]] SLAMing on 107.975860169 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:7.58, Y:17.46, Z:-52.23 [[ 0.96363283 0.22346007 -0.14655156 7.57882742] [ 0.06692445 0.32913136 0.94190958 17.45994825] [ 0.25871389 -0.91746288 0.30220685 -52.234201 ] [ 0. 0. 0. 1. ]] SLAMing on 108.005860169 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:7.59, Y:17.44, Z:-52.26 [[ 0.95346416 0.2631977 -0.14708182 7.5892674 ] [ 0.0537573 0.33160785 0.94188449 17.43873379] [ 0.29667532 -0.90595982 0.3020274 -52.25686253] [ 0. 0. 0. 1. ]] SLAMing on 108.035860169 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:7.68, Y:17.47, Z:-52.40 [[ 0.77321798 0.6167038 -0.14768339 7.67712224] [ -0.07952784 0.32535222 0.94224267 17.46614631] [ 0.62913376 -0.71681403 0.3006133 -52.40254507] [ 0. 0. 0. 1. ]] SLAMing on 108.065860169 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:7.61, Y:17.39, Z:-52.27 [[ 0.96080369 0.23420721 -0.14833493 7.60856598] [ 0.06630033 0.32541467 0.94324417 17.38889542] [ 0.26918495 -0.91610713 0.2971316 -52.27490798] [ 0. 0. 0. 1. ]] SLAMing on 108.09586016899999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:7.69, Y:17.42, Z:-52.42 [[ 0.76036579 0.63225595 -0.1486482 7.6920699 ] [ -0.08566167 0.32449061 0.94200208 17.41639429] [ 0.64382136 -0.7035327 0.30089166 -52.4236111 ] [ 0. 0. 0. 1. ]] SLAMing on 108.12586016899999 meters Centerline goodness : 0.706425 Centerline is valid? [True, False] Translation: X:7.51, Y:18.90, Z:-52.90 [[ 0.96221407 -0.21998394 -0.16047163 7.50976745] [ 0.16630875 0.94142809 -0.29335056 18.90347314] [ 0.21560491 0.2555782 0.94244061 -52.89691044] [ 0. 0. 0. 1. ]] SLAMing on 108.155860169 meters Centerline goodness : 0.706425 Centerline is valid? [False, False] Translation: X:7.50, Y:18.93, Z:-52.87 [[ 0.97915302 -0.12800444 -0.15771564 7.49878084] [ 0.078237 0.95420902 -0.28872844 18.93029489] [ 0.18745221 0.27037013 0.94433133 -52.87469674] [ 0. 0. 0. 1. ]] SLAMing on 108.185860169 meters Centerline goodness : 0.999256 Centerline is valid? [False, True] Translation: X:7.49, Y:18.95, Z:-52.84 [[ 9.85489322e-01 -7.00696635e-02 -1.54599607e-01 7.49293135e+00] [ 2.33920677e-02 9.58190869e-01 -2.85171999e-01 1.89455782e+01] [ 1.68117838e-01 2.77417555e-01 9.45925945e-01 -5.28431553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.215860169 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:7.80, Y:18.58, Z:-52.92 [[ 0.11056716 -0.98097489 -0.15957185 7.8013623 ] [ 0.95466521 0.14947724 -0.25743134 18.58081435] [ 0.27638603 -0.12387424 0.95302987 -52.92274558] [ 0. 0. 0. 1. ]] SLAMing on 108.245860169 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:8.06, Y:19.23, Z:-52.72 [[ -0.60264738 0.78984239 -0.11386458 8.06173059] [ -0.72937228 -0.60307118 -0.32298798 19.23149428] [ -0.32377804 -0.11159818 0.93952841 -52.71935793] [ 0. 0. 0. 1. ]] SLAMing on 108.275860169 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:7.95, Y:19.30, Z:-52.74 [[-4.93265784e-01 8.68989873e-01 -3.93124227e-02 7.95086662e+00] [-8.07015237e-01 -4.74019470e-01 -3.52181699e-01 1.93026761e+01] [-3.24677183e-01 -1.41993458e-01 9.35105654e-01 -5.27418010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.305860169 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:7.73, Y:19.38, Z:-52.75 [[-7.30014408e-02 9.96350097e-01 4.42410914e-02 7.73007082e+00] [-9.25769613e-01 -5.11964055e-02 -3.74605861e-01 1.93818559e+01] [-3.70973601e-01 -6.83038257e-02 9.26128055e-01 -5.27492545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.335860169 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] SLAMing on 108.365860169 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:7.18, Y:18.93, Z:-52.77 [[ 9.72072642e-01 -2.00249620e-01 1.22371843e-01 7.18312136e+00] [ 2.31457959e-01 9.04180480e-01 -3.59005395e-01 1.89321521e+01] [-3.87555376e-02 3.77303259e-01 9.25278476e-01 -5.27652621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.395860169 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:7.22, Y:19.13, Z:-52.68 [[ 0.90463176 0.37214133 0.20773111 7.21542888] [ -0.29697348 0.90000581 -0.31905531 19.13486457] [ -0.30569287 0.22693693 0.92468995 -52.68125719] [ 0. 0. 0. 1. ]] SLAMing on 108.425860169 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:7.59, Y:18.65, Z:-52.92 [[ -0.20927056 -0.96137732 0.17877217 7.59275083] [ 0.91766729 -0.25622993 -0.3036988 18.65389733] [ 0.33777592 0.10049815 0.9358459 -52.91890942] [ 0. 0. 0. 1. ]] SLAMing on 108.455860169 meters Centerline goodness : 0.998570 Centerline is valid? [True, True] Translation: X:7.82, Y:18.75, Z:-52.88 [[ -0.73934766 -0.65044909 0.17401439 7.81969841] [ 0.58589388 -0.74884382 -0.3097762 18.75120524] [ 0.33180325 -0.12707834 0.93475007 -52.88064347] [ 0. 0. 0. 1. ]] SLAMing on 108.48586016899999 meters Centerline goodness : 0.998570 Centerline is valid? [True, True] Translation: X:7.81, Y:18.74, Z:-52.88 [[ -0.70731768 -0.68627892 0.16947841 7.80671844] [ 0.62190744 -0.71810566 -0.3123386 18.73918347] [ 0.33605481 -0.11552273 0.9347308 -52.88437239] [ 0. 0. 0. 1. ]] SLAMing on 108.51586016899999 meters Centerline goodness : 0.994736 Centerline is valid? [True, True] Translation: X:7.89, Y:18.87, Z:-52.89 [[ -0.91885015 -0.3578026 0.16640826 7.89444059] [ 0.29263526 -0.90075888 -0.32093308 18.87219802] [ 0.26472441 -0.24619248 0.93236809 -52.88607679] [ 0. 0. 0. 1. ]] SLAMing on 108.545860169 meters Centerline goodness : 0.994736 Centerline is valid? [True, True] Translation: X:7.90, Y:18.87, Z:-52.89 [[ -0.92215844 -0.35268629 0.15885905 7.89541723] [ 0.28852441 -0.90069702 -0.32480539 18.87465639] [ 0.25763828 -0.25368731 0.93234396 -52.88585288] [ 0. 0. 0. 1. ]] SLAMing on 108.575860169 meters Centerline goodness : 0.989689 Centerline is valid? [True, True] Translation: X:7.81, Y:18.76, Z:-52.93 [[ -0.71474429 -0.68326036 0.14931805 7.80969367] [ 0.6153826 -0.71584589 -0.32995291 18.75863599] [ 0.33233246 -0.14394423 0.9321133 -52.93427169] [ 0. 0. 0. 1. ]] SLAMing on 108.605860169 meters Centerline goodness : 0.926494 Centerline is valid? [True, False] Translation: X:7.81, Y:18.61, Z:-51.74 [[-7.71947485e-01 5.92368744e-01 2.30643343e-01 7.81229655e+00] [ 6.07270572e-01 7.94455490e-01 -7.93263417e-03 1.86086301e+01] [-1.87934915e-01 1.33939338e-01 -9.73006023e-01 -5.17374173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.635860169 meters Centerline goodness : 0.926494 Centerline is valid? [False, False] Translation: X:7.86, Y:18.75, Z:-53.25 [[ 0.60822291 0.4685871 0.64069573 7.86366938] [ -0.20735629 0.87292782 -0.44158849 18.7495374 ] [ -0.7662038 0.13573195 0.62809918 -53.25122746] [ 0. 0. 0. 1. ]] SLAMing on 108.665860169 meters Centerline goodness : 0.962189 Centerline is valid? [False, True] Translation: X:7.85, Y:18.74, Z:-53.26 [[ 0.62703029 0.43979294 0.64297371 7.84873489] [ -0.16503921 0.88165113 -0.44210106 18.74367381] [ -0.76131142 0.17109488 0.62540504 -53.25630124] [ 0. 0. 0. 1. ]] SLAMing on 108.695860169 meters Centerline goodness : 0.962189 Centerline is valid? [True, True] SLAMing on 108.725860169 meters Centerline goodness : 0.918716 Centerline is valid? [True, False] Translation: X:7.84, Y:18.74, Z:-53.26 [[ 0.64015261 0.40795849 0.65097965 7.84457382] [ -0.12263047 0.89075347 -0.43763001 18.73962454] [ -0.75839726 0.20032005 0.6202463 -53.2588546 ] [ 0. 0. 0. 1. ]] SLAMing on 108.755860169 meters Centerline goodness : 0.889644 Centerline is valid? [False, False] Translation: X:7.83, Y:18.73, Z:-53.26 [[ 0.65133397 0.38958807 0.65114146 7.83227913] [ -0.09772839 0.89405389 -0.43716907 18.73419402] [ -0.75247141 0.22110806 0.62040148 -53.26303936] [ 0. 0. 0. 1. ]] SLAMing on 108.785860169 meters Centerline goodness : 0.850121 Centerline is valid? [False, False] Translation: X:7.82, Y:18.73, Z:-53.26 [[ 0.66188006 0.37666336 0.64810454 7.82187888] [ -0.0769834 0.89417321 -0.44105309 18.72757031] [ -0.74564626 0.24203096 0.62083224 -53.26344893] [ 0. 0. 0. 1. ]] SLAMing on 108.815860169 meters Centerline goodness : 0.837031 Centerline is valid? [False, False] Translation: X:7.81, Y:18.72, Z:-53.27 [[ 6.70702764e-01 3.50607781e-01 6.53629854e-01 7.81464318e+00] [-4.42290676e-02 8.98564612e-01 -4.36606720e-01 1.87165436e+01] [-7.40406370e-01 2.63923895e-01 6.18176824e-01 -5.32679159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84586016899999 meters Centerline goodness : 0.948464 Centerline is valid? [False, False] Translation: X:7.81, Y:18.72, Z:-53.27 [[ 6.72889707e-01 3.34228455e-01 6.59932407e-01 7.80802711e+00] [-2.09216217e-02 9.00352196e-01 -4.34658727e-01 1.87171107e+01] [-7.39446907e-01 2.78670527e-01 6.12830327e-01 -5.32715603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.87586016899999 meters Centerline goodness : 0.803437 Centerline is valid? [False, False] Translation: X:7.80, Y:18.72, Z:-53.28 [[ 6.71859222e-01 3.30887817e-01 6.62660123e-01 7.80450390e+00] [-1.86913655e-02 9.01955236e-01 -4.31424832e-01 1.87235209e+01] [-7.40442988e-01 2.77470730e-01 6.12171688e-01 -5.32765596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.905860169 meters Centerline goodness : 0.872235 Centerline is valid? [False, False] Translation: X:7.80, Y:18.72, Z:-53.28 [[ 6.76644375e-01 3.08091592e-01 6.68754036e-01 7.80124067e+00] [ 7.63667036e-03 9.05265368e-01 -4.24777935e-01 1.87204773e+01] [-7.36270379e-01 2.92530655e-01 6.10189926e-01 -5.32805323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.935860169 meters Centerline goodness : 0.955232 Centerline is valid? [False, True] Translation: X:7.80, Y:18.72, Z:-53.28 [[ 6.75839142e-01 3.03422652e-01 6.71696471e-01 7.79576135e+00] [ 1.35675636e-02 9.06056035e-01 -4.22940165e-01 1.87226082e+01] [-7.36924267e-01 2.94952802e-01 6.08231427e-01 -5.32834593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.965860169 meters Centerline goodness : 0.955162 Centerline is valid? [True, True] Translation: X:8.35, Y:18.72, Z:-53.78 [[-7.30174711e-01 3.09886447e-01 -6.08946042e-01 8.35321182e+00] [-4.34351680e-02 8.68380669e-01 4.93992308e-01 1.87198694e+01] [ 6.81878492e-01 3.87150364e-01 -6.20609634e-01 -5.37785515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.995860169 meters Centerline goodness : 0.955847 Centerline is valid? [True, True] Translation: X:8.37, Y:18.75, Z:-53.75 [[ -0.76105741 0.2197584 -0.61032603 8.3728329 ] [ -0.14506077 0.8593843 0.49032234 18.74918161] [ 0.63225706 0.46169781 -0.62216247 -53.74537033] [ 0. 0. 0. 1. ]] SLAMing on 109.025860169 meters Centerline goodness : 0.713590 Centerline is valid? [True, False] Translation: X:8.85, Y:18.85, Z:-54.28 [[ 0.54644598 -0.09100631 -0.83253507 8.84567909] [ -0.09603348 0.98071249 -0.17023683 18.85189747] [ 0.83197017 0.17297647 0.52716674 -54.27547179] [ 0. 0. 0. 1. ]] SLAMing on 109.055860169 meters Centerline goodness : 0.635131 Centerline is valid? [False, False] Translation: X:8.82, Y:18.85, Z:-54.27 [[ 0.54997301 -0.10888381 -0.82805435 8.81873329] [ -0.08773775 0.97844686 -0.18693267 18.85164714] [ 0.83056112 0.17545955 0.52856615 -54.27360288] [ 0. 0. 0. 1. ]] SLAMing on 109.085860169 meters Centerline goodness : 0.958117 Centerline is valid? [False, True] Translation: X:8.79, Y:18.85, Z:-54.27 [[ 0.55607739 -0.12377511 -0.82186231 8.78920267] [ -0.08045199 0.9761889 -0.20145152 18.85298087] [ 0.82722754 0.1781431 0.53287862 -54.26742932] [ 0. 0. 0. 1. ]] SLAMing on 109.115860169 meters Centerline goodness : 0.363328 Centerline is valid? [True, False] Translation: X:8.76, Y:18.84, Z:-54.27 [[ 0.55695252 -0.14458955 -0.8178617 8.75965852] [ -0.07612579 0.97169745 -0.22362674 18.84483403] [ 0.82704822 0.18680985 0.53018235 -54.26901763] [ 0. 0. 0. 1. ]] SLAMing on 109.145860169 meters Centerline goodness : 0.958756 Centerline is valid? [False, True] Translation: X:8.73, Y:18.84, Z:-54.27 [[ 0.55645199 -0.15813617 -0.81569242 8.7324614 ] [ -0.07342916 0.96852069 -0.23785675 18.84057963] [ 0.82762874 0.19225147 0.52732346 -54.27186742] [ 0. 0. 0. 1. ]] SLAMing on 109.175860169 meters Centerline goodness : 0.958756 Centerline is valid? [True, True] Translation: X:8.78, Y:19.11, Z:-54.12 [[ 0.5093687 0.29384135 -0.8088268 8.78203894] [ -0.74536459 0.62039242 -0.24401818 19.11023439] [ 0.43008738 0.72716608 0.53502741 -54.12283509] [ 0. 0. 0. 1. ]] SLAMing on 109.205860169 meters Centerline goodness : 0.702278 Centerline is valid? [True, False] Translation: X:8.67, Y:19.06, Z:-54.09 [[ 0.53137318 0.24250029 -0.81168723 8.67377389] [ -0.68860085 0.68173386 -0.24711903 19.06221174] [ 0.49342823 0.69024094 0.52924099 -54.08924446] [ 0. 0. 0. 1. ]] SLAMing on 109.23586016899999 meters Centerline goodness : 0.702278 Centerline is valid? [False, False] Translation: X:8.57, Y:19.02, Z:-54.05 [[ 0.55180467 0.19826928 -0.81006228 8.5739144 ] [ -0.63479445 0.72981397 -0.25378648 19.01950962] [ 0.5408767 0.6542636 0.528575 -54.053746 ] [ 0. 0. 0. 1. ]] SLAMing on 109.26586016899999 meters Centerline goodness : 0.805507 Centerline is valid? [False, False] Translation: X:8.47, Y:18.97, Z:-54.01 [[ 0.56626036 0.15414404 -0.8096844 8.4696066 ] [ -0.57855037 0.7740129 -0.25726155 18.97067469] [ 0.58705084 0.61412022 0.52747291 -54.01323975] [ 0. 0. 0. 1. ]] SLAMing on 109.295860169 meters Centerline goodness : 0.805507 Centerline is valid? [False, False] Translation: X:8.37, Y:18.92, Z:-53.97 [[ 0.57842307 0.1130441 -0.80786619 8.36987926] [ -0.52452732 0.81000999 -0.26221156 18.92357863] [ 0.62473822 0.57541711 0.52782318 -53.9718844 ] [ 0. 0. 0. 1. ]] SLAMing on 109.325860169 meters Centerline goodness : 0.964984 Centerline is valid? [False, True] Translation: X:8.27, Y:18.88, Z:-53.93 [[ 0.58697777 0.07342693 -0.80626645 8.2708944 ] [ -0.47060757 0.84129386 -0.26599464 18.8754939 ] [ 0.65877584 0.53556804 0.52837606 -53.92848272] [ 0. 0. 0. 1. ]] SLAMing on 109.355860169 meters Centerline goodness : 0.821495 Centerline is valid? [True, False] Translation: X:8.18, Y:18.82, Z:-53.89 [[ 5.92118140e-01 3.20917139e-02 -8.05211917e-01 8.17751372e+00] [-4.12689667e-01 8.70310439e-01 -2.68787980e-01 1.88249977e+01] [ 6.92158470e-01 4.91456876e-01 5.28570517e-01 -5.38859876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.385860169 meters Centerline goodness : 0.875884 Centerline is valid? [False, False] Translation: X:8.09, Y:18.77, Z:-53.84 [[ 5.94664132e-01 -6.42443136e-03 -8.03948566e-01 8.08520366e+00] [-3.58429258e-01 8.92974660e-01 -2.72258559e-01 1.87749458e+01] [ 7.19654804e-01 4.50061087e-01 5.28717297e-01 -5.38413240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.415860169 meters Centerline goodness : 0.853756 Centerline is valid? [False, False] Translation: X:8.00, Y:18.73, Z:-53.80 [[ 5.94568004e-01 -4.22026365e-02 -8.02937000e-01 7.99697932e+00] [-3.05435049e-01 9.11908644e-01 -2.74102273e-01 1.87256710e+01] [ 7.43773029e-01 4.08217543e-01 5.29301538e-01 -5.37958801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.445860169 meters Centerline goodness : 0.834323 Centerline is valid? [False, False] Translation: X:7.97, Y:18.72, Z:-53.79 [[ 0.59965873 -0.06831532 -0.79733457 7.96978304] [ -0.28601452 0.91224479 -0.29326634 18.72220302] [ 0.74739889 0.40390899 0.52749638 -53.78716848] [ 0. 0. 0. 1. ]] SLAMing on 109.475860169 meters Centerline goodness : 0.834066 Centerline is valid? [False, False] Translation: X:7.94, Y:18.71, Z:-53.77 [[ 0.60359154 -0.0897168 -0.79222986 7.93914848] [ -0.268327 0.91282744 -0.30780949 18.71370131] [ 0.75078484 0.39836787 0.52690148 -53.77478714] [ 0. 0. 0. 1. ]] SLAMing on 109.505860169 meters Centerline goodness : 0.972809 Centerline is valid? [False, True] Translation: X:7.91, Y:18.71, Z:-53.76 [[ 0.60756088 -0.10986462 -0.78663813 7.90898682] [ -0.25172916 0.91269754 -0.32189382 18.70554299] [ 0.75332743 0.39358984 0.52686319 -53.76212923] [ 0. 0. 0. 1. ]] SLAMing on 109.535860169 meters Centerline goodness : 0.974651 Centerline is valid? [True, True] Translation: X:8.06, Y:18.96, Z:-53.40 [[ 2.08737714e-01 5.52117795e-01 -8.07214041e-01 8.06025816e+00] [-9.63994922e-01 -2.28869255e-02 -2.64933913e-01 1.89606161e+01] [-1.64749376e-01 8.33451936e-01 5.27461386e-01 -5.34022768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.565860169 meters Centerline goodness : 0.976185 Centerline is valid? [True, True] Translation: X:8.34, Y:18.66, Z:-53.17 [[-5.42753791e-01 3.32893725e-01 -7.71103164e-01 8.33605432e+00] [-2.10425203e-01 -9.42713302e-01 -2.58868431e-01 1.86631201e+01] [-8.13104886e-01 2.17577173e-02 5.81710448e-01 -5.31684162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.59586016899999 meters Centerline goodness : 0.977436 Centerline is valid? [True, True] Translation: X:8.30, Y:18.26, Z:-53.43 [[ -0.4662053 -0.4620067 -0.75445505 8.29535097] [ 0.87524524 -0.36506497 -0.31729062 18.26130982] [ -0.12883472 -0.80825576 0.57456439 -53.43109387] [ 0. 0. 0. 1. ]] SLAMing on 109.62586016899999 meters Centerline goodness : 0.841931 Centerline is valid? [True, False] Translation: X:7.67, Y:18.44, Z:-52.99 [[ 0.92488924 0.22398108 0.30726596 7.67340229] [ -0.13081938 0.9462006 -0.29595728 18.44425602] [ -0.35702407 0.23353136 0.90443182 -52.99422373] [ 0. 0. 0. 1. ]] SLAMing on 109.655860169 meters Centerline goodness : 0.980300 Centerline is valid? [False, True] Translation: X:7.67, Y:18.44, Z:-53.00 [[ 0.93008726 0.20287601 0.30623358 7.67195804] [ -0.10951834 0.94888869 -0.29599998 18.43733592] [ -0.35063288 0.24176761 0.90476793 -52.99734551] [ 0. 0. 0. 1. ]] SLAMing on 109.685860169 meters Centerline goodness : 0.980392 Centerline is valid? [True, True] Translation: X:7.65, Y:18.33, Z:-52.99 [[ 9.56459602e-01 -2.05436956e-02 2.91140834e-01 7.65307702e+00] [ 1.07303157e-01 9.52409985e-01 -2.85309047e-01 1.83325918e+01] [-2.71424136e-01 3.04126908e-01 9.13146079e-01 -5.29947501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.715860169 meters Centerline goodness : 0.949011 Centerline is valid? [True, False] Translation: X:7.66, Y:18.34, Z:-52.98 [[ 9.55986043e-01 1.28384452e-02 2.93131131e-01 7.65614939e+00] [ 7.55885417e-02 9.54545015e-01 -2.88323060e-01 1.83436478e+01] [-2.83508479e-01 2.97790176e-01 9.11561272e-01 -5.29790368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.745860169 meters Centerline goodness : 0.959688 Centerline is valid? [False, True] Translation: X:7.65, Y:18.36, Z:-52.98 [[ 9.54401599e-01 4.62929925e-02 2.94914473e-01 7.65383359e+00] [ 4.16391902e-02 9.57602321e-01 -2.85068365e-01 1.83577239e+01] [-2.95607452e-01 2.84349704e-01 9.12009584e-01 -5.29813602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.775860169 meters Centerline goodness : 0.986043 Centerline is valid? [True, True] Translation: X:7.67, Y:18.39, Z:-52.97 [[ 9.44958574e-01 1.30713097e-01 2.99945628e-01 7.66563163e+00] [-4.32363017e-02 9.58579170e-01 -2.81525483e-01 1.83873797e+01] [-3.24320699e-01 2.53061380e-01 9.11469156e-01 -5.29738290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.805860169 meters Centerline goodness : 0.931966 Centerline is valid? [True, False] Translation: X:7.66, Y:18.40, Z:-52.99 [[ 0.94148083 0.15232166 0.30068581 7.65988236] [ -0.06463888 0.95709977 -0.28245681 18.40034974] [ -0.33081061 0.24649168 0.91093699 -52.98775405] [ 0. 0. 0. 1. ]] SLAMing on 109.835860169 meters Centerline goodness : 0.989998 Centerline is valid? [False, True] Translation: X:7.66, Y:18.41, Z:-53.00 [[ 0.94003358 0.15960953 0.3014327 7.65789517] [ -0.07084459 0.95584856 -0.28519219 18.40581978] [ -0.3336434 0.24673536 0.90983721 -52.99594908] [ 0. 0. 0. 1. ]] SLAMing on 109.865860169 meters Centerline goodness : 0.991264 Centerline is valid? [True, True] Translation: X:7.70, Y:18.49, Z:-52.95 [[ 0.85734107 0.411647 0.30905183 7.70174352] [ -0.32847938 0.89977567 -0.28723691 18.48696399] [ -0.39631753 0.14474284 0.90663219 -52.94732805] [ 0. 0. 0. 1. ]] SLAMing on 109.895860169 meters Centerline goodness : 0.991567 Centerline is valid? [True, True] Translation: X:7.71, Y:18.47, Z:-52.92 [[ 0.86311254 0.39764243 0.31131534 7.71060644] [ -0.31284146 0.90492499 -0.28851513 18.47163328] [ -0.39644289 0.15162868 0.90545115 -52.92459918] [ 0. 0. 0. 1. ]] SLAMing on 109.925860169 meters Centerline goodness : 0.991723 Centerline is valid? [True, True] Translation: X:7.71, Y:18.45, Z:-52.90 [[ 0.87869255 0.362445 0.31069765 7.71438129] [ -0.27596707 0.91671408 -0.28892469 18.4485469 ] [ -0.38954022 0.16813365 0.90553271 -52.90176025] [ 0. 0. 0. 1. ]] SLAMing on 109.955860169 meters Centerline goodness : 0.991763 Centerline is valid? [True, True] Translation: X:7.73, Y:18.46, Z:-52.87 [[ 0.85552545 0.41331463 0.31184488 7.73274604] [ -0.32932614 0.89914747 -0.28823276 18.45901182] [ -0.39952535 0.14389179 0.90535885 -52.87330131] [ 0. 0. 0. 1. ]] SLAMing on 109.98586016899999 meters Centerline goodness : 0.992197 Centerline is valid? [True, True] Translation: X:7.73, Y:18.41, Z:-52.86 [[ 0.89712733 0.31464066 0.3101029 7.72678314] [ -0.22612526 0.93008107 -0.2895109 18.41229606] [ -0.37951274 0.18960604 0.90554935 -52.85623418] [ 0. 0. 0. 1. ]] SLAMing on 110.01586016899999 meters Centerline goodness : 0.992260 Centerline is valid? [True, True] Translation: X:7.74, Y:18.40, Z:-52.83 [[ 0.89613115 0.31708506 0.31049318 7.73804538] [ -0.22839839 0.92939406 -0.2899325 18.40314898] [ -0.38050378 0.1889014 0.90528069 -52.82715005] [ 0. 0. 0. 1. ]] SLAMing on 110.045860169 meters Centerline goodness : 0.993015 Centerline is valid? [True, True] Translation: X:7.77, Y:18.45, Z:-52.79 [[ 0.82862295 0.46476475 0.31205406 7.7737105 ] [ -0.38300408 0.87721671 -0.28948008 18.45000973] [ -0.40827917 0.12035186 0.90488869 -52.78925637] [ 0. 0. 0. 1. ]] SLAMing on 110.075860169 meters Centerline goodness : 0.994007 Centerline is valid? [True, True] Translation: X:7.77, Y:18.41, Z:-52.77 [[ 0.86310811 0.396218 0.31313845 7.77087386] [ -0.3096276 0.90501194 -0.29169185 18.41377455] [ -0.3989676 0.1548053 0.90380317 -52.76799387] [ 0. 0. 0. 1. ]] SLAMing on 110.105860169 meters Centerline goodness : 0.994630 Centerline is valid? [True, True] Translation: X:7.77, Y:18.14, Z:-52.82 [[ 0.89835663 -0.31456309 0.30660305 7.76940062] [ 0.40437079 0.86485271 -0.29751312 18.14200239] [ -0.17157983 0.3912542 0.90414629 -52.82179307] [ 0. 0. 0. 1. ]] SLAMing on 110.135860169 meters Centerline goodness : 0.995058 Centerline is valid? [True, True] Translation: X:7.80, Y:18.10, Z:-52.81 [[ 0.85566083 -0.41689295 0.30666729 7.79561301] [ 0.50229729 0.8117037 -0.29805123 18.0966379 ] [ -0.12466751 0.40906891 0.90394725 -52.81119915] [ 0. 0. 0. 1. ]] SLAMing on 110.165860169 meters Centerline goodness : 0.995897 Centerline is valid? [True, True] Translation: X:7.84, Y:18.04, Z:-52.81 [[ 7.70650060e-01 -5.58289853e-01 3.07263609e-01 7.83765312e+00] [ 6.35152315e-01 7.12089624e-01 -2.99182057e-01 1.80381097e+01] [-5.17689211e-02 4.25723863e-01 9.03371004e-01 -5.28091620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.195860169 meters Centerline goodness : 0.996148 Centerline is valid? [True, True] Translation: X:7.87, Y:18.00, Z:-52.80 [[ 7.13497937e-01 -6.29719856e-01 3.07202859e-01 7.86883617e+00] [ 7.00581853e-01 6.47626751e-01 -2.99607507e-01 1.80044288e+01] [-1.02839929e-02 4.28990086e-01 9.03250655e-01 -5.27954588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.225860169 meters Centerline goodness : 0.996375 Centerline is valid? [True, True] Translation: X:8.40, Y:18.51, Z:-52.78 [[-7.17123214e-01 -6.17551701e-01 -3.23054474e-01 8.40086055e+00] [-6.96649818e-01 6.48681062e-01 3.06417870e-01 1.85080033e+01] [ 2.03304422e-02 4.44795208e-01 -8.95401528e-01 -5.27814510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.255860169 meters Centerline goodness : 0.996666 Centerline is valid? [True, True] Translation: X:8.42, Y:18.49, Z:-52.77 [[-7.49035705e-01 -5.78044951e-01 -3.23743027e-01 8.42098666e+00] [-6.61010780e-01 6.85090334e-01 3.06130663e-01 1.84884849e+01] [ 4.48359342e-02 4.43300428e-01 -8.95251065e-01 -5.27678335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.285860169 meters Centerline goodness : 0.996782 Centerline is valid? [True, True] Translation: X:7.35, Y:19.35, Z:-55.31 [[-4.84012022e-01 7.87547119e-01 3.81447111e-01 7.34910715e+00] [-8.74556060e-01 -4.20543343e-01 -2.41443563e-01 1.93527468e+01] [-2.97331391e-02 -4.50458470e-01 8.92302139e-01 -5.53124372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.315860169 meters Centerline goodness : 0.997168 Centerline is valid? [True, True] Translation: X:6.84, Y:18.95, Z:-55.21 [[ 0.92685686 -0.11584433 0.35709446 6.83579281] [ 0.21466947 0.94388868 -0.25098044 18.95434377] [ -0.30798275 0.30928022 0.89971794 -55.20538575] [ 0. 0. 0. 1. ]] SLAMing on 110.34586016899999 meters Centerline goodness : 0.997458 Centerline is valid? [True, True] Translation: X:7.32, Y:19.36, Z:-55.32 [[-4.25969099e-01 7.98462366e-01 4.25450558e-01 7.32479618e+00] [-9.04548525e-01 -3.66237703e-01 -2.18316080e-01 1.93648888e+01] [-1.85011390e-02 -4.77836578e-01 8.78253900e-01 -5.53233284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.37586016899999 meters Centerline goodness : 0.997433 Centerline is valid? [True, True] Translation: X:7.05, Y:19.36, Z:-55.22 [[ 0.32506993 0.83255898 0.44852546 7.04769383] [ -0.89400858 0.42518567 -0.14130043 19.36237991] [ -0.30834754 -0.35505308 0.88252994 -55.22201292] [ 0. 0. 0. 1. ]] SLAMing on 110.405860169 meters Centerline goodness : 0.997453 Centerline is valid? [True, True] Translation: X:6.93, Y:19.23, Z:-55.13 [[ 0.67930509 -0.53956668 -0.49740567 6.93080906] [ -0.56082769 -0.8188451 0.12233159 19.23476522] [ -0.47330424 0.1958584 -0.85884957 -55.13303472] [ 0. 0. 0. 1. ]] SLAMing on 110.435860169 meters Centerline goodness : 0.997705 Centerline is valid? [True, True] Translation: X:5.52, Y:19.61, Z:-57.68 [[ 5.08914830e-01 6.84708716e-01 5.21708415e-01 5.51667203e+00] [-7.84678181e-01 6.18200752e-01 -4.59127732e-02 1.96057774e+01] [-3.53957410e-01 -3.86007518e-01 8.51887520e-01 -5.76812090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.465860169 meters Centerline goodness : 0.997657 Centerline is valid? [True, True] Translation: X:5.77, Y:18.96, Z:-57.82 [[-1.38844486e-01 8.73472865e-01 -4.66655508e-01 5.76831201e+00] [ 9.84436543e-01 1.72999742e-01 3.09157271e-02 1.89583422e+01] [ 1.07735331e-01 -4.55100257e-01 -8.83898667e-01 -5.78219889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.495860169 meters Centerline goodness : 0.997952 Centerline is valid? [True, True] Translation: X:5.44, Y:19.25, Z:-57.60 [[ 8.11312513e-01 3.57411247e-01 -4.62632907e-01 5.43536566e+00] [ 3.75690490e-01 -9.25062433e-01 -5.58224929e-02 1.92543247e+01] [-4.47915909e-01 -1.28517296e-01 -8.84790734e-01 -5.75964668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.525860169 meters Centerline goodness : 0.998150 Centerline is valid? [True, True] Translation: X:5.44, Y:19.33, Z:-57.57 [[ 0.80386115 0.38677976 -0.45189453 5.44024245] [ 0.36865326 -0.92017592 -0.13179932 19.33173524] [ -0.46679977 -0.06064403 -0.88228129 -57.56787169] [ 0. 0. 0. 1. ]] SLAMing on 110.555860169 meters Centerline goodness : 0.998122 Centerline is valid? [True, True] Translation: X:5.45, Y:19.38, Z:-57.54 [[ 7.60144746e-01 4.89020980e-01 -4.27829927e-01 5.44628389e+00] [ 4.45517372e-01 -8.71568000e-01 -2.04654567e-01 1.93781153e+01] [-4.72963251e-01 -3.50385715e-02 -8.80385178e-01 -5.75429547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.585860169 meters Centerline goodness : 0.998494 Centerline is valid? [True, True] Translation: X:4.12, Y:18.77, Z:-60.18 [[ 0.86388969 -0.28792261 0.41327373 4.1241221 ] [ 0.17766141 0.94195715 0.28487391 18.76516995] [ -0.47130778 -0.17267684 0.86489981 -60.17934221] [ 0. 0. 0. 1. ]] SLAMing on 110.615860169 meters Centerline goodness : 0.998677 Centerline is valid? [True, True] Translation: X:4.15, Y:19.05, Z:-60.30 [[ 0.7818089 0.45447723 0.42687854 4.15190205] [ -0.60477093 0.71933939 0.34176449 19.05026384] [ -0.15174637 -0.52535825 0.83724056 -60.3031832 ] [ 0. 0. 0. 1. ]] SLAMing on 110.645860169 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:4.72, Y:18.97, Z:-60.55 [[ -0.76517854 0.48550721 0.42282922 4.72187292] [ -0.37458844 -0.86987394 0.32094054 18.96575358] [ 0.52362706 0.08718988 0.84747426 -60.55217325] [ 0. 0. 0. 1. ]] SLAMing on 110.675860169 meters Centerline goodness : 0.998654 Centerline is valid? [True, True] Translation: X:4.75, Y:18.66, Z:-60.46 [[ -0.85001991 -0.33456045 0.4068605 4.75038102] [ 0.46162161 -0.84516342 0.26945184 18.65533442] [ 0.25371568 0.41685502 0.87284606 -60.4577566 ] [ 0. 0. 0. 1. ]] SLAMing on 110.705860169 meters Centerline goodness : 0.998747 Centerline is valid? [True, True] Translation: X:4.14, Y:18.69, Z:-60.19 [[ 0.7895093 -0.47359421 0.39036342 4.14203386] [ 0.35904288 0.87225117 0.3320634 18.69219942] [ -0.49775825 -0.12200994 0.85869104 -60.18644383] [ 0. 0. 0. 1. ]] SLAMing on 110.73586016899999 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:4.71, Y:19.00, Z:-60.55 [[-7.38250200e-01 5.56713085e-01 3.80863733e-01 4.70618158e+00] [-4.70562079e-01 -8.29609361e-01 3.00532257e-01 1.89973879e+01] [ 4.83278358e-01 4.26479694e-02 8.74427344e-01 -6.05509788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76586016899999 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] SLAMing on 110.795860169 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] SLAMing on 110.825860169 meters Centerline goodness : 0.998610 Centerline is valid? [True, True] Translation: X:4.16, Y:19.07, Z:-60.34 [[ 0.74312798 0.50435421 0.4397586 4.15608833] [ -0.65892216 0.66601374 0.34963878 19.06577881] [ -0.11654348 -0.54959306 0.82726362 -60.33503577] [ 0. 0. 0. 1. ]] SLAMing on 110.855860169 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] SLAMing on 110.885860169 meters Centerline goodness : 0.998751 Centerline is valid? [True, True] Translation: X:4.69, Y:19.00, Z:-60.58 [[-6.89917206e-01 5.85507893e-01 4.25669773e-01 4.68551948e+00] [-4.79994828e-01 -8.10189822e-01 3.36448237e-01 1.89973878e+01] [ 5.41866416e-01 2.78021382e-02 8.40004659e-01 -6.05795352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.915860169 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] SLAMing on 110.945860169 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] SLAMing on 110.975860169 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] SLAMing on 111.005860169 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] SLAMing on 111.035860169 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] SLAMing on 111.065860169 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] SLAMing on 111.09586016899999 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] SLAMing on 111.12586016899999 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] SLAMing on 111.155860169 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:4.69, Y:18.97, Z:-60.59 [[-7.19368603e-01 5.32900017e-01 4.45562998e-01 4.69170714e+00] [-4.21860911e-01 -8.44764859e-01 3.29250217e-01 1.89706107e+01] [ 5.51853409e-01 4.88866560e-02 8.32507003e-01 -6.05855689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.185860169 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] SLAMing on 111.215860169 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] SLAMing on 111.245860169 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] SLAMing on 111.275860169 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] SLAMing on 111.305860169 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] SLAMing on 111.335860169 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] SLAMing on 111.365860169 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:4.64, Y:18.51, Z:-60.38 [[-5.80585132e-01 -7.15407996e-01 3.88731661e-01 4.63826239e+00] [ 8.13639223e-01 -4.92078484e-01 3.09596480e-01 1.85142932e+01] [-3.02013107e-02 4.96034440e-01 8.67777457e-01 -6.03755817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.395860169 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] SLAMing on 111.425860169 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] SLAMing on 111.455860169 meters Centerline goodness : 0.991343 Centerline is valid? [True, True] SLAMing on 111.48586016899999 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] SLAMing on 111.51586016899999 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] SLAMing on 111.545860169 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] SLAMing on 111.575860169 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] SLAMing on 111.605860169 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] SLAMing on 111.635860169 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] SLAMing on 111.665860169 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:4.66, Y:19.04, Z:-60.57 [[ -0.64223884 0.65340555 0.40073741 4.66415602] [ -0.5977339 -0.7542145 0.27179896 19.03632751] [ 0.47983691 -0.06497448 0.87494849 -60.57036349] [ 0. 0. 0. 1. ]] SLAMing on 111.695860169 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:4.67, Y:19.03, Z:-60.57 [[ -0.65385877 0.63353488 0.41364508 4.66686252] [ -0.58466664 -0.77007521 0.2552432 19.03045744] [ 0.48024329 -0.07495147 0.87392715 -60.57349626] [ 0. 0. 0. 1. ]] SLAMing on 111.725860169 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] SLAMing on 111.755860169 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] SLAMing on 111.785860169 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] SLAMing on 111.815860169 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] SLAMing on 111.84586016899999 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:4.12, Y:19.03, Z:-60.32 [[ 0.79624299 0.3919674 0.46082389 4.12427416] [ -0.55934671 0.7671942 0.3139177 19.02548716] [ -0.23049591 -0.5077151 0.83011868 -60.31697897] [ 0. 0. 0. 1. ]] SLAMing on 111.87586016899999 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:4.66, Y:19.01, Z:-60.60 [[ -0.6351194 0.6211851 0.4590778 4.65599153] [ -0.55101783 -0.7808759 0.29429948 19.01321418] [ 0.54129724 -0.06604474 0.8382335 -60.60408821] [ 0. 0. 0. 1. ]] SLAMing on 111.905860169 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] SLAMing on 111.935860169 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] SLAMing on 111.965860169 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:4.59, Y:18.49, Z:-60.35 [[ -0.42168165 0.80139524 -0.42420543 4.59474658] [ 0.90431415 0.33746434 -0.26140724 18.48994815] [ -0.06633631 -0.49384561 -0.86701558 -60.35175211] [ 0. 0. 0. 1. ]] SLAMing on 111.995860169 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:4.12, Y:18.71, Z:-60.16 [[ 7.24696589e-01 5.86606026e-01 -3.61535924e-01 4.12390225e+00] [ 4.91007498e-01 -8.07721968e-01 -3.26338565e-01 1.87137120e+01] [-4.83452677e-01 5.89795952e-02 -8.73381312e-01 -6.01645473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.025860169 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:3.03, Y:17.47, Z:-63.01 [[ 5.47212270e-01 -7.71748447e-01 3.23980039e-01 3.02603078e+00] [ 6.58275855e-01 6.35887192e-01 4.02890033e-01 1.74706929e+01] [-5.16944514e-01 -7.19813214e-03 8.55988642e-01 -6.30136746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.055860169 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:3.41, Y:17.98, Z:-63.39 [[ -0.46378151 0.82151221 0.33169925 3.41087945] [ -0.73462612 -0.56586896 0.37432176 17.97890858] [ 0.49520821 -0.07007142 0.86594389 -63.39254061] [ 0. 0. 0. 1. ]] SLAMing on 112.085860169 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:3.58, Y:17.59, Z:-63.29 [[ -0.92921057 -0.20343845 0.3085134 3.57536751] [ 0.30299306 -0.89735626 0.32085347 17.58973923] [ 0.2115725 0.39161785 0.89547336 -63.28945672] [ 0. 0. 0. 1. ]] SLAMing on 112.115860169 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:3.44, Y:17.97, Z:-63.38 [[-5.40245658e-01 7.86768818e-01 2.98545568e-01 3.43766330e+00] [-7.18012008e-01 -6.15995842e-01 3.24049193e-01 1.79712738e+01] [ 4.38854629e-01 -3.92931328e-02 8.97698537e-01 -6.33759642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.145860169 meters Centerline goodness : 0.998289 Centerline is valid? [True, True] SLAMing on 112.175860169 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:3.00, Y:17.99, Z:-63.24 [[ 6.39092523e-01 6.76617601e-01 3.65717608e-01 2.99680699e+00] [-7.67603847e-01 5.31167699e-01 3.58671452e-01 1.79944420e+01] [ 4.84260366e-02 -5.09950486e-01 8.58839578e-01 -6.32392478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.205860169 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:3.30, Y:17.36, Z:-63.10 [[ -0.21360545 -0.93324487 0.28883683 3.30145268] [ 0.92277934 -0.0956874 0.37325891 17.36027262] [ -0.32070392 0.3462628 0.88161844 -63.10054927] [ 0. 0. 0. 1. ]] SLAMing on 112.23586016899999 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:3.39, Y:17.99, Z:-63.39 [[ -0.41256545 0.86815291 0.27586279 3.38856328] [ -0.78957144 -0.49183371 0.36698303 17.99470958] [ 0.454276 -0.06640886 0.88838234 -63.38986682] [ 0. 0. 0. 1. ]] SLAMing on 112.26586016899999 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] SLAMing on 112.295860169 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:3.59, Y:17.66, Z:-63.31 [[-9.67609238e-01 -3.31632611e-02 2.50264981e-01 3.58757963e+00] [ 1.12837531e-01 -9.43612789e-01 3.11227562e-01 1.76556200e+01] [ 2.25831916e-01 3.29385947e-01 9.16790513e-01 -6.33066583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.325860169 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:3.37, Y:18.02, Z:-63.37 [[ -0.35080144 0.904334 0.24314267 3.36552382] [ -0.85504223 -0.41520496 0.31065677 18.01966642] [ 0.38189152 -0.09891841 0.91889826 -63.3661719 ] [ 0. 0. 0. 1. ]] SLAMing on 112.355860169 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:2.89, Y:17.60, Z:-63.09 [[ 0.88883449 -0.38826954 0.24335162 2.89304635] [ 0.27924729 0.88002824 0.38415004 17.60449168] [ -0.36331005 -0.27349053 0.89062267 -63.09444782] [ 0. 0. 0. 1. ]] SLAMing on 112.385860169 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:2.90, Y:17.87, Z:-63.21 [[ 0.89353008 0.35049054 0.2806428 2.89699361] [ -0.44378102 0.78442595 0.43328321 17.86870287] [ -0.06828183 -0.51169553 0.85644923 -63.21067474] [ 0. 0. 0. 1. ]] SLAMing on 112.415860169 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] SLAMing on 112.445860169 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:2.94, Y:17.93, Z:-63.23 [[ 0.7954052 -0.53566395 -0.28353958 2.93963579] [ -0.59973951 -0.62816058 -0.49570838 17.9319648 ] [ 0.08742472 0.56433892 -0.82090103 -63.23036952] [ 0. 0. 0. 1. ]] SLAMing on 112.475860169 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:2.29, Y:15.75, Z:-65.70 [[ 0.17003094 -0.95921481 0.22582389 2.28906282] [ 0.79594891 0.26878956 0.54241821 15.74502746] [ -0.58099468 0.0875164 0.80918852 -65.69916186] [ 0. 0. 0. 1. ]] SLAMing on 112.505860169 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:2.35, Y:15.74, Z:-65.70 [[ 1.79765607e-02 -9.88603942e-01 1.49462671e-01 2.34592561e+00] [ 8.13508903e-01 1.01369040e-01 5.72649615e-01 1.57373244e+01] [-5.81274554e-01 1.11294943e-01 8.06060375e-01 -6.56981255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.535860169 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:2.32, Y:16.34, Z:-66.11 [[ 1.27638205e-01 9.83862383e-01 1.25392583e-01 2.31782847e+00] [-8.31010093e-01 3.70714063e-02 5.55020663e-01 1.63444361e+01] [ 5.41415472e-01 -1.75044343e-01 8.22331298e-01 -6.61107600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.565860169 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:2.30, Y:16.34, Z:-66.11 [[ 0.17032336 0.97934499 0.10896487 2.30269204] [ -0.82506956 0.08127923 0.55915464 16.34288782] [ 0.53874872 -0.1851407 0.82187149 -66.10954557] [ 0. 0. 0. 1. ]] SLAMing on 112.59586016899999 meters Centerline goodness : 0.996387 Centerline is valid? [True, True] SLAMing on 112.62586016899999 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:2.27, Y:16.34, Z:-66.10 [[ 0.26425055 0.95984081 0.09421923 2.26830617] [ -0.80883542 0.16734212 0.56372146 16.34070042] [ 0.52531602 -0.22517156 0.82057349 -66.09822455] [ 0. 0. 0. 1. ]] SLAMing on 112.655860169 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:2.30, Y:16.38, Z:-66.06 [[ 0.18366962 0.97920119 0.08620037 2.30231805] [ -0.82024843 0.10434505 0.56240965 16.37679322] [ 0.54171762 -0.17400329 0.82235326 -66.06184606] [ 0. 0. 0. 1. ]] SLAMing on 112.685860169 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:2.30, Y:16.38, Z:-66.06 [[ 0.19482005 0.97749805 0.08088703 2.29834163] [ -0.81806477 0.11643866 0.56321582 16.37700605] [ 0.54112399 -0.17589657 0.82234131 -66.06027222] [ 0. 0. 0. 1. ]] SLAMing on 112.715860169 meters Centerline goodness : 0.308151 Centerline is valid? [True, False] Translation: X:2.23, Y:16.38, Z:-66.04 [[ 3.89360217e-01 9.18857288e-01 6.40305121e-02 2.23420695e+00] [-7.81373389e-01 2.92694165e-01 5.51167626e-01 1.63835678e+01] [ 4.87703032e-01 -2.64634485e-01 8.31934097e-01 -6.60438654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.745860169 meters Centerline goodness : 0.999355 Centerline is valid? [False, True] Translation: X:2.17, Y:16.38, Z:-66.02 [[ 5.56464820e-01 8.29336235e-01 5.04808212e-02 2.17433110e+00] [-7.16475141e-01 4.48198051e-01 5.34585709e-01 1.63837786e+01] [ 4.20725893e-01 -3.33646394e-01 8.43605243e-01 -6.60151556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.775860169 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:2.29, Y:16.42, Z:-66.06 [[ 2.40838909e-01 9.69709239e-01 4.07505984e-02 2.28856422e+00] [-8.27715208e-01 1.83284901e-01 5.30371737e-01 1.64207732e+01] [ 5.06837405e-01 -1.61464040e-01 8.46785220e-01 -6.60605943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.805860169 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:2.24, Y:15.83, Z:-65.65 [[ 3.63245074e-01 9.30015328e-01 5.58972774e-02 2.24259971e+00] [ 7.96880243e-01 -2.79039622e-01 -5.35834645e-01 1.58336516e+01] [-4.82736879e-01 2.39182731e-01 -8.42470609e-01 -6.56522949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.835860169 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] SLAMing on 112.865860169 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] SLAMing on 112.895860169 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] SLAMing on 112.925860169 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] SLAMing on 112.955860169 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] SLAMing on 112.98586016899999 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] SLAMing on 113.01586016899999 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:2.31, Y:16.43, Z:-66.05 [[ 1.51463837e-01 -9.86544728e-01 6.15484079e-02 2.30958515e+00] [-7.84936795e-01 -1.57888887e-01 -5.99120461e-01 1.64259063e+01] [ 6.00776941e-01 4.24334739e-02 -7.98289714e-01 -6.60507264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.045860169 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] SLAMing on 113.075860169 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] SLAMing on 113.105860169 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] SLAMing on 113.135860169 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] SLAMing on 113.165860169 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:2.59, Y:16.38, Z:-66.00 [[ -0.5967924 -0.79965938 0.06620956 2.58946556] [ -0.66372572 0.4456032 -0.60075449 16.38401227] [ 0.45089577 -0.4024707 -0.7966871 -66.00019096] [ 0. 0. 0. 1. ]] SLAMing on 113.195860169 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] SLAMing on 113.225860169 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] SLAMing on 113.255860169 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] SLAMing on 113.285860169 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] SLAMing on 113.315860169 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] SLAMing on 113.34586016899999 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] SLAMing on 113.37586016899999 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] SLAMing on 113.405860169 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] SLAMing on 113.435860169 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] SLAMing on 113.465860169 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:2.35, Y:16.43, Z:-66.07 [[ 5.78817699e-02 -9.95622945e-01 7.33801946e-02 2.34683503e+00] [-7.91530731e-01 -9.05612696e-02 -6.04382129e-01 1.64306288e+01] [ 6.08382119e-01 -2.30999717e-02 -7.93308004e-01 -6.60651925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.495860169 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:2.00, Y:16.09, Z:-65.84 [[ 9.93963387e-01 6.57129992e-02 8.78554899e-02 1.99800239e+00] [ 1.07254846e-01 -7.50544376e-01 -6.52057925e-01 1.60906532e+01] [ 2.30907619e-02 6.57544630e-01 -7.53061668e-01 -6.58430086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.525860169 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:2.00, Y:16.11, Z:-65.85 [[ 9.95872459e-01 1.55501200e-02 8.94216881e-02 1.99638919e+00] [ 7.42862358e-02 -7.05715220e-01 -7.04590365e-01 1.61061960e+01] [ 5.21497816e-02 7.08324941e-01 -7.03957512e-01 -6.58506930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.555860169 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:2.75, Y:16.14, Z:-65.79 [[-9.94955698e-01 6.95964032e-02 7.22461036e-02 2.74605464e+00] [ 5.66889761e-03 7.58047527e-01 -6.52174678e-01 1.61410077e+01] [-1.00154992e-01 -6.48475356e-01 -7.54618241e-01 -6.57944662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.585860169 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:2.74, Y:16.20, Z:-65.84 [[-9.90430952e-01 -1.20253945e-01 6.77164559e-02 2.74310784e+00] [-1.36813613e-01 7.91088483e-01 -5.96205541e-01 1.61976167e+01] [ 1.81263599e-02 -5.99764954e-01 -7.99970896e-01 -6.58354588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.615860169 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:2.74, Y:16.20, Z:-65.83 [[-9.90067030e-01 -1.26457721e-01 6.14468957e-02 2.74337751e+00] [-1.39557083e-01 8.30888026e-01 -5.38654721e-01 1.61990618e+01] [ 1.70615587e-02 -5.41879629e-01 -8.40282911e-01 -6.58329444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.645860169 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] SLAMing on 113.675860169 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:2.00, Y:16.08, Z:-65.82 [[ 9.88896691e-01 1.24382402e-01 8.13163752e-02 1.99876700e+00] [ 1.48321844e-01 -7.92392260e-01 -5.91705279e-01 1.60826205e+01] [-9.16325758e-03 5.97196387e-01 -8.02042711e-01 -6.58188534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.705860169 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] SLAMing on 113.73586016899999 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:2.30, Y:16.44, Z:-66.05 [[ 1.83787995e-01 -9.80389689e-01 7.11198267e-02 2.29685449e+00] [-7.78669488e-01 -1.89365794e-01 -5.98175914e-01 1.64365125e+01] [ 5.99913161e-01 5.45587130e-02 -7.98202698e-01 -6.60505026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76586016899999 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:2.00, Y:16.06, Z:-65.79 [[ 0.97347799 0.21347316 0.08227891 2.00463761] [ 0.21516746 -0.73208659 -0.64633752 16.05913924] [ -0.07774043 0.64689909 -0.75860266 -65.79310395] [ 0. 0. 0. 1. ]] SLAMing on 113.795860169 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:2.01, Y:16.05, Z:-65.77 [[ 0.95962196 0.26790035 0.08576183 2.00977903] [ 0.24958182 -0.670273 -0.69888699 16.04892343] [ -0.12974823 0.69207189 -0.71007175 -65.77035405] [ 0. 0. 0. 1. ]] SLAMing on 113.825860169 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:2.73, Y:16.24, Z:-65.86 [[ -0.96623397 -0.23532686 0.10494372 2.72958803] [ -0.23334154 0.6264077 -0.74375071 16.24125532] [ 0.10928696 -0.74312493 -0.66016793 -65.86480714] [ 0. 0. 0. 1. ]] SLAMing on 113.855860169 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:2.30, Y:16.39, Z:-66.10 [[ 0.18506759 -0.98007425 0.07214192 2.29524997] [ -0.63553809 -0.17535453 -0.75189236 16.39110767] [ 0.74956076 0.09330197 -0.65532695 -66.10252541] [ 0. 0. 0. 1. ]] SLAMing on 113.885860169 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:2.73, Y:16.11, Z:-65.73 [[ -0.96146094 0.26350546 0.07847128 2.7343364 ] [ 0.13514908 0.70150226 -0.69973517 16.10559392] [ -0.23943182 -0.66216271 -0.71007954 -65.72845302] [ 0. 0. 0. 1. ]] SLAMing on 113.915860169 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] SLAMing on 113.945860169 meters Centerline goodness : 0.998451 Centerline is valid? [True, True] SLAMing on 113.975860169 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:2.00, Y:16.08, Z:-65.78 [[ 0.97435041 0.20191309 0.09935991 2.00058693] [ 0.20685085 -0.62970468 -0.74878885 16.07753396] [ -0.08862288 0.7501354 -0.6553189 -65.77603708] [ 0. 0. 0. 1. ]] SLAMing on 114.005860169 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] SLAMing on 114.035860169 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:2.74, Y:16.15, Z:-65.75 [[-9.87270369e-01 1.30381735e-01 9.10923799e-02 2.74250090e+00] [ 3.05346224e-02 7.17442981e-01 -6.95947703e-01 1.61532816e+01] [-1.56092457e-01 -6.84307074e-01 -7.12291354e-01 -6.57519064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.065860169 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:2.67, Y:16.35, Z:-65.93 [[ -0.80283098 -0.5910898 0.07794402 2.66999897] [ -0.49507331 0.58808106 -0.6395804 16.35413038] [ 0.33221205 -0.55206296 -0.76476247 -65.9320386 ] [ 0. 0. 0. 1. ]] SLAMing on 114.09586016899999 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] SLAMing on 114.12586016899999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] SLAMing on 114.155860169 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] SLAMing on 114.185860169 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] SLAMing on 114.215860169 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:1.87, Y:15.99, Z:-66.10 [[ 9.69530530e-01 -1.85081029e-01 1.60485399e-01 1.87012012e+00] [-4.51953871e-02 -7.79017216e-01 -6.25371532e-01 1.59860239e+01] [ 2.40765295e-01 5.99063594e-01 -7.63645784e-01 -6.61020953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.245860169 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] SLAMing on 114.275860169 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] SLAMing on 114.305860169 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:1.89, Y:15.82, Z:-66.00 [[ 9.11017709e-01 3.27279310e-01 2.50868465e-01 1.89194405e+00] [ 4.11673737e-01 -6.86554793e-01 -5.99305640e-01 1.58155088e+01] [-2.39053897e-02 6.49254010e-01 -7.60195872e-01 -6.59990332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.335860169 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] SLAMing on 114.365860169 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] SLAMing on 114.395860169 meters Centerline goodness : 0.707177 Centerline is valid? [True, False] Translation: X:2.07, Y:14.55, Z:-67.43 [[ 0.94086232 -0.32835268 0.08344222 2.07095889] [ 0.17663123 0.68559041 0.70623452 14.55353363] [ -0.28910118 -0.64973095 0.70304352 -67.43145701] [ 0. 0. 0. 1. ]] SLAMing on 114.425860169 meters Centerline goodness : 0.999262 Centerline is valid? [False, True] Translation: X:2.07, Y:14.58, Z:-67.39 [[ 0.93479856 -0.34445981 0.08659733 2.0744882 ] [ 0.18651959 0.68357769 0.70564296 14.5848779 ] [ -0.30226165 -0.64348192 0.70325594 -67.39290871] [ 0. 0. 0. 1. ]] SLAMing on 114.455860169 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] SLAMing on 114.48586016899999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] SLAMing on 114.51586016899999 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] SLAMing on 114.545860169 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] SLAMing on 114.575860169 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] SLAMing on 114.605860169 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] SLAMing on 114.635860169 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] SLAMing on 114.665860169 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] SLAMing on 114.695860169 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] SLAMing on 114.725860169 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] SLAMing on 114.755860169 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] SLAMing on 114.785860169 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] SLAMing on 114.815860169 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] SLAMing on 114.84586016899999 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] SLAMing on 114.87586016899999 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] SLAMing on 114.905860169 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] SLAMing on 114.935860169 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] SLAMing on 114.965860169 meters Centerline goodness : 0.431280 Centerline is valid? [True, False] Translation: X:2.08, Y:14.61, Z:-67.36 [[ 0.93178928 -0.35008384 0.09596898 2.08334198] [ 0.18370254 0.68279475 0.70713839 14.61360532] [ -0.31308483 -0.64127423 0.70053212 -67.36269993] [ 0. 0. 0. 1. ]] SLAMing on 114.995860169 meters Centerline goodness : 0.999253 Centerline is valid? [False, True] Translation: X:2.09, Y:14.64, Z:-67.32 [[ 0.92630351 -0.36366766 0.09852738 2.08637867] [ 0.19187462 0.68035803 0.70731682 14.64423353] [ -0.32426214 -0.63628515 0.69999663 -67.32434438] [ 0. 0. 0. 1. ]] SLAMing on 115.025860169 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:2.06, Y:14.72, Z:-67.39 [[ 9.86727770e-01 -9.36770935e-02 1.32638271e-01 2.06457330e+00] [-3.76169948e-02 6.62737283e-01 7.47906582e-01 1.47245834e+01] [-1.57966042e-01 -7.42969647e-01 6.50417430e-01 -6.73897025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.055860169 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:2.16, Y:14.90, Z:-67.61 [[ 0.73109968 0.65658887 0.18543006 2.15883731] [ -0.52170359 0.3628505 0.77211714 14.90024305] [ 0.43968014 -0.66123413 0.60782465 -67.6122268 ] [ 0. 0. 0. 1. ]] SLAMing on 115.085860169 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:2.80, Y:14.64, Z:-67.42 [[-9.69433508e-01 1.68967016e-01 -1.77901153e-01 2.79867693e+00] [ 2.45071349e-01 6.32041170e-01 -7.35162562e-01 1.46429027e+01] [-1.17773709e-02 -7.56289698e-01 -6.54130864e-01 -6.74211648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.115860169 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:2.30, Y:14.53, Z:-67.13 [[ 1.48100029e-01 9.85034710e-01 -8.81646253e-02 2.29618049e+00] [ 6.45741842e-01 -1.63836906e-01 -7.45771373e-01 1.45267808e+01] [-7.49055308e-01 5.35171747e-02 -6.60342379e-01 -6.71266157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.145860169 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:2.26, Y:14.55, Z:-67.11 [[ 2.07889866e-02 9.99725102e-01 -1.08415170e-02 2.26130233e+00] [ 6.57820061e-01 -2.18435433e-02 -7.52858305e-01 1.45506985e+01] [-7.52888163e-01 8.51939384e-03 -6.58093333e-01 -6.71095874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.175860169 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:2.20, Y:14.57, Z:-67.09 [[-3.82475175e-02 9.97028985e-01 6.68605241e-02 2.19754400e+00] [ 6.55081134e-01 7.55435709e-02 -7.51772490e-01 1.45699918e+01] [-7.54589846e-01 1.50456365e-02 -6.56024233e-01 -6.70940653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20586016899999 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:2.55, Y:14.87, Z:-67.41 [[-9.87205331e-01 -1.51742833e-01 4.89872167e-02 2.55063444e+00] [-1.41130375e-01 6.88515228e-01 -7.11357153e-01 1.48728795e+01] [ 7.42149052e-02 -7.09169157e-01 -7.01121426e-01 -6.74075101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.23586016899999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:2.55, Y:14.87, Z:-67.41 [[-9.86875055e-01 -1.55260286e-01 4.44057255e-02 2.55079300e+00] [-1.45432619e-01 7.34982722e-01 -6.62306388e-01 1.48730235e+01] [ 7.01924385e-02 -6.60071694e-01 -7.47916025e-01 -6.74064281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26586016899999 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:2.55, Y:14.88, Z:-67.41 [[-9.85663757e-01 -1.62940980e-01 4.37857984e-02 2.55145930e+00] [-1.55494620e-01 7.76544866e-01 -6.10573087e-01 1.48752329e+01] [ 6.54857400e-02 -6.08628219e-01 -7.90748575e-01 -6.74061047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.295860169 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:1.81, Y:14.75, Z:-67.36 [[ 9.84583187e-01 1.60382001e-01 6.98108916e-02 1.80735047e+00] [ 1.66119328e-01 -7.32381506e-01 -6.60319392e-01 1.47467382e+01] [-5.47751397e-02 6.61736310e-01 -7.47733067e-01 -6.73567023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.325860169 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:1.81, Y:14.75, Z:-67.36 [[ 9.85545841e-01 1.53626061e-01 7.14032853e-02 1.80686298e+00] [ 1.58580050e-01 -6.88324517e-01 -7.07857138e-01 1.47484120e+01] [-5.95966717e-02 7.08948795e-01 -7.02737393e-01 -6.73568614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.355860169 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:2.55, Y:14.87, Z:-67.41 [[-9.86597356e-01 -1.57709000e-01 4.18751451e-02 2.55291755e+00] [-1.45582811e-01 7.34851770e-01 -6.62418690e-01 1.48679108e+01] [ 7.36973650e-02 -6.59636830e-01 -7.47962533e-01 -6.74132968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.385860169 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:2.55, Y:14.87, Z:-67.41 [[-9.85548081e-01 -1.64502906e-01 4.04199619e-02 2.55218966e+00] [-1.54741222e-01 7.77198980e-01 -6.09931881e-01 1.48693814e+01] [ 6.89212136e-02 -6.07371830e-01 -7.91422344e-01 -6.74122245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.415860169 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:2.09, Y:15.09, Z:-67.62 [[ 2.32475125e-01 -9.70788658e-01 5.93691584e-02 2.08846740e+00] [-7.54176003e-01 -2.18474253e-01 -6.19263722e-01 1.50923189e+01] [ 6.14144830e-01 9.91886166e-02 -7.82935340e-01 -6.76181780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.445860169 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:1.81, Y:14.74, Z:-67.36 [[ 9.82211354e-01 1.71316848e-01 7.68855912e-02 1.80732525e+00] [ 1.79017079e-01 -7.30681445e-01 -6.58830411e-01 1.47369360e+01] [-5.66898743e-02 6.60874544e-01 -7.48352253e-01 -6.73634163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.475860169 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:2.09, Y:15.08, Z:-67.64 [[ 0.21342615 -0.97446114 0.0698195 2.09498558] [ -0.71416819 -0.20438401 -0.66947066 15.07581606] [ 0.66664313 0.09301968 -0.73955005 -67.64095792] [ 0. 0. 0. 1. ]] SLAMing on 115.505860169 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:2.11, Y:15.08, Z:-67.64 [[ 0.18521041 -0.98002854 0.07239595 2.10548762] [ -0.71998925 -0.18546785 -0.66874297 15.07869193] [ 0.66881431 0.07173385 -0.73996059 -67.64258894] [ 0. 0. 0. 1. ]] SLAMing on 115.535860169 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:2.55, Y:14.88, Z:-67.42 [[-9.77188681e-01 -2.05802614e-01 5.24172194e-02 2.55055789e+00] [-1.94651080e-01 7.69230518e-01 -6.08601156e-01 1.48816428e+01] [ 8.49307842e-02 -6.04921230e-01 -7.91743057e-01 -6.74223323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.565860169 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:2.12, Y:15.10, Z:-67.62 [[ 1.55797665e-01 -9.85114208e-01 7.26435404e-02 2.11727817e+00] [-7.69769914e-01 -1.67168336e-01 -6.16043039e-01 1.50968039e+01] [ 6.19016451e-01 4.00592553e-02 -7.84355716e-01 -6.76243697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.59586016899999 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:2.12, Y:15.10, Z:-67.62 [[ 1.51952599e-01 -9.85510848e-01 7.53576544e-02 2.11857565e+00] [-7.70608661e-01 -1.65870257e-01 -6.15344903e-01 1.50971641e+01] [ 6.18928670e-01 3.54319963e-02 -7.84647612e-01 -6.76249477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62586016899999 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:1.80, Y:14.74, Z:-67.38 [[ 9.87675772e-01 1.27247270e-01 9.11301371e-02 1.80249691e+00] [ 1.55613827e-01 -7.36022728e-01 -6.58828416e-01 1.47431336e+01] [-1.67602650e-02 6.64889973e-01 -7.46753250e-01 -6.73809713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.655860169 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:2.12, Y:15.08, Z:-67.64 [[ 1.41800425e-01 -9.88217785e-01 5.76042353e-02 2.12246471e+00] [-7.27438638e-01 -1.43494291e-01 -6.71001056e-01 1.50839718e+01] [ 6.71361056e-01 5.32446884e-02 -7.39215351e-01 -6.76436491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.685860169 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:1.80, Y:14.77, Z:-67.39 [[ 9.96114777e-01 5.58579233e-02 6.80826201e-02 1.79911967e+00] [ 8.77227934e-02 -6.97404266e-01 -7.11288972e-01 1.47704422e+01] [ 7.74998480e-03 7.14497853e-01 -6.99594708e-01 -6.73899249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.715860169 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:2.13, Y:15.07, Z:-67.67 [[ 1.17130282e-01 -9.91102280e-01 6.32200000e-02 2.13229808e+00] [-6.83491659e-01 -1.26632561e-01 -7.18890358e-01 1.50659483e+01] [ 7.20499583e-01 4.09934879e-02 -6.92242649e-01 -6.76655223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.745860169 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:2.56, Y:14.81, Z:-67.37 [[-9.98388732e-01 2.43063515e-02 5.12751450e-02 2.56066564e+00] [-1.58018868e-02 7.48779090e-01 -6.62631251e-01 1.48111607e+01] [-5.44999045e-02 -6.62373819e-01 -7.47188520e-01 -6.73716447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.775860169 meters Centerline goodness : 0.499392 Centerline is valid? [True, False] Translation: X:2.25, Y:13.77, Z:-68.59 [[ 5.73930892e-01 -9.40693156e-03 8.18849706e-01 2.24888813e+00] [-5.39377144e-01 7.48050735e-01 3.86642463e-01 1.37730900e+01] [-6.16178244e-01 -6.63574869e-01 4.24255542e-01 -6.85853952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.805860169 meters Centerline goodness : 0.451099 Centerline is valid? [False, False] Translation: X:2.24, Y:13.74, Z:-68.57 [[ 5.72471288e-01 -6.03750652e-02 8.17698890e-01 2.24263509e+00] [-4.63917877e-01 7.98449513e-01 3.83742855e-01 1.37417560e+01] [-6.76059781e-01 -5.99026900e-01 4.29080349e-01 -6.85687333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.835860169 meters Centerline goodness : 0.451099 Centerline is valid? [False, False] Translation: X:2.24, Y:13.71, Z:-68.56 [[ 0.56537601 -0.10749206 0.81779914 2.23583852] [ -0.39110935 0.83798967 0.38053486 13.71102594] [ -0.72621171 -0.53499417 0.43173811 -68.55604315] [ 0. 0. 0. 1. ]] SLAMing on 115.865860169 meters Centerline goodness : 0.701646 Centerline is valid? [False, False] Translation: X:2.23, Y:13.68, Z:-68.55 [[ 0.55740981 -0.1480044 0.8169388 2.2292831 ] [ -0.32500911 0.86655415 0.37875187 13.68141571] [ -0.76397865 -0.47663256 0.43492301 -68.54888111] [ 0. 0. 0. 1. ]] SLAMing on 115.895860169 meters Centerline goodness : 0.639874 Centerline is valid? [False, False] Translation: X:2.22, Y:13.65, Z:-68.54 [[ 0.54443931 -0.18926461 0.81716874 2.22404898] [ -0.25469384 0.8909146 0.37603488 13.65049342] [ -0.79919765 -0.41285602 0.4368444 -68.54175034] [ 0. 0. 0. 1. ]] SLAMing on 115.925860169 meters Centerline goodness : 0.999059 Centerline is valid? [False, True] Translation: X:2.22, Y:13.62, Z:-68.54 [[ 0.53166147 -0.22314522 0.81703261 2.2194525 ] [ -0.1934894 0.90715728 0.37366767 13.6236201 ] [ -0.82455923 -0.35675185 0.43912434 -68.53891211] [ 0. 0. 0. 1. ]] SLAMing on 115.95586016899999 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:2.26, Y:13.89, Z:-68.85 [[ 4.14361931e-01 3.40501509e-01 8.44015943e-01 2.26055914e+00] [-9.09973779e-01 1.71174996e-01 3.77686169e-01 1.38939327e+01] [-1.58717150e-02 -9.24531148e-01 3.80775847e-01 -6.88521201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98586016899999 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:2.27, Y:13.90, Z:-68.89 [[ 3.84996160e-01 3.13413562e-01 8.68072518e-01 2.26538770e+00] [-9.20507869e-01 6.24666686e-02 3.85698299e-01 1.38958986e+01] [ 6.66574797e-02 -9.47559948e-01 3.12549078e-01 -6.88858823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.01586016899999 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:2.57, Y:13.19, Z:-68.86 [[-4.22656359e-01 -3.46091687e-01 8.37605006e-01 2.56817063e+00] [ 9.06289788e-01 -1.60739532e-01 3.90898482e-01 1.31927001e+01] [-6.50478330e-04 9.24328592e-01 3.81596947e-01 -6.88562307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.045860169 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:2.54, Y:13.60, Z:-69.21 [[-3.54990043e-01 3.91572622e-01 8.48912806e-01 2.54239190e+00] [-1.61427669e-01 -9.20089082e-01 3.56899409e-01 1.35986962e+01] [ 9.20827441e-01 -1.03422788e-02 3.89833118e-01 -6.92139880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.075860169 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:2.53, Y:13.18, Z:-68.81 [[-3.43647677e-01 -4.63326050e-01 8.16844689e-01 2.53078642e+00] [ 9.30436163e-01 -5.01120961e-02 3.63011465e-01 1.31809715e+01] [-1.27258869e-01 8.84769885e-01 4.48316218e-01 -6.88118389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.105860169 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:2.57, Y:13.20, Z:-68.91 [[ -0.46037365 -0.40876896 0.78801272 2.57191985] [ 0.87832846 -0.33855864 0.33751616 13.19886429] [ 0.12882238 0.84751755 0.51489689 -68.91288691] [ 0. 0. 0. 1. ]] SLAMing on 116.135860169 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:2.59, Y:13.60, Z:-69.19 [[-4.94611773e-01 3.45151002e-01 7.97640257e-01 2.58558061e+00] [-1.65582623e-01 -9.38375002e-01 3.03372298e-01 1.35961808e+01] [ 8.53194930e-01 1.79761447e-02 5.21282332e-01 -6.91943380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.165860169 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:2.57, Y:13.20, Z:-68.88 [[ -0.39027389 0.50124286 -0.77229651 2.57391328] [ 0.91758284 0.2807049 -0.28150755 13.19618854] [ 0.07568377 -0.81851106 -0.56948363 -68.88068811] [ 0. 0. 0. 1. ]] SLAMing on 116.195860169 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:2.21, Y:13.54, Z:-68.52 [[ 5.21537916e-01 4.35174579e-01 -7.33908229e-01 2.21162403e+00] [ 2.43516916e-01 -9.00296562e-01 -3.60784717e-01 1.35362267e+01] [-8.17739393e-01 9.44384122e-03 -5.75511164e-01 -6.85229151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.225860169 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:2.20, Y:13.61, Z:-68.51 [[ 4.89561744e-01 5.23429830e-01 -6.97388351e-01 2.19890303e+00] [ 2.99112307e-01 -8.52067101e-01 -4.29550328e-01 1.36066664e+01] [-8.19061125e-01 1.69396898e-03 -5.73703760e-01 -6.85102668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.255860169 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:2.59, Y:13.84, Z:-69.13 [[-4.99924566e-01 -5.02044444e-01 -7.05710142e-01 2.59271153e+00] [-2.54309009e-01 8.64017326e-01 -4.34512358e-01 1.38351689e+01] [ 8.27890304e-01 -3.77549554e-02 -5.59617912e-01 -6.91271335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.285860169 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:2.60, Y:13.86, Z:-69.11 [[-4.84163341e-01 -5.18083212e-01 -7.05106832e-01 2.60333508e+00] [-2.82153897e-01 8.55252920e-01 -4.34662653e-01 1.38573670e+01] [ 8.28236100e-01 -1.14990815e-02 -5.60261308e-01 -6.91130751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.315860169 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:2.63, Y:13.85, Z:-69.10 [[-5.15252327e-01 -4.88147422e-01 -7.04433911e-01 2.63237396e+00] [-2.30329970e-01 8.70571800e-01 -4.34802076e-01 1.38487647e+01] [ 8.25507810e-01 -6.17805392e-02 -5.60999127e-01 -6.90989422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34586016899999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:2.67, Y:13.82, Z:-69.08 [[ -0.56656693 -0.42775237 -0.70429385 2.66988286] [ -0.13142977 0.89067741 -0.43522403 13.82161662] [ 0.81346673 -0.15401837 -0.56084777 -69.07990213] [ 0. 0. 0. 1. ]] SLAMing on 116.37586016899999 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:2.69, Y:13.83, Z:-69.06 [[ -0.57514484 -0.41768938 -0.7033804 2.69012881] [ -0.11619201 0.89281731 -0.4351743 13.82700281] [ 0.80975788 -0.16856107 -0.56203144 -69.064303 ] [ 0. 0. 0. 1. ]] SLAMing on 116.405860169 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:2.71, Y:13.84, Z:-69.05 [[ -0.57143545 -0.42358591 -0.7028773 2.70581177] [ -0.12530618 0.89148516 -0.43537636 13.84230275] [ 0.81102398 -0.16071461 -0.56250415 -69.05086139] [ 0. 0. 0. 1. ]] SLAMing on 116.435860169 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:2.74, Y:13.82, Z:-69.03 [[-6.13898095e-01 -3.60524510e-01 -7.02247255e-01 2.73989335e+00] [-3.01776265e-02 8.99681090e-01 -4.35503441e-01 1.38173249e+01] [ 7.88808240e-01 -2.46162578e-01 -5.63192281e-01 -6.90280094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.465860169 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:2.72, Y:13.90, Z:-69.03 [[ -0.52296512 -0.48302641 -0.70227699 2.72181367] [ -0.22032474 0.87253111 -0.43605787 13.90141631] [ 0.82338599 -0.07331406 -0.562726 -69.02602121] [ 0. 0. 0. 1. ]] SLAMing on 116.495860169 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:2.73, Y:13.93, Z:-69.01 [[-4.99648986e-01 -5.07796688e-01 -7.01778751e-01 2.72996566e+00] [-2.62090367e-01 8.60803807e-01 -4.36263047e-01 1.39290882e+01] [ 8.25626750e-01 -3.40489389e-02 -5.63188369e-01 -6.90127044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.525860169 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:2.72, Y:13.98, Z:-69.00 [[ -0.43068936 -0.56771047 -0.70157786 2.71972904] [ -0.36969322 0.82013587 -0.43669677 13.98178631] [ 0.8233065 0.07128792 -0.56310251 -68.99759311] [ 0. 0. 0. 1. ]] SLAMing on 116.555860169 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:2.76, Y:13.96, Z:-68.99 [[-4.79948738e-01 -5.26977789e-01 -7.01386925e-01 2.75533346e+00] [-2.94317503e-01 8.49872351e-01 -4.37143219e-01 1.39644325e+01] [ 8.26454122e-01 -3.37588764e-03 -5.62993950e-01 -6.89855289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.585860169 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:2.79, Y:13.95, Z:-68.97 [[ -0.52248332 -0.48475817 -0.70144187 2.78819482] [ -0.22097859 0.87153828 -0.43770937 13.94751241] [ 0.82351663 -0.07369221 -0.56248539 -68.97077993] [ 0. 0. 0. 1. ]] SLAMing on 116.615860169 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:2.77, Y:14.01, Z:-68.96 [[-4.37250628e-01 -5.63126271e-01 -7.01213727e-01 2.77264242e+00] [-3.58900609e-01 8.24181431e-01 -4.38081411e-01 1.40118945e+01] [ 8.24622484e-01 6.01146616e-02 -5.62480210e-01 -6.89561457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.645860169 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:2.87, Y:13.86, Z:-68.92 [[-6.47985315e-01 -2.96588639e-01 -7.01534184e-01 2.87083979e+00] [ 6.48970928e-02 8.96218992e-01 -4.38839248e-01 1.38625261e+01] [ 7.58882995e-01 -3.29888917e-01 -5.61489005e-01 -6.89180710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.675860169 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:2.86, Y:13.58, Z:-68.64 [[-5.65337697e-01 4.36134054e-01 -7.00128827e-01 2.85805108e+00] [ 8.22492281e-01 3.62316530e-01 -4.38444045e-01 1.35808919e+01] [ 6.24478687e-02 -8.23719502e-01 -5.63548086e-01 -6.86404509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70586016899999 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] SLAMing on 116.73586016899999 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] SLAMing on 116.76586016899999 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] SLAMing on 116.795860169 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] SLAMing on 116.825860169 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] SLAMing on 116.855860169 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] SLAMing on 116.885860169 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] SLAMing on 116.915860169 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] SLAMing on 116.945860169 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] SLAMing on 116.975860169 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] SLAMing on 117.005860169 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] SLAMing on 117.035860169 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] SLAMing on 117.065860169 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] SLAMing on 117.09586016899999 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] SLAMing on 117.12586016899999 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] SLAMing on 117.155860169 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] SLAMing on 117.185860169 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] SLAMing on 117.215860169 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] SLAMing on 117.245860169 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] SLAMing on 117.275860169 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] SLAMing on 117.305860169 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] SLAMing on 117.335860169 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] SLAMing on 117.365860169 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] SLAMing on 117.395860169 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] SLAMing on 117.425860169 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] SLAMing on 117.45586016899999 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] SLAMing on 117.48586016899999 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] SLAMing on 117.51586016899999 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] SLAMing on 117.545860169 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] SLAMing on 117.575860169 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] SLAMing on 117.605860169 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] SLAMing on 117.635860169 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] SLAMing on 117.665860169 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] SLAMing on 117.695860169 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] SLAMing on 117.725860169 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] SLAMing on 117.755860169 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] SLAMing on 117.785860169 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] SLAMing on 117.815860169 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] SLAMing on 117.84586016899999 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] SLAMing on 117.87586016899999 meters Centerline goodness : 0.661410 Centerline is valid? [True, False] Translation: X:2.93, Y:13.40, Z:-69.80 [[ 7.61966569e-01 1.46639172e-01 -6.30796244e-01 2.92543117e+00] [-1.94510624e-02 9.78770180e-01 2.04035757e-01 1.33963351e+01] [ 6.47324188e-01 -1.43198769e-01 7.48642444e-01 -6.98049376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.905860169 meters Centerline goodness : 0.999202 Centerline is valid? [False, True] Translation: X:2.90, Y:13.39, Z:-69.78 [[ 7.66990692e-01 1.26160869e-01 -6.29133303e-01 2.89918736e+00] [ 5.97965578e-03 9.79032462e-01 2.03616508e-01 1.33947183e+01] [ 6.41630362e-01 -1.59933967e-01 7.50154387e-01 -6.97754563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.935860169 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] SLAMing on 117.965860169 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] SLAMing on 117.995860169 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] SLAMing on 118.025860169 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] SLAMing on 118.055860169 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] SLAMing on 118.085860169 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] SLAMing on 118.115860169 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] SLAMing on 118.145860169 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] SLAMing on 118.175860169 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] SLAMing on 118.20586016899999 meters Centerline goodness : 0.709631 Centerline is valid? [True, False] Translation: X:2.87, Y:13.39, Z:-69.74 [[ 7.72688481e-01 1.08719961e-01 -6.25405854e-01 2.86899525e+00] [ 2.75011462e-02 9.78565647e-01 2.04090571e-01 1.33932368e+01] [ 6.34189403e-01 -1.74897811e-01 7.53136480e-01 -6.97437657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.23586016899999 meters Centerline goodness : 0.999131 Centerline is valid? [False, True] Translation: X:2.85, Y:13.41, Z:-69.72 [[ 7.69193700e-01 1.36413510e-01 -6.24285516e-01 2.84516220e+00] [-6.34628098e-03 9.78531229e-01 2.06000871e-01 1.34146152e+01] [ 6.38984175e-01 -1.54492681e-01 7.53545775e-01 -6.97185794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26586016899999 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] SLAMing on 118.295860169 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] SLAMing on 118.325860169 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] SLAMing on 118.355860169 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:2.97, Y:13.17, Z:-69.64 [[ 0.64423077 -0.36513607 -0.67204343 2.96959226] [ 0.62950907 0.75218315 0.19477896 13.17362183] [ 0.43437892 -0.54854003 0.714436 -69.63897851] [ 0. 0. 0. 1. ]] SLAMing on 118.385860169 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] SLAMing on 118.415860169 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] SLAMing on 118.445860169 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:3.18, Y:13.76, Z:-69.63 [[ 0.13885316 0.73059845 -0.66853998 3.18224493] [ -0.91808426 0.348055 0.18968132 13.76114609] [ 0.37126956 0.58743818 0.71907948 -69.63383441] [ 0. 0. 0. 1. ]] SLAMing on 118.475860169 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:3.23, Y:13.77, Z:-69.63 [[ 5.55975211e-02 7.41269666e-01 -6.68900739e-01 3.23348514e+00] [-9.51568412e-01 2.42219730e-01 1.89333463e-01 1.37668740e+01] [ 3.02368110e-01 6.25978342e-01 7.18835615e-01 -6.96264427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.505860169 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] SLAMing on 118.535860169 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] SLAMing on 118.565860169 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] SLAMing on 118.59586016899999 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:3.24, Y:13.76, Z:-69.66 [[ 0.09161129 0.73877418 -0.6676976 3.23930697] [ -0.93922768 0.28687939 0.18855126 13.75755123] [ 0.33084548 0.60984665 0.72015855 -69.65790385] [ 0. 0. 0. 1. ]] SLAMing on 118.62586016899999 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] SLAMing on 118.655860169 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] SLAMing on 118.685860169 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] SLAMing on 118.715860169 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:3.18, Y:13.71, Z:-69.74 [[ 0.28981858 0.6863611 -0.66701846 3.18172916] [ -0.82590976 0.53151083 0.1880673 13.71215006] [ 0.48360961 0.49639166 0.72091405 -69.73876974] [ 0. 0. 0. 1. ]] SLAMing on 118.745860169 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] SLAMing on 118.775860169 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:3.19, Y:13.70, Z:-69.76 [[ 0.31456922 0.67397 -0.66843896 3.19012227] [ -0.80517068 0.56240697 0.1881451 13.69785328] [ 0.50273888 0.47902279 0.71957681 -69.76417162] [ 0. 0. 0. 1. ]] SLAMing on 118.805860169 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:3.22, Y:13.70, Z:-69.78 [[ 0.29505347 0.68304493 -0.66812654 3.21606044] [ -0.82152708 0.53841075 0.1876356 13.6997703 ] [ 0.48789006 0.49352151 0.71999987 -69.77986287] [ 0. 0. 0. 1. ]] SLAMing on 118.835860169 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:3.24, Y:13.69, Z:-69.80 [[ 0.29553509 0.68272831 -0.66823728 3.23520059] [ -0.82135538 0.53880992 0.18724106 13.69491439] [ 0.48788765 0.49352398 0.71999981 -69.80024029] [ 0. 0. 0. 1. ]] SLAMing on 118.865860169 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:3.27, Y:13.70, Z:-69.81 [[ 0.25953195 0.69707333 -0.66838009 3.26733658] [ -0.8485301 0.49506535 0.18683409 13.70116146] [ 0.46112888 0.51865121 0.71997297 -69.80908419] [ 0. 0. 0. 1. ]] SLAMing on 118.895860169 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:3.30, Y:13.70, Z:-69.82 [[ 0.23500923 0.70515326 -0.66897649 3.29582969] [ -0.86522573 0.46537087 0.18658616 13.70216309] [ 0.44289401 0.5349662 0.71948319 -69.82128548] [ 0. 0. 0. 1. ]] SLAMing on 118.925860169 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] SLAMing on 118.95586016899999 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] SLAMing on 118.98586016899999 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:3.32, Y:13.70, Z:-69.84 [[ 0.22060012 0.71043417 -0.6682955 3.31845123] [ -0.87515499 0.44667917 0.18596092 13.70206767] [ 0.43062667 0.54383914 0.72027749 -69.8373755 ] [ 0. 0. 0. 1. ]] SLAMing on 119.01586016899999 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] SLAMing on 119.045860169 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] SLAMing on 119.075860169 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] SLAMing on 119.105860169 meters Centerline goodness : 0.997937 Centerline is valid? [True, True] Translation: X:3.33, Y:13.69, Z:-69.86 [[ 0.23950743 0.70463186 -0.66792974 3.33067619] [ -0.86336414 0.46926186 0.18546071 13.6941967 ] [ 0.44411548 0.53224736 0.72074558 -69.8633809 ] [ 0. 0. 0. 1. ]] SLAMing on 119.135860169 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] SLAMing on 119.165860169 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] SLAMing on 119.195860169 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] SLAMing on 119.225860169 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] SLAMing on 119.255860169 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] SLAMing on 119.285860169 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] SLAMing on 119.315860169 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] SLAMing on 119.34586016899999 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] SLAMing on 119.37586016899999 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] SLAMing on 119.405860169 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] SLAMing on 119.435860169 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] SLAMing on 119.465860169 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] SLAMing on 119.495860169 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] SLAMing on 119.525860169 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] SLAMing on 119.555860169 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] SLAMing on 119.585860169 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:3.51, Y:13.74, Z:-69.74 [[ -0.18265493 0.72016483 -0.66932787 3.51202157] [ -0.97970701 -0.07617342 0.18539629 13.7355587 ] [ 0.08253089 0.68960875 0.71946398 -69.74055676] [ 0. 0. 0. 1. ]] SLAMing on 119.615860169 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:3.52, Y:13.73, Z:-69.77 [[-1.51922417e-01 7.25940926e-01 -6.70767733e-01 3.51837095e+00] [-9.82068484e-01 -3.42216959e-02 1.85392472e-01 1.37303651e+01] [ 1.11629173e-01 6.86905123e-01 7.18122747e-01 -6.97718538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.645860169 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] SLAMing on 119.675860169 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] SLAMing on 119.70586016899999 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:3.46, Y:13.72, Z:-69.86 [[ 4.65809130e-02 7.40231483e-01 -6.70736587e-01 3.46069822e+00] [-9.55983565e-01 2.27769023e-01 1.84977556e-01 1.37175468e+01] [ 2.89699228e-01 6.32596730e-01 7.18258821e-01 -6.98618972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.73586016899999 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:3.44, Y:13.70, Z:-69.92 [[ 0.15192237 0.72570706 -0.67102075 3.43887276] [ -0.91370557 0.36200729 0.18464247 13.69510368] [ 0.37691075 0.58506408 0.7180796 -69.91510694] [ 0. 0. 0. 1. ]] SLAMing on 119.76586016899999 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:3.43, Y:13.68, Z:-69.95 [[ 0.21355791 0.71006437 -0.67097065 3.43359938] [ -0.87960048 0.43860449 0.1841985 13.67722948] [ 0.42508353 0.55084906 0.71824042 -69.95228776] [ 0. 0. 0. 1. ]] SLAMing on 119.795860169 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:3.40, Y:13.63, Z:-70.01 [[ 0.35651269 0.65038755 -0.67074193 3.39687048] [ -0.76967745 0.61141489 0.18376196 13.63056076] [ 0.52961809 0.45074147 0.7185658 -70.01313294] [ 0. 0. 0. 1. ]] SLAMing on 119.825860169 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:3.42, Y:13.63, Z:-70.03 [[ 0.35687678 0.65085329 -0.67009623 3.41730194] [ -0.77022123 0.61090906 0.18316488 13.6261968 ] [ 0.52858132 0.45075505 0.71932028 -70.03183271] [ 0. 0. 0. 1. ]] SLAMing on 119.855860169 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:3.41, Y:13.59, Z:-70.07 [[ 0.43904471 0.59861816 -0.66999705 3.40500486] [ -0.68403022 0.70619787 0.18272174 13.58799388] [ 0.58253104 0.37807521 0.71952535 -70.07289545] [ 0. 0. 0. 1. ]] SLAMing on 119.885860169 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] SLAMing on 119.915860169 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:3.37, Y:13.48, Z:-70.12 [[ 0.61135964 0.41972991 -0.67086973 3.36695206] [ -0.41240059 0.89251786 0.18258591 13.47585297] [ 0.67539998 0.16504141 0.71874626 -70.11748732] [ 0. 0. 0. 1. ]] SLAMing on 119.945860169 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:3.39, Y:13.49, Z:-70.13 [[ 0.59204783 0.44596044 -0.67126646 3.3925925 ] [ -0.45124761 0.87356647 0.18236561 13.4853195 ] [ 0.66772372 0.19493822 0.71843171 -70.1346047 ] [ 0. 0. 0. 1. ]] SLAMing on 119.975860169 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:3.41, Y:13.48, Z:-70.15 [[ 0.58830697 0.45071741 -0.67137823 3.41167414] [ -0.45856442 0.86980331 0.1821013 13.48395414] [ 0.66604323 0.2007387 0.71839432 -70.15332927] [ 0. 0. 0. 1. ]] SLAMing on 120.005860169 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:3.45, Y:13.51, Z:-70.16 [[ 0.53998221 0.50736696 -0.67156383 3.44910057] [ -0.54370399 0.81934158 0.1818388 13.51052965] [ 0.64249917 0.26694222 0.71828732 -70.16457126] [ 0. 0. 0. 1. ]] SLAMing on 120.035860169 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:3.47, Y:13.51, Z:-70.18 [[ 0.54021312 0.50702321 -0.67163774 3.4683365 ] [ -0.54346835 0.81955843 0.18156576 13.50565806] [ 0.64250442 0.26692965 0.71828729 -70.18495256] [ 0. 0. 0. 1. ]] SLAMing on 120.065860169 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:3.49, Y:13.51, Z:-70.20 [[ 0.53319413 0.51393801 -0.67199088 3.48957973] [ -0.55439969 0.81225789 0.18132321 13.50536091] [ 0.63901878 0.27587106 0.71801821 -70.20380354] [ 0. 0. 0. 1. ]] SLAMing on 120.09586016899999 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:3.51, Y:13.50, Z:-70.22 [[ 0.53344841 0.51356989 -0.67207051 3.50881099] [ -0.55414829 0.81249526 0.181028 13.50050114] [ 0.63902462 0.27585762 0.71801818 -70.22418486] [ 0. 0. 0. 1. ]] SLAMing on 120.12586016899999 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:3.54, Y:13.52, Z:-70.23 [[ 0.48820676 0.55614698 -0.67257319 3.54344212] [ -0.62029013 0.76323635 0.18086025 13.52063139] [ 0.61391719 0.32889331 0.71758963 -70.23441856] [ 0. 0. 0. 1. ]] SLAMing on 120.155860169 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:3.53, Y:13.47, Z:-70.27 [[ 0.56884293 0.47278197 -0.67297469 3.53198376] [ -0.49342012 0.85082357 0.18065389 13.4694992 ] [ 0.65799263 0.22929556 0.71726511 -70.27185317] [ 0. 0. 0. 1. ]] SLAMing on 120.185860169 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:3.68, Y:13.60, Z:-70.21 [[ 0.23306863 0.7021364 -0.67281758 3.67599307] [ -0.86881996 0.4611436 0.18027329 13.60432296] [ 0.43684196 0.54254129 0.71750822 -70.20871337] [ 0. 0. 0. 1. ]] SLAMing on 120.215860169 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:3.64, Y:13.56, Z:-70.27 [[ 0.37161304 0.63985582 -0.67267249 3.6424922 ] [ -0.75667332 0.62856137 0.179878 13.55855285] [ 0.53791193 0.44214831 0.71774343 -70.26650745] [ 0. 0. 0. 1. ]] SLAMing on 120.245860169 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:3.67, Y:13.56, Z:-70.28 [[ 0.34255451 0.6560297 -0.67251873 3.67309909] [ -0.78444783 0.59364415 0.17952222 13.56441728] [ 0.51700872 0.46605971 0.71797655 -70.27823802] [ 0. 0. 0. 1. ]] SLAMing on 120.275860169 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:3.70, Y:13.57, Z:-70.29 [[ 0.30960694 0.67193625 -0.67278913 3.70377651] [ -0.81292961 0.55407959 0.17927982 13.5703667 ] [ 0.49324334 0.49142393 0.71778376 -70.28957853] [ 0. 0. 0. 1. ]] SLAMing on 120.305860169 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:3.72, Y:13.57, Z:-70.31 [[ 0.30995262 0.67170348 -0.6728624 3.7229882 ] [ -0.81279193 0.55437044 0.17900475 13.56560866] [ 0.49325313 0.49141414 0.71778374 -70.30996145] [ 0. 0. 0. 1. ]] SLAMing on 120.335860169 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:3.69, Y:13.51, Z:-70.36 [[ 0.43965932 0.59514359 -0.67268402 3.69361454] [ -0.68403191 0.70723979 0.17863993 13.51424309] [ 0.58206531 0.38159663 0.71804177 -70.36398074] [ 0. 0. 0. 1. ]] SLAMing on 120.365860169 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:3.68, Y:13.46, Z:-70.40 [[ 0.53077647 0.51563321 -0.67260593 3.67814347] [ -0.5600443 0.80905179 0.17828512 13.46445286] [ 0.63610276 0.28205956 0.71820309 -70.40434549] [ 0. 0. 0. 1. ]] SLAMing on 120.395860169 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:3.67, Y:13.41, Z:-70.44 [[ 0.60393717 0.42842872 -0.6720928 3.66951396] [ -0.43000411 0.88513857 0.17783752 13.41176242] [ 0.67108596 0.18159998 0.71879419 -70.43808637] [ 0. 0. 0. 1. ]] SLAMing on 120.425860169 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:3.67, Y:13.36, Z:-70.47 [[ 0.65331511 0.34799549 -0.67236784 3.66929503] [ -0.31403106 0.93265734 0.17758034 13.36313545] [ 0.68888596 0.09512847 0.71860052 -70.46543467] [ 0. 0. 0. 1. ]] SLAMing on 120.45586016899999 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:3.70, Y:13.40, Z:-70.48 [[ 0.61283229 0.41565585 -0.6720616 3.70338051] [ -0.4119118 0.89382747 0.17720364 13.39565352] [ 0.67436285 0.16823399 0.71897988 -70.47850891] [ 0. 0. 0. 1. ]] SLAMing on 120.48586016899999 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:3.72, Y:13.39, Z:-70.50 [[ 0.61134532 0.41782875 -0.67206847 3.72274011] [ -0.41539217 0.89228047 0.17687539 13.39312622] [ 0.6735772 0.17104004 0.71905429 -70.49918655] [ 0. 0. 0. 1. ]] SLAMing on 120.51586016899999 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:3.73, Y:13.37, Z:-70.52 [[ 0.63166189 0.39023892 -0.6698633 3.73266528] [ -0.37556558 0.90994036 0.17595183 13.37353898] [ 0.6781989 0.14043553 0.72133495 -70.52338221] [ 0. 0. 0. 1. ]] SLAMing on 120.545860169 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:3.75, Y:13.37, Z:-70.54 [[ 0.63184473 0.38978716 -0.66995389 3.75197473] [ -0.37526464 0.91013115 0.17560679 13.36887393] [ 0.67819517 0.14045378 0.72133491 -70.5437592 ] [ 0. 0. 0. 1. ]] SLAMing on 120.575860169 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:3.78, Y:13.38, Z:-70.56 [[ 0.61044147 0.4198006 -0.67166113 3.78000119] [ -0.41920393 0.89072394 0.17572401 13.38065897] [ 0.67203369 0.17429376 0.71971689 -70.55851512] [ 0. 0. 0. 1. ]] SLAMing on 120.605860169 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:3.79, Y:13.36, Z:-70.59 [[ 0.6383313 0.38119061 -0.66875023 3.78567266] [ -0.36351772 0.91507624 0.17461486 13.35550699] [ 0.67851899 0.13164043 0.72269134 -70.58538035] [ 0. 0. 0. 1. ]] SLAMing on 120.635860169 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:3.82, Y:13.39, Z:-70.60 [[ 0.59594372 0.44762464 -0.66669578 3.8190196 ] [ -0.45980475 0.87086661 0.17369782 13.38840159] [ 0.65835452 0.20303576 0.72480743 -70.60025601] [ 0. 0. 0. 1. ]] SLAMing on 120.665860169 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:3.87, Y:13.43, Z:-70.60 [[ 0.51473362 0.53646109 -0.6687741 3.86736846] [ -0.59338726 0.78594315 0.1737381 13.43311004] [ 0.61882215 0.30741319 0.72288054 -70.60408605] [ 0. 0. 0. 1. ]] SLAMing on 120.695860169 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:3.84, Y:13.34, Z:-70.65 [[ 0.6459708 0.37204307 -0.66656258 3.83638933] [ -0.35140517 0.92009966 0.17300584 13.33833792] [ 0.67766963 0.12247682 0.72509538 -70.64785759] [ 0. 0. 0. 1. ]] SLAMing on 120.725860169 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:3.85, Y:13.33, Z:-70.67 [[ 0.64898005 0.36665352 -0.6666259 3.85463017] [ -0.34397872 0.92294768 0.17276059 13.33105128] [ 0.6786041 0.11718695 0.72509564 -70.66860663] [ 0. 0. 0. 1. ]] SLAMing on 120.755860169 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:3.93, Y:13.43, Z:-70.66 [[ 0.49870679 0.55120576 -0.66892731 3.92828577] [ -0.61704074 0.76776389 0.17262484 13.42942604] [ 0.60873004 0.32666623 0.72300548 -70.66016966] [ 0. 0. 0. 1. ]] SLAMing on 120.785860169 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:3.90, Y:13.34, Z:-70.71 [[ 0.63400364 0.39234379 -0.66641259 3.89664693] [ -0.38116483 0.90833844 0.17214719 13.33606852] [ 0.67286905 0.14487109 0.72543753 -70.70669302] [ 0. 0. 0. 1. ]] SLAMing on 120.815860169 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:3.91, Y:13.32, Z:-70.73 [[ 0.64905359 0.36724237 -0.66623005 3.90877162] [ -0.34557706 0.92252077 0.17184856 13.3183805 ] [ 0.67772113 0.1186949 0.72567595 -70.72901437] [ 0. 0. 0. 1. ]] SLAMing on 120.84586016899999 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:3.91, Y:13.23, Z:-70.75 [[ 7.12523103e-01 2.04024561e-01 -6.71330624e-01 3.90855249e+00] [-1.17220828e-01 9.77957087e-01 1.72798190e-01 1.32267199e+01] [ 6.91787615e-01 -4.44287703e-02 7.20732946e-01 -7.07458404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.87586016899999 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:3.93, Y:13.24, Z:-70.77 [[ 7.02426971e-01 2.37802297e-01 -6.70854990e-01 3.93169482e+00] [-1.64208834e-01 9.71252390e-01 1.72349223e-01 1.32397504e+01] [ 6.92554554e-01 -1.09024268e-02 7.21283112e-01 -7.07663531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.905860169 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:3.96, Y:13.29, Z:-70.79 [[ 0.65980268 0.34692526 -0.66656079 3.96178474] [ -0.31775843 0.93264684 0.17087847 13.29430117] [ 0.68094787 0.09905924 0.72560131 -70.7907282 ] [ 0. 0. 0. 1. ]] SLAMing on 120.935860169 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:3.96, Y:13.21, Z:-70.81 [[ 7.15446548e-01 1.94287541e-01 -6.71109967e-01 3.96441788e+00] [-1.04954211e-01 9.79544047e-01 1.71691797e-01 1.32094901e+01] [ 6.90739350e-01 -5.24004868e-02 7.21202703e-01 -7.08056663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.965860169 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:3.98, Y:13.20, Z:-70.83 [[ 7.15500005e-01 1.93820031e-01 -6.71188154e-01 3.98378027e+00] [-1.04599181e-01 9.79635563e-01 1.71386041e-01 1.32048664e+01] [ 6.90737833e-01 -5.24209817e-02 7.21202667e-01 -7.08260532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.995860169 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:4.02, Y:13.27, Z:-70.85 [[ 0.6686511 0.32974455 -0.66646398 4.01515508] [ -0.29451945 0.9404373 0.16981161 13.27312529] [ 0.68276204 0.08274188 0.72594062 -70.85191616] [ 0. 0. 0. 1. ]] SLAMing on 121.025860169 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:4.03, Y:13.27, Z:-70.87 [[ 0.6688028 0.32925821 -0.66655221 4.0345167 ] [ -0.29417545 0.94060745 0.16946513 13.26864925] [ 0.68276176 0.08274454 0.72594057 -70.87230349] [ 0. 0. 0. 1. ]] SLAMing on 121.055860169 meters Centerline goodness : 0.996921 Centerline is valid? [True, True] Translation: X:4.05, Y:13.27, Z:-70.89 [[ 0.66531361 0.33720485 -0.66607108 4.05374705] [ -0.30574372 0.93700058 0.16896947 13.26898008] [ 0.68108632 0.09122936 0.72649751 -70.8935781 ] [ 0. 0. 0. 1. ]] SLAMing on 121.085860169 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:4.13, Y:13.37, Z:-70.89 [[ 0.52200909 0.52931714 -0.66882724 4.12841615] [ -0.58700897 0.79184597 0.16852427 13.37106223] [ 0.61881094 0.3046364 0.7240647 -70.88657017] [ 0. 0. 0. 1. ]] SLAMing on 121.115860169 meters Centerline goodness : 0.997515 Centerline is valid? [True, True] Translation: X:4.10, Y:13.27, Z:-70.93 [[ 0.65459571 0.35855911 -0.66553725 4.097836 ] [ -0.33640722 0.92655454 0.1683059 13.27239819] [ 0.67700417 0.11371921 0.72714049 -70.93264634] [ 0. 0. 0. 1. ]] SLAMing on 121.145860169 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:4.11, Y:13.25, Z:-70.95 [[ 0.67066313 0.32567199 -0.66644484 4.10986569] [ -0.29025207 0.94204177 0.16825887 13.25051318] [ 0.68261607 0.08059197 0.72631965 -70.95305573] [ 0. 0. 0. 1. ]] SLAMing on 121.175860169 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:4.13, Y:13.26, Z:-70.97 [[ 0.6611554 0.34280159 -0.66735344 4.13310186] [ -0.31469239 0.93419028 0.16809885 13.25601421] [ 0.68105964 0.09887158 0.725522 -70.9719941 ] [ 0. 0. 0. 1. ]] SLAMing on 121.20586016899999 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:4.16, Y:13.25, Z:-70.98 [[ 0.65980167 0.33668011 -0.67179481 4.15731784] [ -0.30613132 0.93689172 0.16887129 13.24913991] [ 0.6862546 0.09423587 0.72123105 -70.9849163 ] [ 0. 0. 0. 1. ]] SLAMing on 121.23586016899999 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:4.19, Y:13.29, Z:-71.01 [[ 0.62082163 0.41250219 -0.66665017 4.1853347 ] [ -0.41474851 0.89444002 0.16721457 13.28823069] [ 0.66525497 0.17268175 0.72637239 -71.00557322] [ 0. 0. 0. 1. ]] SLAMing on 121.26586016899999 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:4.18, Y:13.19, Z:-71.03 [[ 6.97682939e-01 2.47746174e-01 -6.72205587e-01 4.17957378e+00] [-1.81926819e-01 9.68812516e-01 1.68240727e-01 1.31940580e+01] [ 6.92922182e-01 4.91353938e-03 7.20995636e-01 -7.10274902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.295860169 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:4.22, Y:13.26, Z:-71.05 [[ 0.63755379 0.38450939 -0.66759096 4.2164138 ] [ -0.37532132 0.91177789 0.1667183 13.26408807] [ 0.67279943 0.14426924 0.72562202 -71.04791696] [ 0. 0. 0. 1. ]] SLAMing on 121.325860169 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:4.24, Y:13.27, Z:-71.06 [[ 0.6231086 0.40792913 -0.66733012 4.24057309] [ -0.40923126 0.8971477 0.16630024 13.27313583] [ 0.6665324 0.16946924 0.72595781 -71.06456837] [ 0. 0. 0. 1. ]] SLAMing on 121.355860169 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:4.25, Y:13.25, Z:-71.09 [[ 0.63999963 0.38078592 -0.66738486 4.25249804] [ -0.37067424 0.91382061 0.16592922 13.25383603] [ 0.67305355 0.14118774 0.72599239 -71.08725775] [ 0. 0. 0. 1. ]] SLAMing on 121.385860169 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:4.27, Y:13.24, Z:-71.11 [[ 0.64524926 0.37152836 -0.6675478 4.268321 ] [ -0.35779957 0.91899298 0.16562416 13.24461435] [ 0.67500582 0.13197945 0.72591223 -71.10781781] [ 0. 0. 0. 1. ]] SLAMing on 121.415860169 meters Centerline goodness : 0.998195 Centerline is valid? [True, True] Translation: X:4.29, Y:13.25, Z:-71.13 [[ 0.63699295 0.38619229 -0.66715478 4.28935199] [ -0.37905513 0.91051808 0.1651485 13.2485841 ] [ 0.67123557 0.14769001 0.72638177 -71.12595476] [ 0. 0. 0. 1. ]] SLAMing on 121.445860169 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:4.31, Y:13.23, Z:-71.14 [[ 0.64673792 0.35957632 -0.67263284 4.31035308] [ -0.34151037 0.92507324 0.16616305 13.22924712] [ 0.68198294 0.12224715 0.72107899 -71.13952203] [ 0. 0. 0. 1. ]] SLAMing on 121.475860169 meters Centerline goodness : 0.997897 Centerline is valid? [True, True] Translation: X:4.33, Y:13.25, Z:-71.16 [[ 0.62177543 0.41049322 -0.66700123 4.33340883] [ -0.41455795 0.89505116 0.16439323 13.25463523] [ 0.66448252 0.17429499 0.72669404 -71.16327395] [ 0. 0. 0. 1. ]] SLAMing on 121.505860169 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:4.35, Y:13.23, Z:-71.18 [[ 0.63846306 0.38174819 -0.66830625 4.34803594] [ -0.37377138 0.91284364 0.16435158 13.23442121] [ 0.67280003 0.14486133 0.72550349 -71.18189481] [ 0. 0. 0. 1. ]] SLAMing on 121.535860169 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:4.36, Y:13.22, Z:-71.21 [[ 0.648752 0.3663393 -0.66702051 4.36072514] [ -0.35210426 0.92154018 0.16366519 13.22239199] [ 0.67464319 0.12868265 0.72684066 -71.20632854] [ 0. 0. 0. 1. ]] SLAMing on 121.565860169 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:4.38, Y:13.21, Z:-71.23 [[ 0.65302569 0.3567831 -0.66802939 4.37847786] [ -0.33890769 0.92649835 0.16353102 13.21329266] [ 0.67727323 0.11961034 0.72594376 -71.22646434] [ 0. 0. 0. 1. ]] SLAMing on 121.59586016899999 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:4.40, Y:13.21, Z:-71.25 [[ 0.65021702 0.36108229 -0.66845899 4.39853799] [ -0.34538671 0.92415403 0.16324014 13.21160249] [ 0.67670219 0.12473533 0.7256137 -71.24550109] [ 0. 0. 0. 1. ]] SLAMing on 121.62586016899999 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:4.41, Y:13.20, Z:-71.27 [[ 0.65444332 0.35284373 -0.66873406 4.41428806] [ -0.33402126 0.92837275 0.16295346 13.20359762] [ 0.67833159 0.11672759 0.72542466 -71.26616827] [ 0. 0. 0. 1. ]] SLAMing on 121.655860169 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:4.44, Y:13.21, Z:-71.28 [[ 0.64489872 0.3690428 -0.66926307 4.43727747] [ -0.35739771 0.91966575 0.16273226 13.20814186] [ 0.67555349 0.13424726 0.72498631 -71.28292979] [ 0. 0. 0. 1. ]] SLAMing on 121.685860169 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:4.46, Y:13.22, Z:-71.30 [[ 0.62928936 0.39539857 -0.66907016 4.46234978] [ -0.39546844 0.90402707 0.16229528 13.22006922] [ 0.66902886 0.16246544 0.72526227 -71.3011674 ] [ 0. 0. 0. 1. ]] SLAMing on 121.715860169 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:4.46, Y:13.16, Z:-71.33 [[ 6.81035049e-01 2.87821384e-01 -6.73312790e-01 4.45804523e+00] [-2.43024985e-01 9.56235373e-01 1.62950203e-01 1.31578680e+01] [ 6.90746059e-01 5.26570310e-02 7.21177592e-01 -7.13297427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.745860169 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:4.48, Y:13.17, Z:-71.35 [[ 0.66357559 0.32299105 -0.67479198 4.4835935 ] [ -0.29289249 0.942159 0.16294298 13.17360402] [ 0.68839046 0.08951652 0.71979536 -71.34714465] [ 0. 0. 0. 1. ]] SLAMing on 121.775860169 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:4.54, Y:13.25, Z:-71.35 [[ 0.57178202 0.46642278 -0.67491859 4.53833397] [ -0.50122844 0.84988124 0.16270194 13.2511749 ] [ 0.64948855 0.24525835 0.71973118 -71.35105277] [ 0. 0. 0. 1. ]] SLAMing on 121.805860169 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:4.53, Y:13.19, Z:-71.38 [[ 0.64501834 0.3572498 -0.67551752 4.52860389] [ -0.34241587 0.92539893 0.16244444 13.18544452] [ 0.68315643 0.12652828 0.71922728 -71.38474771] [ 0. 0. 0. 1. ]] SLAMing on 121.835860169 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] SLAMing on 121.865860169 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] SLAMing on 121.895860169 meters Centerline goodness : 0.709743 Centerline is valid? [True, False] Translation: X:4.50, Y:13.19, Z:-71.36 [[ 0.65431291 0.33905319 -0.67595676 4.49766629] [ -0.31698472 0.93450912 0.16190548 13.18570135] [ 0.68658233 0.10833112 0.71893607 -71.35910905] [ 0. 0. 0. 1. ]] SLAMing on 121.925860169 meters Centerline goodness : 0.999036 Centerline is valid? [False, True] Translation: X:4.47, Y:13.19, Z:-71.33 [[ 0.65568143 0.33270772 -0.67778126 4.46712737] [ -0.30829599 0.9374106 0.16191034 13.1895275 ] [ 0.68922816 0.10279564 0.71721517 -71.33014583] [ 0. 0. 0. 1. ]] SLAMing on 121.95586016899999 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] SLAMing on 121.98586016899999 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] SLAMing on 122.01586016899999 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] SLAMing on 122.045860169 meters Centerline goodness : 0.980078 Centerline is valid? [True, True] Translation: X:5.04, Y:13.33, Z:-70.87 [[ -0.67710497 0.25312868 -0.69098099 5.03780693] [ -0.43050945 -0.89778447 0.09297665 13.3291849 ] [ -0.59681695 0.3604288 0.71686862 -70.87110714] [ 0. 0. 0. 1. ]] SLAMing on 122.075860169 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] SLAMing on 122.105860169 meters Centerline goodness : 0.702807 Centerline is valid? [True, False] Translation: X:4.52, Y:13.23, Z:-70.82 [[ 0.98104365 -0.17885014 0.07460551 4.52476512] [ 0.15080324 0.94637766 0.28570563 13.22646434] [ -0.12170348 -0.26903895 0.95540897 -70.81638428] [ 0. 0. 0. 1. ]] SLAMing on 122.135860169 meters Centerline goodness : 0.996068 Centerline is valid? [False, True] Translation: X:4.52, Y:13.24, Z:-70.81 [[ 0.98643402 -0.14526557 0.07645812 4.52214934] [ 0.1179632 0.95116842 0.28524256 13.2420361 ] [ -0.11416047 -0.27235372 0.95540088 -70.80902744] [ 0. 0. 0. 1. ]] SLAMing on 122.165860169 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:5.20, Y:13.62, Z:-70.88 [[-3.52549670e-01 9.35779522e-01 5.04155820e-03 5.20073999e+00] [-8.91755731e-01 -3.37587444e-01 3.01341058e-01 1.36248825e+01] [ 2.83690758e-01 1.01741852e-01 9.53503093e-01 -7.08821056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.195860169 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:5.00, Y:12.94, Z:-70.63 [[ 1.57509794e-01 -9.87500634e-01 5.75863623e-03 5.00207614e+00] [ 9.44402588e-01 1.52334652e-01 2.91372451e-01 1.29402721e+01] [-2.88607720e-01 -4.04555438e-02 9.56592355e-01 -7.06344304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.225860169 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] SLAMing on 122.255860169 meters Centerline goodness : 0.996458 Centerline is valid? [True, True] SLAMing on 122.285860169 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] SLAMing on 122.315860169 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] SLAMing on 122.34586016899999 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:4.89, Y:12.99, Z:-70.61 [[ 4.54527499e-01 -8.90718642e-01 5.00530965e-03 4.88946031e+00] [ 8.52251922e-01 4.36518291e-01 2.88302694e-01 1.29870573e+01] [-2.58981493e-01 -1.26775718e-01 9.57526242e-01 -7.06147923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.37586016899999 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:4.98, Y:12.96, Z:-70.57 [[ 2.14228835e-01 -9.76759833e-01 6.79962388e-03 4.98070905e+00] [ 9.34113897e-01 2.06900553e-01 2.90900995e-01 1.29638252e+01] [-2.85547253e-01 -5.59677581e-02 9.56728998e-01 -7.05741773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.405860169 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:4.97, Y:12.98, Z:-70.54 [[ 2.44506377e-01 -9.69621094e-01 7.18091878e-03 4.96951376e+00] [ 9.27568165e-01 2.36047163e-01 2.89653302e-01 1.29764988e+01] [-2.82548987e-01 -6.41612878e-02 9.57104696e-01 -7.05435304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.435860169 meters Centerline goodness : 0.418822 Centerline is valid? [True, False] Translation: X:4.92, Y:12.99, Z:-70.50 [[ 3.64907151e-01 -9.31043854e-01 3.35192730e-04 4.92299726e+00] [ 8.88160446e-01 3.48207672e-01 2.99870703e-01 1.29926573e+01] [-2.79309492e-01 -1.09127259e-01 9.53979795e-01 -7.04963221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.465860169 meters Centerline goodness : 0.999129 Centerline is valid? [False, True] Translation: X:4.88, Y:13.02, Z:-70.45 [[ 4.78972312e-01 -8.77818215e-01 -4.55033923e-03 4.87753414e+00] [ 8.35254497e-01 4.54140871e-01 3.10009669e-01 1.30161279e+01] [-2.70065639e-01 -1.52286739e-01 9.50722515e-01 -7.04498733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.495860169 meters Centerline goodness : 0.997934 Centerline is valid? [True, True] Translation: X:4.70, Y:13.43, Z:-70.64 [[ 8.61993552e-01 5.06394691e-01 2.30550109e-02 4.70181660e+00] [-4.77907844e-01 7.96654702e-01 3.70061317e-01 1.34295203e+01] [ 1.69030204e-01 -3.30008640e-01 9.28721211e-01 -7.06445031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.525860169 meters Centerline goodness : 0.998554 Centerline is valid? [True, True] SLAMing on 122.555860169 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:5.53, Y:13.42, Z:-70.50 [[-9.16292250e-01 3.96636773e-01 -5.55678204e-02 5.52543770e+00] [-3.87221145e-01 -8.41877952e-01 3.75900650e-01 1.34208266e+01] [ 1.02314698e-01 3.65951888e-01 9.24992388e-01 -7.04956001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.585860169 meters Centerline goodness : 0.998695 Centerline is valid? [True, True] Translation: X:5.32, Y:12.93, Z:-70.36 [[ -0.11345411 -0.98544668 -0.12658199 5.32433364] [ 0.91648891 -0.15299689 0.36964852 12.92687509] [ -0.38363556 -0.07407285 0.92050908 -70.36485223] [ 0. 0. 0. 1. ]] SLAMing on 122.615860169 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:5.48, Y:12.96, Z:-70.39 [[ -0.25172347 -0.94661555 -0.20138097 5.47752567] [ 0.88732792 -0.30881338 0.34246673 12.96336607] [ -0.38637347 -0.09248404 0.91769398 -70.38748886] [ 0. 0. 0. 1. ]] SLAMing on 122.645860169 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:5.64, Y:13.03, Z:-70.41 [[ -0.42299424 -0.86517827 -0.26933702 5.63639872] [ 0.81642063 -0.49284121 0.30094001 13.03328663] [ -0.39310714 -0.09259641 0.91481839 -70.40812424] [ 0. 0. 0. 1. ]] SLAMing on 122.675860169 meters Centerline goodness : 0.994780 Centerline is valid? [True, True] Translation: X:5.75, Y:13.11, Z:-70.43 [[ -0.49027446 -0.80741388 -0.32819778 5.7458307 ] [ 0.78036649 -0.57435906 0.24726467 13.10836851] [ -0.38814829 -0.134887 0.91167231 -70.43158438] [ 0. 0. 0. 1. ]] SLAMing on 122.70586016899999 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:5.66, Y:13.13, Z:-70.52 [[ -0.09609224 -0.92403579 -0.37003263 5.66490095] [ 0.96861865 -0.17241911 0.17902393 13.13272389] [ -0.22922521 -0.3412177 0.91160643 -70.5153999 ] [ 0. 0. 0. 1. ]] SLAMing on 122.73586016899999 meters Centerline goodness : 0.996057 Centerline is valid? [True, True] Translation: X:5.96, Y:13.36, Z:-70.47 [[ -0.71917292 -0.56168702 -0.40902078 5.96155886] [ 0.57186133 -0.81284138 0.11074074 13.36090278] [ -0.39467065 -0.15426143 0.9057806 -70.47313488] [ 0. 0. 0. 1. ]] SLAMing on 122.76586016899999 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:6.03, Y:13.54, Z:-70.49 [[-8.27778384e-01 -3.68856635e-01 -4.22762026e-01 6.03116159e+00] [ 3.93145577e-01 -9.18920538e-01 3.19624902e-02 1.35351744e+01] [-4.00274285e-01 -1.39749162e-01 9.05676912e-01 -7.04938665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.795860169 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:6.05, Y:13.63, Z:-70.52 [[-8.42765307e-01 -3.27369307e-01 -4.27289098e-01 6.05484347e+00] [ 3.82089100e-01 -9.22955422e-01 -4.64888076e-02 1.36322707e+01] [-3.79149781e-01 -2.02441661e-01 9.02919054e-01 -7.05241336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.825860169 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:6.08, Y:13.80, Z:-70.54 [[ -0.90049355 -0.1200025 -0.41798417 6.07717487] [ 0.18763443 -0.97431541 -0.12451024 13.79801263] [ -0.39230688 -0.19054889 0.89988135 -70.54143104] [ 0. 0. 0. 1. ]] SLAMing on 122.855860169 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:5.42, Y:13.89, Z:-70.86 [[ 9.09774079e-01 -3.45969798e-02 -4.13659492e-01 5.42151485e+00] [-1.86151539e-02 9.92117836e-01 -1.23918020e-01 1.38873003e+01] [ 4.14686149e-01 1.20437738e-01 9.01959062e-01 -7.08629505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.885860169 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:5.43, Y:13.88, Z:-70.89 [[ 9.08686666e-01 -5.86003198e-02 -4.13345553e-01 5.43341653e+00] [ 7.56254142e-03 9.92247594e-01 -1.24046444e-01 1.38804068e+01] [ 4.17410292e-01 1.09593406e-01 9.02085325e-01 -7.08886590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.915860169 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:5.46, Y:13.81, Z:-70.92 [[ 8.77846920e-01 -2.42476321e-01 -4.13025445e-01 5.45555495e+00] [ 2.09439838e-01 9.69894689e-01 -1.24254765e-01 1.38089893e+01] [ 4.30720023e-01 2.25726802e-02 9.02203267e-01 -7.09189296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.945860169 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:5.46, Y:13.84, Z:-70.94 [[ 8.92530107e-01 -1.82501168e-01 -4.12411605e-01 5.46112741e+00] [ 1.43281099e-01 9.81832878e-01 -1.24397452e-01 1.38371290e+01] [ 4.27621954e-01 5.19376829e-02 9.02464371e-01 -7.09432677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.975860169 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:5.47, Y:13.86, Z:-70.97 [[ 0.901613 -0.13171247 -0.41200221 5.46920961] [ 0.08753287 0.98836187 -0.1244139 13.8611795 ] [ 0.42359413 0.07610946 0.90264908 -70.966101 ] [ 0. 0. 0. 1. ]] SLAMing on 123.005860169 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:5.48, Y:13.85, Z:-70.99 [[ 8.93414540e-01 -1.79803957e-01 -4.11680697e-01 5.48362530e+00] [ 1.40244451e-01 9.82239778e-01 -1.24645551e-01 1.38453790e+01] [ 4.26780919e-01 5.36242141e-02 9.02763807e-01 -7.09930653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.035860169 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:5.49, Y:13.85, Z:-71.02 [[ 8.94981023e-01 -1.72673881e-01 -4.11330402e-01 5.49426547e+00] [ 1.32415757e-01 9.83321495e-01 -1.24679209e-01 1.38514570e+01] [ 4.25998869e-01 5.71188990e-02 9.02918820e-01 -7.10173962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.065860169 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:5.50, Y:13.88, Z:-71.04 [[ 9.05295874e-01 -1.07098365e-01 -4.11058780e-01 5.50226556e+00] [ 6.04452265e-02 9.90326309e-01 -1.24900663e-01 1.38820989e+01] [ 4.20458982e-01 8.82255137e-02 9.03011907e-01 -7.10405732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.09586016899999 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:5.51, Y:13.94, Z:-71.06 [[ 9.11262884e-01 2.76734427e-02 -4.10894315e-01 5.51117252e+00] [-8.64465257e-02 9.88364348e-01 -1.25151564e-01 1.39407154e+01] [ 4.02649917e-01 1.49566361e-01 9.03052019e-01 -7.10593070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12586016899999 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:5.52, Y:13.90, Z:-71.09 [[ 9.09160909e-01 -7.49384243e-02 -4.09647011e-01 5.52338499e+00] [ 2.53963178e-02 9.91822302e-01 -1.25074173e-01 1.39039772e+01] [ 4.15669902e-01 1.03309023e-01 9.03629226e-01 -7.10902507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.155860169 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:5.54, Y:13.88, Z:-71.12 [[ 0.90121502 -0.14191225 -0.4094782 5.53743192] [ 0.09849983 0.98721089 -0.12534928 13.88110552] [ 0.42202994 0.07263312 0.90366762 -71.11766893] [ 0. 0. 0. 1. ]] SLAMing on 123.185860169 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:5.55, Y:13.89, Z:-71.14 [[ 0.90305689 -0.12936693 -0.40957595 5.54758974] [ 0.08458852 0.98845506 -0.12570354 13.89015071] [ 0.4211093 0.07887202 0.9035741 -71.14239256] [ 0. 0. 0. 1. ]] SLAMing on 123.215860169 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:5.56, Y:13.87, Z:-71.17 [[ 8.93599228e-01 -1.83868653e-01 -4.09478618e-01 5.56178054e+00] [ 1.44304499e-01 9.81502740e-01 -1.25811694e-01 1.38715118e+01] [ 4.25037212e-01 5.33356256e-02 9.03603165e-01 -7.11680897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.245860169 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:5.57, Y:13.88, Z:-71.19 [[ 8.96662517e-01 -1.67443864e-01 -4.09827871e-01 5.57181922e+00] [ 1.26040671e-01 9.83958345e-01 -1.26252621e-01 1.38819617e+01] [ 4.24393780e-01 6.15510130e-02 9.03383303e-01 -7.11929115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.275860169 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:5.59, Y:13.87, Z:-71.22 [[ 8.88730240e-01 -2.07067305e-01 -4.09000845e-01 5.58588087e+00] [ 1.69675144e-01 9.77394142e-01 -1.26138955e-01 1.38688845e+01] [ 4.25874284e-01 4.27062263e-02 9.03773906e-01 -7.12180453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.305860169 meters Centerline goodness : 0.998724 Centerline is valid? [True, True] Translation: X:5.59, Y:13.90, Z:-71.24 [[ 9.00500781e-01 -1.48852438e-01 -4.08584502e-01 5.59242557e+00] [ 1.05810122e-01 9.86353298e-01 -1.26140359e-01 1.38963109e+01] [ 4.21784971e-01 7.03571160e-02 9.03962009e-01 -7.12408671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.335860169 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:5.60, Y:13.94, Z:-71.26 [[ 9.11066578e-01 -5.57455426e-02 -4.08472917e-01 5.59965566e+00] [ 4.01228510e-03 9.91967702e-01 -1.26427767e-01 1.39390605e+01] [ 4.12239726e-01 1.13545204e-01 9.03972287e-01 -7.12625796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.365860169 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:5.61, Y:13.94, Z:-71.29 [[ 9.11015751e-01 -5.60185071e-02 -4.08548929e-01 5.61026885e+00] [ 4.22666197e-03 9.91946558e-01 -1.26586575e-01 1.39427635e+01] [ 4.12349895e-01 1.13595566e-01 9.03915710e-01 -7.12866828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.395860169 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:5.62, Y:13.92, Z:-71.31 [[ 9.05312161e-01 -1.17044036e-01 -4.08302075e-01 5.62320927e+00] [ 7.07652486e-02 9.89411101e-01 -1.26719974e-01 1.39217591e+01] [ 4.18810423e-01 8.58275360e-02 9.04008553e-01 -7.13131689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.425860169 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:5.63, Y:13.94, Z:-71.34 [[ 9.09015170e-01 -8.81102197e-02 -4.07342620e-01 5.63335053e+00] [ 3.92835780e-02 9.91159273e-01 -1.26728436e-01 1.39382688e+01] [ 4.14907485e-01 9.91961948e-02 9.04440099e-01 -7.13375057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.45586016899999 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:5.64, Y:13.95, Z:-71.37 [[ 9.13606212e-01 -5.62763700e-02 -4.02686800e-01 5.63688786e+00] [ 5.72774112e-03 9.92058428e-01 -1.25647395e-01 1.39534873e+01] [ 4.06559813e-01 1.12485755e-01 9.06673080e-01 -7.13652587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48586016899999 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:5.65, Y:13.96, Z:-71.39 [[ 9.12051733e-01 -4.81992587e-02 -4.07232695e-01 5.65490759e+00] [-4.39073750e-03 9.91863694e-01 -1.27228671e-01 1.39625044e+01] [ 4.10051653e-01 1.17827181e-01 9.04419370e-01 -7.13860491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.51586016899999 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:5.67, Y:13.94, Z:-71.41 [[ 9.07702030e-01 -1.02138781e-01 -4.06994710e-01 5.66736503e+00] [ 5.43286401e-02 9.90365726e-01 -1.27373968e-01 1.39445239e+01] [ 4.16083434e-01 9.35061401e-02 9.04506041e-01 -7.14123723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.545860169 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:5.67, Y:13.98, Z:-71.44 [[ 9.15856378e-01 -1.49461622e-02 -4.01227750e-01 5.66716679e+00] [-3.89931105e-02 9.91272124e-01 -1.25932972e-01 1.39817562e+01] [ 3.99608098e-01 1.30981633e-01 9.07280100e-01 -7.14380177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.575860169 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:5.68, Y:13.98, Z:-71.46 [[ 9.15757255e-01 -2.60007235e-02 -4.00889775e-01 5.67769720e+00] [-2.69970556e-02 9.91664526e-01 -1.25986612e-01 1.39812317e+01] [ 4.00823912e-01 1.26195998e-01 9.07422042e-01 -7.14629589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.605860169 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:5.69, Y:13.97, Z:-71.49 [[ 9.13020767e-01 -7.08262668e-02 -4.01717212e-01 5.69120303e+00] [ 2.12120363e-02 9.91722083e-01 -1.26638694e-01 1.39662328e+01] [ 4.07361177e-01 1.07102518e-01 9.06965227e-01 -7.14901154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.635860169 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:5.70, Y:13.98, Z:-71.51 [[ 9.14079340e-01 -5.33795051e-02 -4.02006952e-01 5.70020640e+00] [ 2.12043183e-03 9.91914841e-01 -1.26887558e-01 1.39772060e+01] [ 4.05529857e-01 1.15132867e-01 9.06802050e-01 -7.15143020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.665860169 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:5.71, Y:13.99, Z:-71.54 [[ 9.15262623e-01 -2.78080199e-02 -4.01896810e-01 5.71237353e+00] [-2.57409786e-02 9.91539436e-01 -1.27227942e-01 1.39924018e+01] [ 4.02034493e-01 1.26792197e-01 9.06803179e-01 -7.15380052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.695860169 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:5.72, Y:13.98, Z:-71.56 [[ 9.13147142e-01 -7.17284680e-02 -4.01269639e-01 5.72316183e+00] [ 2.19640420e-02 9.91624347e-01 -1.27274252e-01 1.39775276e+01] [ 4.07037931e-01 1.07406616e-01 9.07074386e-01 -7.15648676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.725860169 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:5.73, Y:13.99, Z:-71.59 [[ 9.13822637e-01 -6.24605876e-02 -4.01281527e-01 5.73484490e+00] [ 1.17347750e-02 9.91750423e-01 -1.27645575e-01 1.39850891e+01] [ 4.05943942e-01 1.11936467e-01 9.07016948e-01 -7.15890268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.755860169 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:5.75, Y:13.98, Z:-71.62 [[ 9.12723313e-01 -7.89202996e-02 -4.00883699e-01 5.74612314e+00] [ 2.95519407e-02 9.91349330e-01 -1.27879585e-01 1.39824312e+01] [ 4.07508082e-01 1.04871787e-01 9.07159893e-01 -7.16150419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.785860169 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:5.76, Y:14.01, Z:-71.64 [[ 9.15645346e-01 -3.30108357e-02 -4.00629361e-01 5.75576049e+00] [-2.03411430e-02 9.91540942e-01 -1.28190475e-01 1.40060957e+01] [ 4.01472088e-01 1.25526271e-01 9.07228371e-01 -7.16382546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.815860169 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:5.77, Y:14.02, Z:-71.66 [[ 9.15754379e-01 -2.02784057e-02 -4.01226498e-01 5.76804599e+00] [-3.43733426e-02 9.91107804e-01 -1.28544913e-01 1.40151427e+01] [ 4.00265399e-01 1.31507063e-01 9.06914275e-01 -7.16611335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84586016899999 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:5.78, Y:14.02, Z:-71.69 [[ 9.16149722e-01 -2.06043469e-02 -4.00306318e-01 5.77852606e+00] [-3.39046612e-02 9.91115620e-01 -1.28609102e-01 1.40187190e+01] [ 3.99399751e-01 1.31397443e-01 9.07311717e-01 -7.16872217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.87586016899999 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:5.79, Y:14.02, Z:-71.71 [[ 9.15801856e-01 -3.54887362e-02 -4.00059383e-01 5.79009640e+00] [-1.78280202e-02 9.91514582e-01 -1.28767217e-01 1.40164207e+01] [ 4.01234498e-01 1.25057523e-01 9.07398200e-01 -7.17125431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.905860169 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:5.80, Y:14.03, Z:-71.74 [[ 9.16670482e-01 -9.91552713e-03 -3.99520849e-01 5.80126138e+00] [-4.55063244e-02 9.90600415e-01 -1.28996096e-01 1.40321029e+01] [ 3.97044583e-01 1.36427639e-01 9.07602941e-01 -7.17356359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.935860169 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:5.81, Y:14.01, Z:-71.76 [[ 9.14573432e-01 -6.71310451e-02 -3.98809304e-01 5.81328444e+00] [ 1.65578126e-02 9.91515565e-01 -1.28929140e-01 1.40125179e+01] [ 4.04080780e-01 1.11311756e-01 9.07925336e-01 -7.17628419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.965860169 meters Centerline goodness : 0.716645 Centerline is valid? [True, False] Translation: X:5.81, Y:14.02, Z:-71.76 [[ 9.18066829e-01 -4.82249257e-02 -3.93481452e-01 5.80587667e+00] [-4.00437957e-03 9.91394372e-01 -1.30847865e-01 1.40198021e+01] [ 3.96405426e-01 1.21702734e-01 9.09973177e-01 -7.17567306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.995860169 meters Centerline goodness : 0.998978 Centerline is valid? [False, True] Translation: X:5.80, Y:14.02, Z:-71.75 [[ 9.18565387e-01 -4.10745269e-02 -3.93129131e-01 5.80042553e+00] [-1.25455918e-02 9.91055431e-01 -1.32859855e-01 1.40224979e+01] [ 3.95069916e-01 1.26972502e-01 9.09833911e-01 -7.17467396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.025860169 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:5.81, Y:14.01, Z:-71.77 [[ 9.15397919e-01 -8.71599062e-02 -3.93001018e-01 5.81262000e+00] [ 3.75816634e-02 9.90518317e-01 -1.32140388e-01 1.40079935e+01] [ 4.00792050e-01 1.06191405e-01 9.09994021e-01 -7.17743397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.055860169 meters Centerline goodness : 0.997837 Centerline is valid? [True, True] Translation: X:5.82, Y:14.00, Z:-71.80 [[ 0.91094668 -0.12411929 -0.39340888 5.82451202] [ 0.07744145 0.98816058 -0.13244429 13.99594256] [ 0.40519004 0.09018353 0.90977358 -71.80040174] [ 0. 0. 0. 1. ]] SLAMing on 124.085860169 meters Centerline goodness : 0.998680 Centerline is valid? [True, True] Translation: X:5.83, Y:14.01, Z:-71.82 [[ 9.14366358e-01 -9.61691752e-02 -3.93300969e-01 5.83460296e+00] [ 4.71026232e-02 9.90052588e-01 -1.32579095e-01 1.40116447e+01] [ 4.02138665e-01 1.02700357e-01 9.09800600e-01 -7.18233689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.115860169 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:5.85, Y:14.02, Z:-71.85 [[ 9.15105425e-01 -8.72692523e-02 -3.93657388e-01 5.84734110e+00] [ 3.72623257e-02 9.90422806e-01 -1.32944289e-01 1.40205042e+01] [ 4.01489204e-01 1.06989450e-01 9.09593138e-01 -7.18466213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.145860169 meters Centerline goodness : 0.998746 Centerline is valid? [True, True] Translation: X:5.86, Y:14.02, Z:-71.87 [[ 9.11948590e-01 -1.06481206e-01 -3.96246794e-01 5.85689000e+00] [ 5.72091092e-02 9.89303514e-01 -1.34185223e-01 1.40178168e+01] [ 4.06296550e-01 9.97010992e-02 9.08285640e-01 -7.18734821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.175860169 meters Centerline goodness : 0.998351 Centerline is valid? [True, True] Translation: X:5.87, Y:14.04, Z:-71.90 [[ 9.15681986e-01 -7.15746375e-02 -3.95478914e-01 5.86622168e+00] [ 1.94256721e-02 9.90746271e-01 -1.34329708e-01 1.40368479e+01] [ 4.01433859e-01 1.15320850e-01 9.08598898e-01 -7.18976060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20586016899999 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:5.88, Y:14.04, Z:-71.92 [[ 9.16117063e-01 -6.51507372e-02 -3.95581733e-01 5.87733848e+00] [ 1.23724438e-02 9.90831862e-01 -1.34533056e-01 1.40436805e+01] [ 4.00719913e-01 1.18353715e-01 9.08524050e-01 -7.19216670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.23586016899999 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:5.89, Y:14.04, Z:-71.95 [[ 9.14535795e-01 -8.46394442e-02 -3.95550811e-01 5.88924109e+00] [ 3.32902353e-02 9.90295307e-01 -1.34933190e-01 1.40404185e+01] [ 4.03132782e-01 1.10233252e-01 9.08478173e-01 -7.19474307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26586016899999 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:5.90, Y:14.04, Z:-71.97 [[ 9.14504718e-01 -8.55464470e-02 -3.95427523e-01 5.90062227e+00] [ 3.41282114e-02 9.90217480e-01 -1.35294520e-01 1.40446246e+01] [ 4.03133211e-01 1.10232243e-01 9.08478105e-01 -7.19731581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.295860169 meters Centerline goodness : 0.997420 Centerline is valid? [True, True] Translation: X:5.91, Y:14.05, Z:-72.00 [[ 9.15402261e-01 -7.16021058e-02 -3.96120991e-01 5.91080461e+00] [ 1.87606751e-02 9.90572373e-01 -1.35699710e-01 1.40542363e+01] [ 4.02102895e-01 1.16788324e-01 9.08115494e-01 -7.19966817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.325860169 meters Centerline goodness : 0.997123 Centerline is valid? [True, True] Translation: X:5.93, Y:14.02, Z:-72.03 [[ 0.90119781 -0.16830961 -0.39939252 5.92610251] [ 0.12286146 0.98292352 -0.13699055 14.01749061] [ 0.41562912 0.07438563 0.90648729 -72.02531549] [ 0. 0. 0. 1. ]] SLAMing on 124.355860169 meters Centerline goodness : 0.997123 Centerline is valid? [True, True] Translation: X:5.94, Y:14.02, Z:-72.05 [[ 0.90116184 -0.1687536 -0.39928632 5.93748622] [ 0.12321329 0.98283629 -0.13730009 14.02188307] [ 0.41560297 0.07453222 0.90648724 -72.05103241] [ 0. 0. 0. 1. ]] SLAMing on 124.385860169 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:6.12, Y:14.42, Z:-71.94 [[ 4.53340865e-01 7.94243763e-01 -4.04547777e-01 6.12270129e+00] [-8.88915654e-01 4.36293954e-01 -1.39558399e-01 1.44154252e+01] [ 6.56583613e-02 4.22876377e-01 9.03805593e-01 -7.19374823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.415860169 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] SLAMing on 124.445860169 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] SLAMing on 124.475860169 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] SLAMing on 124.505860169 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] SLAMing on 124.535860169 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] SLAMing on 124.565860169 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] SLAMing on 124.59586016899999 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] SLAMing on 124.62586016899999 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] SLAMing on 124.655860169 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] SLAMing on 124.685860169 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] SLAMing on 124.715860169 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] SLAMing on 124.745860169 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] SLAMing on 124.775860169 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] SLAMing on 124.805860169 meters Centerline goodness : 0.998776 Centerline is valid? [True, True] SLAMing on 124.835860169 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] SLAMing on 124.865860169 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] SLAMing on 124.895860169 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] SLAMing on 124.925860169 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] SLAMing on 124.95586016899999 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] SLAMing on 124.98586016899999 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] SLAMing on 125.01586016899999 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] SLAMing on 125.045860169 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] SLAMing on 125.075860169 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:6.07, Y:14.36, Z:-72.00 [[ 0.64585374 0.64973092 -0.40090232 6.06658518] [ -0.74379465 0.65390358 -0.13849055 14.35685121] [ 0.17216987 0.38763364 0.90559246 -72.00182297] [ 0. 0. 0. 1. ]] SLAMing on 125.105860169 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:6.08, Y:14.36, Z:-72.03 [[ 0.64624652 0.64941976 -0.40077351 6.07779346] [ -0.74349465 0.65416563 -0.13886334 14.36130495] [ 0.17199165 0.38771291 0.90559239 -72.02748316] [ 0. 0. 0. 1. ]] SLAMing on 125.135860169 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] SLAMing on 125.165860169 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:6.01, Y:14.21, Z:-72.11 [[ 0.87821499 0.2609069 -0.40083166 6.01467063] [ -0.33980751 0.93015767 -0.1390596 14.21314133] [ 0.33655503 0.25832983 0.90553653 -72.10864082] [ 0. 0. 0. 1. ]] SLAMing on 125.195860169 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:6.03, Y:14.22, Z:-72.13 [[ 0.87837291 0.26050647 -0.40074607 6.02601225] [ -0.33944921 0.93025158 -0.13930627 14.2174468 ] [ 0.33650448 0.25839579 0.9055365 -72.13434903] [ 0. 0. 0. 1. ]] SLAMing on 125.225860169 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:6.05, Y:14.24, Z:-72.15 [[ 0.86466628 0.30600544 -0.39838788 6.04500902] [ -0.38660992 0.91174065 -0.13878676 14.23891002] [ 0.32075692 0.27402494 0.90665613 -72.15283899] [ 0. 0. 0. 1. ]] SLAMing on 125.255860169 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:6.06, Y:14.24, Z:-72.18 [[ 0.86492418 0.30539657 -0.39829524 6.05630751] [ -0.38603247 0.91194479 -0.13905264 14.24315368] [ 0.32075706 0.27402489 0.90665609 -72.17856594] [ 0. 0. 0. 1. ]] SLAMing on 125.285860169 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:6.05, Y:14.15, Z:-72.23 [[ 9.17506014e-01 5.97769590e-02 -3.93204056e-01 6.04517399e+00] [-1.23014891e-01 9.82814802e-01 -1.37631394e-01 1.41518532e+01] [ 3.78219580e-01 1.74647586e-01 9.09091948e-01 -7.22290695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.315860169 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:6.06, Y:14.13, Z:-72.26 [[ 9.18091329e-01 -2.14317735e-02 -3.95789074e-01 6.05808814e+00] [-3.66839747e-02 9.89657123e-01 -1.38683329e-01 1.41250377e+01] [ 3.94667706e-01 1.41843078e-01 9.07809420e-01 -7.22577848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34586016899999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:6.07, Y:14.13, Z:-72.28 [[ 9.18739736e-01 -1.59284768e-02 -3.94542243e-01 6.06684664e+00] [-4.22686245e-02 9.89477517e-01 -1.38374878e-01 1.41315465e+01] [ 3.92594780e-01 1.43807256e-01 9.08399038e-01 -7.22826550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.37586016899999 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:6.08, Y:14.12, Z:-72.31 [[ 9.17676086e-01 -5.84301520e-02 -3.93009565e-01 6.07778556e+00] [ 3.97838031e-03 9.90429637e-01 -1.37961247e-01 1.41182435e+01] [ 3.97309418e-01 1.25040196e-01 9.09126051e-01 -7.23095981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.405860169 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:6.09, Y:14.12, Z:-72.34 [[ 9.17690894e-01 -5.87602660e-02 -3.92925762e-01 6.08917166e+00] [ 4.24279324e-03 9.90395262e-01 -1.38199939e-01 1.41226019e+01] [ 3.97272479e-01 1.25157723e-01 9.09126021e-01 -7.23353120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.435860169 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:6.10, Y:14.09, Z:-72.37 [[ 0.90582735 -0.15876912 -0.39277115 6.10254734] [ 0.11243366 0.98396698 -0.13844726 14.08618882] [ 0.40845499 0.08124862 0.9091552 -72.3662189 ] [ 0. 0. 0. 1. ]] SLAMing on 125.465860169 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:6.11, Y:14.09, Z:-72.39 [[ 0.90575057 -0.15943902 -0.39267684 6.11395242] [ 0.11305031 0.98385865 -0.13871476 14.09045506] [ 0.40845505 0.08124873 0.90915517 -72.39194563] [ 0. 0. 0. 1. ]] SLAMing on 125.495860169 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:6.12, Y:14.13, Z:-72.41 [[ 9.17460378e-01 -7.01058376e-02 -3.91601360e-01 6.12034705e+00] [ 1.65339248e-02 9.90219355e-01 -1.38536128e-01 1.41298067e+01] [ 3.97483438e-01 1.20626701e-01 9.09646149e-01 -7.24122357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.525860169 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:6.13, Y:14.11, Z:-72.44 [[ 9.13103480e-01 -1.17554400e-01 -3.90413880e-01 6.13182449e+00] [ 6.80673191e-02 9.88047624e-01 -1.38306660e-01 1.41147560e+01] [ 4.02006064e-01 9.97138666e-02 9.10191337e-01 -7.24387881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.555860169 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:6.14, Y:14.10, Z:-72.47 [[ 0.907518 -0.15806692 -0.38913485 6.14467432] [ 0.11223712 0.98405624 -0.13797152 14.10319654] [ 0.40473932 0.08153627 0.91078973 -72.46516545] [ 0. 0. 0. 1. ]] SLAMing on 125.585860169 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:6.15, Y:14.12, Z:-72.49 [[ 0.9125473 -0.12909302 -0.3880624 6.15390324] [ 0.08101401 0.98713132 -0.13787127 14.11935659] [ 0.40086677 0.09437556 0.91126236 -72.48940756] [ 0. 0. 0. 1. ]] SLAMing on 125.615860169 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:6.16, Y:14.20, Z:-72.50 [[ 0.91807806 0.08440207 -0.38730991 6.16182381] [ -0.14919759 0.97879478 -0.14035976 14.20461678] [ 0.36725026 0.18664692 0.9112026 -72.50314446] [ 0. 0. 0. 1. ]] SLAMing on 125.645860169 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:6.17, Y:14.19, Z:-72.53 [[ 9.21236587e-01 3.61981535e-02 -3.87314916e-01 6.17192212e+00] [-9.77059476e-02 9.85274537e-01 -1.40312631e-01 1.41907079e+01] [ 3.76532466e-01 1.67104100e-01 9.11207727e-01 -7.25319321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.675860169 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:6.18, Y:14.20, Z:-72.56 [[ 9.20911945e-01 5.48554853e-02 -3.85891261e-01 6.18137363e+00] [-1.17645119e-01 9.82991887e-01 -1.41019774e-01 1.42015506e+01] [ 3.71592271e-01 1.75265018e-01 9.11702450e-01 -7.25567463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70586016899999 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:6.19, Y:14.20, Z:-72.58 [[ 9.21897028e-01 3.00847392e-02 -3.86265166e-01 6.19240878e+00] [-9.09394249e-02 9.85930408e-01 -1.40254238e-01 1.41960854e+01] [ 3.76611060e-01 1.64426697e-01 9.11662202e-01 -7.25829575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.73586016899999 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:6.20, Y:14.21, Z:-72.61 [[ 9.21869475e-01 4.49976983e-02 -3.84879043e-01 6.20115279e+00] [-1.06867990e-01 9.84238859e-01 -1.40901032e-01 1.42061895e+01] [ 3.72472688e-01 1.71023610e-01 9.12148574e-01 -7.26090113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76586016899999 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:6.22, Y:14.24, Z:-72.63 [[ 0.91328791 0.13111465 -0.38563473 6.21640034] [ -0.19941795 0.96947477 -0.14265743 14.24328917] [ 0.35515867 0.20718979 0.9115562 -72.62709377] [ 0. 0. 0. 1. ]] SLAMing on 125.795860169 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:6.22, Y:14.22, Z:-72.66 [[ 9.20553121e-01 6.56039262e-02 -3.85068924e-01 6.22301531e+00] [-1.28945868e-01 9.81571849e-01 -1.41030738e-01 1.42225872e+01] [ 3.68720645e-01 1.79479333e-01 9.12048384e-01 -7.26584112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.825860169 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:6.24, Y:14.25, Z:-72.68 [[ 0.91394114 0.12905148 -0.38478215 6.23618717] [ -0.19718719 0.96986877 -0.14307962 14.25243247] [ 0.35472356 0.20664046 0.91185027 -72.67836852] [ 0. 0. 0. 1. ]] SLAMing on 125.855860169 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:6.24, Y:14.24, Z:-72.71 [[ 0.91863133 0.09499718 -0.38352576 6.2436833 ] [ -0.16059447 0.97664297 -0.14275126 14.24370445] [ 0.36100677 0.1927279 0.91243086 -72.70577667] [ 0. 0. 0. 1. ]] SLAMing on 125.885860169 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:6.25, Y:14.15, Z:-72.75 [[ 0.91387893 -0.15176468 -0.37655381 6.25119714] [ 0.1077432 0.98490645 -0.13546474 14.14995837] [ 0.39142904 0.08322726 0.91643687 -72.75116513] [ 0. 0. 0. 1. ]] SLAMing on 125.915860169 meters Centerline goodness : 0.998800 Centerline is valid? [True, True] Translation: X:6.28, Y:14.32, Z:-72.74 [[ 0.88282247 0.27395009 -0.381544 6.27948466] [ -0.35055609 0.92493024 -0.14701861 14.32478397] [ 0.31262582 0.26354391 0.91258408 -72.73898417] [ 0. 0. 0. 1. ]] SLAMing on 125.945860169 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:6.28, Y:14.28, Z:-72.78 [[ 0.91039665 0.16006159 -0.38152094 6.27737938] [ -0.22978256 0.96245026 -0.14453191 14.28405819] [ 0.34406092 0.21924823 0.91299085 -72.77671954] [ 0. 0. 0. 1. ]] SLAMing on 125.975860169 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:6.29, Y:14.31, Z:-72.80 [[ 0.90046562 0.21080685 -0.38042363 6.29298652] [ -0.28381438 0.94759166 -0.14669509 14.31007156] [ 0.32956193 0.24006358 0.91310372 -72.797023 ] [ 0. 0. 0. 1. ]] SLAMing on 126.005860169 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:6.32, Y:14.36, Z:-72.81 [[ 0.85946772 0.3388762 -0.38272466 6.3210657 ] [ -0.41960186 0.8953036 -0.14955181 14.36389932] [ 0.29197522 0.28912693 0.91167762 -72.80707201] [ 0. 0. 0. 1. ]] SLAMing on 126.035860169 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:6.32, Y:14.34, Z:-72.84 [[ 0.88714464 0.25873412 -0.38214008 6.31964983] [ -0.33524023 0.93038191 -0.14833572 14.33704095] [ 0.31715671 0.25970397 0.91212141 -72.84244673] [ 0. 0. 0. 1. ]] SLAMing on 126.065860169 meters Centerline goodness : 0.998797 Centerline is valid? [True, True] Translation: X:6.34, Y:14.36, Z:-72.86 [[ 0.87312234 0.3021681 -0.38255956 6.33731195] [ -0.3812701 0.91227755 -0.14960878 14.35849297] [ 0.3037935 0.27648529 0.91173757 -72.86162362] [ 0. 0. 0. 1. ]] SLAMing on 126.09586016899999 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:6.37, Y:14.41, Z:-72.87 [[ 0.8158419 0.43298287 -0.38331166 6.36954638] [ -0.51794691 0.84190935 -0.15139238 14.41374848] [ 0.25716336 0.32204734 0.91112706 -72.86742602] [ 0. 0. 0. 1. ]] SLAMing on 126.12586016899999 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:6.34, Y:14.16, Z:-72.96 [[ 9.00031024e-01 -2.18920052e-01 -3.76852978e-01 6.34140836e+00] [ 1.80018954e-01 9.74215908e-01 -1.36001989e-01 1.41572916e+01] [ 3.96909728e-01 5.45653309e-02 9.16234300e-01 -7.29567800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.155860169 meters Centerline goodness : 0.990830 Centerline is valid? [True, True] Translation: X:6.35, Y:14.18, Z:-72.98 [[ 9.09151719e-01 -1.80022433e-01 -3.75546369e-01 6.34735822e+00] [ 1.37710904e-01 9.80971659e-01 -1.36858729e-01 1.41773067e+01] [ 3.93037986e-01 7.27085190e-02 9.16643122e-01 -7.29802259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.185860169 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:6.36, Y:14.17, Z:-73.01 [[ 8.99800223e-01 -2.20740113e-01 -3.76342080e-01 6.36386911e+00] [ 1.81362613e-01 9.73752872e-01 -1.37524349e-01 1.41650997e+01] [ 3.96821321e-01 5.54900569e-02 9.16217055e-01 -7.30061532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.215860169 meters Centerline goodness : 0.997914 Centerline is valid? [True, True] Translation: X:6.37, Y:14.18, Z:-73.03 [[ 9.04229971e-01 -2.02236449e-01 -3.76123088e-01 6.37262484e+00] [ 1.61243633e-01 9.77245626e-01 -1.37809565e-01 1.41764099e+01] [ 3.95434760e-01 6.39640859e-02 9.16264125e-01 -7.30307483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.245860169 meters Centerline goodness : 0.996956 Centerline is valid? [True, True] Translation: X:6.38, Y:14.18, Z:-73.06 [[ 9.03960889e-01 -2.04790341e-01 -3.75387302e-01 6.38224989e+00] [ 1.64013068e-01 9.76769735e-01 -1.37915183e-01 1.41799705e+01] [ 3.94910653e-01 6.31015086e-02 9.16549931e-01 -7.30567946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.275860169 meters Centerline goodness : 0.998731 Centerline is valid? [True, True] Translation: X:6.39, Y:14.18, Z:-73.08 [[ 9.02624380e-01 -2.09708995e-01 -3.75887438e-01 6.39457549e+00] [ 1.69052203e-01 9.75831336e-01 -1.38472221e-01 1.41829437e+01] [ 3.95841611e-01 6.14438032e-02 9.16260922e-01 -7.30813071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.305860169 meters Centerline goodness : 0.998181 Centerline is valid? [True, True] Translation: X:6.41, Y:14.18, Z:-73.11 [[ 9.01003122e-01 -2.16118816e-01 -3.76146290e-01 6.40570347e+00] [ 1.75861408e-01 9.74593038e-01 -1.38712564e-01 1.41844148e+01] [ 3.96567951e-01 5.88308370e-02 9.16118329e-01 -7.31060458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.335860169 meters Centerline goodness : 0.996396 Centerline is valid? [True, True] Translation: X:6.42, Y:14.19, Z:-73.13 [[ 9.02773538e-01 -2.08915292e-01 -3.75971195e-01 6.41510230e+00] [ 1.67946279e-01 9.75942744e-01 -1.39031680e-01 1.41914983e+01] [ 3.95972204e-01 6.23711590e-02 9.16141830e-01 -7.31314871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.365860169 meters Centerline goodness : 0.972714 Centerline is valid? [True, True] Translation: X:6.43, Y:14.18, Z:-73.16 [[ 8.96684916e-01 -2.35177688e-01 -3.75030155e-01 6.42705754e+00] [ 1.96410998e-01 9.70612230e-01 -1.39048980e-01 1.41839871e+01] [ 3.96710073e-01 5.10230757e-02 9.16524830e-01 -7.31580756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.395860169 meters Centerline goodness : 0.992701 Centerline is valid? [True, True] Translation: X:6.44, Y:14.20, Z:-73.18 [[ 9.02531487e-01 -2.09145615e-01 -3.76423999e-01 6.43611692e+00] [ 1.67863721e-01 9.75858538e-01 -1.39720740e-01 1.42006584e+01] [ 3.96558554e-01 6.29144343e-02 9.15851018e-01 -7.31816556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.425860169 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:6.45, Y:14.20, Z:-73.21 [[ 8.99701674e-01 -2.21037127e-01 -3.76403356e-01 6.44911197e+00] [ 1.80556235e-01 9.73533193e-01 -1.40116268e-01 1.42012532e+01] [ 3.97412058e-01 5.81008682e-02 9.15799075e-01 -7.32062674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.45586016899999 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:6.46, Y:14.21, Z:-73.23 [[ 8.99537611e-01 -2.21916401e-01 -3.76278084e-01 6.46045302e+00] [ 1.81370239e-01 9.73333377e-01 -1.40452742e-01 1.42057876e+01] [ 3.97412785e-01 5.80968775e-02 9.15799012e-01 -7.32319774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48586016899999 meters Centerline goodness : 0.995849 Centerline is valid? [True, True] Translation: X:6.47, Y:14.19, Z:-73.26 [[ 8.89459318e-01 -2.60064851e-01 -3.75803665e-01 6.47485306e+00] [ 2.22736603e-01 9.64711884e-01 -1.40425733e-01 1.41938805e+01] [ 3.99062059e-01 4.11977452e-02 9.15997936e-01 -7.32575779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.51586016899999 meters Centerline goodness : 0.989956 Centerline is valid? [True, True] Translation: X:6.48, Y:14.20, Z:-73.28 [[ 8.92905105e-01 -2.46295079e-01 -3.76907425e-01 6.48361095e+00] [ 2.07495757e-01 9.68020635e-01 -1.41001992e-01 1.42039463e+01] [ 3.99582261e-01 4.76947068e-02 9.15455751e-01 -7.32818043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.545860169 meters Centerline goodness : 0.995838 Centerline is valid? [True, True] Translation: X:6.50, Y:14.20, Z:-73.31 [[ 8.87374861e-01 -2.65319760e-01 -3.77056072e-01 6.49660606e+00] [ 2.27925268e-01 9.63347273e-01 -1.41464143e-01 1.42009205e+01] [ 4.00769171e-01 3.95911176e-02 9.15323230e-01 -7.33078635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.575860169 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:6.51, Y:14.20, Z:-73.33 [[ 8.83843199e-01 -2.75969846e-01 -3.77706028e-01 6.51084302e+00] [ 2.39182329e-01 9.60519335e-01 -1.42107073e-01 1.42018087e+01] [ 4.02011210e-01 3.52597625e-02 9.14955592e-01 -7.33322158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.605860169 meters Centerline goodness : 0.988797 Centerline is valid? [True, True] Translation: X:6.52, Y:14.22, Z:-73.36 [[ 8.94457933e-01 -2.40437860e-01 -3.77007481e-01 6.51548759e+00] [ 2.00602015e-01 9.69292223e-01 -1.42237189e-01 1.42201789e+01] [ 3.99629625e-01 5.15967215e-02 9.15223438e-01 -7.33574804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.635860169 meters Centerline goodness : 0.982916 Centerline is valid? [True, True] Translation: X:6.53, Y:14.22, Z:-73.38 [[ 8.93665243e-01 -2.42299376e-01 -3.77694912e-01 6.52688723e+00] [ 2.02305063e-01 9.68846422e-01 -1.42861020e-01 1.42245058e+01] [ 4.00543500e-01 5.12603354e-02 9.14842764e-01 -7.33828384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.665860169 meters Centerline goodness : 0.989961 Centerline is valid? [True, True] Translation: X:6.54, Y:14.24, Z:-73.41 [[ 8.97451994e-01 -2.27991091e-01 -3.77624127e-01 6.53637802e+00] [ 1.86657722e-01 9.71932499e-01 -1.43199553e-01 1.42360227e+01] [ 3.99673384e-01 5.80282650e-02 9.14819057e-01 -7.34075141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.695860169 meters Centerline goodness : 0.991976 Centerline is valid? [True, True] Translation: X:6.55, Y:14.23, Z:-73.43 [[ 8.90265755e-01 -2.54454378e-01 -3.77729871e-01 6.54974550e+00] [ 2.15153671e-01 9.65961905e-01 -1.43619276e-01 1.42291046e+01] [ 4.01417220e-01 4.65893547e-02 9.14709598e-01 -7.34336377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.725860169 meters Centerline goodness : 0.990188 Centerline is valid? [True, True] Translation: X:6.56, Y:14.24, Z:-73.46 [[ 8.94817901e-01 -2.38465859e-01 -3.77405563e-01 6.56011430e+00] [ 1.97824713e-01 9.69655285e-01 -1.43645434e-01 1.42411107e+01] [ 4.00207830e-01 5.38763590e-02 9.14839347e-01 -7.34570010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.755860169 meters Centerline goodness : 0.987890 Centerline is valid? [True, True] Translation: X:6.57, Y:14.26, Z:-73.48 [[ 9.02503892e-01 -2.08271621e-01 -3.76974344e-01 6.56739721e+00] [ 1.65079525e-01 9.75731750e-01 -1.43862098e-01 1.42591655e+01] [ 3.97788229e-01 6.76053577e-02 9.14983082e-01 -7.34813423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.785860169 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:6.57, Y:14.28, Z:-73.51 [[ 0.91082256 -0.16948087 -0.37640205 6.57113858] [ 0.12334709 0.98191231 -0.1436444 14.27713865] [ 0.39393878 0.08440647 0.91525285 -73.50662607] [ 0. 0. 0. 1. ]] SLAMing on 126.815860169 meters Centerline goodness : 0.982803 Centerline is valid? [True, True] Translation: X:6.61, Y:14.20, Z:-73.54 [[ 8.48018810e-01 -3.69677414e-01 -3.79740316e-01 6.60803256e+00] [ 3.39663956e-01 9.29145770e-01 -1.46001833e-01 1.42005596e+01] [ 4.06807688e-01 -5.17179766e-03 9.13499183e-01 -7.35350722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84586016899999 meters Centerline goodness : 0.997185 Centerline is valid? [True, True] Translation: X:6.62, Y:14.21, Z:-73.56 [[ 8.51915407e-01 -3.59223034e-01 -3.81049801e-01 6.62068471e+00] [ 3.28049615e-01 9.33251690e-01 -1.46371898e-01 1.42121500e+01] [ 4.08195528e-01 -3.06765478e-04 9.12894472e-01 -7.35588737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.87586016899999 meters Centerline goodness : 0.994725 Centerline is valid? [True, True] Translation: X:6.63, Y:14.22, Z:-73.58 [[ 8.57202781e-01 -3.47309946e-01 -3.80235709e-01 6.62869959e+00] [ 3.14975096e-01 9.37732615e-01 -1.46452146e-01 1.42213976e+01] [ 4.07423713e-01 5.77440728e-03 9.13220989e-01 -7.35842798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.905860169 meters Centerline goodness : 0.996933 Centerline is valid? [True, True] Translation: X:6.64, Y:14.22, Z:-73.61 [[ 8.53347365e-01 -3.56074765e-01 -3.80800521e-01 6.64204494e+00] [ 3.24397879e-01 9.34455804e-01 -1.46827676e-01 1.42215560e+01] [ 4.08122888e-01 1.76412886e-03 9.12925296e-01 -7.36086262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.935860169 meters Centerline goodness : 0.998330 Centerline is valid? [True, True] Translation: X:6.66, Y:14.20, Z:-73.63 [[ 8.22281997e-01 -4.22527802e-01 -3.81211981e-01 6.66475795e+00] [ 3.97142420e-01 9.05846376e-01 -1.47377887e-01 1.41985104e+01] [ 4.07590746e-01 -3.02092653e-02 9.12664881e-01 -7.36340214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.965860169 meters Centerline goodness : 0.980959 Centerline is valid? [True, True] Translation: X:6.67, Y:14.21, Z:-73.66 [[ 8.33220577e-01 -4.01510029e-01 -3.80175179e-01 6.67130762e+00] [ 3.73998458e-01 9.15648934e-01 -1.47350544e-01 1.42120797e+01] [ 4.07269719e-01 -1.94094256e-02 9.13101665e-01 -7.36601762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.995860169 meters Centerline goodness : 0.989942 Centerline is valid? [True, True] Translation: X:6.68, Y:14.22, Z:-73.68 [[ 8.38194210e-01 -3.91101252e-01 -3.80092459e-01 6.68096146e+00] [ 3.62505401e-01 9.20238605e-01 -1.47481333e-01 1.42212609e+01] [ 4.07455889e-01 -1.41675695e-02 9.13114987e-01 -7.36843396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.025860169 meters Centerline goodness : 0.974442 Centerline is valid? [True, True] Translation: X:6.70, Y:14.21, Z:-73.71 [[ 8.21167252e-01 -4.26936506e-01 -3.78694552e-01 6.69789813e+00] [ 4.01918536e-01 9.03742857e-01 -1.47344284e-01 1.42095722e+01] [ 4.05149150e-01 -3.12100591e-02 9.13717734e-01 -7.37096528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.055860169 meters Centerline goodness : 0.998817 Centerline is valid? [True, True] Translation: X:6.72, Y:14.20, Z:-73.73 [[ 8.01093664e-01 -4.61303058e-01 -3.81377019e-01 6.72136561e+00] [ 4.39426285e-01 8.85911223e-01 -1.48545770e-01 1.42035885e+01] [ 4.06390799e-01 -4.85880111e-02 9.12406556e-01 -7.37303840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.085860169 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:6.69, Y:14.31, Z:-73.76 [[ 0.90356889 -0.19707354 -0.38042777 6.68872208] [ 0.14969762 0.97718581 -0.15066029 14.31430238] [ 0.40143977 0.07918282 0.91245613 -73.75558668] [ 0. 0. 0. 1. ]] SLAMing on 127.115860169 meters Centerline goodness : 0.993689 Centerline is valid? [True, True] Translation: X:6.70, Y:14.28, Z:-73.79 [[ 8.81078353e-01 -2.87828953e-01 -3.75307115e-01 6.70392872e+00] [ 2.49023771e-01 9.56925387e-01 -1.49268095e-01 1.42788963e+01] [ 4.02104586e-01 3.80564945e-02 9.14802495e-01 -7.37862321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.145860169 meters Centerline goodness : 0.984565 Centerline is valid? [True, True] Translation: X:6.74, Y:14.23, Z:-73.81 [[ 8.24316901e-01 -4.21286835e-01 -3.78178596e-01 6.74176404e+00] [ 3.95256568e-01 9.06518789e-01 -1.48310251e-01 1.42318259e+01] [ 4.05307159e-01 -2.72229276e-02 9.13775147e-01 -7.38102762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.175860169 meters Centerline goodness : 0.984565 Centerline is valid? [True, True] Translation: X:6.76, Y:14.23, Z:-73.84 [[ 8.16963083e-01 -4.35340884e-01 -3.78219031e-01 6.75575302e+00] [ 4.10773596e-01 8.99612410e-01 -1.48197720e-01 1.42307844e+01] [ 4.04767061e-01 -3.42903254e-02 9.13776669e-01 -7.38358123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20586016899999 meters Centerline goodness : 0.994205 Centerline is valid? [True, True] Translation: X:6.77, Y:14.23, Z:-73.86 [[ 8.09496493e-01 -4.49156569e-01 -3.78118770e-01 6.77036097e+00] [ 4.25954079e-01 8.92510619e-01 -1.48283233e-01 1.42302538e+01] [ 4.04077406e-01 -4.10264759e-02 9.13804289e-01 -7.38598391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.23586016899999 meters Centerline goodness : 0.992270 Centerline is valid? [True, True] Translation: X:6.78, Y:14.24, Z:-73.88 [[ 8.10498768e-01 -4.48001524e-01 -3.77341201e-01 6.78070292e+00] [ 4.24637286e-01 8.93135756e-01 -1.48295980e-01 1.42355439e+01] [ 4.03453744e-01 -4.00394340e-02 9.14123580e-01 -7.38848804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26586016899999 meters Centerline goodness : 0.992270 Centerline is valid? [True, True] Translation: X:6.79, Y:14.24, Z:-73.91 [[ 8.10198616e-01 -4.48632400e-01 -3.77236228e-01 6.79196776e+00] [ 4.25209551e-01 8.92819051e-01 -1.48563049e-01 1.42403339e+01] [ 4.03453889e-01 -4.00388710e-02 9.14123541e-01 -7.39106139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.295860169 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:6.82, Y:14.22, Z:-73.93 [[ 0.76575235 -0.52012858 -0.37827185 6.82124932] [ 0.50405317 0.85066951 -0.14930433 14.21674219] [ 0.39944178 -0.07633898 0.91357464 -73.93328741] [ 0. 0. 0. 1. ]] SLAMing on 127.325860169 meters Centerline goodness : 0.983612 Centerline is valid? [True, True] Translation: X:6.78, Y:14.30, Z:-73.96 [[ 8.74992975e-01 -3.06328092e-01 -3.74900512e-01 6.78285320e+00] [ 2.68596553e-01 9.51421105e-01 -1.50511703e-01 1.43044801e+01] [ 4.02794223e-01 3.09996976e-02 9.14765452e-01 -7.39649205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.355860169 meters Centerline goodness : 0.990984 Centerline is valid? [True, True] Translation: X:6.84, Y:14.23, Z:-73.99 [[ 7.80352965e-01 -4.99690219e-01 -3.75977306e-01 6.83613278e+00] [ 4.81374218e-01 8.63777017e-01 -1.48889648e-01 1.42331280e+01] [ 3.99159256e-01 -6.47993031e-02 9.14588945e-01 -7.39863120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.385860169 meters Centerline goodness : 0.998570 Centerline is valid? [True, True] Translation: X:6.81, Y:14.29, Z:-74.02 [[ 8.56930985e-01 -3.54683194e-01 -3.73990801e-01 6.81364928e+00] [ 3.21177557e-01 9.34942546e-01 -1.50756137e-01 1.42937691e+01] [ 4.03130580e-01 9.07015357e-03 9.15097518e-01 -7.40158717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.415860169 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:6.93, Y:14.16, Z:-74.02 [[ 0.59880073 -0.70356022 -0.38267571 6.93277153] [ 0.71042295 0.68720849 -0.15180157 14.16409192] [ 0.36977954 -0.18096272 0.91132628 -74.01829907] [ 0. 0. 0. 1. ]] SLAMing on 127.445860169 meters Centerline goodness : 0.994266 Centerline is valid? [True, True] Translation: X:6.87, Y:14.23, Z:-74.06 [[ 0.76319953 -0.52529238 -0.37629031 6.87442836] [ 0.5096582 0.8473459 -0.14917589 14.23471159] [ 0.39720901 -0.07792847 0.91441356 -74.0611135 ] [ 0. 0. 0. 1. ]] SLAMing on 127.475860169 meters Centerline goodness : 0.994266 Centerline is valid? [True, True] Translation: X:6.89, Y:14.24, Z:-74.09 [[ 0.76302017 -0.52563108 -0.37618106 6.88557858] [ 0.50990423 0.84714931 -0.14945143 14.23963939] [ 0.39723784 -0.07778186 0.91441352 -74.08688547] [ 0. 0. 0. 1. ]] SLAMing on 127.505860169 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:6.90, Y:14.24, Z:-74.11 [[ 0.74369401 -0.55175384 -0.37747441 6.90498915] [ 0.53872905 0.82896378 -0.15029994 14.23664048] [ 0.39584118 -0.09157926 0.91374121 -74.10943656] [ 0. 0. 0. 1. ]] SLAMing on 127.535860169 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:6.91, Y:14.24, Z:-74.13 [[ 0.74797867 -0.54666728 -0.37640775 6.91319126] [ 0.53307208 0.83266536 -0.1500085 14.24210705] [ 0.39542644 -0.08844931 0.91422899 -74.13433696] [ 0. 0. 0. 1. ]] SLAMing on 127.565860169 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:6.99, Y:14.18, Z:-74.14 [[ 0.57444822 -0.7238588 -0.38214877 6.99447867] [ 0.73331543 0.66253384 -0.15263483 14.17938155] [ 0.36367256 -0.19255479 0.91140821 -74.14047961] [ 0. 0. 0. 1. ]] SLAMing on 127.59586016899999 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:6.91, Y:14.32, Z:-74.18 [[ 8.30903303e-01 -4.05100948e-01 -3.81435345e-01 6.91042753e+00] [ 3.75679570e-01 9.14121095e-01 -1.52471256e-01 1.43237293e+01] [ 4.10444346e-01 -1.66085966e-02 9.11734388e-01 -7.41818110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62586016899999 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:6.95, Y:14.27, Z:-74.20 [[ 0.7520056 -0.53825079 -0.38049134 6.95081802] [ 0.52307642 0.83854699 -0.15241392 14.27494904] [ 0.40109678 -0.08440993 0.91213833 -74.20354172] [ 0. 0. 0. 1. ]] SLAMing on 127.655860169 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:6.95, Y:14.29, Z:-74.23 [[ 7.70623936e-01 -5.10852876e-01 -3.81009303e-01 6.95486064e+00] [ 4.92389597e-01 8.56833752e-01 -1.52932688e-01 1.42917653e+01] [ 4.04587734e-01 -6.97514274e-02 9.11835240e-01 -7.42293261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.685860169 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:6.96, Y:14.30, Z:-74.25 [[ 7.80414007e-01 -4.96121945e-01 -3.80548280e-01 6.96055796e+00] [ 4.76014869e-01 8.66047811e-01 -1.52875878e-01 1.43015758e+01] [ 4.05418083e-01 -6.18401632e-02 9.12037265e-01 -7.42544999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.715860169 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:6.99, Y:14.28, Z:-74.28 [[ 0.72837776 -0.56883535 -0.38195834 6.98983557] [ 0.55683863 0.81626441 -0.15376332 14.27648275] [ 0.39924501 -0.10069138 0.91129834 -74.27661359] [ 0. 0. 0. 1. ]] SLAMing on 127.745860169 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:7.00, Y:14.28, Z:-74.30 [[ 0.72514531 -0.57259047 -0.38249762 7.00063389] [ 0.56096408 0.81336907 -0.15411051 14.27836157] [ 0.39935395 -0.10281492 0.91101346 -74.30165271] [ 0. 0. 0. 1. ]] SLAMing on 127.775860169 meters Centerline goodness : 0.991953 Centerline is valid? [True, True] Translation: X:6.97, Y:14.34, Z:-74.33 [[ 8.21869388e-01 -4.27572298e-01 -3.76447393e-01 6.97134619e+00] [ 4.00482872e-01 9.03611530e-01 -1.51985767e-01 1.43377086e+01] [ 4.05147108e-01 -2.58482840e-02 9.13886036e-01 -7.43348148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.805860169 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:7.00, Y:14.32, Z:-74.35 [[ 7.79274012e-01 -4.96548028e-01 -3.82324561e-01 7.00105118e+00] [ 4.75901083e-01 8.65823705e-01 -1.54491008e-01 1.43185997e+01] [ 4.07737873e-01 -6.15578448e-02 9.11021657e-01 -7.43549798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.835860169 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:7.02, Y:14.32, Z:-74.38 [[ 7.68925292e-01 -5.12075801e-01 -3.82795335e-01 7.01616333e+00] [ 4.92990727e-01 8.56120071e-01 -1.54979247e-01 1.43159166e+01] [ 4.07079891e-01 -6.95470870e-02 9.10740998e-01 -7.43798688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.865860169 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:7.03, Y:14.32, Z:-74.41 [[ 7.68231013e-01 -5.12506679e-01 -3.83611802e-01 7.02642366e+00] [ 4.93258033e-01 8.55851748e-01 -1.55609443e-01 1.43194665e+01] [ 4.08065710e-01 -6.96756032e-02 9.10289891e-01 -7.44052557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.895860169 meters Centerline goodness : 0.405837 Centerline is valid? [True, False] Translation: X:7.00, Y:14.36, Z:-74.41 [[ 8.32387883e-01 -4.00630902e-01 -3.82916821e-01 6.99818033e+00] [ 3.73457588e-01 9.15998421e-01 -1.46548021e-01 1.43580381e+01] [ 4.09462870e-01 -2.10183958e-02 9.12084637e-01 -7.44099844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.925860169 meters Centerline goodness : 0.468562 Centerline is valid? [False, False] Translation: X:6.98, Y:14.39, Z:-74.41 [[ 8.75302527e-01 -2.98745879e-01 -3.80258314e-01 6.97885382e+00] [ 2.64256759e-01 9.54051695e-01 -1.41257669e-01 1.43943948e+01] [ 4.04986235e-01 2.31573650e-02 9.14029477e-01 -7.44125185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.95586016899999 meters Centerline goodness : 0.464105 Centerline is valid? [False, False] Translation: X:6.97, Y:14.43, Z:-74.41 [[ 9.01493045e-01 -2.09655678e-01 -3.78622222e-01 6.96631436e+00] [ 1.69346813e-01 9.75958706e-01 -1.37208825e-01 1.44263934e+01] [ 3.98286263e-01 5.95743350e-02 9.15324506e-01 -7.44098534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98586016899999 meters Centerline goodness : 0.634398 Centerline is valid? [False, False] Translation: X:6.96, Y:14.45, Z:-74.40 [[ 0.91525226 -0.13596214 -0.37924608 6.95631605] [ 0.09085511 0.98674124 -0.13448816 14.45354319] [ 0.39250305 0.08863415 0.91547001 -74.40078862] [ 0. 0. 0. 1. ]] SLAMing on 128.01586016899998 meters Centerline goodness : 0.729897 Centerline is valid? [False, False] Translation: X:6.95, Y:14.47, Z:-74.39 [[ 9.21637576e-01 -8.68277288e-02 -3.78213066e-01 6.94786476e+00] [ 3.79377247e-02 9.90137848e-01 -1.34862046e-01 1.44718041e+01] [ 3.86192836e-01 1.09945386e-01 9.15842293e-01 -7.43879994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.04586016899998 meters Centerline goodness : 0.407705 Centerline is valid? [False, False] Translation: X:6.94, Y:14.48, Z:-74.37 [[ 9.24838859e-01 -5.53196423e-02 -3.76314791e-01 6.93979362e+00] [ 3.80750268e-03 9.90663896e-01 -1.36273798e-01 1.44826184e+01] [ 3.80340094e-01 1.24598485e-01 9.16415097e-01 -7.43737647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.07586016899998 meters Centerline goodness : 0.999157 Centerline is valid? [False, True] Translation: X:6.94, Y:14.48, Z:-74.37 [[ 9.24671466e-01 -4.96913497e-02 -3.77509535e-01 6.93696294e+00] [-2.77785653e-03 9.90541078e-01 -1.37188397e-01 1.44842492e+01] [ 3.80755778e-01 1.27902863e-01 9.15787036e-01 -7.43667703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.10586016899998 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:6.97, Y:14.37, Z:-74.40 [[ 8.56271499e-01 -3.51724147e-01 -3.78271390e-01 6.97393102e+00] [ 3.25192669e-01 9.36069061e-01 -1.34255138e-01 1.43660264e+01] [ 4.01308919e-01 -8.05223492e-03 9.15907372e-01 -7.44008164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.13586016899998 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:6.98, Y:14.40, Z:-74.42 [[ 8.79146884e-01 -2.89192772e-01 -3.78772091e-01 6.97661425e+00] [ 2.56930147e-01 9.57044823e-01 -1.34358123e-01 1.43950555e+01] [ 4.01357267e-01 2.08025561e-02 9.15685316e-01 -7.44247666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.16586016899998 meters Centerline goodness : 0.997575 Centerline is valid? [True, True] Translation: X:6.99, Y:14.39, Z:-74.45 [[ 8.72205383e-01 -3.10222527e-01 -3.78179525e-01 6.98890948e+00] [ 2.79813378e-01 9.50595172e-01 -1.34436948e-01 1.43903684e+01] [ 4.01201000e-01 1.14369398e-02 9.15918639e-01 -7.44508398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.19586016899999 meters Centerline goodness : 0.997532 Centerline is valid? [True, True] Translation: X:6.98, Y:14.44, Z:-74.48 [[ 9.05099900e-01 -1.98759646e-01 -3.75883990e-01 6.98385788e+00] [ 1.58829892e-01 9.78069617e-01 -1.34732664e-01 1.44385995e+01] [ 3.94420127e-01 6.22449073e-02 9.16819685e-01 -7.44760351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.225860169 meters Centerline goodness : 0.997567 Centerline is valid? [True, True] Translation: X:6.99, Y:14.49, Z:-74.50 [[ 9.22883551e-01 -7.69652141e-02 -3.77309300e-01 6.98988930e+00] [ 2.69110580e-02 9.90317712e-01 -1.36185994e-01 1.44932460e+01] [ 3.84137667e-01 1.15530021e-01 9.16019141e-01 -7.44960841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.255860169 meters Centerline goodness : 0.994918 Centerline is valid? [True, True] Translation: X:7.01, Y:14.43, Z:-74.53 [[ 8.93038111e-01 -2.45427706e-01 -3.77158023e-01 7.01254822e+00] [ 2.09242789e-01 9.68527655e-01 -1.34802212e-01 1.44301260e+01] [ 3.98372173e-01 4.14659165e-02 9.16286085e-01 -7.45281255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.285860169 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:7.01, Y:14.49, Z:-74.55 [[ 9.20013624e-01 -1.08421438e-01 -3.76589596e-01 7.01159300e+00] [ 6.09226297e-02 9.88853203e-01 -1.35859402e-01 1.44891281e+01] [ 3.87121900e-01 1.02049672e-01 9.16363737e-01 -7.45498451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.315860169 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:7.03, Y:14.45, Z:-74.58 [[ 8.99875509e-01 -2.18760058e-01 -3.77316982e-01 7.03155642e+00] [ 1.80159043e-01 9.74300168e-01 -1.35210587e-01 1.44488767e+01] [ 3.97198675e-01 5.36956295e-02 9.16160462e-01 -7.45797351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.345860169 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:7.04, Y:14.45, Z:-74.61 [[ 8.98831985e-01 -2.23130475e-01 -3.77245084e-01 7.04292115e+00] [ 1.84809160e-01 9.73400997e-01 -1.35410758e-01 1.44516139e+01] [ 3.97425007e-01 5.19931730e-02 9.16160506e-01 -7.46057222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.375860169 meters Centerline goodness : 0.997053 Centerline is valid? [True, True] Translation: X:7.05, Y:14.47, Z:-74.63 [[ 9.06670287e-01 -1.90033456e-01 -3.76611571e-01 7.05075030e+00] [ 1.49009928e-01 9.79506032e-01 -1.35513740e-01 1.44703425e+01] [ 3.94645450e-01 6.67474182e-02 9.16405888e-01 -7.46297550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.405860169 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:7.06, Y:14.49, Z:-74.65 [[ 0.91539643 -0.14388793 -0.37595963 7.05599015] [ 0.09917654 0.98576057 -0.13579436 14.49325273] [ 0.39014535 0.0870193 0.91663201 -74.65308968] [ 0. 0. 0. 1. ]] SLAMing on 128.435860169 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:7.07, Y:14.50, Z:-74.68 [[ 0.91506703 -0.14237276 -0.37733582 7.06935988] [ 0.09719862 0.98589147 -0.1362734 14.49863448] [ 0.39141379 0.08802278 0.91599522 -74.67859866] [ 0. 0. 0. 1. ]] SLAMing on 128.465860169 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:7.08, Y:14.50, Z:-74.70 [[ 0.91454922 -0.14586597 -0.37725701 7.08052179] [ 0.10087743 0.98549168 -0.13649137 14.50177976] [ 0.39169309 0.08677136 0.91599523 -74.70460033] [ 0. 0. 0. 1. ]] SLAMing on 128.495860169 meters Centerline goodness : 0.998154 Centerline is valid? [True, True] Translation: X:7.09, Y:14.50, Z:-74.73 [[ 0.91064261 -0.168521 -0.37726743 7.09262314] [ 0.12517356 0.9826583 -0.1368 14.49654875] [ 0.39377865 0.077352 0.91594489 -74.73145107] [ 0. 0. 0. 1. ]] SLAMing on 128.52586016899997 meters Centerline goodness : 0.992965 Centerline is valid? [True, True] Translation: X:7.10, Y:14.52, Z:-74.76 [[ 9.18286052e-01 -1.21164009e-01 -3.76921755e-01 7.10035097e+00] [ 7.41103723e-02 9.87797527e-01 -1.36980652e-01 1.45211001e+01] [ 3.88919502e-01 9.78536102e-02 9.16060201e-01 -7.47555546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.55586016899997 meters Centerline goodness : 0.997265 Centerline is valid? [True, True] Translation: X:7.11, Y:14.53, Z:-74.78 [[ 9.20704106e-01 -1.02449794e-01 -3.76574015e-01 7.10924420e+00] [ 5.38646005e-02 9.89052339e-01 -1.37382952e-01 1.45319609e+01] [ 3.86526265e-01 1.06205039e-01 9.16142967e-01 -7.47809279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.58586016899997 meters Centerline goodness : 0.996663 Centerline is valid? [True, True] Translation: X:7.12, Y:14.53, Z:-74.81 [[ 9.18402416e-01 -1.20448744e-01 -3.76867485e-01 7.12070496e+00] [ 7.29597118e-02 9.87756162e-01 -1.37893598e-01 1.45288024e+01] [ 3.88862292e-01 9.91456705e-02 9.15945552e-01 -7.48073326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.61586016899997 meters Centerline goodness : 0.996963 Centerline is valid? [True, True] Translation: X:7.13, Y:14.54, Z:-74.83 [[ 9.19571551e-01 -1.09088052e-01 -3.77475773e-01 7.13253279e+00] [ 6.06646435e-02 9.88585286e-01 -1.37909149e-01 1.45382068e+01] [ 3.88211235e-01 1.03917897e-01 9.15692693e-01 -7.48324710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64586016899997 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:7.14, Y:14.56, Z:-74.86 [[ 9.24294392e-01 -5.88639726e-02 -3.77113922e-01 7.14056001e+00] [ 6.72422020e-03 9.90394009e-01 -1.38110432e-01 1.45629577e+01] [ 3.81621097e-01 1.25118901e-01 9.15811443e-01 -7.48554048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.67586016899998 meters Centerline goodness : 0.993549 Centerline is valid? [True, True] Translation: X:7.15, Y:14.53, Z:-74.89 [[ 0.91498143 -0.14735267 -0.3756277 7.15413745] [ 0.10230535 0.98523373 -0.13728839 14.52978497] [ 0.39031089 0.08718761 0.91654554 -74.88698277] [ 0. 0. 0. 1. ]] SLAMing on 128.70586016899998 meters Centerline goodness : 0.993549 Centerline is valid? [True, True] Translation: X:7.16, Y:14.53, Z:-74.91 [[ 0.91447498 -0.15060681 -0.37557037 7.16490282] [ 0.10578589 0.98485642 -0.13735786 14.53265363] [ 0.39056992 0.08588028 0.91655863 -74.91211234] [ 0. 0. 0. 1. ]] SLAMing on 128.73586016899998 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:7.17, Y:14.56, Z:-74.94 [[ 9.21100379e-01 -9.92981434e-02 -3.76449160e-01 7.17266389e+00] [ 5.05051515e-02 9.89232904e-01 -1.37358990e-01 1.45580553e+01] [ 3.86035388e-01 1.07508796e-01 9.16197870e-01 -7.49355640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.76586016899998 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:7.18, Y:14.56, Z:-74.96 [[ 9.21001580e-01 -1.00713455e-01 -3.76314880e-01 7.18353470e+00] [ 5.19854936e-02 9.89137567e-01 -1.37493209e-01 1.45619020e+01] [ 3.86074601e-01 1.07068548e-01 9.16232901e-01 -7.49615588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.79586016899998 meters Centerline goodness : 0.998312 Centerline is valid? [True, True] Translation: X:7.20, Y:14.52, Z:-74.99 [[ 9.01047091e-01 -2.15395086e-01 -3.76455969e-01 7.20277336e+00] [ 1.75742867e-01 9.74838562e-01 -1.37128487e-01 1.45172220e+01] [ 3.96520598e-01 5.73997727e-02 9.16229601e-01 -7.49918969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.82586016899998 meters Centerline goodness : 0.995828 Centerline is valid? [True, True] Translation: X:7.21, Y:14.53, Z:-75.02 [[ 9.07438159e-01 -1.87003256e-01 -3.76278845e-01 7.21129860e+00] [ 1.44826296e-01 9.79829760e-01 -1.37691632e-01 1.45330440e+01] [ 3.94437993e-01 7.04515692e-02 9.16217903e-01 -7.50163139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.85586016899998 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:7.22, Y:14.61, Z:-75.03 [[ 9.25767142e-01 -2.12702952e-02 -3.77495396e-01 7.21779663e+00] [-3.42517039e-02 9.89593095e-01 -1.39758100e-01 1.46075805e+01] [ 3.76539533e-01 1.42313317e-01 9.15404228e-01 -7.50324642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.88586016899998 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:7.23, Y:14.56, Z:-75.07 [[ 0.91378235 -0.15288147 -0.37633638 7.23209799] [ 0.10774346 0.98450795 -0.1383309 14.55747984] [ 0.39165439 0.08585655 0.91609797 -75.06559089] [ 0. 0. 0. 1. ]] SLAMing on 128.91586016899998 meters Centerline goodness : 0.992492 Centerline is valid? [True, True] Translation: X:7.24, Y:14.58, Z:-75.09 [[ 9.20557713e-01 -1.01294638e-01 -3.77243811e-01 7.24113826e+00] [ 5.14741605e-02 9.88826236e-01 -1.39903845e-01 1.45836000e+01] [ 3.87200087e-01 1.09371255e-01 9.15485675e-01 -7.50877826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.94586016899999 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:7.25, Y:14.58, Z:-75.11 [[ 9.17796031e-01 -1.22268634e-01 -3.77757630e-01 7.25397803e+00] [ 7.37709432e-02 9.87350945e-01 -1.40342294e-01 1.45793500e+01] [ 3.90138813e-01 1.00938064e-01 9.15206651e-01 -7.51141008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.975860169 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:7.26, Y:14.59, Z:-75.14 [[ 9.20236951e-01 -1.02367424e-01 -3.77736501e-01 7.26389604e+00] [ 5.23203512e-02 9.88700443e-01 -1.40477812e-01 1.45918705e+01] [ 3.87848597e-01 1.09509567e-01 9.15194581e-01 -7.51375320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.005860169 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:7.27, Y:14.62, Z:-75.16 [[ 9.24555472e-01 -4.94985331e-02 -3.77818838e-01 7.27412942e+00] [-4.46774373e-03 9.90050612e-01 -1.40640764e-01 1.46176861e+01] [ 3.81021284e-01 1.31718185e-01 9.15135564e-01 -7.51582012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.035860169 meters Centerline goodness : 0.997138 Centerline is valid? [True, True] Translation: X:7.28, Y:14.62, Z:-75.19 [[ 9.24345463e-01 -5.92703164e-02 -3.76925052e-01 7.28269376e+00] [ 6.14193896e-03 9.90044671e-01 -1.40619434e-01 1.46174515e+01] [ 3.81507197e-01 1.27665885e-01 9.15507335e-01 -7.51851618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.065860169 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:7.30, Y:14.65, Z:-75.20 [[ 9.22997295e-01 7.11024189e-03 -3.84740741e-01 7.30454183e+00] [-6.75862107e-02 9.87282371e-01 -1.43894491e-01 1.46535058e+01] [ 3.78824627e-01 1.58817395e-01 9.11739512e-01 -7.52008052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.095860169 meters Centerline goodness : 0.996785 Centerline is valid? [True, True] Translation: X:7.30, Y:14.65, Z:-75.23 [[ 9.26366637e-01 4.04407015e-03 -3.76601246e-01 7.30362593e+00] [-6.17110412e-02 9.88057651e-01 -1.41187199e-01 1.46538399e+01] [ 3.71532772e-01 1.54031566e-01 9.15553208e-01 -7.52319184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.125860169 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:7.32, Y:14.66, Z:-75.26 [[ 9.25981420e-01 1.35170138e-02 -3.77327048e-01 7.31646752e+00] [-7.22008001e-02 9.87256117e-01 -1.41818206e-01 1.46631456e+01] [ 3.70601477e-01 1.58564338e-01 9.15156760e-01 -7.52552225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.155860169 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:7.33, Y:14.67, Z:-75.28 [[ 9.26079665e-01 7.40732393e-03 -3.77255333e-01 7.32632190e+00] [-6.58030038e-02 9.87656972e-01 -1.42139617e-01 1.46654942e+01] [ 3.71545986e-01 1.56457143e-01 9.15136461e-01 -7.52818536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.185860169 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:7.35, Y:14.76, Z:-75.29 [[ 0.89842221 0.22554968 -0.37678227 7.3491661 ] [ -0.29759266 0.94366313 -0.14470146 14.75895711] [ 0.32291816 0.24213064 0.91492984 -75.28703312] [ 0. 0. 0. 1. ]] SLAMing on 129.215860169 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:7.35, Y:14.68, Z:-75.33 [[ 9.26206250e-01 1.45499279e-02 -3.76736356e-01 7.34737368e+00] [-7.33863059e-02 9.87099734e-01 -1.42297456e-01 1.46775535e+01] [ 3.69805939e-01 1.59444083e-01 9.15325708e-01 -7.53314452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.245860169 meters Centerline goodness : 0.998279 Centerline is valid? [True, True] Translation: X:7.37, Y:14.77, Z:-75.34 [[ 0.89895785 0.22376697 -0.37656756 7.36960731] [ -0.29581852 0.94415213 -0.14514876 14.76705587] [ 0.32305757 0.24187828 0.91494738 -75.33632796] [ 0. 0. 0. 1. ]] SLAMing on 129.27586016899997 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:7.37, Y:14.68, Z:-75.38 [[ 9.26285363e-01 -1.05792112e-02 -3.76674270e-01 7.36751019e+00] [-4.68005263e-02 9.88636579e-01 -1.42854561e-01 1.46761393e+01] [ 3.73905251e-01 1.49952643e-01 9.15264480e-01 -7.53840062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.30586016899997 meters Centerline goodness : 0.995384 Centerline is valid? [True, True] Translation: X:7.39, Y:14.75, Z:-75.39 [[ 0.91060552 0.17104362 -0.37622024 7.38544949] [ -0.24016354 0.95985592 -0.14490716 14.75475236] [ 0.33633179 0.22230764 0.91512854 -75.39449905] [ 0. 0. 0. 1. ]] SLAMing on 129.33586016899997 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:7.41, Y:14.77, Z:-75.41 [[ 0.90064509 0.19943978 -0.38608573 7.40898567] [ -0.27349734 0.95057917 -0.14696409 14.77248975] [ 0.33769457 0.23795591 0.91068071 -75.41187006] [ 0. 0. 0. 1. ]] SLAMing on 129.36586016899997 meters Centerline goodness : 0.995128 Centerline is valid? [True, True] Translation: X:7.40, Y:14.71, Z:-75.46 [[ 9.23593075e-01 3.62295516e-02 -3.81658553e-01 7.39831183e+00] [-9.87897907e-02 9.84395865e-01 -1.45620595e-01 1.47090997e+01] [ 3.70427333e-01 1.72198142e-01 9.12760314e-01 -7.54577077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.39586016899997 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:7.41, Y:14.74, Z:-75.48 [[ 0.91928374 0.09588445 -0.38173758 7.41159135] [ -0.16233247 0.97590573 -0.14579496 14.73889219] [ 0.35856042 0.19599534 0.91269943 -75.47735372] [ 0. 0. 0. 1. ]] SLAMing on 129.42586016899998 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:7.42, Y:14.74, Z:-75.50 [[ 0.9193696 0.0954966 -0.38162801 7.42244845] [ -0.16200843 0.97591668 -0.1460818 14.74354342] [ 0.35848683 0.19613012 0.91269939 -75.50321288] [ 0. 0. 0. 1. ]] SLAMing on 129.45586016899998 meters Centerline goodness : 0.994191 Centerline is valid? [True, True] Translation: X:7.43, Y:14.68, Z:-75.54 [[ 9.22162906e-01 -7.14533151e-02 -3.80144708e-01 7.43016726e+00] [ 1.65268084e-02 9.89170600e-01 -1.45836856e-01 1.46787466e+01] [ 3.86448495e-01 1.28202760e-01 9.13357330e-01 -7.55406504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.48586016899998 meters Centerline goodness : 0.994191 Centerline is valid? [True, True] Translation: X:7.44, Y:14.68, Z:-75.57 [[ 9.22142356e-01 -7.21580125e-02 -3.80061439e-01 7.44106483e+00] [ 1.72034105e-02 9.89127043e-01 -1.46053881e-01 1.46832560e+01] [ 3.86468004e-01 1.28144117e-01 9.13357305e-01 -7.55665459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.51586016899998 meters Centerline goodness : 0.998777 Centerline is valid? [True, True] Translation: X:7.50, Y:14.56, Z:-75.59 [[ 8.31138202e-01 -4.00799681e-01 -3.85446370e-01 7.49580299e+00] [ 3.72920589e-01 9.15936558e-01 -1.48291791e-01 1.45558855e+01] [ 4.12479724e-01 -2.04899145e-02 9.10736318e-01 -7.55934942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.54586016899998 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:7.51, Y:14.55, Z:-75.62 [[ 8.24704446e-01 -4.14811900e-01 -3.84439415e-01 7.50815968e+00] [ 3.88410281e-01 9.09501939e-01 -1.48133982e-01 1.45539427e+01] [ 4.11096132e-01 -2.71534674e-02 9.11187500e-01 -7.56198638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.57586016899998 meters Centerline goodness : 0.994940 Centerline is valid? [True, True] Translation: X:7.48, Y:14.67, Z:-75.64 [[ 0.91639261 -0.13007885 -0.37855526 7.47550429] [ 0.07960837 0.98605916 -0.14611585 14.67112124] [ 0.39228446 0.10376331 0.91397269 -75.64483425] [ 0. 0. 0. 1. ]] SLAMing on 129.60586016899998 meters Centerline goodness : 0.998508 Centerline is valid? [True, True] Translation: X:7.49, Y:14.65, Z:-75.67 [[ 0.90555182 -0.19115422 -0.37872941 7.49150126] [ 0.14530942 0.97849038 -0.14643004 14.65023751] [ 0.3985738 0.07756704 0.91385025 -75.67251177] [ 0. 0. 0. 1. ]] SLAMing on 129.63586016899998 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:7.56, Y:14.52, Z:-75.69 [[ 0.76443935 -0.51834067 -0.38334766 7.56335699] [ 0.50297982 0.85147691 -0.14831849 14.5237855 ] [ 0.40329118 -0.07943565 0.91161735 -75.6925104 ] [ 0. 0. 0. 1. ]] SLAMing on 129.66586016899998 meters Centerline goodness : 0.992079 Centerline is valid? [True, True] Translation: X:7.52, Y:14.62, Z:-75.72 [[ 8.79439958e-01 -2.90527815e-01 -3.77066240e-01 7.52169161e+00] [ 2.53261795e-01 9.56296653e-01 -1.46134098e-01 1.46170312e+01] [ 4.03043203e-01 3.30196921e-02 9.14585084e-01 -7.57241937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.69586016899999 meters Centerline goodness : 0.992079 Centerline is valid? [True, True] Translation: X:7.53, Y:14.62, Z:-75.75 [[ 8.79299675e-01 -2.91057603e-01 -3.76984817e-01 7.53262177e+00] [ 2.53748503e-01 9.56135494e-01 -1.46344167e-01 1.46216502e+01] [ 4.03043147e-01 3.30210455e-02 9.14585060e-01 -7.57500814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.725860169 meters Centerline goodness : 0.994094 Centerline is valid? [True, True] Translation: X:7.56, Y:14.57, Z:-75.78 [[ 8.23759462e-01 -4.23456515e-01 -3.76968075e-01 7.56498727e+00] [ 3.98343211e-01 9.05440108e-01 -1.46631842e-01 1.45702086e+01] [ 4.03414223e-01 -2.93733062e-02 9.14545884e-01 -7.57759952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.755860169 meters Centerline goodness : 0.994094 Centerline is valid? [True, True] Translation: X:7.58, Y:14.57, Z:-75.80 [[ 8.23490587e-01 -4.24066901e-01 -3.76869362e-01 7.57595393e+00] [ 3.98898712e-01 9.05154375e-01 -1.46885583e-01 1.45748335e+01] [ 4.03414266e-01 -2.93738077e-02 9.14545849e-01 -7.58018833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.785860169 meters Centerline goodness : 0.996906 Centerline is valid? [True, True] Translation: X:7.55, Y:14.72, Z:-75.82 [[ 9.21941872e-01 -9.09277885e-02 -3.76504078e-01 7.55167560e+00] [ 3.55184972e-02 9.87805611e-01 -1.51586645e-01 1.47196866e+01] [ 3.85696280e-01 1.26381216e-01 9.13928973e-01 -7.58178462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.815860169 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:7.58, Y:14.64, Z:-75.85 [[ 8.78664223e-01 -2.92737781e-01 -3.77165447e-01 7.57957223e+00] [ 2.53988784e-01 9.55517287e-01 -1.49921350e-01 1.46396856e+01] [ 4.04275748e-01 3.59347336e-02 9.13930968e-01 -7.58499426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.845860169 meters Centerline goodness : 0.998337 Centerline is valid? [True, True] Translation: X:7.58, Y:14.71, Z:-75.87 [[ 9.17597779e-01 -1.27284636e-01 -3.76580586e-01 7.57545413e+00] [ 7.43904009e-02 9.85597218e-01 -1.51868999e-01 1.47127965e+01] [ 3.90487368e-01 1.11340675e-01 9.13850573e-01 -7.58705742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.875860169 meters Centerline goodness : 0.687645 Centerline is valid? [True, False] Translation: X:7.57, Y:14.73, Z:-75.85 [[ 9.22787964e-01 -8.41927593e-02 -3.75997276e-01 7.56504782e+00] [ 2.84197675e-02 9.88049588e-01 -1.51493655e-01 1.47267688e+01] [ 3.84258623e-01 1.29110766e-01 9.14153007e-01 -7.58500546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.905860169 meters Centerline goodness : 0.701337 Centerline is valid? [False, False] Translation: X:7.55, Y:14.74, Z:-75.83 [[ 9.26360184e-01 -4.98196760e-02 -3.73329357e-01 7.55483770e+00] [-7.63312141e-03 9.88526236e-01 -1.50856276e-01 1.47379387e+01] [ 3.76561475e-01 1.42596916e-01 9.15351067e-01 -7.58341587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.935860169 meters Centerline goodness : 0.995836 Centerline is valid? [False, True] Translation: X:7.55, Y:14.74, Z:-75.83 [[ 9.26097086e-01 -4.54852980e-02 -3.74533409e-01 7.55355961e+00] [-1.30434179e-02 9.88252762e-01 -1.52270642e-01 1.47392686e+01] [ 3.77059751e-01 1.45902594e-01 9.14624719e-01 -7.58284599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.965860169 meters Centerline goodness : 0.988207 Centerline is valid? [True, True] Translation: X:7.56, Y:14.74, Z:-75.86 [[ 9.25017559e-01 -6.04841138e-02 -3.75078908e-01 7.56470015e+00] [ 2.42271391e-03 9.88165286e-01 -1.53373723e-01 1.47387316e+01] [ 3.79916630e-01 1.40964678e-01 9.14216776e-01 -7.58552459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.995860169 meters Centerline goodness : 0.993676 Centerline is valid? [True, True] Translation: X:7.63, Y:14.56, Z:-75.89 [[ 7.74682589e-01 -5.08544711e-01 -3.75831296e-01 7.63331987e+00] [ 4.91628462e-01 8.58165228e-01 -1.47830633e-01 1.45555687e+01] [ 3.97703836e-01 -7.02475449e-02 9.14820715e-01 -7.58899682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02586016899997 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:7.72, Y:14.48, Z:-75.89 [[ 0.57998211 -0.72046487 -0.3801988 7.72333014] [ 0.73003691 0.66677332 -0.14986477 14.48059645] [ 0.36147872 -0.19064027 0.91268254 -75.89340349] [ 0. 0. 0. 1. ]] SLAMing on 130.05586016899997 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:7.69, Y:14.54, Z:-75.93 [[ 0.7014497 -0.604173 -0.37807844 7.69006259] [ 0.59793007 0.78754632 -0.14916577 14.53772574] [ 0.38787621 -0.12143218 0.91367733 -75.92722848] [ 0. 0. 0. 1. ]] SLAMing on 130.08586016899997 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:7.70, Y:14.55, Z:-75.95 [[ 0.71104251 -0.59346341 -0.37712032 7.69850504] [ 0.58588332 0.7965945 -0.14892261 14.54800617] [ 0.38879209 -0.1150582 0.91411286 -75.95214007] [ 0. 0. 0. 1. ]] SLAMing on 130.11586016899997 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:7.72, Y:14.54, Z:-75.98 [[ 0.69520121 -0.61212365 -0.37682877 7.71503579] [ 0.60668894 0.78082782 -0.1491189 14.54476536] [ 0.38551759 -0.12495021 0.91420109 -75.97658492] [ 0. 0. 0. 1. ]] SLAMing on 130.14586016899997 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:7.73, Y:14.55, Z:-76.00 [[ 0.69477418 -0.61267282 -0.37672385 7.7260574 ] [ 0.60717787 0.78039698 -0.14938401 14.54936741] [ 0.38551767 -0.12495023 0.91420105 -76.00247853] [ 0. 0. 0. 1. ]] SLAMing on 130.17586016899998 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:7.75, Y:14.53, Z:-76.02 [[ 0.6509282 -0.65839056 -0.37790786 7.75129477] [ 0.65860964 0.73734615 -0.15017989 14.53384148] [ 0.37752592 -0.15113743 0.91358177 -76.02492108] [ 0. 0. 0. 1. ]] SLAMing on 130.20586016899998 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:7.77, Y:14.53, Z:-76.05 [[ 0.61962936 -0.68774986 -0.37823219 7.77194134] [ 0.69192007 0.70612511 -0.15044582 14.52560694] [ 0.37054834 -0.16848579 0.91340378 -76.04701873] [ 0. 0. 0. 1. ]] SLAMing on 130.23586016899998 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:7.78, Y:14.53, Z:-76.07 [[ 0.61143895 -0.69458005 -0.3790791 7.78410989] [ 0.69970182 0.69831325 -0.15091708 14.52668497] [ 0.36953995 -0.17296576 0.91297485 -76.07091524] [ 0. 0. 0. 1. ]] SLAMing on 130.26586016899998 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:7.80, Y:14.53, Z:-76.10 [[ 0.61121665 -0.69480982 -0.37901651 7.79510048] [ 0.69988707 0.69809358 -0.15107428 14.53130072] [ 0.36955689 -0.17292964 0.91297483 -76.09682117] [ 0. 0. 0. 1. ]] SLAMing on 130.29586016899998 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:7.78, Y:14.57, Z:-76.13 [[ 0.69452453 -0.61172959 -0.37871175 7.77551378] [ 0.60561411 0.78124398 -0.15129239 14.57189757] [ 0.3884163 -0.1242769 0.91306518 -76.12884737] [ 0. 0. 0. 1. ]] SLAMing on 130.32586016899998 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:7.79, Y:14.58, Z:-76.15 [[ 0.694063 -0.61232026 -0.37860329 7.78654094] [ 0.60614648 0.78077836 -0.15156383 14.57649713] [ 0.38841086 -0.12429421 0.91306514 -76.15474015] [ 0. 0. 0. 1. ]] SLAMing on 130.35586016899998 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:7.80, Y:14.57, Z:-76.18 [[ 0.68103479 -0.62707021 -0.37811978 7.80213404] [ 0.62270108 0.7676506 -0.15151211 14.57338799] [ 0.38527261 -0.13227058 0.91327406 -76.17819519] [ 0. 0. 0. 1. ]] SLAMing on 130.38586016899998 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:7.81, Y:14.58, Z:-76.20 [[ 0.68356328 -0.62439178 -0.37798962 7.81120628] [ 0.61958838 0.77013097 -0.15168561 14.57773187] [ 0.38581276 -0.13051126 0.91329914 -76.20311462] [ 0. 0. 0. 1. ]] SLAMing on 130.41586016899998 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:7.80, Y:14.62, Z:-76.23 [[ 0.75202863 -0.53938597 -0.37883468 7.79591379] [ 0.52420304 0.83785633 -0.15234152 14.61830503] [ 0.39957991 -0.08402111 0.91283972 -76.23377995] [ 0. 0. 0. 1. ]] SLAMing on 130.44586016899999 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:7.80, Y:14.64, Z:-76.26 [[ 7.80058825e-01 -4.98198030e-01 -3.78559048e-01 7.79546359e+00] [ 4.78359530e-01 8.64831354e-01 -1.52443072e-01 1.46394374e+01] [ 4.03336572e-01 -6.21727650e-02 9.12937104e-01 -7.62602867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.475860169 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:7.81, Y:14.63, Z:-76.28 [[ 0.75978099 -0.52810492 -0.37925987 7.81270661] [ 0.51138436 0.84561831 -0.15302192 14.63112758] [ 0.40152072 -0.07768442 0.91254931 -76.28474322] [ 0. 0. 0. 1. ]] SLAMing on 130.505860169 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:7.80, Y:14.67, Z:-76.31 [[ 8.09326517e-01 -4.48418153e-01 -3.79357020e-01 7.80461061e+00] [ 4.22940785e-01 8.93085406e-01 -1.53360852e-01 1.46697418e+01] [ 4.07568008e-01 -3.63265519e-02 9.12452026e-01 -7.63122181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.535860169 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:7.81, Y:14.68, Z:-76.34 [[ 8.21741885e-01 -4.25985659e-01 -3.78518815e-01 7.81086938e+00] [ 3.98206125e-01 9.04391660e-01 -1.53321906e-01 1.46841733e+01] [ 4.07642193e-01 -2.47374783e-02 9.12806606e-01 -7.63380754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.565860169 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:7.83, Y:14.67, Z:-76.36 [[ 7.95184250e-01 -4.73892472e-01 -3.78296092e-01 7.83057010e+00] [ 4.50950069e-01 8.79245605e-01 -1.53529156e-01 1.46690506e+01] [ 4.05371488e-01 -4.85086825e-02 9.12864100e-01 -7.63627933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.595860169 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:7.84, Y:14.68, Z:-76.39 [[ 8.00663511e-01 -4.64935136e-01 -3.77853492e-01 7.83936928e+00] [ 4.40974423e-01 8.84270335e-01 -1.53647432e-01 1.46773628e+01] [ 4.05560724e-01 -4.36038335e-02 9.13027494e-01 -7.63889325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.625860169 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:7.84, Y:14.71, Z:-76.41 [[ 8.36056109e-01 -3.98197972e-01 -3.77423578e-01 7.83705568e+00] [ 3.67438679e-01 9.17243896e-01 -1.53793536e-01 1.47098326e+01] [ 4.07429747e-01 -1.00999956e-02 9.13180700e-01 -7.64147282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.655860169 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:7.85, Y:14.71, Z:-76.44 [[ 8.31623625e-01 -4.07358608e-01 -3.77440207e-01 7.84897199e+00] [ 3.77394334e-01 9.13155371e-01 -1.54015536e-01 1.47099059e+01] [ 4.07401107e-01 -1.43608373e-02 9.13136411e-01 -7.64388540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.685860169 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:7.86, Y:14.72, Z:-76.46 [[ 8.35112463e-01 -3.99952065e-01 -3.77657941e-01 7.85776695e+00] [ 3.69081021e-01 9.16476848e-01 -1.54432466e-01 1.47170303e+01] [ 4.07880343e-01 -1.04179017e-02 9.12975954e-01 -7.64645782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.715860169 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:7.85, Y:14.76, Z:-76.49 [[ 8.77081204e-01 -2.96816392e-01 -3.77662006e-01 7.85243709e+00] [ 2.56339902e-01 9.54147554e-01 -1.54571345e-01 1.47647946e+01] [ 4.06224588e-01 3.87617801e-02 9.12950770e-01 -7.64879201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.745860169 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:7.86, Y:14.77, Z:-76.51 [[ 8.74192605e-01 -3.05670282e-01 -3.77296923e-01 7.86417446e+00] [ 2.65910897e-01 9.51495622e-01 -1.54749724e-01 1.47659249e+01] [ 4.06298762e-01 3.49537011e-02 9.13071495e-01 -7.65138541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.77586016899997 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:7.87, Y:14.79, Z:-76.54 [[ 8.86332291e-01 -2.69382257e-01 -3.76627495e-01 7.87056287e+00] [ 2.26487505e-01 9.61633425e-01 -1.54804930e-01 1.47864652e+01] [ 4.03879289e-01 5.19071866e-02 9.13338472e-01 -7.65378872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80586016899997 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:7.88, Y:14.80, Z:-76.56 [[ 8.95166670e-01 -2.38126650e-01 -3.76792159e-01 7.87703145e+00] [ 1.92513481e-01 9.68973801e-01 -1.55010747e-01 1.48042497e+01] [ 4.02013920e-01 6.62228845e-02 9.13235642e-01 -7.65612230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.83586016899997 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:7.89, Y:14.79, Z:-76.59 [[ 8.84043660e-01 -2.76134205e-01 -3.77116306e-01 7.89212680e+00] [ 2.33483246e-01 9.59848245e-01 -1.55489294e-01 1.47939363e+01] [ 4.04910337e-01 4.94089852e-02 9.13020466e-01 -7.65877038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.86586016899997 meters Centerline goodness : 0.666386 Centerline is valid? [True, False] Translation: X:7.88, Y:14.82, Z:-76.58 [[ 0.90669864 -0.19186537 -0.37561317 7.87943144] [ 0.14382034 0.97781369 -0.15230264 14.82497743] [ 0.39650131 0.08407178 0.91417649 -76.58104579] [ 0. 0. 0. 1. ]] SLAMing on 130.89586016899997 meters Centerline goodness : 0.997885 Centerline is valid? [False, True] Translation: X:7.87, Y:14.85, Z:-76.56 [[ 0.91795197 -0.13062862 -0.37456687 7.8675312 ] [ 0.07878256 0.98545076 -0.15059918 14.8463761 ] [ 0.38878977 0.10873348 0.91488772 -76.56492333] [ 0. 0. 0. 1. ]] SLAMing on 130.92586016899998 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:7.89, Y:14.84, Z:-76.59 [[ 0.91196441 -0.15784781 -0.3786885 7.89107569] [ 0.10737629 0.9826812 -0.15102313 14.84227494] [ 0.39596874 0.09706556 0.9131194 -76.58565955] [ 0. 0. 0. 1. ]] SLAMing on 130.95586016899998 meters Centerline goodness : 0.993434 Centerline is valid? [True, True] Translation: X:7.89, Y:14.81, Z:-76.62 [[ 8.99948471e-01 -2.24563117e-01 -3.73716679e-01 7.89432151e+00] [ 1.81147537e-01 9.72256178e-01 -1.47998287e-01 1.48148826e+01] [ 3.96583307e-01 6.54929763e-02 9.15659517e-01 -7.66189258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.98586016899998 meters Centerline goodness : 0.994910 Centerline is valid? [True, True] Translation: X:7.90, Y:14.83, Z:-76.64 [[ 0.90804287 -0.19293963 -0.37179623 7.90257533] [ 0.14691397 0.97791321 -0.14866755 14.83326645] [ 0.39226831 0.08037445 0.91633265 -76.64285151] [ 0. 0. 0. 1. ]] SLAMing on 131.01586016899998 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:7.91, Y:14.84, Z:-76.67 [[ 0.91001389 -0.18292576 -0.37203881 7.91297477] [ 0.13598672 0.97944899 -0.14895395 14.84258707] [ 0.39164056 0.08495783 0.91618767 -76.66770241] [ 0. 0. 0. 1. ]] SLAMing on 131.04586016899998 meters Centerline goodness : 0.995392 Centerline is valid? [True, True] Translation: X:7.92, Y:14.86, Z:-76.69 [[ 0.91682956 -0.14635819 -0.37148732 7.92007705] [ 0.09677951 0.98410991 -0.14886709 14.86206485] [ 0.38737227 0.10053339 0.91642553 -76.69078294] [ 0. 0. 0. 1. ]] SLAMing on 131.07586016899998 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:7.93, Y:14.87, Z:-76.72 [[ 0.9173616 -0.14253885 -0.37165894 7.93267087] [ 0.09248871 0.98446109 -0.14927224 14.86919815] [ 0.38716085 0.10256237 0.91629004 -76.71547578] [ 0. 0. 0. 1. ]] SLAMing on 131.10586016899998 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:7.94, Y:14.87, Z:-76.74 [[ 0.91710077 -0.1439817 -0.37174647 7.94331719] [ 0.09387617 0.9842757 -0.14962825 14.87251213] [ 0.38744475 0.10232605 0.91619646 -76.740775 ] [ 0. 0. 0. 1. ]] SLAMing on 131.13586016899998 meters Centerline goodness : 0.996623 Centerline is valid? [True, True] Translation: X:7.95, Y:14.88, Z:-76.77 [[ 0.91842868 -0.13639869 -0.37132755 7.9518572 ] [ 0.08570701 0.98499016 -0.14982888 14.88016787] [ 0.38619045 0.10578177 0.91633354 -76.7669419 ] [ 0. 0. 0. 1. ]] SLAMing on 131.16586016899998 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:7.96, Y:14.88, Z:-76.79 [[ 0.91812384 -0.13666739 -0.37198204 7.96208326] [ 0.08573378 0.98492274 -0.15025615 14.88438365] [ 0.38690869 0.10606232 0.91599806 -76.79146141] [ 0. 0. 0. 1. ]] SLAMing on 131.19586016899999 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:7.97, Y:14.90, Z:-76.81 [[ 9.22372613e-01 -1.05440000e-01 -3.71633110e-01 7.97208805e+00] [ 5.22812272e-02 9.87250361e-01 -1.50344263e-01 1.49019432e+01] [ 3.82747221e-01 1.19243996e-01 9.16125228e-01 -7.68136397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.225860169 meters Centerline goodness : 0.994344 Centerline is valid? [True, True] Translation: X:7.98, Y:14.90, Z:-76.84 [[ 9.20765799e-01 -1.19927067e-01 -3.71224786e-01 7.98182823e+00] [ 6.77783141e-02 9.86281960e-01 -1.50512443e-01 1.49005091e+01] [ 3.84182826e-01 1.13425720e-01 9.16263151e-01 -7.68400751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.255860169 meters Centerline goodness : 0.998093 Centerline is valid? [True, True] Translation: X:7.99, Y:14.90, Z:-76.87 [[ 0.91735175 -0.14248818 -0.37170269 7.9940656 ] [ 0.09168187 0.98426695 -0.15103975 14.89543807] [ 0.38737605 0.10447818 0.91598259 -76.86655423] [ 0. 0. 0. 1. ]] SLAMing on 131.285860169 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:8.01, Y:14.89, Z:-76.89 [[ 0.91340182 -0.16599661 -0.37167491 8.00743989] [ 0.11679105 0.98155453 -0.1513623 14.89041467] [ 0.38994483 0.09484629 0.91594062 -76.89284282] [ 0. 0. 0. 1. ]] SLAMing on 131.315860169 meters Centerline goodness : 0.998731 Centerline is valid? [True, True] Translation: X:8.02, Y:14.91, Z:-76.92 [[ 9.20031862e-01 -1.23773226e-01 -3.71781605e-01 8.01515334e+00] [ 7.13116185e-02 9.85845386e-01 -1.51735056e-01 1.49136003e+01] [ 3.85299917e-01 1.13088738e-01 9.15835635e-01 -7.69167409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.345860169 meters Centerline goodness : 0.996363 Centerline is valid? [True, True] Translation: X:8.03, Y:14.91, Z:-76.94 [[ 0.91817199 -0.13681031 -0.37181062 8.02591441] [ 0.08513309 0.98469307 -0.15209179 14.91310519] [ 0.38692707 0.10799303 0.91576468 -76.94274743] [ 0. 0. 0. 1. ]] SLAMing on 131.375860169 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:8.04, Y:14.89, Z:-76.97 [[ 0.90726817 -0.19505983 -0.37258036 8.04207738] [ 0.14745582 0.97723352 -0.15254973 14.89383233] [ 0.39385434 0.08346437 0.91537558 -76.96892177] [ 0. 0. 0. 1. ]] SLAMing on 131.405860169 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:8.07, Y:14.87, Z:-76.99 [[ 8.84277644e-01 -2.74664530e-01 -3.77640629e-01 8.06989511e+00] [ 2.32093244e-01 9.60271516e-01 -1.54955937e-01 1.48702115e+01] [ 4.05198439e-01 4.93762322e-02 9.12894415e-01 -7.69916192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.435860169 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:8.08, Y:14.86, Z:-77.02 [[ 8.73341999e-01 -3.08269562e-01 -3.77151998e-01 8.08475459e+00] [ 2.68611868e-01 9.50687484e-01 -1.55051513e-01 1.48610847e+01] [ 4.06351347e-01 3.41054957e-02 9.13080171e-01 -7.70179961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.465860169 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:8.09, Y:14.89, Z:-77.04 [[ 8.93469420e-01 -2.43375712e-01 -3.77466103e-01 8.08800874e+00] [ 1.97939352e-01 9.67805118e-01 -1.55477542e-01 1.48924749e+01] [ 4.03153084e-01 6.41990336e-02 9.12877908e-01 -7.70414690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.495860169 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:8.11, Y:14.87, Z:-77.07 [[ 8.73151481e-01 -3.08672679e-01 -3.77263394e-01 8.10600896e+00] [ 2.68761504e-01 9.50540703e-01 -1.55690801e-01 1.48698363e+01] [ 4.06661709e-01 3.45477768e-02 9.12925356e-01 -7.70682795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52586016899997 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:8.10, Y:14.95, Z:-77.09 [[ 9.17709039e-01 -1.24460628e-01 -3.77252796e-01 8.10035311e+00] [ 6.95064571e-02 9.85310909e-01 -1.55984823e-01 1.49507880e+01] [ 3.91125265e-01 1.16927177e-01 9.12879544e-01 -7.70868021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.55586016899997 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:8.10, Y:14.94, Z:-77.12 [[ 0.91723884 -0.143192 -0.37171086 8.10430064] [ 0.09117132 0.98385124 -0.15402767 14.94499695] [ 0.38776372 0.10739079 0.91548157 -77.11733433] [ 0. 0. 0. 1. ]] SLAMing on 131.58586016899997 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:8.11, Y:14.96, Z:-77.14 [[ 9.20869235e-01 -1.19663804e-01 -3.71053131e-01 8.11068420e+00] [ 6.60961960e-02 9.85872332e-01 -1.53905938e-01 1.49582712e+01] [ 3.84227985e-01 1.17202043e-01 9.15768823e-01 -7.71415896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.61586016899997 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:8.12, Y:15.00, Z:-77.16 [[ 9.27724031e-01 -4.00621142e-02 -3.71110697e-01 8.11846947e+00] [-1.90604293e-02 9.87842077e-01 -1.54287820e-01 1.49968013e+01] [ 3.72779857e-01 1.50210048e-01 9.15681232e-01 -7.71621547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64586016899997 meters Centerline goodness : 0.588064 Centerline is valid? [True, False] Translation: X:8.11, Y:15.00, Z:-77.16 [[ 9.28117075e-01 -4.02629379e-02 -3.70104838e-01 8.11414299e+00] [-1.88501609e-02 9.87777099e-01 -1.54729034e-01 1.49967445e+01] [ 3.71810929e-01 1.50583195e-01 9.16013829e-01 -7.71600247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.67586016899998 meters Centerline goodness : 0.996896 Centerline is valid? [False, True] Translation: X:8.11, Y:15.00, Z:-77.15 [[ 9.28004681e-01 -3.41835763e-02 -3.70997028e-01 8.11054668e+00] [-2.61152987e-02 9.87364351e-01 -1.56299808e-01 1.49985139e+01] [ 3.71652126e-01 1.54735652e-01 9.15386025e-01 -7.71517482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.70586016899998 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:8.12, Y:15.03, Z:-77.17 [[ 9.28143080e-01 3.29330089e-02 -3.70763859e-01 8.12188325e+00] [-9.74479272e-02 9.82836004e-01 -1.56643834e-01 1.50316548e+01] [ 3.59241317e-01 1.81518060e-01 9.15421690e-01 -7.71716246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.73586016899998 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:8.13, Y:15.04, Z:-77.20 [[ 9.28084803e-01 3.30402477e-02 -3.70900175e-01 8.13267368e+00] [-9.76751587e-02 9.82778896e-01 -1.56860461e-01 1.50362835e+01] [ 3.59330156e-01 1.81807543e-01 9.15329370e-01 -7.71961268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.76586016899998 meters Centerline goodness : 0.998632 Centerline is valid? [True, True] Translation: X:8.14, Y:15.04, Z:-77.22 [[ 9.27986224e-01 3.60597844e-02 -3.70865556e-01 8.14249472e+00] [-1.00979947e-01 9.82397946e-01 -1.57153827e-01 1.50425618e+01] [ 3.58670628e-01 1.83286570e-01 9.15293075e-01 -7.72218942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.79586016899998 meters Centerline goodness : 0.998613 Centerline is valid? [True, True] Translation: X:8.15, Y:15.06, Z:-77.24 [[ 9.26000332e-01 7.20429508e-02 -3.70584942e-01 8.15456677e+00] [-1.39032644e-01 9.77708826e-01 -1.57338411e-01 1.50627931e+01] [ 3.50989045e-01 1.97218826e-01 9.15375019e-01 -7.72441721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.82586016899998 meters Centerline goodness : 0.998817 Centerline is valid? [True, True] Translation: X:8.16, Y:15.03, Z:-77.28 [[ 9.28523485e-01 -1.46905785e-02 -3.70982916e-01 8.16365533e+00] [-4.74813033e-02 9.86313400e-01 -1.57896812e-01 1.50325763e+01] [ 3.68225017e-01 1.64225650e-01 9.15117628e-01 -7.72766249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.85586016899998 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:8.20, Y:14.93, Z:-77.31 [[ 8.78703471e-01 -2.98003648e-01 -3.72926315e-01 8.20223041e+00] [ 2.55953117e-01 9.53542678e-01 -1.58884748e-01 1.49254759e+01] [ 4.02949392e-01 4.41609267e-02 9.14156223e-01 -7.73097641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.88586016899998 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:8.19, Y:14.98, Z:-77.34 [[ 0.91806438 -0.15824825 -0.36347667 8.18861015] [ 0.10780204 0.98197688 -0.15524216 14.98242477] [ 0.38149248 0.10333877 0.91857748 -77.33616807] [ 0. 0. 0. 1. ]] SLAMing on 131.91586016899998 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:8.22, Y:14.94, Z:-77.36 [[ 8.83318893e-01 -2.88441627e-01 -3.69525588e-01 8.22280867e+00] [ 2.46174055e-01 9.56264510e-01 -1.57976331e-01 1.49391467e+01] [ 3.98931156e-01 4.85758654e-02 9.15693354e-01 -7.73593593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.94586016899999 meters Centerline goodness : 0.992444 Centerline is valid? [True, True] Translation: X:8.21, Y:14.98, Z:-77.39 [[ 0.91268772 -0.18730802 -0.36320356 8.21132849] [ 0.13877381 0.97801563 -0.15565106 14.97897806] [ 0.38437345 0.09165767 0.91861631 -77.3870103 ] [ 0. 0. 0. 1. ]] SLAMing on 131.975860169 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:8.23, Y:14.99, Z:-77.41 [[ 0.91224793 -0.18689878 -0.36451689 8.22500818] [ 0.13832915 0.97812952 -0.15533091 14.98557302] [ 0.38557589 0.09127699 0.91815018 -77.41125535] [ 0. 0. 0. 1. ]] SLAMing on 132.005860169 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:8.23, Y:14.98, Z:-77.44 [[ 0.90933815 -0.20174236 -0.3638738 8.2338667 ] [ 0.15378956 0.9756179 -0.15658381 14.98313077] [ 0.38659137 0.08642764 0.91819245 -77.43892617] [ 0. 0. 0. 1. ]] SLAMing on 132.035860169 meters Centerline goodness : 0.998029 Centerline is valid? [True, True] Translation: X:8.25, Y:14.98, Z:-77.46 [[ 0.90745373 -0.20969968 -0.36407936 8.24527023] [ 0.16225289 0.97422463 -0.1567175 14.98458944] [ 0.38755869 0.08314095 0.91808815 -77.4641187 ] [ 0. 0. 0. 1. ]] SLAMing on 132.065860169 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:8.25, Y:15.00, Z:-77.49 [[ 0.91405828 -0.17601561 -0.36539837 8.25318814] [ 0.12568325 0.97949932 -0.15743188 15.00448554] [ 0.38561793 0.09797745 0.91744168 -77.48676134] [ 0. 0. 0. 1. ]] SLAMing on 132.095860169 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:8.27, Y:15.00, Z:-77.51 [[ 0.90686033 -0.20843142 -0.36627951 8.26693371] [ 0.16005797 0.97435251 -0.1581728 14.99639366] [ 0.38985354 0.08481468 0.91696275 -77.51301298] [ 0. 0. 0. 1. ]] SLAMing on 132.125860169 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:8.28, Y:15.01, Z:-77.53 [[ 0.90599904 -0.20192075 -0.37201311 8.28450075] [ 0.15134584 0.97531531 -0.1607933 15.00846001] [ 0.39529758 0.08937594 0.9141946 -77.53341187] [ 0. 0. 0. 1. ]] SLAMing on 132.155860169 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:8.30, Y:15.01, Z:-77.56 [[ 0.90595422 -0.20230197 -0.37191512 8.29517077] [ 0.15166852 0.97522778 -0.16101999 15.01343487] [ 0.39527662 0.08946892 0.91419457 -77.55932541] [ 0. 0. 0. 1. ]] SLAMing on 132.185860169 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:8.30, Y:15.01, Z:-77.59 [[ 0.90643386 -0.20939713 -0.36678398 8.29681002] [ 0.16062271 0.97409785 -0.1591657 15.01134255] [ 0.39061233 0.08535934 0.91658921 -77.58980884] [ 0. 0. 0. 1. ]] SLAMing on 132.215860169 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:8.31, Y:15.01, Z:-77.61 [[ 0.90508613 -0.21542471 -0.36662146 8.30657897] [ 0.16704422 0.97298912 -0.15933738 15.01364466] [ 0.3910439 0.08297206 0.91662441 -77.61451462] [ 0. 0. 0. 1. ]] SLAMing on 132.245860169 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:8.32, Y:15.00, Z:-77.64 [[ 8.91795819e-01 -2.64079864e-01 -3.67371804e-01 8.32256851e+00] [ 2.19101784e-01 9.62493161e-01 -1.60004135e-01 1.49980455e+01] [ 3.95846719e-01 6.21992012e-02 9.16207746e-01 -7.76412081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.27586016899997 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:8.33, Y:15.01, Z:-77.67 [[ 8.98665634e-01 -2.39364950e-01 -3.67565639e-01 8.33140377e+00] [ 1.92255655e-01 9.68143645e-01 -1.60423334e-01 1.50137446e+01] [ 3.94256061e-01 7.35003643e-02 9.16056688e-01 -7.76652622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.30586016899997 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:8.35, Y:14.99, Z:-77.69 [[ 8.75622552e-01 -3.11312602e-01 -3.69282561e-01 8.35196714e+00] [ 2.69471772e-01 9.49387346e-01 -1.61395882e-01 1.49890535e+01] [ 4.00836763e-01 4.18106479e-02 9.15194930e-01 -7.76911993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.33586016899997 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:8.36, Y:14.99, Z:-77.72 [[ 8.75485735e-01 -3.11838119e-01 -3.69163535e-01 8.36261548e+00] [ 2.69928192e-01 9.49211341e-01 -1.61668181e-01 1.49941026e+01] [ 4.00828515e-01 4.18905405e-02 9.15194889e-01 -7.77171182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.36586016899997 meters Centerline goodness : 0.996885 Centerline is valid? [True, True] Translation: X:8.36, Y:15.02, Z:-77.74 [[ 8.94965878e-01 -2.52504944e-01 -3.67800667e-01 8.36203219e+00] [ 2.06029292e-01 9.65163357e-01 -1.61281202e-01 1.50219224e+01] [ 3.95712028e-01 6.85634612e-02 9.15811685e-01 -7.77432894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.39586016899997 meters Centerline goodness : 0.997152 Centerline is valid? [True, True] Translation: X:8.37, Y:15.05, Z:-77.77 [[ 0.90687303 -0.20670028 -0.36722786 8.36815379] [ 0.15678456 0.97437807 -0.16126372 15.04620787] [ 0.39115203 0.08867006 0.9160446 -77.76644483] [ 0. 0. 0. 1. ]] SLAMing on 132.42586016899998 meters Centerline goodness : 0.997603 Centerline is valid? [True, True] Translation: X:8.39, Y:15.02, Z:-77.79 [[ 8.83586193e-01 -2.89954869e-01 -3.67697721e-01 8.38704466e+00] [ 2.46336891e-01 9.55614449e-01 -1.61614237e-01 1.50157102e+01] [ 3.98238090e-01 5.22225953e-02 9.15794313e-01 -7.77940064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.45586016899998 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:8.40, Y:15.03, Z:-77.82 [[ 8.89073557e-01 -2.73167608e-01 -3.67325016e-01 8.39675554e+00] [ 2.28127918e-01 9.60088598e-01 -1.61825640e-01 1.50292497e+01] [ 3.96870083e-01 6.00778061e-02 9.15906543e-01 -7.78179088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.48586016899998 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:8.41, Y:15.04, Z:-77.84 [[ 8.90933000e-01 -2.66982350e-01 -3.67367410e-01 8.40701954e+00] [ 2.21373348e-01 9.61639822e-01 -1.61995966e-01 1.50377037e+01] [ 3.96525194e-01 6.30021985e-02 9.15859429e-01 -7.78420248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.51586016899998 meters Centerline goodness : 0.725181 Centerline is valid? [True, False] Translation: X:8.39, Y:15.07, Z:-77.82 [[ 0.91566646 -0.16986348 -0.36428195 8.3881223 ] [ 0.11829842 0.98006118 -0.15964202 15.0707401 ] [ 0.38413594 0.10308487 0.91750373 -77.8223072 ] [ 0. 0. 0. 1. ]] SLAMing on 132.54586016899998 meters Centerline goodness : 0.998428 Centerline is valid? [False, True] Translation: X:8.38, Y:15.09, Z:-77.80 [[ 9.25403992e-01 -1.08142806e-01 -3.63225254e-01 8.37747412e+00] [ 5.27454516e-02 9.85847023e-01 -1.59133792e-01 1.50910858e+01] [ 3.75293710e-01 1.28104567e-01 9.18010812e-01 -7.78043422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.57586016899998 meters Centerline goodness : 0.998428 Centerline is valid? [True, True] Translation: X:8.41, Y:15.00, Z:-77.84 [[ 8.65757875e-01 -3.43275342e-01 -3.64177623e-01 8.40975752e+00] [ 3.06783208e-01 9.38950383e-01 -1.55744153e-01 1.49973344e+01] [ 3.95407846e-01 2.31131476e-02 9.18214799e-01 -7.78376484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.60586016899998 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:8.48, Y:14.91, Z:-77.85 [[ 0.72761996 -0.57774103 -0.3698439 8.47973846] [ 0.56330196 0.81090457 -0.15850766 14.91169591] [ 0.39148449 -0.09300045 0.915473 -77.85474547] [ 0. 0. 0. 1. ]] SLAMing on 132.63586016899998 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:8.43, Y:15.01, Z:-77.89 [[ 8.67918168e-01 -3.37430681e-01 -3.64497722e-01 8.43016760e+00] [ 3.00136495e-01 9.40980741e-01 -1.56439540e-01 1.50106829e+01] [ 3.95772837e-01 2.63776501e-02 9.17969543e-01 -7.78883182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.66586016899998 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:8.43, Y:15.11, Z:-77.90 [[ 9.18066090e-01 -1.30032504e-01 -3.74494597e-01 8.42576898e+00] [ 7.37352872e-02 9.84200308e-01 -1.60974722e-01 1.51087707e+01] [ 3.89509644e-01 1.20171967e-01 9.13148912e-01 -7.79027578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.69586016899999 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] SLAMing on 132.725860169 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] SLAMing on 132.755860169 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] SLAMing on 132.785860169 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] SLAMing on 132.815860169 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] SLAMing on 132.845860169 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] SLAMing on 132.875860169 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] SLAMing on 132.905860169 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] SLAMing on 132.935860169 meters Centerline goodness : 0.713350 Centerline is valid? [True, False] Translation: X:8.42, Y:15.12, Z:-77.89 [[ 9.20578431e-01 -8.03758985e-02 -3.82197681e-01 8.42117812e+00] [ 1.98777417e-02 9.86968618e-01 -1.59680376e-01 1.51233176e+01] [ 3.90051570e-01 1.39401083e-01 9.10179713e-01 -7.78925881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.965860169 meters Centerline goodness : 0.998931 Centerline is valid? [False, True] Translation: X:8.42, Y:15.13, Z:-77.89 [[ 9.23912057e-01 -6.09682561e-02 -3.77716008e-01 8.41751409e+00] [-3.72802428e-04 9.87078160e-01 -1.60239093e-01 1.51300435e+01] [ 3.82604721e-01 1.48187644e-01 9.11950684e-01 -7.78903880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.995860169 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] SLAMing on 133.02586016899997 meters Centerline goodness : 0.293068 Centerline is valid? [True, False] Translation: X:8.41, Y:15.13, Z:-77.88 [[ 9.24306254e-01 -5.00258958e-02 -3.78358771e-01 8.41488603e+00] [-1.24572125e-02 9.86889347e-01 -1.60916854e-01 1.51334554e+01] [ 3.81448250e-01 1.53449750e-01 9.11564812e-01 -7.78797664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.05586016899997 meters Centerline goodness : 0.419868 Centerline is valid? [False, False] Translation: X:8.41, Y:15.13, Z:-77.88 [[ 9.24505166e-01 -4.77414387e-02 -3.78167889e-01 8.41353300e+00] [-1.43115076e-02 9.87078025e-01 -1.59599980e-01 1.51338352e+01] [ 3.80900746e-01 1.52963159e-01 9.11875481e-01 -7.78793448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.08586016899997 meters Centerline goodness : 0.329073 Centerline is valid? [False, False] Translation: X:8.41, Y:15.13, Z:-77.88 [[ 9.24474166e-01 -4.76998336e-02 -3.78248917e-01 8.41383075e+00] [-1.43573092e-02 9.87082442e-01 -1.59568546e-01 1.51338015e+01] [ 3.80974257e-01 1.52947635e-01 9.11847375e-01 -7.78796838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.11586016899997 meters Centerline goodness : 0.998865 Centerline is valid? [False, True] Translation: X:8.41, Y:15.13, Z:-77.88 [[ 9.24170909e-01 -4.43911224e-02 -3.79391037e-01 8.41297248e+00] [-1.81943722e-02 9.86981202e-01 -1.59803229e-01 1.51343279e+01] [ 3.81545666e-01 1.54588277e-01 9.11331646e-01 -7.78761703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.14586016899997 meters Centerline goodness : 0.998667 Centerline is valid? [True, True] SLAMing on 133.17586016899998 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] SLAMing on 133.20586016899998 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] SLAMing on 133.23586016899998 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] SLAMing on 133.26586016899998 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] SLAMing on 133.29586016899998 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] SLAMing on 133.32586016899998 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] SLAMing on 133.35586016899998 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] SLAMing on 133.38586016899998 meters Centerline goodness : 0.335632 Centerline is valid? [True, False] Translation: X:8.41, Y:15.13, Z:-77.86 [[ 9.22792379e-01 -4.02682560e-02 -3.83187543e-01 8.41264104e+00] [-2.30545290e-02 9.86970944e-01 -1.59238324e-01 1.51346029e+01] [ 3.84607221e-01 1.55778120e-01 9.09840900e-01 -7.78634003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.41586016899998 meters Centerline goodness : 0.998957 Centerline is valid? [False, True] Translation: X:8.41, Y:15.14, Z:-77.85 [[ 9.23052504e-01 -3.11558156e-02 -3.83410212e-01 8.41005955e+00] [-3.32692595e-02 9.86514175e-01 -1.60258973e-01 1.51371500e+01] [ 3.83232608e-01 1.60683221e-01 9.09567848e-01 -7.78540909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.44586016899999 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] SLAMing on 133.475860169 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] SLAMing on 133.505860169 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] SLAMing on 133.535860169 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] SLAMing on 133.565860169 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] SLAMing on 133.595860169 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] SLAMing on 133.625860169 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] SLAMing on 133.655860169 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] SLAMing on 133.685860169 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] SLAMing on 133.715860169 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] SLAMing on 133.745860169 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] SLAMing on 133.77586016899997 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] SLAMing on 133.80586016899997 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] SLAMing on 133.83586016899997 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] SLAMing on 133.86586016899997 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] SLAMing on 133.89586016899997 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] SLAMing on 133.92586016899998 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] SLAMing on 133.95586016899998 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] SLAMing on 133.98586016899998 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] SLAMing on 134.01586016899998 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] SLAMing on 134.04586016899998 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] SLAMing on 134.07586016899998 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] SLAMing on 134.10586016899998 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] SLAMing on 134.13586016899998 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] SLAMing on 134.16586016899998 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] SLAMing on 134.19586016899999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] SLAMing on 134.225860169 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] SLAMing on 134.255860169 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] SLAMing on 134.285860169 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] SLAMing on 134.315860169 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] SLAMing on 134.345860169 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] SLAMing on 134.375860169 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] SLAMing on 134.405860169 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] SLAMing on 134.435860169 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] SLAMing on 134.465860169 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] SLAMing on 134.495860169 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] SLAMing on 134.52586016899997 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] SLAMing on 134.55586016899997 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] SLAMing on 134.58586016899997 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] SLAMing on 134.61586016899997 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] SLAMing on 134.64586016899997 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] SLAMing on 134.67586016899998 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] SLAMing on 134.70586016899998 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] SLAMing on 134.73586016899998 meters Centerline goodness : 0.998833 Centerline is valid? [True, True] Translation: X:8.59, Y:15.56, Z:-77.74 [[ 4.00057344e-01 8.47036734e-01 -3.49975559e-01 8.59296155e+00] [-9.13486372e-01 3.37637152e-01 -2.27032601e-01 1.55621865e+01] [-7.41402017e-02 4.10523963e-01 9.08830736e-01 -7.77393435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.76586016899998 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:8.54, Y:15.64, Z:-77.74 [[ 0.43010374 0.84905576 -0.30678183 8.53559641] [ -0.89145173 0.34576971 -0.29284316 15.64274185] [ -0.14256431 0.39943413 0.90560907 -77.73533384] [ 0. 0. 0. 1. ]] SLAMing on 134.79586016899998 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] SLAMing on 134.82586016899998 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:8.81, Y:15.69, Z:-77.65 [[-4.84799222e-01 8.37433001e-01 -2.52340411e-01 8.81285409e+00] [-7.61144442e-01 -5.46080015e-01 -3.49936786e-01 1.56857260e+01] [-4.30846669e-01 2.24184193e-02 9.02146641e-01 -7.76480496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.85586016899998 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] SLAMing on 134.88586016899998 meters Centerline goodness : 0.998632 Centerline is valid? [True, True] Translation: X:8.65, Y:15.80, Z:-77.67 [[-2.91246061e-01 9.38130860e-01 -1.87313163e-01 8.65230347e+00] [-8.52041364e-01 -3.43405901e-01 -3.95092269e-01 1.57964196e+01] [-4.34972695e-01 4.45294959e-02 8.99341914e-01 -7.76662915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.91586016899998 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:8.54, Y:15.12, Z:-78.01 [[-1.98661328e-03 -9.83238755e-01 -1.82311830e-01 8.54111164e+00] [ 9.19489119e-01 6.98729061e-02 -3.86855963e-01 1.51229141e+01] [ 3.93110433e-01 -1.68402277e-01 9.03938527e-01 -7.80113805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.94586016899999 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] SLAMing on 134.975860169 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] SLAMing on 135.005860169 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:8.53, Y:15.14, Z:-78.04 [[ 2.53966160e-02 -9.82950640e-01 -1.82107254e-01 8.53451591e+00] [ 9.17052768e-01 9.54252377e-02 -3.87179862e-01 1.51356960e+01] [ 3.97956321e-01 -1.57168903e-01 9.03841083e-01 -7.80379783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.035860169 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] SLAMing on 135.065860169 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] SLAMing on 135.095860169 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:8.12, Y:15.73, Z:-77.86 [[ 0.87230981 0.4753703 -0.11444945 8.12107055] [ -0.47521322 0.76914426 -0.42730492 15.72934474] [ -0.11509993 0.42713016 0.89683434 -77.857647 ] [ 0. 0. 0. 1. ]] SLAMing on 135.125860169 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:8.77, Y:15.37, Z:-77.98 [[ -0.8656351 -0.48807835 -0.11160377 8.77359717] [ 0.48617707 -0.76616563 -0.42026431 15.3706938 ] [ 0.11961494 -0.41805473 0.90051236 -77.97506159] [ 0. 0. 0. 1. ]] SLAMing on 135.155860169 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:8.78, Y:15.38, Z:-78.00 [[ -0.86585464 -0.48774396 -0.11136232 8.77644891] [ 0.48577337 -0.76638649 -0.42032841 15.38302557] [ 0.11966607 -0.41804015 0.90051233 -78.00068307] [ 0. 0. 0. 1. ]] SLAMing on 135.185860169 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:8.27, Y:15.93, Z:-77.82 [[ 2.52424805e-01 9.66903363e-01 -3.71430363e-02 8.26915107e+00] [-8.70113592e-01 2.10028952e-01 -4.45858920e-01 1.59349101e+01] [-4.23301376e-01 1.44864512e-01 8.94332275e-01 -7.78158034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.215860169 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:8.55, Y:15.33, Z:-78.14 [[-5.20941592e-01 -8.52850073e-01 -3.55894678e-02 8.54682580e+00] [ 7.75144580e-01 -4.55194430e-01 -4.38119745e-01 1.53267188e+01] [ 3.57450330e-01 -2.55821781e-01 8.98211823e-01 -7.81355844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.245860169 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:8.53, Y:15.33, Z:-78.16 [[-4.72752507e-01 -8.80484936e-01 -3.53743419e-02 8.53030555e+00] [ 7.99326196e-01 -4.11587264e-01 -4.37805386e-01 1.53299720e+01] [ 3.70921419e-01 -2.35249232e-01 8.98373586e-01 -7.81649251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.27586016899997 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:8.66, Y:15.43, Z:-78.14 [[-7.99465612e-01 -5.99673767e-01 -3.53002774e-02 8.65555152e+00] [ 5.51632352e-01 -7.09614661e-01 -4.38347786e-01 1.54319888e+01] [ 2.37816073e-01 -3.69916756e-01 8.98111969e-01 -7.81400621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30586016899997 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:8.69, Y:15.49, Z:-78.14 [[-8.79929818e-01 -4.73805422e-01 -3.50989581e-02 8.68686448e+00] [ 4.39413824e-01 -7.83513275e-01 -4.39343192e-01 1.54859819e+01] [ 1.80662687e-01 -4.02014142e-01 8.97633346e-01 -7.81433739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.33586016899997 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:8.70, Y:15.51, Z:-78.16 [[-9.01627413e-01 -4.31111901e-01 -3.47927626e-02 8.69616155e+00] [ 4.01310994e-01 -8.03870528e-01 -4.39023531e-01 1.55125908e+01] [ 1.61299393e-01 -4.09798369e-01 8.97801650e-01 -7.81614317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.36586016899997 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:8.72, Y:15.58, Z:-78.16 [[-9.65092913e-01 -2.59617287e-01 -3.45620350e-02 8.72203993e+00] [ 2.47967115e-01 -8.63253712e-01 -4.39665031e-01 1.55819939e+01] [ 8.43088376e-02 -4.32887853e-01 8.97496588e-01 -7.81579808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.39586016899997 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:7.89, Y:15.73, Z:-78.11 [[ 9.92736501e-01 1.12299694e-01 4.31626918e-02 7.88970767e+00] [-8.10708626e-02 8.89505432e-01 -4.49674995e-01 1.57348487e+01] [-8.88918131e-02 4.42909545e-01 8.92148744e-01 -7.81078983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.42586016899998 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:7.73, Y:15.52, Z:-77.99 [[ 9.68301130e-01 -2.20452290e-01 1.17446627e-01 7.72965505e+00] [ 2.49753594e-01 8.62023815e-01 -4.41064716e-01 1.55168608e+01] [-4.00806306e-03 4.56416180e-01 8.89757386e-01 -7.79872361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.45586016899998 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:8.25, Y:15.91, Z:-77.83 [[ -0.38382786 0.91886791 0.09142171 8.24765827] [ -0.8147214 -0.29038797 -0.50190026 15.91290401] [ -0.43463227 -0.26712653 0.86008035 -77.83394564] [ 0. 0. 0. 1. ]] SLAMing on 135.48586016899998 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:8.11, Y:15.92, Z:-77.79 [[-9.84788692e-03 9.95831740e-01 9.06761517e-02 8.10673463e+00] [-8.22731028e-01 4.34712138e-02 -5.66766185e-01 1.59221862e+01] [-5.68345559e-01 -8.01835328e-02 8.18873572e-01 -7.77860455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.51586016899998 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:7.64, Y:15.31, Z:-77.91 [[ 0.86367644 -0.47534098 0.16767217 7.63667025] [ 0.48124403 0.67872076 -0.55474526 15.31193547] [ 0.14989058 0.55981165 0.81495014 -77.90903248] [ 0. 0. 0. 1. ]] SLAMing on 135.54586016899998 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:8.32, Y:15.62, Z:-77.80 [[ -0.90721038 0.38628192 0.16660015 8.31684744] [ -0.41049444 -0.72626344 -0.55139435 15.62066827] [ -0.09199807 -0.56861912 0.81744031 -77.79981135] [ 0. 0. 0. 1. ]] SLAMing on 135.57586016899998 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:8.28, Y:15.67, Z:-77.72 [[ -0.78325632 0.59895001 0.16663857 8.27711735] [ -0.57743439 -0.60153993 -0.5520138 15.66630636] [ -0.23038892 -0.52859114 0.81701429 -77.72049685] [ 0. 0. 0. 1. ]] SLAMing on 135.60586016899998 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:7.77, Y:15.69, Z:-77.59 [[ 0.5669477 0.78077899 0.26259185 7.76676983] [ -0.59751567 0.6092212 -0.52136796 15.68519545] [ -0.56704967 0.13868562 0.81192424 -77.59285158] [ 0. 0. 0. 1. ]] SLAMing on 135.63586016899998 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:7.81, Y:14.97, Z:-77.84 [[ 1.76487716e-01 -9.27648080e-01 3.29121749e-01 7.80879821e+00] [ 8.73579098e-01 -6.45463384e-03 -4.86639392e-01 1.49701866e+01] [ 4.53554458e-01 3.73399755e-01 8.09234809e-01 -7.78415836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.66586016899998 meters Centerline goodness : 0.311781 Centerline is valid? [True, False] Translation: X:7.74, Y:14.95, Z:-77.80 [[ 0.38420166 -0.87061736 0.30726943 7.74043746] [ 0.85508927 0.21004948 -0.47402696 14.95280707] [ 0.34815432 0.44486473 0.82515692 -77.79883916] [ 0. 0. 0. 1. ]] SLAMing on 135.69586016899999 meters Centerline goodness : 0.999358 Centerline is valid? [False, True] Translation: X:7.69, Y:14.95, Z:-77.76 [[ 0.54365327 -0.78597636 0.29441855 7.68636458] [ 0.80115115 0.38139241 -0.46119048 14.95372939] [ 0.25019581 0.48660148 0.83703109 -77.75554105] [ 0. 0. 0. 1. ]] SLAMing on 135.725860169 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:7.69, Y:14.79, Z:-77.74 [[ 2.37306345e-01 -9.02671904e-01 3.58983471e-01 7.68673077e+00] [ 9.05694549e-01 7.19541750e-02 -4.17779824e-01 1.47949603e+01] [ 3.51287750e-01 4.24271176e-01 8.34620205e-01 -7.77385161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.755860169 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:7.68, Y:15.42, Z:-77.38 [[ 0.32721596 0.87486891 0.35711919 7.68036803] [ -0.78303566 0.46258686 -0.41577463 15.42268249] [ -0.52894694 -0.14358897 0.83641936 -77.3832919 ] [ 0. 0. 0. 1. ]] SLAMing on 135.785860169 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:7.46, Y:15.09, Z:-77.42 [[ 0.92993277 0.08517474 0.35772938 7.45669562] [ 0.07745855 0.90560879 -0.41698067 15.08895201] [ -0.35947909 0.41547319 0.83555778 -77.41572434] [ 0. 0. 0. 1. ]] SLAMing on 135.815860169 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:7.71, Y:15.40, Z:-77.33 [[ 0.31921634 0.87779758 0.35717269 7.70717096] [ -0.78673547 0.45558285 -0.41652319 15.39785732] [ -0.5283448 -0.14803941 0.83602398 -77.32962389] [ 0. 0. 0. 1. ]] SLAMing on 135.845860169 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:7.72, Y:15.38, Z:-77.30 [[ 0.31902177 0.87795683 0.35695505 7.71934513] [ -0.78678985 0.45531823 -0.41670979 15.38469413] [ -0.52838135 -0.14790912 0.83602395 -77.30244854] [ 0. 0. 0. 1. ]] SLAMing on 135.875860169 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:7.70, Y:15.36, Z:-77.27 [[ 0.3977316 0.84533098 0.35668629 7.70124587] [ -0.74198484 0.52502047 -0.41690767 15.35523897] [ -0.53969257 -0.09883846 0.83604 -77.27055442] [ 0. 0. 0. 1. ]] SLAMing on 135.905860169 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:7.69, Y:15.33, Z:-77.24 [[ 4.49926820e-01 8.18809015e-01 3.56535627e-01 7.69288282e+00] [-7.07469554e-01 5.70430240e-01 -4.17248333e-01 1.53289813e+01] [-5.45025400e-01 -6.45068853e-02 8.35934313e-01 -7.72401280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.935860169 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:7.71, Y:15.32, Z:-77.21 [[ 4.45843552e-01 8.21136259e-01 3.56312744e-01 7.70559254e+00] [-7.10279360e-01 5.66789395e-01 -4.17436237e-01 1.53172546e+01] [-5.44726314e-01 -6.69703333e-02 8.35935534e-01 -7.72136676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.965860169 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:7.72, Y:15.30, Z:-77.19 [[ 4.45465219e-01 8.21444133e-01 3.56076222e-01 7.71780764e+00] [-7.10515142e-01 5.66344999e-01 -4.17638091e-01 1.53041320e+01] [-5.44728347e-01 -6.69543040e-02 8.35935494e-01 -7.71865066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.995860169 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:7.67, Y:15.24, Z:-77.16 [[ 5.98987168e-01 7.17413820e-01 3.55713063e-01 7.67112734e+00] [-5.84899840e-01 6.95377221e-01 -4.17543648e-01 1.52438272e+01] [-5.46906345e-01 4.20467735e-02 8.36137261e-01 -7.71568003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02586016899997 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:7.60, Y:15.13, Z:-77.15 [[ 0.81264647 0.46155104 0.3557757 7.59908362] [ -0.30339426 0.85632612 -0.41792044 15.12507485] [ -0.49755164 0.23168127 0.83592234 -77.14767595] [ 0. 0. 0. 1. ]] SLAMing on 136.05586016899997 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:7.71, Y:15.23, Z:-77.10 [[ 5.48421675e-01 7.57190448e-01 3.54818674e-01 7.71375387e+00] [-6.31938598e-01 6.53178331e-01 -4.17147067e-01 1.52338788e+01] [-5.47619644e-01 4.54887715e-03 8.36715025e-01 -7.71029532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.08586016899997 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:7.61, Y:15.08, Z:-77.10 [[ 0.83268023 0.42499138 0.35500136 7.614714 ] [ -0.26532236 0.86889891 -0.41787406 15.08338212] [ -0.48605317 0.25376567 0.83627466 -77.09713677] [ 0. 0. 0. 1. ]] SLAMing on 136.11586016899997 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:7.64, Y:15.09, Z:-77.06 [[ 0.80016328 0.48406124 0.35415173 7.63948445] [ -0.32814815 0.84757074 -0.4170643 15.09321934] [ -0.50205331 0.21750531 0.83703878 -77.06312929] [ 0. 0. 0. 1. ]] SLAMing on 136.14586016899997 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:7.69, Y:15.14, Z:-77.03 [[ 0.69508643 0.62594311 0.35362421 7.69317264] [ -0.48189226 0.77067386 -0.41694324 15.13747875] [ -0.53351168 0.11940282 0.83732207 -77.02513004] [ 0. 0. 0. 1. ]] SLAMing on 136.17586016899998 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:7.65, Y:15.04, Z:-77.02 [[ 0.83514004 0.42084508 0.35416175 7.64959721] [ -0.26116482 0.87007354 -0.41804901 15.04151017] [ -0.48408063 0.25663487 0.83654318 -77.01605951] [ 0. 0. 0. 1. ]] SLAMing on 136.20586016899998 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:7.75, Y:15.15, Z:-76.97 [[ 5.95798224e-01 7.21013636e-01 3.53784982e-01 7.75388506e+00] [-5.88890035e-01 6.91724271e-01 -4.18002464e-01 1.51512001e+01] [-5.46107135e-01 4.07046749e-02 8.36725837e-01 -7.69670266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.23586016899998 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:7.78, Y:15.15, Z:-76.94 [[ 5.49423773e-01 7.57023477e-01 3.53622642e-01 7.78393006e+00] [-6.31054155e-01 6.53354148e-01 -4.18209291e-01 1.51536212e+01] [-5.47635071e-01 6.61908905e-03 8.36691112e-01 -7.69395959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.26586016899998 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:7.75, Y:15.10, Z:-76.91 [[ 0.66534062 0.65733211 0.35388748 7.75180669] [ -0.51575061 0.74745303 -0.41870667 15.09625244] [ -0.53974361 0.09606487 0.8363303 -76.91478553] [ 0. 0. 0. 1. ]] SLAMing on 136.29586016899998 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:8.00, Y:15.22, Z:-76.92 [[ 4.22233667e-02 9.34206756e-01 3.54224398e-01 8.00100491e+00] [-8.85636316e-01 1.99102380e-01 -4.19531356e-01 1.52199990e+01] [-4.62455948e-01 -2.95999964e-01 8.35774202e-01 -7.69192977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.32586016899998 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:7.87, Y:15.15, Z:-76.86 [[ 4.32985130e-01 8.29110636e-01 3.53693978e-01 7.86501991e+00] [-7.18942725e-01 5.54334575e-01 -4.19326289e-01 1.51451649e+01] [-5.43732687e-01 -7.27236652e-02 8.36101688e-01 -7.68603386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.35586016899998 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:7.86, Y:15.12, Z:-76.83 [[ 4.72096352e-01 8.07629209e-01 3.53355479e-01 7.86118652e+00] [-6.91891284e-01 5.87847700e-01 -4.19191524e-01 1.51218399e+01] [-5.46270525e-01 -4.65847869e-02 8.36312365e-01 -7.68326492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.38586016899998 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:7.77, Y:15.01, Z:-76.81 [[ 0.73313601 0.58139089 0.35284023 7.77289235] [ -0.43176456 0.79875263 -0.41901504 15.01106337] [ -0.52544358 0.1548511 0.8366183 -76.8129233 ] [ 0. 0. 0. 1. ]] SLAMing on 136.41586016899998 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:7.75, Y:14.94, Z:-76.80 [[ 0.83468504 0.42347409 0.35209455 7.74563581] [ -0.26435781 0.8689384 -0.41840292 14.93540139] [ -0.48313127 0.25615571 0.83723857 -76.80074531] [ 0. 0. 0. 1. ]] SLAMing on 136.44586016899999 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:7.80, Y:14.99, Z:-76.76 [[ 0.72497508 0.59246469 0.35127869 7.80055858] [ -0.4450139 0.79217148 -0.41764456 14.98954255] [ -0.52571262 0.146458 0.8379596 -76.75784128] [ 0. 0. 0. 1. ]] SLAMing on 136.475860169 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:7.78, Y:14.93, Z:-76.74 [[ 0.80708273 0.47427224 0.35168638 7.77965276] [ -0.31758535 0.85083783 -0.41858635 14.92880914] [ -0.49775197 0.22614337 0.83731843 -76.74080472] [ 0. 0. 0. 1. ]] SLAMing on 136.505860169 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] SLAMing on 136.535860169 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:7.82, Y:14.96, Z:-76.70 [[ 0.72503565 0.59243593 0.35120219 7.82338745] [ -0.44451771 0.79204702 -0.41840832 14.9628071 ] [ -0.52604877 0.14724536 0.83761059 -76.70218311] [ 0. 0. 0. 1. ]] SLAMing on 136.565860169 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:7.83, Y:14.94, Z:-76.68 [[ 0.73722765 0.57768952 0.3503858 7.8309783 ] [ -0.42897396 0.80087141 -0.4178353 14.943526 ] [ -0.52199304 0.15773335 0.83823831 -76.67572859] [ 0. 0. 0. 1. ]] SLAMing on 136.595860169 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:7.85, Y:14.95, Z:-76.65 [[ 0.70608127 0.61561584 0.34995197 7.85471864] [ -0.470673 0.77722553 -0.41759717 14.94623396] [ -0.52907104 0.13014459 0.83853814 -76.64530144] [ 0. 0. 0. 1. ]] SLAMing on 136.625860169 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:7.89, Y:14.96, Z:-76.62 [[ 0.65385157 0.67155663 0.34855389 7.8884491 ] [ -0.53385828 0.73592135 -0.41643139 14.95680418] [ -0.53616551 0.08620594 0.8396994 -76.61622174] [ 0. 0. 0. 1. ]] SLAMing on 136.655860169 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:7.89, Y:14.94, Z:-76.59 [[ 0.669734 0.65606453 0.34790185 7.89429775] [ -0.51674311 0.74819155 -0.41615618 14.93683577] [ -0.53332253 0.09893807 0.84010615 -76.58953533] [ 0. 0. 0. 1. ]] SLAMing on 136.685860169 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:7.92, Y:14.94, Z:-76.56 [[ 6.32895570e-01 6.92146673e-01 3.46952708e-01 7.92010586e+00] [-5.58059105e-01 7.18433530e-01 -4.15238846e-01 1.49383388e+01] [-5.36668644e-01 6.91827080e-02 8.40952151e-01 -7.65601481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.715860169 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:7.93, Y:14.92, Z:-76.53 [[ 6.32749184e-01 6.92335617e-01 3.46842709e-01 7.93213720e+00] [-5.58225206e-01 7.18251341e-01 -4.15330748e-01 1.49243947e+01] [-5.36668510e-01 6.91838495e-02 8.40952142e-01 -7.65321623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.745860169 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:7.94, Y:14.91, Z:-76.51 [[ 0.64486812 0.6806093 0.34772992 7.93791598] [ -0.54387291 0.7282977 -0.41687493 14.90661463] [ -0.53697985 0.07970847 0.83982093 -76.50567096] [ 0. 0. 0. 1. ]] SLAMing on 136.77586016899997 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:7.94, Y:14.89, Z:-76.48 [[ 0.66167445 0.66463712 0.34705102 7.94428971] [ -0.52628342 0.74137107 -0.4164069 14.88561431] [ -0.53405307 0.09287861 0.84033379 -76.47960444] [ 0. 0. 0. 1. ]] SLAMing on 136.80586016899997 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:7.96, Y:14.87, Z:-76.45 [[ 0.65979748 0.66657351 0.34691071 7.95701494] [ -0.52827449 0.73977955 -0.41671607 14.87285137] [ -0.53440934 0.09168413 0.84023846 -76.45256467] [ 0. 0. 0. 1. ]] SLAMing on 136.83586016899997 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:7.99, Y:14.88, Z:-76.42 [[ 6.11668850e-01 7.12341624e-01 3.44137514e-01 7.98744346e+00] [-5.82344172e-01 6.99860210e-01 -4.13607244e-01 1.48780104e+01] [-5.35477809e-01 5.25841918e-02 8.42910683e-01 -7.64228710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.86586016899997 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:8.03, Y:14.89, Z:-76.39 [[ 5.38516443e-01 7.71023643e-01 3.39886130e-01 8.02804346e+00] [-6.53682641e-01 6.36803406e-01 -4.08877031e-01 1.48909767e+01] [-5.31694503e-01 -1.99065909e-03 8.46933877e-01 -7.63935935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.89586016899997 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:8.04, Y:14.88, Z:-76.37 [[ 5.33533829e-01 7.75032285e-01 3.38624587e-01 8.04161427e+00] [-6.59223353e-01 6.31895349e-01 -4.07593962e-01 1.48792746e+01] [-5.29873781e-01 -5.76406866e-03 8.48056927e-01 -7.63653511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.92586016899998 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:8.07, Y:14.87, Z:-76.34 [[ 4.99891777e-01 7.97186565e-01 3.38528863e-01 8.06646164e+00] [-6.85418542e-01 6.03080651e-01 -4.08038174e-01 1.48747575e+01] [-5.29442757e-01 -2.80590321e-02 8.47881511e-01 -7.63386127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.95586016899998 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:8.12, Y:14.89, Z:-76.31 [[ 0.40084123 0.85143829 0.33819987 8.11513515] [ -0.75292677 0.51647328 -0.40786839 14.88702717] [ -0.52194596 -0.09114927 0.84809447 -76.31391175] [ 0. 0. 0. 1. ]] SLAMing on 136.98586016899998 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:8.13, Y:14.87, Z:-76.29 [[ 0.40092998 0.85152333 0.3378804 8.12645745] [ -0.75308088 0.51636248 -0.40772414 14.87308515] [ -0.52165538 -0.09098244 0.84829114 -76.28672852] [ 0. 0. 0. 1. ]] SLAMing on 137.01586016899998 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:8.14, Y:14.86, Z:-76.26 [[ 0.40071126 0.85167374 0.33776076 8.13845829] [ -0.75319711 0.51611461 -0.40782327 14.85907316] [ -0.52165564 -0.09098106 0.84829113 -76.25874267] [ 0. 0. 0. 1. ]] SLAMing on 137.04586016899998 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:8.15, Y:14.85, Z:-76.23 [[ 0.40107183 0.85173276 0.33718347 8.15008144] [ -0.75327421 0.51610569 -0.40769214 14.84554466] [ -0.52126706 -0.09047778 0.84858378 -76.23127099] [ 0. 0. 0. 1. ]] SLAMing on 137.07586016899998 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:8.16, Y:14.83, Z:-76.20 [[ 0.40852649 0.8480238 0.33758221 8.1589993 ] [ -0.74793887 0.52301222 -0.40871221 14.83028517] [ -0.5231573 -0.08552109 0.8479343 -76.20327402] [ 0. 0. 0. 1. ]] SLAMing on 137.10586016899998 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:8.17, Y:14.82, Z:-76.18 [[ 0.41161558 0.84646878 0.33773246 8.17019554] [ -0.74571483 0.52585804 -0.40912432 14.81534242] [ -0.52391029 -0.08345016 0.84767569 -76.17577503] [ 0. 0. 0. 1. ]] SLAMing on 137.13586016899998 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:8.20, Y:14.81, Z:-76.15 [[ 0.36396938 0.86783679 0.3382094 8.19980786] [ -0.77290474 0.48404313 -0.41026884 14.81205555] [ -0.51975433 -0.11207836 0.84693204 -76.1506404 ] [ 0. 0. 0. 1. ]] SLAMing on 137.16586016899998 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:8.21, Y:14.80, Z:-76.12 [[ 0.36404112 0.86782732 0.33815647 8.21175032] [ -0.77278683 0.48409877 -0.41042526 14.79738513] [ -0.51987939 -0.1119112 0.84687738 -76.12305964] [ 0. 0. 0. 1. ]] SLAMing on 137.19586016899999 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:8.23, Y:14.79, Z:-76.10 [[ 0.34738301 0.87462777 0.33815869 8.22955909] [ -0.78156627 0.4693154 -0.41097106 14.78726822] [ -0.51814979 -0.12152906 0.84661177 -76.09658431] [ 0. 0. 0. 1. ]] SLAMing on 137.225860169 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:8.24, Y:14.77, Z:-76.07 [[ 0.33822058 0.87817838 0.33824484 8.24457401] [ -0.78621303 0.46121271 -0.41128082 14.77379895] [ -0.51718074 -0.12682886 0.84642691 -76.06967116] [ 0. 0. 0. 1. ]] SLAMing on 137.255860169 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:8.26, Y:14.76, Z:-76.04 [[ 0.32793966 0.88195556 0.33854093 8.2599074 ] [ -0.79090832 0.45230002 -0.4121756 14.76226879] [ -0.51664263 -0.13258611 0.84587311 -76.04332722] [ 0. 0. 0. 1. ]] SLAMing on 137.285860169 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:8.27, Y:14.75, Z:-76.02 [[ 0.32624528 0.882544 0.33864453 8.27369074] [ -0.79151937 0.45089486 -0.41254202 14.74828937] [ -0.51677956 -0.13345381 0.84565298 -76.01629316] [ 0. 0. 0. 1. ]] SLAMing on 137.315860169 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:8.30, Y:14.74, Z:-75.99 [[ 0.29609301 0.89272921 0.33965201 8.29683077] [ -0.80498207 0.42463626 -0.4143524 14.73980298] [ -0.51413305 -0.15072693 0.84436283 -75.9908115 ] [ 0. 0. 0. 1. ]] SLAMing on 137.345860169 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:8.31, Y:14.72, Z:-75.96 [[ 0.30516075 0.88974032 0.33946884 8.30587063] [ -0.80063039 0.4327163 -0.4144244 14.72437902] [ -0.51562379 -0.14532301 0.84440116 -75.9635493 ] [ 0. 0. 0. 1. ]] SLAMing on 137.375860169 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:8.32, Y:14.71, Z:-75.94 [[ 0.29665817 0.89264372 0.33938344 8.32167359] [ -0.804517 0.42507835 -0.41480212 14.71145665] [ -0.51453506 -0.14998531 0.84425001 -75.93662957] [ 0. 0. 0. 1. ]] SLAMing on 137.405860169 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:8.34, Y:14.70, Z:-75.91 [[ 0.26722061 0.90191728 0.33932044 8.34435262] [ -0.81778241 0.39851296 -0.41523408 14.70311631] [ -0.50973039 -0.16653119 0.84406297 -75.91226339] [ 0. 0. 0. 1. ]] SLAMing on 137.435860169 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:8.35, Y:14.69, Z:-75.88 [[ 0.27242994 0.9004318 0.33912315 8.35450829] [ -0.81535366 0.40317835 -0.41550647 14.68829723] [ -0.51086235 -0.1633089 0.84400821 -75.88399668] [ 0. 0. 0. 1. ]] SLAMing on 137.465860169 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:8.37, Y:14.68, Z:-75.86 [[ 0.24928658 0.9069975 0.33942855 8.37479618] [ -0.82483478 0.38251012 -0.41633351 14.6783032 ] [ -0.5074483 -0.17618612 0.84347772 -75.8588867 ] [ 0. 0. 0. 1. ]] SLAMing on 137.495860169 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:8.39, Y:14.66, Z:-75.83 [[ 0.24705221 0.90766485 0.33927825 8.38757745] [ -0.82578089 0.38040642 -0.41638549 14.66412977] [ -0.5070021 -0.17730054 0.84351253 -75.83237104] [ 0. 0. 0. 1. ]] SLAMing on 137.52586016899997 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:8.41, Y:14.65, Z:-75.81 [[ 0.21507019 0.91566116 0.33957245 8.41082406] [ -0.83812343 0.35153835 -0.417097 14.65469756] [ -0.50129226 -0.1948985 0.84304249 -75.80799645] [ 0. 0. 0. 1. ]] SLAMing on 137.55586016899997 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:8.41, Y:14.64, Z:-75.78 [[ 0.24511138 0.90788059 0.3401077 8.41125836] [ -0.82541667 0.37943441 -0.41799145 14.63599593] [ -0.50853489 -0.17827611 0.84238346 -75.77857345] [ 0. 0. 0. 1. ]] SLAMing on 137.58586016899997 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:8.41, Y:14.62, Z:-75.75 [[ 0.28037214 0.89765118 0.34002032 8.40920599] [ -0.80984983 0.41136995 -0.41823201 14.61711657] [ -0.5153006 -0.1581048 0.84229933 -75.74890903] [ 0. 0. 0. 1. ]] SLAMing on 137.61586016899997 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:8.41, Y:14.60, Z:-75.72 [[ 0.29755815 0.89195232 0.34041182 8.41425887] [ -0.8010748 0.42723674 -0.419223 14.59884641] [ -0.51936337 -0.14795211 0.8416483 -75.72212971] [ 0. 0. 0. 1. ]] SLAMing on 137.64586016899997 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:8.72, Y:14.59, Z:-75.81 [[ -0.49639937 0.79685291 0.34440253 8.7164769 ] [ -0.83943369 -0.33951595 -0.42435833 14.59147209] [ -0.22122102 -0.4997543 0.83744069 -75.8118388 ] [ 0. 0. 0. 1. ]] SLAMing on 137.67586016899998 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:8.24, Y:14.40, Z:-75.70 [[ 0.78939891 0.44861494 0.41903937 8.24332778] [ -0.30352826 0.87856379 -0.36877671 14.40359221] [ -0.53359156 0.16392164 0.82970461 -75.70037328] [ 0. 0. 0. 1. ]] SLAMing on 137.70586016899998 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:8.43, Y:13.95, Z:-76.00 [[ 0.24079089 -0.90418072 0.35281295 8.4313313 ] [ 0.93026988 0.11133383 -0.34957508 13.95310204] [ 0.27679903 0.41238576 0.86794025 -75.99616679] [ 0. 0. 0. 1. ]] SLAMing on 137.73586016899998 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:8.84, Y:14.45, Z:-75.97 [[ -0.87421651 0.30894964 0.37456056 8.84388924] [ -0.45581342 -0.78798239 -0.41390565 14.44911 ] [ 0.16727112 -0.53257288 0.8296906 -75.96823884] [ 0. 0. 0. 1. ]] SLAMing on 137.76586016899998 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:8.27, Y:14.03, Z:-75.92 [[ 6.76661878e-01 -6.57497062e-01 3.31400537e-01 8.27195224e+00] [ 7.34411428e-01 5.70537328e-01 -3.67596263e-01 1.40325328e+01] [ 5.26170860e-02 4.92122719e-01 8.68934216e-01 -7.59228191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.79586016899998 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:8.29, Y:14.02, Z:-75.94 [[ 0.61997777 -0.73432019 0.27640809 8.29084248] [ 0.77889678 0.53353146 -0.3296422 14.01664607] [ 0.09459051 0.41966421 0.90273728 -75.94288055] [ 0. 0. 0. 1. ]] SLAMing on 137.82586016899998 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:8.25, Y:14.05, Z:-75.93 [[ 7.17705086e-01 -6.56806360e-01 2.31311079e-01 8.25490718e+00] [ 6.95680908e-01 6.61776022e-01 -2.79429007e-01 1.40480815e+01] [ 3.04546235e-02 3.61466321e-01 9.31887662e-01 -7.59259396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.85586016899998 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:8.20, Y:14.12, Z:-75.90 [[ 8.60048118e-01 -4.75380289e-01 1.85285765e-01 8.20361126e+00] [ 5.07964020e-01 8.31859239e-01 -2.23568247e-01 1.41179609e+01] [-4.78517375e-02 2.86397952e-01 9.56915056e-01 -7.59012708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.88586016899998 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:8.68, Y:13.98, Z:-76.03 [[-4.45390728e-01 -8.81958447e-01 1.54195970e-01 8.67564028e+00] [ 8.48704540e-01 -4.70740630e-01 -2.41047429e-01 1.39841188e+01] [ 2.85180124e-01 2.35065303e-02 9.58185650e-01 -7.60271862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.91586016899998 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:8.19, Y:14.13, Z:-75.92 [[ 8.84416633e-01 -4.53317266e-01 1.10953487e-01 8.19378499e+00] [ 4.66613746e-01 8.63426532e-01 -1.91745238e-01 1.41336915e+01] [-8.87875763e-03 2.21355100e-01 9.75152853e-01 -7.59221494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.94586016899999 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:8.59, Y:13.95, Z:-76.01 [[-2.24498757e-01 -9.71246675e-01 7.92477422e-02 8.59493537e+00] [ 9.50305124e-01 -2.36205328e-01 -2.02798457e-01 1.39488505e+01] [ 2.15686066e-01 2.97815337e-02 9.76008494e-01 -7.60079693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.975860169 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:8.16, Y:14.37, Z:-75.89 [[ 0.97932626 0.18100288 0.09032182 8.16304326] [ -0.1679455 0.97640782 -0.13572795 14.36758431] [ -0.11275809 0.1177528 0.98662044 -75.89131045] [ 0. 0. 0. 1. ]] SLAMing on 138.005860169 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:8.63, Y:13.95, Z:-75.99 [[-3.24316922e-01 -9.44335892e-01 5.52110196e-02 8.63249457e+00] [ 9.33754659e-01 -3.28931800e-01 -1.41089010e-01 1.39528474e+01] [ 1.51396076e-01 5.79599327e-03 9.88456187e-01 -7.59912544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.035860169 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:8.89, Y:14.33, Z:-75.96 [[-9.93610433e-01 8.33769391e-02 7.60696672e-02 8.88653049e+00] [-9.83080277e-02 -9.70436629e-01 -2.20427495e-01 1.43292987e+01] [ 5.54422216e-02 -2.26497318e-01 9.72432581e-01 -7.59618248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.065860169 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:8.53, Y:13.94, Z:-76.02 [[-5.74888335e-02 -9.96455303e-01 6.14154892e-02 8.53467843e+00] [ 9.74192802e-01 -6.94415759e-02 -2.14770230e-01 1.39409042e+01] [ 2.18273723e-01 4.74836375e-02 9.74731700e-01 -7.60219639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.095860169 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:8.87, Y:14.20, Z:-76.00 [[-9.56080853e-01 -2.87580830e-01 5.66274534e-02 8.87074317e+00] [ 2.59049448e-01 -9.19465392e-01 -2.95764732e-01 1.42009324e+01] [ 1.37123251e-01 -2.68105687e-01 9.53580911e-01 -7.60013851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.125860169 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:8.56, Y:14.66, Z:-75.85 [[-1.05792417e-01 9.84401424e-01 1.40576671e-01 8.56479233e+00] [-9.57297853e-01 -6.25730455e-02 -2.82250660e-01 1.46588030e+01] [-2.69051641e-01 -1.64433725e-01 9.48985123e-01 -7.58549158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.155860169 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:8.16, Y:14.33, Z:-75.85 [[ 0.97537887 -0.14992401 -0.16173699 8.16028125] [ -0.1145947 -0.9711486 0.20913738 14.32982738] [ -0.18842537 -0.18545398 -0.96441832 -75.85112973] [ 0. 0. 0. 1. ]] SLAMing on 138.185860169 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:7.59, Y:15.47, Z:-79.94 [[ 0.26944922 0.93153449 0.24421427 7.58677877] [ -0.93397135 0.31459074 -0.16949979 15.47161219] [ -0.23472245 -0.18241755 0.95479276 -79.94042477] [ 0. 0. 0. 1. ]] SLAMing on 138.215860169 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:7.33, Y:15.00, Z:-79.97 [[ 0.92697018 -0.31924448 0.19700061 7.33109459] [ 0.34294176 0.93400791 -0.10010081 15.00255754] [ -0.1520435 0.1603502 0.97527975 -79.97462895] [ 0. 0. 0. 1. ]] SLAMing on 138.245860169 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:7.92, Y:15.40, Z:-80.06 [[-6.50555742e-01 7.16106562e-01 2.52920182e-01 7.92479879e+00] [-7.57002560e-01 -6.38197468e-01 -1.40182439e-01 1.53998789e+01] [ 6.10274550e-02 -2.82657716e-01 9.57277528e-01 -8.00627699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.27586016899997 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:7.91, Y:14.85, Z:-80.14 [[-6.45528940e-01 -7.26260773e-01 2.36299973e-01 7.91040859e+00] [ 7.17098477e-01 -6.82831934e-01 -1.39679361e-01 1.48503268e+01] [ 2.62796809e-01 7.92832811e-02 9.61588269e-01 -8.01375428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.30586016899997 meters Centerline goodness : 0.998831 Centerline is valid? [True, True] SLAMing on 138.33586016899997 meters Centerline goodness : 0.998695 Centerline is valid? [True, True] Translation: X:7.39, Y:14.88, Z:-80.02 [[ 7.42839685e-01 -6.42521459e-01 1.88030258e-01 7.39207140e+00] [ 6.65624634e-01 7.38901687e-01 -1.04728908e-01 1.48825247e+01] [-7.16453035e-02 2.02954361e-01 9.76563607e-01 -8.00175876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.36586016899997 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] SLAMing on 138.39586016899997 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] SLAMing on 138.42586016899998 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] SLAMing on 138.45586016899998 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] SLAMing on 138.48586016899998 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] SLAMing on 138.51586016899998 meters Centerline goodness : 0.998636 Centerline is valid? [True, True] SLAMing on 138.54586016899998 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] SLAMing on 138.57586016899998 meters Centerline goodness : 0.996335 Centerline is valid? [True, True] SLAMing on 138.60586016899998 meters Centerline goodness : 0.990796 Centerline is valid? [True, True] SLAMing on 138.63586016899998 meters Centerline goodness : 0.990619 Centerline is valid? [True, True] SLAMing on 138.66586016899998 meters Centerline goodness : 0.982966 Centerline is valid? [True, True] SLAMing on 138.69586016899999 meters Centerline goodness : 0.991378 Centerline is valid? [True, True] SLAMing on 138.725860169 meters Centerline goodness : 0.990977 Centerline is valid? [True, True] SLAMing on 138.755860169 meters Centerline goodness : 0.983711 Centerline is valid? [True, True] SLAMing on 138.785860169 meters Centerline goodness : 0.995240 Centerline is valid? [True, True] SLAMing on 138.815860169 meters Centerline goodness : 0.991561 Centerline is valid? [True, True] SLAMing on 138.845860169 meters Centerline goodness : 0.994706 Centerline is valid? [True, True] SLAMing on 138.875860169 meters Centerline goodness : 0.979942 Centerline is valid? [True, True] SLAMing on 138.905860169 meters Centerline goodness : 0.984088 Centerline is valid? [True, True] SLAMing on 138.935860169 meters Centerline goodness : 0.989100 Centerline is valid? [True, True] SLAMing on 138.965860169 meters Centerline goodness : 0.985099 Centerline is valid? [True, True] SLAMing on 138.99586016899997 meters Centerline goodness : 0.977392 Centerline is valid? [True, True] SLAMing on 139.02586016899997 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] SLAMing on 139.05586016899997 meters Centerline goodness : 0.998153 Centerline is valid? [True, True] SLAMing on 139.08586016899997 meters Centerline goodness : 0.976051 Centerline is valid? [True, True] SLAMing on 139.11586016899997 meters Centerline goodness : 0.978854 Centerline is valid? [True, True] SLAMing on 139.14586016899997 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] SLAMing on 139.17586016899998 meters Centerline goodness : 0.980799 Centerline is valid? [True, True] SLAMing on 139.20586016899998 meters Centerline goodness : 0.981904 Centerline is valid? [True, True] SLAMing on 139.23586016899998 meters Centerline goodness : 0.985028 Centerline is valid? [True, True] SLAMing on 139.26586016899998 meters Centerline goodness : 0.992308 Centerline is valid? [True, True] SLAMing on 139.29586016899998 meters Centerline goodness : 0.992308 Centerline is valid? [True, True] SLAMing on 139.32586016899998 meters Centerline goodness : 0.460343 Centerline is valid? [True, False] Translation: X:7.36, Y:14.91, Z:-79.99 [[ 0.82661849 -0.53090909 0.18664786 7.35855764] [ 0.5534823 0.82695406 -0.09901679 14.90836736] [ -0.10178029 0.18515539 0.9774243 -79.99127001] [ 0. 0. 0. 1. ]] SLAMing on 139.35586016899998 meters Centerline goodness : 0.981190 Centerline is valid? [False, True] Translation: X:7.34, Y:14.94, Z:-79.97 [[ 0.88310816 -0.4300325 0.18759537 7.33513368] [ 0.45162138 0.88749867 -0.09156549 14.93907246] [ -0.12711451 0.16558431 0.97796919 -79.96788764] [ 0. 0. 0. 1. ]] SLAMing on 139.38586016899998 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] SLAMing on 139.41586016899998 meters Centerline goodness : 0.996318 Centerline is valid? [True, True] SLAMing on 139.44586016899999 meters Centerline goodness : 0.996318 Centerline is valid? [True, True] SLAMing on 139.475860169 meters Centerline goodness : 0.997384 Centerline is valid? [True, True] SLAMing on 139.505860169 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] SLAMing on 139.535860169 meters Centerline goodness : 0.988733 Centerline is valid? [True, True] SLAMing on 139.565860169 meters Centerline goodness : 0.988139 Centerline is valid? [True, True] SLAMing on 139.595860169 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] SLAMing on 139.625860169 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] SLAMing on 139.655860169 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] SLAMing on 139.685860169 meters Centerline goodness : 0.998664 Centerline is valid? [True, True] SLAMing on 139.715860169 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] SLAMing on 139.74586016899997 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] SLAMing on 139.77586016899997 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] SLAMing on 139.80586016899997 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] SLAMing on 139.83586016899997 meters Centerline goodness : 0.997672 Centerline is valid? [True, True] SLAMing on 139.86586016899997 meters Centerline goodness : 0.998053 Centerline is valid? [True, True] SLAMing on 139.89586016899997 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] SLAMing on 139.92586016899998 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] SLAMing on 139.95586016899998 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] SLAMing on 139.98586016899998 meters Centerline goodness : 0.993413 Centerline is valid? [True, True] SLAMing on 140.01586016899998 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] SLAMing on 140.04586016899998 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] SLAMing on 140.07586016899998 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] SLAMing on 140.10586016899998 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] SLAMing on 140.13586016899998 meters Centerline goodness : 0.996873 Centerline is valid? [True, True] SLAMing on 140.16586016899998 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] SLAMing on 140.19586016899999 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] SLAMing on 140.225860169 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] SLAMing on 140.255860169 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] SLAMing on 140.285860169 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] SLAMing on 140.315860169 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] SLAMing on 140.345860169 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] SLAMing on 140.375860169 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] SLAMing on 140.405860169 meters Centerline goodness : 0.994629 Centerline is valid? [True, True] SLAMing on 140.435860169 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] SLAMing on 140.465860169 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] SLAMing on 140.49586016899997 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] SLAMing on 140.52586016899997 meters Centerline goodness : 0.998146 Centerline is valid? [True, True] SLAMing on 140.55586016899997 meters Centerline goodness : 0.990965 Centerline is valid? [True, True] SLAMing on 140.58586016899997 meters Centerline goodness : 0.408093 Centerline is valid? [True, False] Translation: X:7.31, Y:14.99, Z:-79.94 [[ 0.93949448 -0.28347305 0.19233602 7.31053539] [ 0.30363207 0.94904429 -0.08439487 14.98837332] [ -0.15861173 0.1376879 0.97769339 -79.94045719] [ 0. 0. 0. 1. ]] SLAMing on 140.61586016899997 meters Centerline goodness : 0.999153 Centerline is valid? [False, True] Translation: X:7.30, Y:15.02, Z:-79.95 [[ 0.96225653 -0.19238397 0.1924858 7.29735545] [ 0.2108541 0.97420629 -0.08039064 15.021831 ] [ -0.172055 0.11794283 0.97800131 -79.94688087] [ 0. 0. 0. 1. ]] SLAMing on 140.64586016899997 meters Centerline goodness : 0.671496 Centerline is valid? [True, False] Translation: X:7.29, Y:15.05, Z:-79.95 [[ 9.74935426e-01 -1.11072416e-01 1.92779238e-01 7.28955816e+00] [ 1.27991078e-01 9.88733870e-01 -7.76119679e-02 1.50526569e+01] [-1.81986813e-01 1.00340679e-01 9.78167955e-01 -7.99471502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.67586016899998 meters Centerline goodness : 0.999038 Centerline is valid? [False, True] Translation: X:7.29, Y:15.08, Z:-79.95 [[ 9.79559748e-01 -5.03527005e-02 1.94749342e-01 7.28504588e+00] [ 6.64167832e-02 9.94827891e-01 -7.68523081e-02 1.50760708e+01] [-1.89872356e-01 8.82160524e-02 9.77837623e-01 -7.99483959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.70586016899998 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] SLAMing on 140.73586016899998 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] SLAMing on 140.76586016899998 meters Centerline goodness : 0.991972 Centerline is valid? [True, True] SLAMing on 140.79586016899998 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] SLAMing on 140.82586016899998 meters Centerline goodness : 0.995135 Centerline is valid? [True, True] SLAMing on 140.85586016899998 meters Centerline goodness : 0.970682 Centerline is valid? [True, True] SLAMing on 140.88586016899998 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] SLAMing on 140.91586016899998 meters Centerline goodness : 0.994120 Centerline is valid? [True, True] SLAMing on 140.94586016899999 meters Centerline goodness : 0.351805 Centerline is valid? [True, False] Translation: X:7.29, Y:15.09, Z:-79.94 [[ 9.81070647e-01 -1.33818170e-02 1.93187247e-01 7.28778283e+00] [ 2.83687315e-02 9.96778373e-01 -7.50206045e-02 1.50887876e+01] [-1.91560957e-01 7.90809902e-02 9.78289628e-01 -7.99381920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.975860169 meters Centerline goodness : 0.274898 Centerline is valid? [False, False] Translation: X:7.29, Y:15.09, Z:-79.94 [[ 9.81105446e-01 -1.03148154e-02 1.93198624e-01 7.28790999e+00] [ 2.46847084e-02 9.97090448e-01 -7.21200679e-02 1.50886199e+01] [-1.91892598e-01 7.55264431e-02 9.78505487e-01 -7.99380244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.005860169 meters Centerline goodness : 0.993038 Centerline is valid? [False, True] Translation: X:7.29, Y:15.09, Z:-79.94 [[ 9.81057385e-01 -7.65617566e-03 1.93565984e-01 7.28731165e+00] [ 2.15178042e-02 9.97342095e-01 -6.96112724e-02 1.50885551e+01] [-1.92518548e-01 7.24577678e-02 9.78614572e-01 -7.99373801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.035860169 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] SLAMing on 141.065860169 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] SLAMing on 141.095860169 meters Centerline goodness : 0.998170 Centerline is valid? [True, True] SLAMing on 141.125860169 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] SLAMing on 141.155860169 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] SLAMing on 141.185860169 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] SLAMing on 141.215860169 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] SLAMing on 141.24586016899997 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] SLAMing on 141.27586016899997 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] SLAMing on 141.30586016899997 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] SLAMing on 141.33586016899997 meters Centerline goodness : 0.709695 Centerline is valid? [True, False] Translation: X:7.29, Y:15.09, Z:-79.94 [[ 9.81034600e-01 -8.20840105e-03 1.93658812e-01 7.28713217e+00] [ 2.20254592e-02 9.97352507e-01 -6.93026465e-02 1.50861531e+01] [-1.92577237e-01 7.22537184e-02 9.78618111e-01 -7.99374591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.36586016899997 meters Centerline goodness : 0.999036 Centerline is valid? [False, True] Translation: X:7.29, Y:15.09, Z:-79.94 [[ 9.81049862e-01 -5.38961885e-03 1.93680461e-01 7.28706959e+00] [ 1.86072596e-02 9.97613550e-01 -6.64904072e-02 1.50858507e+01] [-1.92859894e-01 6.88342674e-02 9.78808922e-01 -7.99368512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.39586016899997 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:8.03, Y:15.05, Z:-80.08 [[-9.82723742e-01 -9.79011666e-02 1.57064980e-01 8.03176650e+00] [ 7.67833457e-02 -9.87823784e-01 -1.35308865e-01 1.50535832e+01] [ 1.68399419e-01 -1.20911259e-01 9.78275065e-01 -8.00790798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.42586016899998 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:7.85, Y:14.77, Z:-80.08 [[-5.13389006e-01 -8.54004797e-01 8.43061968e-02 7.84857751e+00] [ 8.44222671e-01 -5.20241541e-01 -1.28983799e-01 1.47655495e+01] [ 1.54012369e-01 4.95433849e-03 9.88056499e-01 -8.00789773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.45586016899998 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:8.04, Y:15.12, Z:-80.04 [[-9.95007138e-01 7.95956871e-02 6.02106413e-02 8.03651926e+00] [-9.03205727e-02 -9.74809255e-01 -2.03934086e-01 1.51186555e+01] [ 4.24616167e-02 -2.08354131e-01 9.77131295e-01 -8.00426465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.48586016899998 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:7.33, Y:14.91, Z:-80.03 [[ 8.64713130e-01 -4.97087367e-01 7.19399185e-02 7.32665694e+00] [ 5.02262339e-01 8.55239141e-01 -1.27665794e-01 1.49056504e+01] [ 1.93521912e-03 1.46527000e-01 9.89204778e-01 -8.00304410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.51586016899998 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:7.31, Y:14.94, Z:-80.02 [[ 9.16324653e-01 -3.96876449e-01 5.32749016e-02 7.30761332e+00] [ 3.99462849e-01 9.15241887e-01 -5.25520688e-02 1.49449401e+01] [-2.79027430e-02 6.94361002e-02 9.97196102e-01 -8.00244861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.54586016899998 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:7.98, Y:14.89, Z:-80.06 [[-8.46049986e-01 -5.32277567e-01 2.96650019e-02 7.97504851e+00] [ 5.29452709e-01 -8.45455268e-01 -6.98943409e-02 1.48851249e+01] [ 6.22836219e-02 -4.34278905e-02 9.97113218e-01 -8.00621078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.57586016899998 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:8.03, Y:15.12, Z:-80.05 [[-9.95182399e-01 8.87785032e-02 4.15977260e-02 8.03499317e+00] [-9.40364446e-02 -9.84378650e-01 -1.48848313e-01 1.51216829e+01] [ 2.77333829e-02 -1.52042924e-01 9.87984721e-01 -8.00544923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.60586016899998 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:8.03, Y:15.18, Z:-80.05 [[-9.71749620e-01 2.27509556e-01 6.27859629e-02 8.02590860e+00] [-2.35821665e-01 -9.46711122e-01 -2.19376833e-01 1.51773399e+01] [ 9.52984343e-03 -2.27985645e-01 9.73617855e-01 -8.00531533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.63586016899998 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:7.95, Y:14.87, Z:-80.12 [[-7.95064686e-01 -6.06139455e-01 2.16126226e-02 7.95424629e+00] [ 5.77647780e-01 -7.67594555e-01 -2.77707837e-01 1.48725208e+01] [ 1.84919408e-01 -2.08311211e-01 9.60422434e-01 -8.01246154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.66586016899998 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:7.46, Y:14.79, Z:-80.15 [[ 5.09030343e-01 -8.60673806e-01 -1.13450358e-02 7.45930967e+00] [ 8.24655189e-01 4.91419795e-01 -2.80089993e-01 1.47875635e+01] [ 2.46641296e-01 1.33218563e-01 9.59906707e-01 -8.01480654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.69586016899999 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:7.42, Y:14.82, Z:-80.17 [[ 6.08400609e-01 -7.93554128e-01 -1.09792419e-02 7.42221530e+00] [ 7.59961794e-01 5.86521305e-01 -2.80090753e-01 1.48204086e+01] [ 2.28706733e-01 1.62063580e-01 9.59910739e-01 -8.01674722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.725860169 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:7.30, Y:14.98, Z:-80.15 [[ 9.26979878e-01 -3.74958912e-01 -1.06827325e-02 7.30450308e+00] [ 3.57146264e-01 8.90934778e-01 -2.80502704e-01 1.49825329e+01] [ 1.14694607e-01 2.56205064e-01 9.59793786e-01 -8.01503142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.755860169 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:7.56, Y:14.77, Z:-80.24 [[ 2.33356462e-01 -9.72334328e-01 -1.05221307e-02 7.56304627e+00] [ 9.32856880e-01 2.26909925e-01 -2.79803372e-01 1.47683268e+01] [ 2.74449999e-01 5.54782830e-02 9.59999666e-01 -8.02383787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.785860169 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:7.44, Y:14.83, Z:-80.25 [[ 5.64434583e-01 -8.25414139e-01 -1.02518617e-02 7.43846399e+00] [ 7.90715376e-01 5.44189583e-01 -2.80404871e-01 1.48313967e+01] [ 2.37029102e-01 1.50163902e-01 9.59827072e-01 -8.02502439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.815860169 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] SLAMing on 141.845860169 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] SLAMing on 141.875860169 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] SLAMing on 141.905860169 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] SLAMing on 141.935860169 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] SLAMing on 141.965860169 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] SLAMing on 141.99586016899997 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] SLAMing on 142.02586016899997 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] SLAMing on 142.05586016899997 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:7.78, Y:14.78, Z:-80.29 [[-3.31827808e-01 -9.43288244e-01 -9.87897945e-03 7.78194991e+00] [ 9.06387214e-01 -3.15909508e-01 -2.80469964e-01 1.47803114e+01] [ 2.61443157e-01 -1.02021914e-01 9.59811963e-01 -8.02909519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.08586016899997 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] SLAMing on 142.11586016899997 meters Centerline goodness : 0.998716 Centerline is valid? [True, True] Translation: X:7.80, Y:14.79, Z:-80.31 [[-3.76961129e-01 -9.26179461e-01 -9.58711988e-03 7.80064612e+00] [ 8.91030622e-01 -3.59790144e-01 -2.76795020e-01 1.47936215e+01] [ 2.52912511e-01 -1.12883380e-01 9.60881160e-01 -8.03148213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14586016899997 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] SLAMing on 142.17586016899998 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:7.43, Y:15.50, Z:-80.12 [[ 3.41731840e-01 9.37303466e-01 6.84219411e-02 7.42631843e+00] [-8.92358065e-01 3.46459701e-01 -2.89245156e-01 1.55015280e+01] [-2.94815932e-01 3.77874083e-02 9.54806618e-01 -8.01239582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.20586016899998 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:7.16, Y:14.82, Z:-80.20 [[ 0.67633432 -0.7233642 0.13898248 7.1609679 ] [ 0.72880676 0.62979868 -0.26869003 14.82279844] [ 0.10682976 0.28301565 0.95314718 -80.197991 ] [ 0. 0. 0. 1. ]] SLAMing on 142.23586016899998 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] SLAMing on 142.26586016899998 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] SLAMing on 142.29586016899998 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:7.15, Y:14.65, Z:-80.18 [[ 0.28379901 -0.93599172 0.20827296 7.15068126] [ 0.94413458 0.23481303 -0.23124174 14.64548392] [ 0.16753515 0.26226388 0.95034185 -80.1846577 ] [ 0. 0. 0. 1. ]] SLAMing on 142.32586016899998 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:6.96, Y:14.54, Z:-80.10 [[ 4.63615023e-01 -8.45161992e-01 2.66011874e-01 6.95604417e+00] [ 8.85309371e-01 4.29701813e-01 -1.77717948e-01 1.45376123e+01] [ 3.58946703e-02 3.17895515e-01 9.47446048e-01 -8.00982336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.35586016899998 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:6.87, Y:14.35, Z:-80.04 [[ 4.14756430e-01 -8.55615211e-01 3.09676791e-01 6.87223212e+00] [ 9.09505720e-01 4.00237060e-01 -1.12292655e-01 1.43520892e+01] [-2.78648245e-02 3.28226913e-01 9.44187823e-01 -8.00371379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.38586016899998 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] SLAMing on 142.41586016899998 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:6.88, Y:14.13, Z:-80.00 [[ 2.44789280e-01 -9.09947737e-01 3.34773543e-01 6.87863581e+00] [ 9.68358423e-01 2.46746783e-01 -3.73897046e-02 1.41347773e+01] [-4.85816178e-02 3.33333379e-01 9.41556522e-01 -7.99962163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.44586016899999 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] SLAMing on 142.475860169 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:6.90, Y:14.13, Z:-79.97 [[ 1.81429710e-01 -9.21561291e-01 3.43231769e-01 6.90099198e+00] [ 9.75341084e-01 2.13228496e-01 5.69506669e-02 1.41315825e+01] [-1.25670324e-01 3.24435503e-01 9.37522573e-01 -7.99710951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.505860169 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] SLAMing on 142.535860169 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] SLAMing on 142.565860169 meters Centerline goodness : 0.998111 Centerline is valid? [True, True] SLAMing on 142.595860169 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:7.10, Y:14.85, Z:-80.08 [[-3.16767979e-01 8.83576628e-01 3.44891851e-01 7.09655967e+00] [-9.37979108e-01 -3.45826529e-01 2.44786653e-02 1.48485652e+01] [ 1.40901528e-01 -3.15747294e-01 9.38323188e-01 -8.00765213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.625860169 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:6.63, Y:14.50, Z:-79.87 [[ 9.13251483e-01 -3.32468174e-02 4.06037409e-01 6.62742881e+00] [ 8.57502269e-03 9.98012404e-01 6.24316466e-02 1.44992196e+01] [-4.07306024e-01 -5.35340139e-02 9.11721401e-01 -7.98739577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.655860169 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] SLAMing on 142.685860169 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:6.87, Y:14.86, Z:-80.01 [[ 2.70364300e-01 8.37758236e-01 4.74409405e-01 6.87157850e+00] [-9.58817869e-01 2.78834354e-01 5.40342267e-02 1.48567441e+01] [-8.70140214e-02 -4.69481141e-01 8.78644421e-01 -8.00051265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.715860169 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:7.29, Y:14.36, Z:-80.17 [[-8.19980731e-01 3.45715843e-01 -4.56193114e-01 7.28868143e+00] [ 3.85784449e-01 9.22571181e-01 5.72489856e-03 1.43617516e+01] [ 4.22849808e-01 -1.71297903e-01 -8.89862387e-01 -8.01650417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74586016899997 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:4.98, Y:16.32, Z:-83.17 [[ 8.88627629e-01 4.58149579e-01 2.09737962e-02 4.97963987e+00] [ 2.15037306e-03 4.15688211e-02 -9.99133329e-01 1.63202640e+01] [-4.58624370e-01 8.87902583e-01 3.59540104e-02 -8.31721558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.77586016899997 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:5.31, Y:16.33, Z:-82.98 [[ 1.39164738e-02 9.95335116e-01 9.54690474e-02 5.30859077e+00] [-3.18217677e-02 9.58707963e-02 -9.94885001e-01 1.63331572e+01] [-9.99396671e-01 1.08072972e-02 3.30075063e-02 -8.29768352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.80586016899997 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:4.94, Y:16.29, Z:-83.30 [[ 0.99021817 0.09865031 0.0986716 4.93819923] [ 0.08622816 0.12330051 -0.98861605 16.2933887 ] [ -0.10969354 0.98745385 0.11358797 -83.30151697] [ 0. 0. 0. 1. ]] SLAMing on 142.83586016899997 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:5.68, Y:16.36, Z:-83.36 [[-9.95687484e-01 2.56371416e-03 9.27354410e-02 5.67702635e+00] [-9.27649232e-02 -3.88338216e-02 -9.94930451e-01 1.63639251e+01] [ 1.05055429e-03 -9.99242394e-01 3.89041728e-02 -8.33581248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.86586016899997 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:4.93, Y:16.29, Z:-83.38 [[ 0.98914377 -0.10836765 0.09925244 4.9347616 ] [ 0.11047933 0.10304462 -0.98852219 16.29353859] [ 0.09689639 0.98875592 0.11389833 -83.37846102] [ 0. 0. 0. 1. ]] SLAMing on 142.89586016899997 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:5.68, Y:16.37, Z:-83.40 [[-9.91132149e-01 -1.02238835e-01 8.48780521e-02 5.67504317e+00] [-8.04313275e-02 -4.68649812e-02 -9.95657810e-01 1.63691844e+01] [ 1.05772702e-01 -9.93655320e-01 3.82261843e-02 -8.33980070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.92586016899998 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:4.93, Y:16.31, Z:-83.34 [[ 9.95439477e-01 -1.39201934e-02 9.43741289e-02 4.93049472e+00] [ 9.53405711e-02 1.11690996e-01 -9.89158884e-01 1.63090794e+01] [ 3.22854248e-03 9.93645485e-01 1.12508786e-01 -8.33449418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.95586016899998 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:5.66, Y:16.38, Z:-83.24 [[-9.44446336e-01 3.19418417e-01 7.74144273e-02 5.66294761e+00] [-8.54370626e-02 -1.11583768e-02 -9.96281084e-01 1.63838636e+01] [-3.17366708e-01 -9.47548081e-01 3.78286594e-02 -8.32385852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.98586016899998 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:5.24, Y:16.35, Z:-82.98 [[ 1.92484727e-01 9.67261132e-01 1.65395082e-01 5.23703903e+00] [ 1.54164033e-02 1.65545405e-01 -9.86081667e-01 1.63525154e+01] [-9.81178865e-01 1.92355458e-01 1.69532744e-02 -8.29790870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.01586016899998 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:5.66, Y:16.39, Z:-83.45 [[-9.43069790e-01 2.93325628e-01 -1.56778336e-01 5.66461276e+00] [-1.60404994e-01 1.18096642e-02 9.86980633e-01 1.63862079e+01] [ 2.91358213e-01 9.55939647e-01 3.59135581e-02 -8.34539499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.04586016899998 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:5.33, Y:16.32, Z:-83.73 [[-3.34401590e-02 9.87883245e-01 -1.51553457e-01 5.33158586e+00] [-4.58803039e-02 1.49961051e-01 9.87626792e-01 1.63191114e+01] [ 9.98387076e-01 3.99797156e-02 4.03096621e-02 -8.37279923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.07586016899998 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:5.35, Y:16.30, Z:-83.73 [[-7.05899451e-02 9.85864047e-01 -1.51951114e-01 5.35078346e+00] [-5.15575510e-02 1.48521538e-01 9.87564262e-01 1.62957915e+01] [ 9.96172113e-01 7.75463343e-02 4.03446087e-02 -8.37277464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.10586016899998 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:5.37, Y:16.27, Z:-83.73 [[-9.77098256e-02 9.83485402e-01 -1.52345837e-01 5.36625683e+00] [-5.59983880e-02 1.47402704e-01 9.87490062e-01 1.62723754e+01] [ 9.93638249e-01 1.05018603e-01 4.06709046e-02 -8.37283464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.13586016899998 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:5.33, Y:16.24, Z:-83.73 [[ 1.74223746e-02 9.88113333e-01 -1.52736711e-01 5.32727861e+00] [-3.90638049e-02 1.53315961e-01 9.87404798e-01 1.62408172e+01] [ 9.99084821e-01 -1.12364592e-02 4.12705946e-02 -8.37317769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.16586016899998 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:5.43, Y:16.23, Z:-83.72 [[-2.30336099e-01 9.60987576e-01 -1.53127924e-01 5.42546039e+00] [-7.67591114e-02 1.38926241e-01 9.87323421e-01 1.62302706e+01] [ 9.70079028e-01 2.39170189e-01 4.17648239e-02 -8.37192947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.19586016899999 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:5.42, Y:16.20, Z:-83.72 [[-1.92727538e-01 9.69168406e-01 -1.53520999e-01 5.41605523e+00] [-7.15624170e-02 1.42155062e-01 9.87254151e-01 1.62027878e+01] [ 9.78639319e-01 2.01257396e-01 4.19588385e-02 -8.37248049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.225860169 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:5.39, Y:16.17, Z:-83.73 [[-1.09598643e-01 9.81986881e-01 -1.53915245e-01 5.38864941e+00] [-5.94743475e-02 1.48091905e-01 9.87183666e-01 1.61733221e+01] [ 9.92195011e-01 1.17347998e-01 4.21723573e-02 -8.37312905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.255860169 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:5.42, Y:16.15, Z:-83.74 [[-1.80130464e-01 9.71460321e-01 -1.54330365e-01 5.42056827e+00] [-7.62569445e-02 1.42632902e-01 9.86833691e-01 1.61517185e+01] [ 9.80682362e-01 1.89527573e-01 4.83880649e-02 -8.37365204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.285860169 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:5.46, Y:16.13, Z:-83.72 [[-2.60417706e-01 9.52992779e-01 -1.54878605e-01 5.45521747e+00] [-8.22886483e-02 1.37922003e-01 9.87018794e-01 1.61311316e+01] [ 9.61982950e-01 2.69781921e-01 4.25031560e-02 -8.37207008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.315860169 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:5.48, Y:16.11, Z:-83.71 [[-3.18780696e-01 9.35017086e-01 -1.55312323e-01 5.48199326e+00] [-8.99991203e-02 1.33260810e-01 9.86986178e-01 1.61092106e+01] [ 9.43545985e-01 3.28610113e-01 4.16697414e-02 -8.37145201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.345860169 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:5.47, Y:16.08, Z:-83.73 [[-2.59092836e-01 9.53215881e-01 -1.55725357e-01 5.46581366e+00] [-8.89012294e-02 1.37010552e-01 9.86572187e-01 1.60811740e+01] [ 9.61752293e-01 2.69457961e-01 4.92436112e-02 -8.37349231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.375860169 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:5.46, Y:16.05, Z:-83.74 [[-2.27225525e-01 9.61226272e-01 -1.56245367e-01 5.45838437e+00] [-8.38753142e-02 1.40528990e-01 9.86517377e-01 1.60547399e+01] [ 9.70223424e-01 2.37267058e-01 4.86913820e-02 -8.37383894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.405860169 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:5.46, Y:16.03, Z:-83.73 [[-2.11755333e-01 9.64656022e-01 -1.56838892e-01 5.45566634e+00] [-7.35545364e-02 1.44292541e-01 9.86797544e-01 1.60294651e+01] [ 9.74550876e-01 2.20495855e-01 4.04001114e-02 -8.37305610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.435860169 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:5.45, Y:16.00, Z:-83.73 [[-1.98652797e-01 9.67373272e-01 -1.57245091e-01 5.45499653e+00] [-7.12882610e-02 1.45755326e-01 9.86748888e-01 1.60037854e+01] [ 9.77473810e-01 2.07230156e-01 4.00076551e-02 -8.37328965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.465860169 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:5.45, Y:15.98, Z:-83.75 [[-1.61011945e-01 9.74276036e-01 -1.57674855e-01 5.44611379e+00] [-7.39247430e-02 1.47405320e-01 9.86309690e-01 1.59763359e+01] [ 9.84180007e-01 1.70463715e-01 4.82890882e-02 -8.37490954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.49586016899997 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:5.46, Y:15.95, Z:-83.75 [[-1.88434537e-01 9.69265847e-01 -1.58164921e-01 5.46174506e+00] [-7.80408379e-02 1.45762354e-01 9.86236769e-01 1.59521612e+01] [ 9.78980109e-01 1.98184392e-01 4.81756572e-02 -8.37472205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52586016899997 meters Centerline goodness : 0.993838 Centerline is valid? [True, True] Translation: X:5.47, Y:15.93, Z:-83.75 [[-2.05017017e-01 9.65815509e-01 -1.58645596e-01 5.47266992e+00] [-8.11348348e-02 1.44760460e-01 9.86134650e-01 1.59279568e+01] [ 9.75389748e-01 2.15046068e-01 4.86829241e-02 -8.37482848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.55586016899997 meters Centerline goodness : 0.995613 Centerline is valid? [True, True] Translation: X:5.48, Y:15.90, Z:-83.75 [[-2.08393901e-01 9.65011065e-01 -1.59140273e-01 5.47951770e+00] [-8.18550781e-02 1.44933186e-01 9.86049754e-01 1.59021783e+01] [ 9.74613630e-01 2.18513194e-01 4.87878641e-02 -8.37482088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.58586016899997 meters Centerline goodness : 0.995613 Centerline is valid? [True, True] Translation: X:5.48, Y:15.88, Z:-83.75 [[-2.08352783e-01 9.64938235e-01 -1.59634963e-01 5.48459209e+00] [-8.19596129e-02 1.45417326e-01 9.85969788e-01 1.58758970e+01] [ 9.74613636e-01 2.18513169e-01 4.87878598e-02 -8.37491342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.61586016899997 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:5.54, Y:15.86, Z:-83.72 [[-3.42347110e-01 9.25813697e-01 -1.60210658e-01 5.53853655e+00] [-9.35672757e-02 1.36073312e-01 9.86270358e-01 1.58585416e+01] [ 9.34903001e-01 3.52637281e-01 4.00415602e-02 -8.37204557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.64586016899997 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:5.57, Y:15.84, Z:-83.71 [[-4.24045235e-01 8.91277724e-01 -1.60653842e-01 5.57431427e+00] [-1.05910310e-01 1.27371672e-01 9.86184295e-01 1.58391851e+01] [ 8.99426842e-01 4.35201650e-01 4.03841494e-02 -8.37073955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.67586016899998 meters Centerline goodness : 0.998810 Centerline is valid? [True, True] Translation: X:5.54, Y:15.81, Z:-83.74 [[-3.22320392e-01 9.32825363e-01 -1.61078883e-01 5.54404092e+00] [-9.88738566e-02 1.36054692e-01 9.85755082e-01 1.58088799e+01] [ 9.41452880e-01 3.33655455e-01 4.83788395e-02 -8.37375768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.70586016899998 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:5.57, Y:15.79, Z:-83.72 [[-3.77087122e-01 9.11985778e-01 -1.61515460e-01 5.56662145e+00] [-1.00436104e-01 1.33095562e-01 9.86001096e-01 1.57861328e+01] [ 9.20715967e-01 3.88030299e-01 4.14076762e-02 -8.37171588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.73586016899998 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:5.55, Y:15.76, Z:-83.74 [[-3.10692627e-01 9.36611685e-01 -1.61952594e-01 5.54934920e+00] [-9.85953462e-02 1.37709207e-01 9.85553211e-01 1.57579181e+01] [ 9.45383017e-01 3.22171888e-01 4.95603181e-02 -8.37402215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.76586016899998 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:5.55, Y:15.73, Z:-83.74 [[-3.10642517e-01 9.36541331e-01 -1.62454803e-01 5.55443025e+00] [-9.87536810e-02 1.38186461e-01 9.85470554e-01 1.57325078e+01] [ 9.45382958e-01 3.22172063e-01 4.95603136e-02 -8.37411181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.79586016899998 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:5.56, Y:15.71, Z:-83.74 [[-3.02935777e-01 9.38974516e-01 -1.62962490e-01 5.55624439e+00] [-9.66503008e-02 1.39845900e-01 9.85444998e-01 1.57075579e+01] [ 9.48097376e-01 3.14276920e-01 4.83878431e-02 -8.37426803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.82586016899998 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:5.55, Y:15.68, Z:-83.75 [[-2.85071160e-01 9.44464331e-01 -1.63467307e-01 5.55395989e+00] [-9.39159320e-02 1.42200658e-01 9.85372402e-01 1.56814079e+01] [ 9.53894245e-01 2.96253438e-01 4.81629414e-02 -8.37463426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.85586016899998 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:5.61, Y:15.67, Z:-83.71 [[-4.39927675e-01 8.82920822e-01 -1.64056282e-01 5.61462323e+00] [-1.08592220e-01 1.29041603e-01 9.85675400e-01 1.56651113e+01] [ 8.91443420e-01 4.51441123e-01 3.91093598e-02 -8.37100545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.88586016899998 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:5.57, Y:15.63, Z:-83.75 [[-2.96546849e-01 9.40751658e-01 -1.64457545e-01 5.56858140e+00] [-9.47485147e-02 1.42372705e-01 9.85267848e-01 1.56319022e+01] [ 9.50306627e-01 3.07760184e-01 4.69146452e-02 -8.37472691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.91586016899998 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:5.67, Y:15.62, Z:-83.68 [[-5.72770755e-01 8.02934093e-01 -1.65016679e-01 5.67490153e+00] [-1.28134717e-01 1.11134677e-01 9.85510313e-01 1.56221701e+01] [ 8.09638905e-01 5.85615852e-01 3.92290397e-02 -8.36799004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.94586016899999 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:5.59, Y:15.58, Z:-83.74 [[-3.27061364e-01 9.30411964e-01 -1.65422011e-01 5.59079679e+00] [-9.92191045e-02 1.40272580e-01 9.85129013e-01 1.55839555e+01] [ 9.39779992e-01 3.38610663e-01 4.64369007e-02 -8.37432953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.975860169 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:5.60, Y:15.56, Z:-83.74 [[-3.27013354e-01 9.30342326e-01 -1.65907876e-01 5.59600052e+00] [-9.93805480e-02 1.40731359e-01 9.85047304e-01 1.55577237e+01] [ 9.39779641e-01 3.38611639e-01 4.64368965e-02 -8.37442206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.005860169 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:5.67, Y:15.54, Z:-83.70 [[-5.24113565e-01 8.35223547e-01 -1.66452987e-01 5.67188163e+00] [-1.23473783e-01 1.18861356e-01 9.85203635e-01 1.55427241e+01] [ 8.42650103e-01 5.36911170e-01 4.08313618e-02 -8.36951308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.035860169 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:5.61, Y:15.51, Z:-83.74 [[-3.50422628e-01 9.21610630e-01 -1.66846721e-01 5.61497130e+00] [-1.04786207e-01 1.38445693e-01 9.84810967e-01 1.55086885e+01] [ 9.30711466e-01 3.62583282e-01 4.80575786e-02 -8.37431716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.065860169 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:5.64, Y:15.49, Z:-83.72 [[-4.17056677e-01 8.93337669e-01 -1.67366478e-01 5.64125606e+00] [-1.07889066e-01 1.34183469e-01 9.85065859e-01 1.54862177e+01] [ 9.02454252e-01 4.28885307e-01 4.04192546e-02 -8.37198550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.095860169 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:5.69, Y:15.47, Z:-83.69 [[-5.32189651e-01 8.29831811e-01 -1.67789571e-01 5.68953329e+00] [-1.25671450e-01 1.18560533e-01 9.84961972e-01 1.54673179e+01] [ 8.37245998e-01 5.45272927e-01 4.11894783e-02 -8.36945913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.125860169 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:5.71, Y:15.45, Z:-83.68 [[-5.85439110e-01 7.93068600e-01 -1.68235679e-01 5.71443864e+00] [-1.33155244e-01 1.10635027e-01 9.84900793e-01 1.54465276e+01] [ 7.99706652e-01 5.99000907e-01 4.08311717e-02 -8.36810183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.155860169 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:5.63, Y:15.41, Z:-83.75 [[-3.27473195e-01 9.29683591e-01 -1.68670467e-01 5.62603701e+00] [-1.01579183e-01 1.42838825e-01 9.84519548e-01 1.54072125e+01] [ 9.39384360e-01 3.39537170e-01 4.76606126e-02 -8.37491257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.185860169 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:5.64, Y:15.38, Z:-83.75 [[-3.44159116e-01 9.23543980e-01 -1.69177480e-01 5.63731099e+00] [-1.04652345e-01 1.41329357e-01 9.84415512e-01 1.53829553e+01] [ 9.33060764e-01 3.56500392e-01 4.80112569e-02 -8.37474534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.215860169 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:5.61, Y:15.35, Z:-83.76 [[-2.60542385e-01 9.50436037e-01 -1.69673230e-01 5.61015595e+00] [-9.06314114e-02 1.50889527e-01 9.84387270e-01 1.53516330e+01] [ 9.61199049e-01 2.71852332e-01 4.68262422e-02 -8.37578264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24586016899997 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:5.71, Y:15.34, Z:-83.71 [[-5.06139923e-01 8.45483931e-01 -1.70233079e-01 5.70533407e+00] [-1.20843642e-01 1.25912315e-01 9.84653697e-01 1.53406532e+01] [ 8.53943319e-01 5.18944132e-01 3.84421085e-02 -8.37057913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.27586016899997 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:5.61, Y:15.30, Z:-83.76 [[-2.43127803e-01 9.54859887e-01 -1.70679428e-01 5.61350434e+00] [-8.62359924e-02 1.53984765e-01 9.84302822e-01 1.53004951e+01] [ 9.66153313e-01 2.54030092e-01 4.49053123e-02 -8.37643740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.30586016899997 meters Centerline goodness : 0.997428 Centerline is valid? [True, True] Translation: X:5.64, Y:15.28, Z:-83.76 [[-2.94966452e-01 9.40047254e-01 -1.71189812e-01 5.63824833e+00] [-9.54794636e-02 1.49266677e-01 9.84176372e-01 1.52786820e+01] [ 9.50725231e-01 3.06644124e-01 4.57265456e-02 -8.37603083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.33586016899997 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:5.67, Y:15.26, Z:-83.75 [[-3.56778386e-01 9.18276942e-01 -1.71687625e-01 5.66672843e+00] [-1.04811549e-01 1.43275142e-01 9.84117256e-01 1.52574822e+01] [ 9.28290753e-01 3.69106612e-01 4.51285553e-02 -8.37500489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.36586016899997 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:5.67, Y:15.23, Z:-83.75 [[-3.58999249e-01 9.17320343e-01 -1.72171215e-01 5.67275849e+00] [-1.04412980e-01 1.43838124e-01 9.84077499e-01 1.52317869e+01] [ 9.27479093e-01 3.71259993e-01 4.41423716e-02 -8.37512862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.39586016899997 meters Centerline goodness : 0.996441 Centerline is valid? [True, True] Translation: X:5.72, Y:15.21, Z:-83.74 [[-4.58546839e-01 8.71745391e-01 -1.72611616e-01 5.71760621e+00] [-1.15883174e-01 1.33921337e-01 9.84193155e-01 1.52126368e+01] [ 8.81082225e-01 4.71301442e-01 3.96114171e-02 -8.37352719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.42586016899998 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:5.80, Y:15.20, Z:-83.68 [[-6.55407432e-01 7.35188791e-01 -1.73027570e-01 5.79752149e+00] [-1.43035751e-01 1.04124767e-01 9.84224978e-01 1.51994132e+01] [ 7.41607627e-01 6.69817493e-01 3.69141351e-02 -8.36786840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.45586016899998 meters Centerline goodness : 0.996788 Centerline is valid? [True, True] Translation: X:5.81, Y:15.17, Z:-83.68 [[-6.63610435e-01 7.27670293e-01 -1.73542891e-01 5.80767420e+00] [-1.45268691e-01 1.02218478e-01 9.84097754e-01 1.51747897e+01] [ 7.33837991e-01 6.78267888e-01 3.78744621e-02 -8.36783144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.48586016899998 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:5.70, Y:15.13, Z:-83.75 [[-3.86578838e-01 9.05675064e-01 -1.74096180e-01 5.70437242e+00] [-1.02847705e-01 1.45259316e-01 9.84033577e-01 1.51339963e+01] [ 9.16503765e-01 3.98311949e-01 3.69924243e-02 -8.37514802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.51586016899998 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] SLAMing on 144.54586016899998 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] SLAMing on 144.57586016899998 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] SLAMing on 144.60586016899998 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:5.19, Y:15.01, Z:-83.53 [[ 9.31520559e-01 3.19028871e-01 -1.74613940e-01 5.19190539e+00] [ 1.52888915e-01 9.21248250e-02 9.83940037e-01 1.50088893e+01] [ 3.29991558e-01 -9.43256909e-01 3.70401904e-02 -8.35272547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.63586016899998 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] SLAMing on 144.66586016899998 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] SLAMing on 144.69586016899999 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] SLAMing on 144.725860169 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:5.34, Y:15.01, Z:-83.72 [[ 5.68934174e-01 8.03528725e-01 -1.75087100e-01 5.34131184e+00] [ 7.14260717e-02 1.63817090e-01 9.83901559e-01 1.50141807e+01] [ 8.19275425e-01 -5.72281005e-01 3.58082403e-02 -8.37184563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.755860169 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] SLAMing on 144.785860169 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:5.32, Y:14.98, Z:-83.70 [[ 6.28020895e-01 7.58150078e-01 -1.75494202e-01 5.32411817e+00] [ 8.35238612e-02 1.58542170e-01 9.83813064e-01 1.49845830e+01] [ 7.73701183e-01 -6.32513114e-01 3.62441739e-02 -8.37016651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.815860169 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:5.31, Y:14.96, Z:-83.69 [[ 6.67765783e-01 7.23264819e-01 -1.76002444e-01 5.31436572e+00] [ 9.24101726e-02 1.54065939e-01 9.83729661e-01 1.49558402e+01] [ 7.38613037e-01 -6.73165424e-01 3.60429360e-02 -8.36894894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.845860169 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] SLAMing on 144.875860169 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] SLAMing on 144.905860169 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] SLAMing on 144.935860169 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] SLAMing on 144.965860169 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] SLAMing on 144.99586016899997 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] SLAMing on 145.02586016899997 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:5.45, Y:14.96, Z:-83.77 [[ 3.35382962e-01 9.25404561e-01 -1.76478516e-01 5.45123998e+00] [ 2.29954323e-02 1.79230903e-01 9.83538252e-01 1.49573379e+01] [ 9.41801188e-01 -3.33920172e-01 3.88309134e-02 -8.37674544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.05586016899997 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:5.41, Y:14.92, Z:-83.75 [[ 4.48039372e-01 8.76320876e-01 -1.76981478e-01 5.41406447e+00] [ 4.64536178e-02 1.74875650e-01 9.83494061e-01 1.49229409e+01] [ 8.92806128e-01 -4.48865491e-01 3.76429013e-02 -8.37470759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.08586016899997 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] SLAMing on 145.11586016899997 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] SLAMing on 145.14586016899997 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] SLAMing on 145.17586016899998 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] SLAMing on 145.20586016899998 meters Centerline goodness : 0.998468 Centerline is valid? [True, True] Translation: X:5.55, Y:14.92, Z:-83.78 [[ 9.98419847e-02 9.79056784e-01 -1.77424328e-01 5.55451555e+00] [-2.65031273e-02 1.80868839e-01 9.83150063e-01 1.49238346e+01] [ 9.94650271e-01 -9.34573541e-02 4.40063704e-02 -8.37832142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.23586016899998 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:5.61, Y:14.91, Z:-83.78 [[-2.59171095e-02 9.83706044e-01 -1.77906498e-01 5.60874606e+00] [-5.01123773e-02 1.76464064e-01 9.83030612e-01 1.49066758e+01] [ 9.98407258e-01 3.43926296e-02 4.47224100e-02 -8.37825845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.26586016899998 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:5.59, Y:14.88, Z:-83.78 [[ 4.69428467e-02 9.82836470e-01 -1.78406397e-01 5.58636776e+00] [-3.73390162e-02 1.80204990e-01 9.82920118e-01 1.48769729e+01] [ 9.98199463e-01 -3.94795491e-02 4.51574822e-02 -8.37840003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.29586016899998 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:5.62, Y:14.86, Z:-83.78 [[-2.81592620e-02 9.83458968e-01 -1.78928798e-01 5.62122294e+00] [-4.77736515e-02 1.77471165e-01 9.82965749e-01 1.48565763e+01] [ 9.98461183e-01 3.62276721e-02 4.19859690e-02 -8.37756140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.32586016899998 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:5.60, Y:14.83, Z:-83.77 [[ 4.59203209e-02 9.82701812e-01 -1.79411462e-01 5.59967125e+00] [-3.34056410e-02 1.81011119e-01 9.82913546e-01 1.48265319e+01] [ 9.98386392e-01 -3.91423506e-02 4.11398726e-02 -8.37721025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.35586016899998 meters Centerline goodness : 0.994415 Centerline is valid? [True, True] Translation: X:5.62, Y:14.80, Z:-83.79 [[ 1.32923560e-02 9.83610771e-01 -1.79814249e-01 5.61688811e+00] [-4.70156877e-02 1.80246052e-01 9.82497270e-01 1.48041297e+01] [ 9.98805706e-01 -4.60561294e-03 4.86410315e-02 -8.37854103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.38586016899998 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:5.64, Y:14.78, Z:-83.78 [[-4.78958986e-02 9.82438810e-01 -1.80332937e-01 5.64448584e+00] [-5.68469854e-02 1.77566440e-01 9.82465561e-01 1.47844994e+01] [ 9.97233374e-01 5.73074547e-02 4.73439805e-02 -8.37839376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.41586016899998 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:5.64, Y:14.76, Z:-83.78 [[-1.78171907e-02 9.83490866e-01 -1.80078495e-01 5.63865894e+00] [-4.92560080e-02 1.79025010e-01 9.82610753e-01 1.47574319e+01] [ 9.98627254e-01 2.63773109e-02 4.52531112e-02 -8.37826287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.44586016899999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:5.64, Y:14.73, Z:-83.78 [[-1.04737799e-02 9.83468349e-01 -1.80776951e-01 5.64152738e+00] [-4.76590436e-02 1.80090438e-01 9.82494809e-01 1.47316970e+01] [ 9.98808748e-01 1.89060910e-02 4.49849333e-02 -8.37847310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.475860169 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:5.67, Y:14.71, Z:-83.79 [[-8.05053189e-02 9.80017508e-01 -1.81891665e-01 5.67434943e+00] [-6.29308507e-02 1.77122490e-01 9.82174797e-01 1.47099314e+01] [ 9.94765601e-01 9.05168925e-02 4.74140330e-02 -8.37887248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.505860169 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:5.67, Y:14.68, Z:-83.79 [[-6.55046727e-02 9.81075107e-01 -1.82210791e-01 5.67433011e+00] [-6.02402467e-02 1.78381897e-01 9.82115580e-01 1.46827151e+01] [ 9.96032254e-01 7.53095826e-02 4.74153588e-02 -8.37902905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.535860169 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:5.66, Y:14.65, Z:-83.79 [[-2.61033354e-03 9.83385090e-01 -1.81512952e-01 5.65576979e+00] [-4.71958799e-02 1.81190149e-01 9.82314959e-01 1.46534442e+01] [ 9.98882243e-01 1.11308332e-02 4.59387579e-02 -8.37899397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.565860169 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:5.79, Y:14.65, Z:-83.76 [[-3.58160822e-01 9.15458342e-01 -1.83458033e-01 5.79076903e+00] [-1.10967514e-01 1.53362338e-01 9.81919653e-01 1.46516476e+01] [ 9.27042090e-01 3.72043031e-01 4.66577553e-02 -8.37581697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.595860169 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:5.69, Y:14.61, Z:-83.79 [[-6.82628850e-02 9.81093773e-01 -1.81094417e-01 5.69129997e+00] [-5.99730807e-02 1.77154228e-01 9.82354116e-01 1.46067202e+01] [ 9.95863147e-01 7.79191161e-02 4.67461573e-02 -8.37909084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.625860169 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:5.84, Y:14.61, Z:-83.74 [[-4.70407005e-01 8.62989754e-01 -1.84298491e-01 5.84258251e+00] [-1.30819240e-01 1.38343154e-01 9.81706422e-01 1.46068355e+01] [ 8.72699018e-01 4.85911366e-01 4.78180747e-02 -8.37394970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.655860169 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:5.71, Y:14.56, Z:-83.79 [[-7.64445420e-02 9.80407277e-01 -1.81542840e-01 5.70521579e+00] [-6.11790475e-02 1.77120429e-01 9.82285843e-01 1.45553693e+01] [ 9.95195135e-01 8.61970094e-02 4.64404933e-02 -8.37927172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.685860169 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:5.88, Y:14.56, Z:-83.73 [[-5.30816968e-01 8.26993551e-01 -1.85243120e-01 5.87536116e+00] [-1.41296557e-01 1.29160044e-01 9.81505459e-01 1.45588556e+01] [ 8.35624694e-01 5.47173966e-01 4.82909985e-02 -8.37287271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.715860169 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:5.81, Y:14.52, Z:-83.78 [[-3.28407717e-01 9.26148127e-01 -1.85467028e-01 5.81170657e+00] [-1.10003541e-01 1.57518822e-01 9.81369982e-01 1.45217610e+01] [ 9.38108519e-01 3.42691505e-01 5.01491768e-02 -8.37786206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74586016899997 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:5.88, Y:14.51, Z:-83.73 [[-5.18278982e-01 8.34766016e-01 -1.85883283e-01 5.88109615e+00] [-1.39546034e-01 1.31894024e-01 9.81392312e-01 1.45075755e+01] [ 8.43749845e-01 5.34574284e-01 4.81303868e-02 -8.37339741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.77586016899997 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:5.92, Y:14.49, Z:-83.71 [[-6.03408281e-01 7.75359292e-01 -1.86323413e-01 5.91760090e+00] [-1.53295541e-01 1.16509995e-01 9.81287877e-01 1.44888512e+01] [ 7.82559214e-01 6.20679780e-01 4.85560268e-02 -8.37116960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.80586016899997 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:5.86, Y:14.45, Z:-83.77 [[-4.01195134e-01 8.96764137e-01 -1.86699081e-01 5.85623262e+00] [-1.23512604e-01 1.48998557e-01 9.81093302e-01 1.44528867e+01] [ 9.07627182e-01 4.16669549e-01 5.09841775e-02 -8.37735111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.83586016899997 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:5.90, Y:14.43, Z:-83.74 [[-5.20190384e-01 8.33279833e-01 -1.87207595e-01 5.90021500e+00] [-1.42685835e-01 1.31324503e-01 9.81017139e-01 1.44335167e+01] [ 8.42046742e-01 5.37027555e-01 5.05834855e-02 -8.37402794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.86586016899997 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] SLAMing on 145.89586016899997 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:5.88, Y:14.40, Z:-83.76 [[-4.35683635e-01 8.80321735e-01 -1.87652374e-01 5.87521850e+00] [-1.30849721e-01 1.44320137e-01 9.80841500e-01 1.44043104e+01] [ 8.90538107e-01 4.51890851e-01 5.23119315e-02 -8.37620557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.92586016899998 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:5.88, Y:14.38, Z:-83.76 [[-4.35622433e-01 8.80254420e-01 -1.88109682e-01 5.88094288e+00] [-1.31052822e-01 1.44730605e-01 9.80753899e-01 1.43782074e+01] [ 8.90538182e-01 4.51890704e-01 5.23119273e-02 -8.37631119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.95586016899998 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:5.88, Y:14.35, Z:-83.77 [[-4.28565918e-01 8.83611522e-01 -1.88578715e-01 5.88437179e+00] [-1.30661263e-01 1.45911628e-01 9.80631139e-01 1.43529883e+01] [ 8.94012801e-01 4.44905018e-01 5.29210468e-02 -8.37671780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.98586016899998 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:5.88, Y:14.33, Z:-83.78 [[-3.98055128e-01 8.97671982e-01 -1.89042663e-01 5.87879188e+00] [-1.26940657e-01 1.50190711e-01 9.80473773e-01 1.43251306e+01] [ 9.08536287e-01 4.14279813e-01 5.41668884e-02 -8.37759485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.01586016899998 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:5.87, Y:14.30, Z:-83.78 [[-3.69860749e-01 9.09550703e-01 -1.89527160e-01 5.87410083e+00] [-1.23469926e-01 1.54064861e-01 9.80315866e-01 1.42979986e+01] [ 9.20846461e-01 3.85981265e-01 5.53196128e-02 -8.37841927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.04586016899998 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:5.88, Y:14.27, Z:-83.79 [[-3.69795239e-01 9.09466909e-01 -1.90056369e-01 5.87994606e+00] [-1.23669781e-01 1.54555711e-01 9.80213404e-01 1.42719201e+01] [ 9.20845952e-01 3.85982480e-01 5.53196071e-02 -8.37852487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.07586016899998 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:5.88, Y:14.25, Z:-83.79 [[-3.64196993e-01 9.11608670e-01 -1.90604782e-01 5.88320449e+00] [-1.22969455e-01 1.55798802e-01 9.80104712e-01 1.42473341e+01] [ 9.23167950e-01 3.80389755e-01 5.53585661e-02 -8.37890926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.10586016899998 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:5.88, Y:14.22, Z:-83.80 [[-3.43845974e-01 9.19375617e-01 -1.91097937e-01 5.88220346e+00] [-1.21912765e-01 1.58077154e-01 9.79871875e-01 1.42209602e+01] [ 9.31078527e-01 3.60222277e-01 5.77294305e-02 -8.37954150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.13586016899998 meters Centerline goodness : 0.997531 Centerline is valid? [True, True] Translation: X:5.92, Y:14.20, Z:-83.78 [[-4.35850723e-01 8.79378854e-01 -1.91642839e-01 5.92328245e+00] [-1.37640786e-01 1.45300773e-01 9.79766655e-01 1.42030495e+01] [ 8.89431932e-01 4.53409876e-01 5.77089498e-02 -8.37801384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.16586016899998 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:5.88, Y:14.17, Z:-83.80 [[-3.10908539e-01 9.30815333e-01 -1.92142383e-01 5.88128925e+00] [-1.17301506e-01 1.63036511e-01 9.79622097e-01 1.41689392e+01] [ 9.43173493e-01 3.27111466e-01 5.84965968e-02 -8.38015951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.19586016899999 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:5.88, Y:14.14, Z:-83.81 [[-2.93455304e-01 9.36381049e-01 -1.92547436e-01 5.87925650e+00] [-1.13601966e-01 1.65830227e-01 9.79589163e-01 1.41434280e+01] [ 9.49198914e-01 3.09339403e-01 5.77109683e-02 -8.38055278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.225860169 meters Centerline goodness : 0.998466 Centerline is valid? [True, True] Translation: X:6.08, Y:14.15, Z:-83.66 [[-8.03625623e-01 5.62913061e-01 -1.93170244e-01 6.07534734e+00] [-1.85915932e-01 7.08832378e-02 9.80005527e-01 1.41496007e+01] [ 5.65350444e-01 8.23470978e-01 4.76909202e-02 -8.36555892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.255860169 meters Centerline goodness : 0.995287 Centerline is valid? [True, True] Translation: X:5.91, Y:14.10, Z:-83.80 [[-3.46218840e-01 9.17956456e-01 -1.93619371e-01 5.91197953e+00] [-1.22769417e-01 1.60276855e-01 9.79407474e-01 1.40970764e+01] [ 9.30086117e-01 3.62859857e-01 5.72061125e-02 -8.38019357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.285860169 meters Centerline goodness : 0.997646 Centerline is valid? [True, True] Translation: X:5.93, Y:14.07, Z:-83.80 [[-3.66603036e-01 9.09921215e-01 -1.94024733e-01 5.92531100e+00] [-1.26018256e-01 1.58058185e-01 9.79355405e-01 1.40741163e+01] [ 9.21803457e-01 3.83485323e-01 5.67220746e-02 -8.37992874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.315860169 meters Centerline goodness : 0.997918 Centerline is valid? [True, True] Translation: X:5.93, Y:14.05, Z:-83.80 [[-3.59839585e-01 9.12509736e-01 -1.94528803e-01 5.92881867e+00] [-1.24982508e-01 1.59472700e-01 9.79258817e-01 1.40484671e+01] [ 9.24605238e-01 3.76688784e-01 5.66631652e-02 -8.38011071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.345860169 meters Centerline goodness : 0.976850 Centerline is valid? [True, True] Translation: X:5.94, Y:14.02, Z:-83.80 [[-3.60293239e-01 9.12221320e-01 -1.95041137e-01 5.93505014e+00] [-1.26296016e-01 1.59456686e-01 9.79092887e-01 1.40242637e+01] [ 9.24250019e-01 3.77393466e-01 5.77587527e-02 -8.38035188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.375860169 meters Centerline goodness : 0.979633 Centerline is valid? [True, True] Translation: X:5.94, Y:14.00, Z:-83.80 [[-3.62043737e-01 9.11417733e-01 -1.95555744e-01 5.94151804e+00] [-1.27339072e-01 1.59463949e-01 9.78956592e-01 1.40001023e+01] [ 9.23422489e-01 3.79326990e-01 5.83261644e-02 -8.38035743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.405860169 meters Centerline goodness : 0.994461 Centerline is valid? [True, True] Translation: X:5.95, Y:13.98, Z:-83.80 [[-3.74227793e-01 9.06370511e-01 -1.96076657e-01 5.95143976e+00] [-1.28803167e-01 1.58587647e-01 9.78907402e-01 1.39764956e+01] [ 9.18348138e-01 3.91589651e-01 5.73954871e-02 -8.38009921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.435860169 meters Centerline goodness : 0.994438 Centerline is valid? [True, True] Translation: X:5.96, Y:13.95, Z:-83.80 [[-3.72563774e-01 9.06950687e-01 -1.96562169e-01 5.95698268e+00] [-1.28759436e-01 1.59242713e-01 9.78806807e-01 1.39512568e+01] [ 9.19030599e-01 3.89977192e-01 5.74503928e-02 -8.38027045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.465860169 meters Centerline goodness : 0.988381 Centerline is valid? [True, True] Translation: X:5.97, Y:13.93, Z:-83.80 [[-3.79970452e-01 9.03762037e-01 -1.97070130e-01 5.96552428e+00] [-1.30028584e-01 1.58746847e-01 9.78719575e-01 1.39272270e+01] [ 9.15813858e-01 3.97509269e-01 5.71957868e-02 -8.38020223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.49586016899997 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:5.92, Y:13.89, Z:-83.82 [[-2.53333419e-01 9.47437897e-01 -1.95406268e-01 5.92181577e+00] [-1.05946809e-01 1.73607474e-01 9.79099443e-01 1.38929098e+01] [ 9.61559906e-01 2.68741279e-01 5.63974471e-02 -8.38177905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52586016899997 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:5.93, Y:13.87, Z:-83.82 [[-2.67436152e-01 9.43415329e-01 -1.96075042e-01 5.93306468e+00] [-1.09034226e-01 1.72551172e-01 9.78947205e-01 1.38679456e+01] [ 9.57386778e-01 2.83184764e-01 5.67181384e-02 -8.38177564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.55586016899997 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:5.98, Y:13.85, Z:-83.80 [[-3.78960703e-01 9.03833022e-01 -1.98682295e-01 5.98180207e+00] [-1.31780862e-01 1.59801424e-01 9.78313503e-01 1.38516721e+01] [ 9.15981763e-01 3.96924897e-01 5.85494344e-02 -8.38047566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.58586016899997 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:5.95, Y:13.82, Z:-83.82 [[-2.91528397e-01 9.36226817e-01 -1.96190060e-01 5.95409993e+00] [-1.13820548e-01 1.69690719e-01 9.78902417e-01 1.38206178e+01] [ 9.49766327e-01 3.07708313e-01 5.70921862e-02 -8.38158555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.61586016899997 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:5.98, Y:13.80, Z:-83.81 [[-3.56717954e-01 9.13160778e-01 -1.97204701e-01 5.98331463e+00] [-1.24835226e-01 1.62606127e-01 9.78762184e-01 1.38011749e+01] [ 9.25833931e-01 3.73760138e-01 5.59901072e-02 -8.38073059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.64586016899997 meters Centerline goodness : 0.998455 Centerline is valid? [True, True] Translation: X:6.04, Y:13.79, Z:-83.79 [[-4.85600099e-01 8.51023946e-01 -1.99876931e-01 6.03973265e+00] [-1.50754904e-01 1.43694470e-01 9.78072011e-01 1.37853277e+01] [ 8.61083911e-01 5.05084293e-01 5.85179845e-02 -8.37880787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.67586016899998 meters Centerline goodness : 0.979576 Centerline is valid? [True, True] Translation: X:6.02, Y:13.76, Z:-83.80 [[-4.22029412e-01 8.84216971e-01 -2.00128766e-01 6.02114860e+00] [-1.40693809e-01 1.54196703e-01 9.77971691e-01 1.37567125e+01] [ 8.95598363e-01 4.40889696e-01 5.93283097e-02 -8.38040998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.70586016899998 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:5.99, Y:13.72, Z:-83.82 [[-3.21917625e-01 9.25826880e-01 -1.98024318e-01 5.98844100e+00] [-1.19556354e-01 1.67731827e-01 9.78556239e-01 1.37242119e+01] [ 9.39188650e-01 3.38689566e-01 5.66926546e-02 -8.38172140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.73586016899998 meters Centerline goodness : 0.986844 Centerline is valid? [True, True] Translation: X:6.06, Y:13.71, Z:-83.80 [[-4.76727067e-01 8.55618822e-01 -2.01612833e-01 6.05500554e+00] [-1.50168039e-01 1.46713154e-01 9.77714074e-01 1.37110684e+01] [ 8.66129819e-01 4.96378566e-01 5.85444687e-02 -8.37963064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.76586016899998 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:6.07, Y:13.69, Z:-83.79 [[-4.94544182e-01 8.45372744e-01 -2.01918241e-01 6.06750134e+00] [-1.51509456e-01 1.44909694e-01 9.77776081e-01 1.36864425e+01] [ 8.55845160e-01 5.14145995e-01 5.64177185e-02 -8.37918517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.79586016899998 meters Centerline goodness : 0.672224 Centerline is valid? [True, False] Translation: X:6.45, Y:15.18, Z:-84.18 [[ 2.63186326e-01 -3.47827410e-01 -8.99860573e-01 6.45239693e+00] [ 1.60245078e-01 9.35548581e-01 -3.14754458e-01 1.51802656e+01] [ 9.51343509e-01 -6.13591582e-02 3.01961224e-01 -8.41833337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.82586016899998 meters Centerline goodness : 0.665408 Centerline is valid? [False, False] Translation: X:6.39, Y:15.19, Z:-84.17 [[ 2.92840718e-01 -3.21858908e-01 -9.00361681e-01 6.38650574e+00] [ 8.43297575e-02 9.46666562e-01 -3.10983780e-01 1.51875283e+01] [ 9.52435198e-01 1.51414314e-02 3.04364800e-01 -8.41695095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.85586016899998 meters Centerline goodness : 0.999043 Centerline is valid? [False, True] Translation: X:6.33, Y:15.19, Z:-84.15 [[ 3.14782059e-01 -3.01696243e-01 -8.99939794e-01 6.32569084e+00] [ 2.70577043e-02 9.50606359e-01 -3.09217449e-01 1.51903127e+01] [ 9.48778233e-01 7.29858004e-02 3.07397035e-01 -8.41546052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.88586016899998 meters Centerline goodness : 0.998354 Centerline is valid? [True, True] Translation: X:6.31, Y:15.35, Z:-84.12 [[ 0.41525853 -0.14252958 -0.89846851 6.3123738 ] [ -0.37154533 0.87494625 -0.31052072 15.34854597] [ 0.83037005 0.46276816 0.3103727 -84.12495104] [ 0. 0. 0. 1. ]] SLAMing on 146.91586016899998 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:6.33, Y:15.38, Z:-84.12 [[ 0.43016983 -0.11741655 -0.89507948 6.33337591] [ -0.42311191 0.84963361 -0.31480001 15.37904481] [ 0.79745234 0.51413625 0.3158064 -84.11640493] [ 0. 0. 0. 1. ]] SLAMing on 146.94586016899999 meters Centerline goodness : 0.996075 Centerline is valid? [True, True] Translation: X:6.36, Y:15.35, Z:-84.15 [[ 0.41299668 -0.16206847 -0.89619616 6.36206172] [ -0.32695913 0.89205284 -0.31199272 15.35004238] [ 0.85001851 0.42187147 0.31542509 -84.15083428] [ 0. 0. 0. 1. ]] SLAMing on 146.975860169 meters Centerline goodness : 0.998677 Centerline is valid? [True, True] Translation: X:6.38, Y:15.40, Z:-84.13 [[ 0.43139882 -0.11529701 -0.89476346 6.38058805] [ -0.42840599 0.84666048 -0.31564908 15.39995354] [ 0.79395426 0.51949267 0.3158544 -84.13212583] [ 0. 0. 0. 1. ]] SLAMing on 147.005860169 meters Centerline goodness : 0.994527 Centerline is valid? [True, True] Translation: X:6.40, Y:15.41, Z:-84.14 [[ 0.43180977 -0.11264802 -0.89490265 6.40433291] [ -0.43473909 0.84332234 -0.31592618 15.41175901] [ 0.79027985 0.52546917 0.31518233 -84.13973472] [ 0. 0. 0. 1. ]] SLAMing on 147.035860169 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:6.43, Y:15.42, Z:-84.15 [[ 0.43212053 -0.10948526 -0.89514514 6.42857998] [ -0.44320319 0.83867746 -0.31652969 15.42450279] [ 0.78539339 0.53351016 0.31388553 -84.14511229] [ 0. 0. 0. 1. ]] SLAMing on 147.065860169 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:6.45, Y:15.45, Z:-84.14 [[ 4.38461680e-01 -8.30269654e-02 -8.94906631e-01 6.44877139e+00] [-4.93600505e-01 8.09866367e-01 -3.16977932e-01 1.54528060e+01] [ 7.51072498e-01 5.80709042e-01 3.14113216e-01 -8.41400721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.095860169 meters Centerline goodness : 0.998671 Centerline is valid? [True, True] Translation: X:6.47, Y:15.47, Z:-84.15 [[ 4.39494861e-01 -7.86541188e-02 -8.94794835e-01 6.47234552e+00] [-5.02298595e-01 8.04328160e-01 -3.17415080e-01 1.54660531e+01] [ 7.44674686e-01 5.88956485e-01 3.13990240e-01 -8.41464250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.125860169 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:6.50, Y:15.48, Z:-84.15 [[ 4.41492734e-01 -6.85362784e-02 -8.94643473e-01 6.49655256e+00] [-5.21105606e-01 7.92103294e-01 -3.17838512e-01 1.54823249e+01] [ 7.30433511e-01 6.06527122e-01 3.13993210e-01 -8.41477774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.155860169 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:6.52, Y:15.50, Z:-84.15 [[ 4.42873584e-01 -5.66005645e-02 -8.94795711e-01 6.51943748e+00] [-5.43774272e-01 7.76544416e-01 -3.18258245e-01 1.55002776e+01] [ 7.12862210e-01 6.27515056e-01 3.13133078e-01 -8.41479467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.185860169 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:6.54, Y:15.51, Z:-84.16 [[ 4.43290123e-01 -5.73237688e-02 -8.94543376e-01 6.54216491e+00] [-5.42525368e-01 7.77254656e-01 -3.18655653e-01 1.55095282e+01] [ 7.13554547e-01 6.26569378e-01 3.13449713e-01 -8.41565126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.215860169 meters Centerline goodness : 0.997664 Centerline is valid? [True, True] Translation: X:6.57, Y:15.53, Z:-84.16 [[ 4.45388462e-01 -4.54580325e-02 -8.94182691e-01 6.56594819e+00] [-5.62634149e-01 7.62673145e-01 -3.19018006e-01 1.55262292e+01] [ 6.96471056e-01 6.45184657e-01 3.14109578e-01 -8.41579024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24586016899997 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:6.59, Y:15.54, Z:-84.16 [[ 4.44888055e-01 -4.12493043e-02 -8.94635743e-01 6.58955828e+00] [-5.72609538e-01 7.54983316e-01 -3.19559868e-01 1.55375268e+01] [ 6.88616683e-01 6.54445328e-01 3.12263314e-01 -8.41615875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.27586016899997 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:6.61, Y:15.55, Z:-84.17 [[ 4.45354646e-01 -4.36280223e-02 -8.94290688e-01 6.61353479e+00] [-5.68118219e-01 7.58220555e-01 -3.19911361e-01 1.55452424e+01] [ 6.92026682e-01 6.50536844e-01 3.12891172e-01 -8.41723112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.30586016899997 meters Centerline goodness : 0.996965 Centerline is valid? [True, True] Translation: X:6.64, Y:15.57, Z:-84.16 [[ 4.47746746e-01 -1.47243679e-02 -8.94039174e-01 6.63591214e+00] [-6.15662218e-01 7.20026522e-01 -3.20190321e-01 1.55726630e+01] [ 6.48446517e-01 6.93790315e-01 3.13324295e-01 -8.41636560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.33586016899997 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:6.66, Y:15.59, Z:-84.16 [[ 4.47524102e-01 -3.43069809e-03 -8.94265290e-01 6.65982554e+00] [-6.35550357e-01 7.02279677e-01 -3.20747563e-01 1.55890276e+01] [ 6.29124727e-01 7.11892889e-01 3.12106700e-01 -8.41634071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.36586016899997 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:6.68, Y:15.62, Z:-84.15 [[ 4.46873536e-01 2.49490631e-02 -8.94249175e-01 6.68410437e+00] [-6.79635055e-01 6.59476274e-01 -3.21227700e-01 1.56151062e+01] [ 5.81721784e-01 7.51311246e-01 3.11658753e-01 -8.41535290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.39586016899997 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:6.71, Y:15.62, Z:-84.16 [[ 4.47200512e-01 2.46316688e-02 -8.94094505e-01 6.70856795e+00] [-6.79419909e-01 6.59488233e-01 -3.21657983e-01 1.56246221e+01] [ 5.81721832e-01 7.51311222e-01 3.11658721e-01 -8.41617928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.42586016899998 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:6.73, Y:15.63, Z:-84.17 [[ 4.47144968e-01 1.98860052e-02 -8.94240417e-01 6.73136673e+00] [-6.73712246e-01 6.65111749e-01 -3.22084106e-01 1.56311476e+01] [ 5.88364842e-01 7.46479007e-01 3.10798817e-01 -8.41718378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.45586016899998 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:6.76, Y:15.64, Z:-84.18 [[ 4.47450579e-01 1.95949581e-02 -8.94093964e-01 6.75583586e+00] [-6.73525676e-01 6.65103802e-01 -3.22490459e-01 1.56406807e+01] [ 5.88346108e-01 7.46493784e-01 3.10798789e-01 -8.41800946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.48586016899998 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:6.78, Y:15.63, Z:-84.20 [[ 4.47066916e-01 -7.27531843e-03 -8.94470929e-01 6.77984756e+00] [-6.35034156e-01 7.01665937e-01 -3.23104525e-01 1.56342994e+01] [ 6.29970470e-01 7.12468935e-01 3.09071550e-01 -8.42036766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.51586016899998 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:6.84, Y:15.75, Z:-83.98 [[ 3.45857862e-01 2.80590670e-01 -8.95349773e-01 6.84449211e+00] [-9.38095522e-01 1.22679144e-01 -3.23923786e-01 1.57458030e+01] [ 1.89507517e-02 9.51955200e-01 3.05650397e-01 -8.39764139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54586016899998 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:6.87, Y:15.76, Z:-83.98 [[ 3.46238027e-01 2.80531675e-01 -8.95221318e-01 6.86820768e+00] [-9.37954701e-01 1.22818321e-01 -3.24278645e-01 1.57550291e+01] [ 1.89791474e-02 9.51954642e-01 3.05650376e-01 -8.39844386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.57586016899998 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:6.89, Y:15.76, Z:-83.99 [[ 3.43703398e-01 2.84477486e-01 -8.94952811e-01 6.89316970e+00] [-9.39033513e-01 1.13417113e-01 -3.24580682e-01 1.57642105e+01] [ 9.16706751e-03 9.51950166e-01 3.06115740e-01 -8.39874287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.60586016899998 meters Centerline goodness : 0.998312 Centerline is valid? [True, True] Translation: X:6.87, Y:15.70, Z:-84.20 [[ 4.46420776e-01 5.31891689e-02 -8.93240955e-01 6.87495680e+00] [-7.21975889e-01 6.11140314e-01 -3.24435405e-01 1.57034715e+01] [ 5.28639108e-01 7.89733137e-01 3.11227031e-01 -8.41953620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.63586016899998 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] SLAMing on 147.66586016899998 meters Centerline goodness : 0.997652 Centerline is valid? [True, True] Translation: X:6.90, Y:15.72, Z:-84.19 [[ 4.43586024e-01 6.54138480e-02 -8.93841411e-01 6.89947682e+00] [-7.41677064e-01 5.86687002e-01 -3.25136117e-01 1.57202263e+01] [ 5.03136733e-01 8.07167511e-01 3.08762105e-01 -8.41945022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.69586016899999 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] SLAMing on 147.725860169 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] SLAMing on 147.755860169 meters Centerline goodness : 0.997731 Centerline is valid? [True, True] Translation: X:6.95, Y:15.80, Z:-84.05 [[ 0.36661577 0.25770973 -0.89396788 6.94886851] [ -0.92653663 0.18829553 -0.32569106 15.80115212] [ 0.0843964 0.94769747 0.30780962 -84.04717304] [ 0. 0. 0. 1. ]] SLAMing on 147.785860169 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] SLAMing on 147.815860169 meters Centerline goodness : 0.996915 Centerline is valid? [True, True] Translation: X:6.98, Y:15.81, Z:-84.04 [[ 3.57454796e-01 2.67598894e-01 -8.94771983e-01 6.97806367e+00] [-9.32568706e-01 1.53990323e-01 -3.26500518e-01 1.58089146e+01] [ 5.04150492e-02 9.51145526e-01 3.04598934e-01 -8.40423116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.845860169 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] SLAMing on 147.875860169 meters Centerline goodness : 0.968264 Centerline is valid? [True, True] Translation: X:7.00, Y:15.82, Z:-84.05 [[ 3.59973400e-01 2.64761844e-01 -8.94606236e-01 6.99880069e+00] [-9.31178918e-01 1.61225066e-01 -3.26974465e-01 1.58198385e+01] [ 5.76625868e-02 9.50740577e-01 3.04577382e-01 -8.40535062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.905860169 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] SLAMing on 147.935860169 meters Centerline goodness : 0.995498 Centerline is valid? [True, True] Translation: X:7.03, Y:15.83, Z:-84.04 [[ 3.44717265e-01 2.84786742e-01 -8.94464376e-01 7.02932073e+00] [-9.38700859e-01 1.07901462e-01 -3.27411012e-01 1.58305679e+01] [ 3.27169870e-03 9.52498707e-01 3.04525057e-01 -8.40389668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.965860169 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] SLAMing on 147.99586016899997 meters Centerline goodness : 0.997755 Centerline is valid? [True, True] Translation: X:7.05, Y:15.84, Z:-84.07 [[ 3.61005890e-01 2.64542407e-01 -8.94255032e-01 7.04626676e+00] [-9.30753349e-01 1.61927161e-01 -3.27838066e-01 1.58363884e+01] [ 5.80771076e-02 9.50682339e-01 3.04680391e-01 -8.40669364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02586016899997 meters Centerline goodness : 0.998719 Centerline is valid? [True, True] SLAMing on 148.05586016899997 meters Centerline goodness : 0.998724 Centerline is valid? [True, True] SLAMing on 148.08586016899997 meters Centerline goodness : 0.985783 Centerline is valid? [True, True] Translation: X:7.06, Y:15.83, Z:-84.12 [[ 0.39306308 0.21557869 -0.89388324 7.05643317] [ -0.90135204 0.28257913 -0.32819742 15.83497411] [ 0.18184038 0.93470577 0.30538371 -84.12151469] [ 0. 0. 0. 1. ]] SLAMing on 148.11586016899997 meters Centerline goodness : 0.326342 Centerline is valid? [True, False] Translation: X:7.00, Y:15.81, Z:-84.16 [[ 0.43087196 0.12501915 -0.89371112 6.99768513] [ -0.83512718 0.43048747 -0.34240785 15.81010231] [ 0.34192389 0.89389639 0.28989187 -84.16374259] [ 0. 0. 0. 1. ]] SLAMing on 148.14586016899997 meters Centerline goodness : 0.328605 Centerline is valid? [False, False] Translation: X:6.94, Y:15.77, Z:-84.19 [[ 4.50841378e-01 4.55378678e-02 -8.91441728e-01 6.93758399e+00] [-7.59362665e-01 5.44490040e-01 -3.56228775e-01 1.57736395e+01] [ 4.69159243e-01 8.37530238e-01 2.80058396e-01 -8.41934616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.17586016899998 meters Centerline goodness : 0.324859 Centerline is valid? [False, False] Translation: X:6.87, Y:15.73, Z:-84.21 [[ 4.55357704e-01 -1.84946487e-02 -8.90116459e-01 6.86787474e+00] [-6.87645286e-01 6.27732980e-01 -3.64822239e-01 1.57278744e+01] [ 5.65502716e-01 7.78209004e-01 2.73125290e-01 -8.42072943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.20586016899998 meters Centerline goodness : 0.999096 Centerline is valid? [False, True] Translation: X:6.80, Y:15.68, Z:-84.21 [[ 4.51942355e-01 -7.24260234e-02 -8.89102120e-01 6.79550679e+00] [-6.18969180e-01 6.92257420e-01 -3.71021318e-01 1.56780420e+01] [ 6.42359138e-01 7.18007058e-01 2.68030972e-01 -8.42140946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.23586016899998 meters Centerline goodness : 0.343277 Centerline is valid? [True, False] Translation: X:6.71, Y:15.62, Z:-84.21 [[ 0.44529635 -0.1191084 -0.88742568 6.71143582] [ -0.55686825 0.73927063 -0.37865114 15.62299794] [ 0.70114828 0.66279116 0.26286683 -84.20973108] [ 0. 0. 0. 1. ]] SLAMing on 148.26586016899998 meters Centerline goodness : 0.999094 Centerline is valid? [False, True] Translation: X:6.62, Y:15.57, Z:-84.20 [[ 0.43893039 -0.15187296 -0.88559286 6.61685021] [ -0.50808321 0.77095229 -0.38403648 15.56863602] [ 0.7410746 0.61852015 0.26123028 -84.19687982] [ 0. 0. 0. 1. ]] SLAMing on 148.29586016899998 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:6.68, Y:15.69, Z:-83.78 [[ 0.26028735 0.31703343 -0.91199797 6.68134086] [ -0.87682551 -0.31786562 -0.36074709 15.69364031] [ -0.40426169 0.89356099 0.1952466 -83.78280051] [ 0. 0. 0. 1. ]] SLAMing on 148.32586016899998 meters Centerline goodness : 0.732620 Centerline is valid? [True, False] Translation: X:5.63, Y:14.95, Z:-83.64 [[ 6.39967558e-01 -3.89692285e-01 6.62254821e-01 5.63054946e+00] [-5.53525863e-01 3.63988530e-01 7.49080416e-01 1.49511643e+01] [-5.32964017e-01 -8.45962336e-01 1.72360923e-02 -8.36410605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.35586016899998 meters Centerline goodness : 0.999247 Centerline is valid? [False, True] Translation: X:5.65, Y:14.94, Z:-83.60 [[ 5.74912912e-01 -4.68201667e-01 6.71015903e-01 5.65429509e+00] [-4.97064403e-01 4.51566296e-01 7.40955369e-01 1.49424521e+01] [-6.49924705e-01 -7.59522928e-01 2.68849122e-02 -8.35994547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.38586016899998 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:5.91, Y:15.08, Z:-84.20 [[ 5.34575712e-01 5.50311037e-01 6.41394239e-01 5.90739558e+00] [-5.17529263e-01 -3.86828224e-01 7.63234818e-01 1.50785885e+01] [ 6.68125939e-01 -7.39947084e-01 7.80130924e-02 -8.42018154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.41586016899998 meters Centerline goodness : 0.363017 Centerline is valid? [True, False] Translation: X:6.90, Y:16.05, Z:-85.01 [[ 8.80231846e-01 3.73002546e-01 -2.93361548e-01 6.90159093e+00] [-3.91141437e-01 9.20324116e-01 -3.44936515e-03 1.60474435e+01] [ 2.68701086e-01 1.17782099e-01 9.55995347e-01 -8.50095356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.44586016899999 meters Centerline goodness : 0.999202 Centerline is valid? [False, True] Translation: X:6.89, Y:16.02, Z:-85.01 [[ 9.13869156e-01 2.79427806e-01 -2.94556051e-01 6.88719765e+00] [-2.95479790e-01 9.55291209e-01 -1.05071352e-02 1.60161919e+01] [ 2.78450821e-01 9.66375071e-02 9.55576440e-01 -8.50116147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.475860169 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] SLAMing on 148.505860169 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] SLAMing on 148.535860169 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] SLAMing on 148.565860169 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] SLAMing on 148.595860169 meters Centerline goodness : 0.319677 Centerline is valid? [True, False] Translation: X:6.87, Y:15.99, Z:-85.00 [[ 9.33441611e-01 2.07615124e-01 -2.92545244e-01 6.87426843e+00] [-2.21918102e-01 9.74930839e-01 -1.61930621e-02 1.59916459e+01] [ 2.81849456e-01 8.00363631e-02 9.56114567e-01 -8.49983225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.625860169 meters Centerline goodness : 0.999224 Centerline is valid? [False, True] Translation: X:6.86, Y:15.98, Z:-84.97 [[ 9.40281279e-01 1.74273189e-01 -2.92403784e-01 6.86294063e+00] [-1.87271651e-01 9.82163858e-01 -1.68369909e-02 1.59795450e+01] [ 2.84254192e-01 7.05904468e-02 9.56146716e-01 -8.49729209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.655860169 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] SLAMing on 148.685860169 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] SLAMing on 148.715860169 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] SLAMing on 148.74586016899997 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] SLAMing on 148.77586016899997 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] SLAMing on 148.80586016899997 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:6.86, Y:16.17, Z:-85.00 [[ 7.60815458e-01 6.07963996e-01 -2.27023388e-01 6.86259177e+00] [-6.29508988e-01 7.76395093e-01 -3.04810283e-02 1.61651432e+01] [ 1.57728476e-01 1.66103701e-01 9.73412188e-01 -8.49956297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.83586016899997 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] SLAMing on 148.86586016899997 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:6.81, Y:15.78, Z:-85.05 [[ 8.88091754e-01 -4.00793097e-01 -2.25073167e-01 6.81420871e+00] [ 4.04868326e-01 9.13887474e-01 -2.98550422e-02 1.57813817e+01] [ 2.17657243e-01 -6.46109797e-02 9.73884360e-01 -8.50470893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.89586016899997 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:7.11, Y:15.56, Z:-85.01 [[ 9.88916557e-02 -9.68963431e-01 -2.26561932e-01 7.11221148e+00] [ 9.93639546e-01 1.08476387e-01 -3.02212811e-02 1.55600579e+01] [ 5.38599360e-02 -2.22132263e-01 9.73527794e-01 -8.50118239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.92586016899998 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] SLAMing on 148.95586016899998 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:6.80, Y:15.89, Z:-85.10 [[ 9.67092475e-01 -1.19302266e-01 -2.24720079e-01 6.79908130e+00] [ 1.15428372e-01 9.92852127e-01 -3.03470797e-02 1.58921488e+01] [ 2.26734284e-01 3.40935954e-03 9.73950687e-01 -8.51025527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.98586016899998 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:6.81, Y:15.89, Z:-85.13 [[ 9.66304688e-01 -1.25284076e-01 -2.24853618e-01 6.80610824e+00] [ 1.21477184e-01 9.92118026e-01 -3.07427459e-02 1.58923054e+01] [ 2.26932904e-01 2.39227528e-03 9.73907457e-01 -8.51292495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.01586016899998 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] SLAMing on 149.04586016899998 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] SLAMing on 149.07586016899998 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] SLAMing on 149.10586016899998 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:6.83, Y:15.81, Z:-85.16 [[ 9.09228019e-01 -3.51457578e-01 -2.23118759e-01 6.82997388e+00] [ 3.53767556e-01 9.34822705e-01 -3.09034965e-02 1.58056260e+01] [ 2.19437750e-01 -5.08338530e-02 9.74301285e-01 -8.51556275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.13586016899998 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:6.82, Y:15.87, Z:-85.18 [[ 9.56556584e-01 -1.87230975e-01 -2.23481685e-01 6.81930997e+00] [ 1.84985702e-01 9.82247905e-01 -3.11342788e-02 1.58697480e+01] [ 2.25343718e-01 -1.15592171e-02 9.74210754e-01 -8.51833276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.16586016899998 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:6.83, Y:15.83, Z:-85.21 [[ 9.31126703e-01 -2.88543376e-01 -2.23037626e-01 6.83394021e+00] [ 2.88961676e-01 9.56822418e-01 -3.14962002e-02 1.58318275e+01] [ 2.22495420e-01 -3.51223732e-02 9.74300881e-01 -8.52095104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.19586016899999 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:6.83, Y:15.86, Z:-85.24 [[ 9.52835885e-01 -2.05920189e-01 -2.22936430e-01 6.83326258e+00] [ 2.04048135e-01 9.78448801e-01 -3.16591476e-02 1.58648085e+01] [ 2.24651141e-01 -1.53237910e-02 9.74318760e-01 -8.52363005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.225860169 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] SLAMing on 149.255860169 meters Centerline goodness : 0.998747 Centerline is valid? [True, True] Translation: X:6.83, Y:15.98, Z:-85.26 [[ 9.69890393e-01 1.00806455e-01 -2.21699535e-01 6.83275860e+00] [-1.10528106e-01 9.93362286e-01 -3.18576089e-02 1.59842310e+01] [ 2.17016504e-01 5.54024184e-02 9.74594484e-01 -8.52612100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.285860169 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:6.88, Y:16.10, Z:-85.27 [[ 8.84445241e-01 4.09916653e-01 -2.22990928e-01 6.87567879e+00] [-4.26960265e-01 9.03696517e-01 -3.22108298e-02 1.61033560e+01] [ 1.88312370e-01 1.23696981e-01 9.74288206e-01 -8.52749310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.315860169 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:6.88, Y:16.10, Z:-85.30 [[ 8.84783094e-01 4.09208870e-01 -2.22950617e-01 6.88192031e+00] [-4.26285781e-01 9.04004891e-01 -3.24898514e-02 1.61045771e+01] [ 1.88253313e-01 1.23787149e-01 9.74288167e-01 -8.53026365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.345860169 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:6.86, Y:16.03, Z:-85.34 [[ 9.54036380e-01 2.02389344e-01 -2.21027462e-01 6.85837249e+00] [-2.14639854e-01 9.76148028e-01 -3.26306549e-02 1.60281158e+01] [ 2.09151425e-01 7.85721342e-02 9.74721551e-01 -8.53395332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.375860169 meters Centerline goodness : 0.998498 Centerline is valid? [True, True] Translation: X:6.86, Y:15.99, Z:-85.37 [[ 9.70390375e-01 9.70282898e-02 -2.21196816e-01 6.85769580e+00] [-1.06869518e-01 9.93727368e-01 -3.29366619e-02 1.59889922e+01] [ 2.16613542e-01 5.56006168e-02 9.74672840e-01 -8.53691166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.405860169 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:6.86, Y:15.97, Z:-85.40 [[ 9.74522029e-01 3.95048660e-02 -2.20785374e-01 6.86208709e+00] [-4.80124276e-02 9.98291553e-01 -3.32983756e-02 1.59683331e+01] [ 2.19092726e-01 4.30504424e-02 9.74753834e-01 -8.53979255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.435860169 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:6.87, Y:15.98, Z:-85.42 [[ 9.73896032e-01 5.50397329e-02 -2.20220675e-01 6.86953247e+00] [-6.39175478e-02 9.97396523e-01 -3.33874553e-02 1.59756594e+01] [ 2.17809699e-01 4.65918758e-02 9.74878522e-01 -8.54236771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.465860169 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:6.88, Y:15.91, Z:-85.45 [[ 9.70078966e-01 -1.09255691e-01 -2.16817879e-01 6.87865679e+00] [ 1.04564144e-01 9.93969518e-01 -3.30293346e-02 1.59137039e+01] [ 2.19119006e-01 9.36968686e-03 9.75653151e-01 -8.54510530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.49586016899997 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:6.90, Y:15.87, Z:-85.48 [[ 9.50894372e-01 -2.22156108e-01 -2.15514631e-01 6.90031284e+00] [ 2.20285288e-01 9.74877893e-01 -3.29770531e-02 1.58735667e+01] [ 2.17426503e-01 -1.61170085e-02 9.75943624e-01 -8.54755644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52586016899997 meters Centerline goodness : 0.998133 Centerline is valid? [True, True] Translation: X:6.89, Y:15.93, Z:-85.51 [[ 9.76103300e-01 -6.35854073e-02 -2.07796159e-01 6.88757201e+00] [ 5.81756853e-02 9.97791809e-01 -3.20483316e-02 1.59322703e+01] [ 2.09375112e-01 1.91937982e-02 9.77647002e-01 -8.55055105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.55586016899997 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:6.90, Y:15.94, Z:-85.53 [[ 9.74742809e-01 -6.22132983e-02 -2.14490006e-01 6.90457883e+00] [ 5.63510830e-02 9.97854060e-01 -3.33441148e-02 1.59358456e+01] [ 2.16104171e-01 2.04151920e-02 9.76156856e-01 -8.55289123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.58586016899997 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:6.90, Y:15.96, Z:-85.56 [[ 9.78316977e-01 -1.02977340e-02 -2.06857072e-01 6.90041155e+00] [ 3.64684763e-03 9.99464831e-01 -3.25077114e-02 1.59556778e+01] [ 2.07081125e-01 3.10484698e-02 9.77830967e-01 -8.55574413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.61586016899997 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:6.91, Y:15.98, Z:-85.58 [[ 9.76945007e-01 5.44079644e-02 -2.06441824e-01 6.90632822e+00] [-6.24385280e-02 9.97516861e-01 -3.25813163e-02 1.59821099e+01] [ 2.04156517e-01 4.47200778e-02 9.77916270e-01 -8.55832907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64586016899997 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:6.91, Y:15.97, Z:-85.61 [[ 9.78430133e-01 3.00214605e-02 -2.04384897e-01 6.91244879e+00] [-3.74668919e-02 9.98764148e-01 -3.26559235e-02 1.59747990e+01] [ 2.03151929e-01 3.96092065e-02 9.78345749e-01 -8.56108584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.67586016899998 meters Centerline goodness : 0.997655 Centerline is valid? [True, True] Translation: X:6.92, Y:16.00, Z:-85.64 [[ 9.75233760e-01 8.47577066e-02 -2.04292058e-01 6.91944132e+00] [-9.33502716e-02 9.95093596e-01 -3.27789802e-02 1.59973753e+01] [ 2.00511447e-01 5.10378872e-02 9.78361024e-01 -8.56357283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.70586016899998 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:6.93, Y:15.99, Z:-85.66 [[ 9.77556010e-01 5.62958516e-02 -2.03014840e-01 6.92581386e+00] [-6.42842283e-02 9.97386961e-01 -3.29664831e-02 1.59877600e+01] [ 2.00628478e-01 4.52772360e-02 9.78620552e-01 -8.56636242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.73586016899998 meters Centerline goodness : 0.995876 Centerline is valid? [True, True] Translation: X:6.93, Y:15.99, Z:-85.69 [[ 9.76721869e-01 7.06724029e-02 -2.02533460e-01 6.93113937e+00] [-7.89848665e-02 9.96321214e-01 -3.32479985e-02 1.59946754e+01] [ 1.99438667e-01 4.84711255e-02 9.78710768e-01 -8.56897982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.76586016899998 meters Centerline goodness : 0.997565 Centerline is valid? [True, True] Translation: X:6.94, Y:16.02, Z:-85.71 [[ 9.68232271e-01 1.39711185e-01 -2.07381423e-01 6.94369762e+00] [-1.49899275e-01 9.88110462e-01 -3.41748670e-02 1.60222574e+01] [ 2.00141143e-01 6.41755341e-02 9.77663042e-01 -8.57131816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.79586016899998 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:6.94, Y:16.01, Z:-85.74 [[ 9.74504905e-01 9.72203327e-02 -2.02208798e-01 6.94343684e+00] [-1.06137614e-01 9.93779952e-01 -3.37077685e-02 1.60092323e+01] [ 1.97673969e-01 5.43103449e-02 9.78762172e-01 -8.57421484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.82586016899998 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:6.95, Y:16.02, Z:-85.77 [[ 9.72995313e-01 1.10561430e-01 -2.02623521e-01 6.95044182e+00] [-1.19851611e-01 9.92205001e-01 -3.41295631e-02 1.60161139e+01] [ 1.97270658e-01 5.74926604e-02 9.78661781e-01 -8.57689700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.85586016899998 meters Centerline goodness : 0.998607 Centerline is valid? [True, True] Translation: X:7.34, Y:16.34, Z:-85.69 [[-2.69486662e-02 9.75016553e-01 -2.20491476e-01 7.33630260e+00] [-9.97635048e-01 -4.01841984e-02 -5.57632655e-02 1.63352110e+01] [-6.32303801e-02 2.18467279e-01 9.73793596e-01 -8.56899459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.88586016899998 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:6.96, Y:15.97, Z:-85.83 [[ 9.79233734e-01 -1.43534689e-02 -2.02225793e-01 6.95937719e+00] [ 8.30482831e-03 9.99493307e-01 -3.07271784e-02 1.59666934e+01] [ 2.02564368e-01 2.84096392e-02 9.78856766e-01 -8.58251544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.91586016899998 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:7.02, Y:16.16, Z:-85.83 [[ 8.41180097e-01 5.00128700e-01 -2.05638829e-01 7.02296452e+00] [-5.18338298e-01 8.54089299e-01 -4.30915155e-02 1.61635288e+01] [ 1.54082620e-01 1.42838206e-01 9.77678778e-01 -8.58270874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.94586016899999 meters Centerline goodness : 0.998742 Centerline is valid? [True, True] Translation: X:7.44, Y:16.32, Z:-85.75 [[-2.71249960e-01 9.36147318e-01 -2.23722281e-01 7.44241646e+00] [-9.55424710e-01 -2.90028068e-01 -5.52027411e-02 1.63186506e+01] [-1.16563639e-01 1.98776054e-01 9.73088382e-01 -8.57528391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.975860169 meters Centerline goodness : 0.994572 Centerline is valid? [True, True] Translation: X:7.16, Y:16.29, Z:-85.85 [[ 5.14381850e-01 8.31666285e-01 -2.09147086e-01 7.15696993e+00] [-8.55038494e-01 5.16075414e-01 -5.07478275e-02 1.62884431e+01] [ 6.57304118e-02 2.04932571e-01 9.76566513e-01 -8.58472898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.005860169 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:7.42, Y:16.33, Z:-85.82 [[-1.87147316e-01 9.57113725e-01 -2.21154243e-01 7.42052350e+00] [-9.77402847e-01 -2.03952607e-01 -5.55608587e-02 1.63301360e+01] [-9.82830449e-02 2.05758721e-01 9.73654863e-01 -8.58154207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.035860169 meters Centerline goodness : 0.997912 Centerline is valid? [True, True] Translation: X:6.99, Y:15.98, Z:-85.96 [[ 9.78845661e-01 1.39253182e-02 -2.04125591e-01 6.99104933e+00] [-2.11239273e-02 9.99227823e-01 -3.31291102e-02 1.59825723e+01] [ 2.03506636e-01 3.67402200e-02 9.78383976e-01 -8.59614236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.065860169 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:7.08, Y:16.20, Z:-85.96 [[ 7.73030250e-01 5.99954222e-01 -2.06104740e-01 7.07852667e+00] [-6.20158373e-01 7.83099088e-01 -4.64694667e-02 1.62042332e+01] [ 1.33520881e-01 1.63739884e-01 9.77425918e-01 -8.59575153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.095860169 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:7.01, Y:16.02, Z:-86.01 [[ 9.72233555e-01 1.09610152e-01 -2.06754756e-01 7.01494790e+00] [-1.19342327e-01 9.92230305e-01 -3.51629171e-02 1.60191865e+01] [ 2.01294122e-01 5.88611616e-02 9.77760727e-01 -8.60116409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.125860169 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:7.01, Y:16.02, Z:-86.04 [[ 9.73106550e-01 1.08005290e-01 -2.03466212e-01 7.01250828e+00] [-1.17472492e-01 9.92458982e-01 -3.50054766e-02 1.60208763e+01] [ 1.98151093e-01 5.79657416e-02 9.78455986e-01 -8.60415535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.155860169 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:7.05, Y:16.12, Z:-86.06 [[ 9.05890445e-01 3.70281459e-01 -2.05558127e-01 7.05343399e+00] [-3.85691879e-01 9.21791538e-01 -3.92700220e-02 1.61165251e+01] [ 1.74940781e-01 1.14856438e-01 9.77856698e-01 -8.60555048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.185860169 meters Centerline goodness : 0.998443 Centerline is valid? [True, True] Translation: X:7.28, Y:16.33, Z:-86.02 [[ 2.92474958e-01 9.32820055e-01 -2.10487871e-01 7.27759259e+00] [-9.56231155e-01 2.87352937e-01 -5.52292357e-02 1.63305332e+01] [ 8.96536915e-03 2.17428228e-01 9.76035137e-01 -8.60186289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.215860169 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:7.08, Y:16.16, Z:-86.10 [[ 8.56785261e-01 4.72014676e-01 -2.07656353e-01 7.08365635e+00] [-4.89802997e-01 8.70848283e-01 -4.14281483e-02 1.61596382e+01] [ 1.61282485e-01 1.37205731e-01 9.77324177e-01 -8.61048284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24586016899997 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:7.29, Y:16.33, Z:-86.08 [[ 3.04287869e-01 9.27565192e-01 -2.16867951e-01 7.28997602e+00] [-9.52236333e-01 3.02306260e-01 -4.30916615e-02 1.63333741e+01] [ 2.55902139e-02 2.19621812e-01 9.75249404e-01 -8.60796139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.27586016899997 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:7.66, Y:16.25, Z:-86.03 [[-6.77096527e-01 7.00100251e-01 -2.26715530e-01 7.66335156e+00] [-7.10289349e-01 -7.02310099e-01 -4.74295922e-02 1.62517016e+01] [-1.92430076e-01 1.28919214e-01 9.72805480e-01 -8.60264388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.30586016899997 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:7.72, Y:16.19, Z:-86.04 [[-9.29290467e-01 3.12490428e-01 -1.96898350e-01 7.71966031e+00] [-2.95188619e-01 -9.48781677e-01 -1.12592223e-01 1.61896530e+01] [-2.21997538e-01 -4.65087271e-02 9.73937386e-01 -8.60445450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.33586016899997 meters Centerline goodness : 0.969484 Centerline is valid? [True, True] Translation: X:7.68, Y:16.30, Z:-86.07 [[ -0.91217845 0.37559666 -0.16388297 7.68367505] [ -0.34573409 -0.92005948 -0.18427833 16.30293317] [ -0.2199964 -0.11143479 0.96911499 -86.06887675] [ 0. 0. 0. 1. ]] SLAMing on 150.36586016899997 meters Centerline goodness : 0.993887 Centerline is valid? [True, True] Translation: X:7.00, Y:15.97, Z:-86.26 [[ 8.30303848e-01 -5.38906803e-01 -1.42038651e-01 7.00383289e+00] [ 5.16649192e-01 8.39870543e-01 -1.66406379e-01 1.59694861e+01] [ 2.08971609e-01 6.47837028e-02 9.75773508e-01 -8.62635256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.39586016899997 meters Centerline goodness : 0.958086 Centerline is valid? [True, True] Translation: X:7.00, Y:15.99, Z:-86.29 [[ 8.53500121e-01 -5.00762370e-01 -1.44133937e-01 6.99777294e+00] [ 4.77777870e-01 8.62433659e-01 -1.67142129e-01 1.59870812e+01] [ 2.08004447e-01 7.37918215e-02 9.75340411e-01 -8.62912216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.42586016899998 meters Centerline goodness : 0.965953 Centerline is valid? [True, True] Translation: X:6.96, Y:16.10, Z:-86.30 [[ 0.96235272 -0.2304672 -0.14409066 6.96198172] [ 0.20516797 0.96366169 -0.17106211 16.10188538] [ 0.17827885 0.1350593 0.97466694 -86.30345777] [ 0. 0. 0. 1. ]] SLAMing on 150.45586016899998 meters Centerline goodness : 0.719064 Centerline is valid? [True, False] Translation: X:6.95, Y:16.13, Z:-86.30 [[ 0.98039736 -0.13755743 -0.1410637 6.95149477] [ 0.11332225 0.97935184 -0.16741577 16.1341059 ] [ 0.16118028 0.14814832 0.97574228 -86.29807091] [ 0. 0. 0. 1. ]] SLAMing on 150.48586016899998 meters Centerline goodness : 0.972806 Centerline is valid? [False, True] Translation: X:6.95, Y:16.16, Z:-86.30 [[ 9.87603948e-01 -7.47979454e-02 -1.37998946e-01 6.94693643e+00] [ 5.14758360e-02 9.84877352e-01 -1.65429259e-01 1.61578702e+01] [ 1.48285806e-01 1.56274978e-01 9.76519048e-01 -8.63010899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.51586016899998 meters Centerline goodness : 0.967811 Centerline is valid? [True, True] Translation: X:6.97, Y:16.07, Z:-86.34 [[ 0.9377415 -0.31853294 -0.13848339 6.970046 ] [ 0.29568071 0.9412929 -0.16291285 16.0676253 ] [ 0.18224654 0.11182327 0.97687346 -86.3424135 ] [ 0. 0. 0. 1. ]] SLAMing on 150.54586016899998 meters Centerline goodness : 0.951726 Centerline is valid? [True, True] Translation: X:6.97, Y:16.09, Z:-86.37 [[ 0.95022398 -0.27930804 -0.13806308 6.97002862] [ 0.25612978 0.9525789 -0.16428931 16.08883452] [ 0.1774033 0.12074957 0.97670242 -86.36600087] [ 0. 0. 0. 1. ]] SLAMing on 150.57586016899998 meters Centerline goodness : 0.976203 Centerline is valid? [True, True] Translation: X:6.99, Y:16.05, Z:-86.40 [[ 0.91123371 -0.38807256 -0.13803194 6.98784067] [ 0.36555689 0.91638418 -0.16312016 16.05057053] [ 0.18979275 0.09818206 0.97690276 -86.39915816] [ 0. 0. 0. 1. ]] SLAMing on 150.60586016899998 meters Centerline goodness : 0.977264 Centerline is valid? [True, True] Translation: X:6.98, Y:16.10, Z:-86.42 [[ 0.94882911 -0.28419129 -0.13769032 6.97737861] [ 0.26139893 0.95145629 -0.16248548 16.09756979] [ 0.17718328 0.11817885 0.97705673 -86.42166374] [ 0. 0. 0. 1. ]] SLAMing on 150.63586016899998 meters Centerline goodness : 0.998545 Centerline is valid? [True, True] Translation: X:6.98, Y:16.13, Z:-86.44 [[ 0.96723605 -0.21279309 -0.13846847 6.97532507] [ 0.18935931 0.9679749 -0.16482608 16.13038819] [ 0.16910786 0.13320544 0.97655458 -86.44475692] [ 0. 0. 0. 1. ]] SLAMing on 150.66586016899998 meters Centerline goodness : 0.980471 Centerline is valid? [True, True] Translation: X:6.98, Y:16.12, Z:-86.48 [[ 0.95654177 -0.25673041 -0.13826545 6.98168638] [ 0.23358773 0.95846178 -0.16366974 16.1186198 ] [ 0.17454115 0.12425983 0.97677781 -86.47517937] [ 0. 0. 0. 1. ]] SLAMing on 150.69586016899999 meters Centerline goodness : 0.979273 Centerline is valid? [True, True] Translation: X:6.99, Y:16.09, Z:-86.51 [[ 0.93075791 -0.33869221 -0.13775814 6.99381926] [ 0.31586489 0.93458567 -0.1636429 16.09046983] [ 0.18417136 0.10879896 0.97685398 -86.50733064] [ 0. 0. 0. 1. ]] SLAMing on 150.725860169 meters Centerline goodness : 0.705514 Centerline is valid? [True, False] Translation: X:6.98, Y:16.13, Z:-86.51 [[ 0.96183764 -0.23708866 -0.13659178 6.98170605] [ 0.21519089 0.96377718 -0.15756402 16.12567618] [ 0.16900068 0.1221577 0.9780165 -86.5078432 ] [ 0. 0. 0. 1. ]] SLAMing on 150.755860169 meters Centerline goodness : 0.710612 Centerline is valid? [False, False] Translation: X:6.97, Y:16.16, Z:-86.50 [[ 0.97958508 -0.14807896 -0.13596212 6.97282733] [ 0.12685362 0.97999287 -0.15336931 16.15708829] [ 0.15595267 0.132991 0.97877074 -86.50459245] [ 0. 0. 0. 1. ]] SLAMing on 150.785860169 meters Centerline goodness : 0.674440 Centerline is valid? [False, False] Translation: X:6.97, Y:16.18, Z:-86.51 [[ 9.87299795e-01 -8.31746790e-02 -1.35355409e-01 6.97000773e+00] [ 6.24321053e-02 9.86582035e-01 -1.50857948e-01 1.61804957e+01] [ 1.46086777e-01 1.40491498e-01 9.79245012e-01 -8.65069748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.815860169 meters Centerline goodness : 0.709537 Centerline is valid? [False, False] Translation: X:6.97, Y:16.20, Z:-86.50 [[ 9.90423937e-01 -3.49366437e-02 -1.33565926e-01 6.96713211e+00] [ 1.45736277e-02 9.88503438e-01 -1.50494391e-01 1.61971711e+01] [ 1.37288146e-01 1.47106707e-01 9.79546621e-01 -8.65013256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.845860169 meters Centerline goodness : 0.713172 Centerline is valid? [False, False] Translation: X:6.97, Y:16.20, Z:-86.50 [[ 9.90375194e-01 -2.91287601e-02 -1.35308872e-01 6.96755886e+00] [ 8.33078057e-03 9.88376467e-01 -1.51797752e-01 1.61987413e+01] [ 1.38157785e-01 1.49209500e-01 9.79106200e-01 -8.64951990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.875860169 meters Centerline goodness : 0.342084 Centerline is valid? [False, False] Translation: X:6.97, Y:16.20, Z:-86.50 [[ 9.90341043e-01 -2.73871920e-02 -1.35921156e-01 6.96958408e+00] [ 6.69195952e-03 9.88596947e-01 -1.50437009e-01 1.61986682e+01] [ 1.38491287e-01 1.48074366e-01 9.79231406e-01 -8.64968449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.905860169 meters Centerline goodness : 0.415617 Centerline is valid? [False, False] Translation: X:6.97, Y:16.20, Z:-86.49 [[ 9.90437879e-01 -1.72237112e-02 -1.36880061e-01 6.97000101e+00] [-3.65669835e-03 9.88550039e-01 -1.50849091e-01 1.62018312e+01] [ 1.37910971e-01 1.49907183e-01 9.79034422e-01 -8.64883570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.935860169 meters Centerline goodness : 0.361269 Centerline is valid? [False, False] Translation: X:6.97, Y:16.20, Z:-86.49 [[ 9.90508677e-01 -1.53145365e-02 -1.36594385e-01 6.96874064e+00] [-5.32968093e-03 9.88746880e-01 -1.49503184e-01 1.62016739e+01] [ 1.37346844e-01 1.48812205e-01 9.79280742e-01 -8.64874362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.965860169 meters Centerline goodness : 0.424410 Centerline is valid? [False, False] Translation: X:6.97, Y:16.21, Z:-86.50 [[ 9.90443593e-01 -1.82953190e-03 -1.37906277e-01 6.97023274e+00] [-1.90727207e-02 9.88487724e-01 -1.50094138e-01 1.62088864e+01] [ 1.36593264e-01 1.51290025e-01 9.79006439e-01 -8.64979993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.99586016899997 meters Centerline goodness : 0.395577 Centerline is valid? [False, False] Translation: X:6.97, Y:16.23, Z:-86.48 [[ 9.88765067e-01 5.23675304e-02 -1.40004582e-01 6.96912049e+00] [-7.32721975e-02 9.86178483e-01 -1.48604119e-01 1.62278571e+01] [ 1.30287476e-01 1.57193005e-01 9.78935919e-01 -8.64834416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02586016899997 meters Centerline goodness : 0.361528 Centerline is valid? [False, False] Translation: X:6.97, Y:16.24, Z:-86.48 [[ 0.9857981 0.09029678 -0.14159307 6.97037182] [ -0.11124702 0.98273913 -0.14781034 16.24159235] [ 0.12580225 0.16146296 0.97882762 -86.47816376] [ 0. 0. 0. 1. ]] SLAMing on 151.05586016899997 meters Centerline goodness : 0.360269 Centerline is valid? [False, False] Translation: X:6.97, Y:16.24, Z:-86.48 [[ 0.98578307 0.09009652 -0.14182512 6.97043036] [ -0.11108744 0.98275496 -0.14782515 16.24206989] [ 0.12606081 0.16147852 0.97879179 -86.47745282] [ 0. 0. 0. 1. ]] SLAMing on 151.08586016899997 meters Centerline goodness : 0.343666 Centerline is valid? [False, False] Translation: X:6.97, Y:16.24, Z:-86.48 [[ 0.98567077 0.09037418 -0.14242764 6.97045628] [ -0.1113595 0.98284461 -0.14702225 16.24223671] [ 0.12669722 0.16077621 0.97882523 -86.4769205 ] [ 0. 0. 0. 1. ]] SLAMing on 151.11586016899997 meters Centerline goodness : 0.346343 Centerline is valid? [False, False] Translation: X:6.97, Y:16.24, Z:-86.47 [[ 0.98578034 0.0906962 -0.1414614 6.96699361] [ -0.11151372 0.9828372 -0.14695484 16.24331521] [ 0.12570528 0.16064008 0.97897546 -86.47330243] [ 0. 0. 0. 1. ]] SLAMing on 151.14586016899997 meters Centerline goodness : 0.315686 Centerline is valid? [False, False] Translation: X:6.96, Y:16.24, Z:-86.47 [[ 0.98588364 0.09030353 -0.14099191 6.96428617] [ -0.11100957 0.98293615 -0.14667445 16.24264288] [ 0.12534083 0.16025539 0.97908523 -86.47059829] [ 0. 0. 0. 1. ]] SLAMing on 151.17586016899998 meters Centerline goodness : 0.366725 Centerline is valid? [False, False] Translation: X:6.96, Y:16.24, Z:-86.47 [[ 0.98551446 0.09406022 -0.14111668 6.9646475 ] [ -0.11439992 0.98298176 -0.14373422 16.2433612 ] [ 0.12519545 0.15779589 0.97950322 -86.47039244] [ 0. 0. 0. 1. ]] SLAMing on 151.20586016899998 meters Centerline goodness : 0.366725 Centerline is valid? [False, False] Translation: X:6.96, Y:16.24, Z:-86.47 [[ 0.98549184 0.09371013 -0.14150705 6.96483237] [ -0.11405855 0.9830839 -0.14330627 16.24369595] [ 0.12568405 0.15736725 0.97950961 -86.46979411] [ 0. 0. 0. 1. ]] SLAMing on 151.23586016899998 meters Centerline goodness : 0.250583 Centerline is valid? [False, False] Translation: X:6.96, Y:16.24, Z:-86.47 [[ 0.98529426 0.09583318 -0.14146102 6.96352902] [ -0.11590535 0.98316592 -0.14124706 16.24449502] [ 0.1255435 0.155566 0.97981531 -86.46769089] [ 0. 0. 0. 1. ]] SLAMing on 151.26586016899998 meters Centerline goodness : 0.285669 Centerline is valid? [False, False] Translation: X:6.96, Y:16.25, Z:-86.45 [[ 0.98308872 0.11958823 -0.13869113 6.95987812] [ -0.13900994 0.98033952 -0.14003806 16.25234405] [ 0.1192175 0.15694929 0.98038467 -86.44726087] [ 0. 0. 0. 1. ]] SLAMing on 151.29586016899998 meters Centerline goodness : 0.323793 Centerline is valid? [False, False] Translation: X:6.96, Y:16.25, Z:-86.45 [[ 0.98282911 0.1217156 -0.13868038 6.95875751] [ -0.14092728 0.9803025 -0.1383709 16.2542829 ] [ 0.11910683 0.1555388 0.98062289 -86.44525433] [ 0. 0. 0. 1. ]] SLAMing on 151.32586016899998 meters Centerline goodness : 0.238837 Centerline is valid? [False, False] Translation: X:6.96, Y:16.26, Z:-86.43 [[ 0.97888992 0.14732112 -0.1416722 6.95977106] [ -0.16667304 0.97657062 -0.13612468 16.26151246] [ 0.11829887 0.15686402 0.98050959 -86.42858501] [ 0. 0. 0. 1. ]] SLAMing on 151.35586016899998 meters Centerline goodness : 0.305332 Centerline is valid? [False, False] Translation: X:6.96, Y:16.26, Z:-86.43 [[ 0.97886992 0.14712068 -0.14201826 6.95976176] [ -0.16647304 0.97666826 -0.13566812 16.26202993] [ 0.11874514 0.15644365 0.98052281 -86.42782499] [ 0. 0. 0. 1. ]] SLAMing on 151.38586016899998 meters Centerline goodness : 0.255590 Centerline is valid? [False, False] Translation: X:6.96, Y:16.26, Z:-86.43 [[ 0.97842001 0.15005649 -0.14204692 6.95730548] [ -0.16918268 0.97645848 -0.13381349 16.26291427] [ 0.11862334 0.15495768 0.98077348 -86.42537644] [ 0. 0. 0. 1. ]] SLAMing on 151.41586016899998 meters Centerline goodness : 0.295517 Centerline is valid? [False, False] Translation: X:6.96, Y:16.27, Z:-86.42 [[ 0.97813145 0.15207836 -0.14188391 6.95678714] [ -0.17105466 0.97626832 -0.13281742 16.2660449 ] [ 0.11831811 0.1541828 0.98093246 -86.42393624] [ 0. 0. 0. 1. ]] SLAMing on 151.44586016899999 meters Centerline goodness : 0.302526 Centerline is valid? [False, False] Translation: X:6.96, Y:16.27, Z:-86.42 [[ 0.97797167 0.15231671 -0.14272713 6.95757422] [ -0.1713994 0.97623645 -0.13260707 16.26742431] [ 0.11913716 0.1541493 0.98083859 -86.42407285] [ 0. 0. 0. 1. ]] SLAMing on 151.475860169 meters Centerline goodness : 0.287229 Centerline is valid? [False, False] Translation: X:6.95, Y:16.27, Z:-86.42 [[ 0.97734347 0.15661793 -0.14237475 6.95382039] [ -0.17538811 0.97580647 -0.13054024 16.26898265] [ 0.11848526 0.15255348 0.981167 -86.42064031] [ 0. 0. 0. 1. ]] SLAMing on 151.505860169 meters Centerline goodness : 0.290824 Centerline is valid? [False, False] Translation: X:6.95, Y:16.27, Z:-86.42 [[ 0.97722738 0.15683517 -0.14293137 6.95409708] [ -0.17567102 0.9757781 -0.13037173 16.27004031] [ 0.11902243 0.15251173 0.98110847 -86.42043328] [ 0. 0. 0. 1. ]] SLAMing on 151.535860169 meters Centerline goodness : 0.998956 Centerline is valid? [False, True] Translation: X:6.95, Y:16.27, Z:-86.42 [[ 0.97716169 0.15662794 -0.14360611 6.95445134] [ -0.17555477 0.97581444 -0.13025626 16.27035788] [ 0.11973114 0.15249216 0.98102528 -86.42054397] [ 0. 0. 0. 1. ]] SLAMing on 151.565860169 meters Centerline goodness : 0.255284 Centerline is valid? [True, False] Translation: X:6.95, Y:16.27, Z:-86.42 [[ 0.977025 0.1573606 -0.14373516 6.95213892] [ -0.17626465 0.97573213 -0.12991378 16.27140849] [ 0.11980371 0.15226444 0.98105179 -86.41807299] [ 0. 0. 0. 1. ]] SLAMing on 151.595860169 meters Centerline goodness : 0.996531 Centerline is valid? [False, True] Translation: X:6.95, Y:16.27, Z:-86.42 [[ 0.9768602 0.15817954 -0.1439562 6.95199253] [ -0.17704762 0.97566553 -0.12934803 16.27313333] [ 0.11999289 0.15184205 0.98109413 -86.41742676] [ 0. 0. 0. 1. ]] SLAMing on 151.625860169 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] SLAMing on 151.655860169 meters Centerline goodness : 0.280212 Centerline is valid? [True, False] Translation: X:6.95, Y:16.27, Z:-86.42 [[ 0.97643543 0.16023125 -0.14456763 6.95072425] [ -0.1790471 0.97545592 -0.12817127 16.27409612] [ 0.12048231 0.15103538 0.98115867 -86.41583487] [ 0. 0. 0. 1. ]] SLAMing on 151.685860169 meters Centerline goodness : 0.999050 Centerline is valid? [False, True] Translation: X:6.95, Y:16.28, Z:-86.42 [[ 0.97628124 0.16058203 -0.14521828 6.95104518] [ -0.17944665 0.97543673 -0.12775796 16.27552359] [ 0.12113561 0.15078663 0.98111648 -86.41546582] [ 0. 0. 0. 1. ]] SLAMing on 151.715860169 meters Centerline goodness : 0.996171 Centerline is valid? [True, True] Translation: X:6.95, Y:16.20, Z:-86.46 [[ 9.87884544e-01 -5.35378992e-02 -1.45663386e-01 6.94858654e+00] [ 3.50194947e-02 9.91303801e-01 -1.26847974e-01 1.61958560e+01] [ 1.51187842e-01 1.20210095e-01 9.81168573e-01 -8.64553155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74586016899997 meters Centerline goodness : 0.708425 Centerline is valid? [True, False] Translation: X:6.95, Y:16.21, Z:-86.45 [[ 9.89273847e-01 -1.92604590e-02 -1.44797414e-01 6.94535992e+00] [ 1.06263515e-03 9.92191673e-01 -1.24717903e-01 1.62060781e+01] [ 1.46068912e-01 1.23226293e-01 9.81569740e-01 -8.64450170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.77586016899997 meters Centerline goodness : 0.707104 Centerline is valid? [False, False] Translation: X:6.94, Y:16.21, Z:-86.44 [[ 9.89441188e-01 -1.68874274e-02 -1.43947736e-01 6.94279667e+00] [-9.71736722e-04 9.92393381e-01 -1.23103342e-01 1.62063024e+01] [ 1.44931680e-01 1.21943397e-01 9.81898476e-01 -8.64429677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.80586016899997 meters Centerline goodness : 0.999137 Centerline is valid? [False, True] Translation: X:6.94, Y:16.21, Z:-86.44 [[ 9.89405612e-01 -1.66105799e-02 -1.44224213e-01 6.94326415e+00] [-1.30445390e-03 9.92375712e-01 -1.23242621e-01 1.62072749e+01] [ 1.45171738e-01 1.22125075e-01 9.81840431e-01 -8.64432484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.83586016899997 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:6.95, Y:16.17, Z:-86.48 [[ 0.98368792 -0.1124881 -0.14037275 6.94572825] [ 0.09571038 0.98802196 -0.121046 16.16858336] [ 0.1523076 0.10563636 0.98267154 -86.47739017] [ 0. 0. 0. 1. ]] SLAMing on 151.86586016899997 meters Centerline goodness : 0.672987 Centerline is valid? [True, False] Translation: X:6.94, Y:16.18, Z:-86.47 [[ 9.88130547e-01 -6.66606140e-02 -1.38399367e-01 6.94181813e+00] [ 4.99619895e-02 9.91417953e-01 -1.20806632e-01 1.61839952e+01] [ 1.45264661e-01 1.12458016e-01 9.82980861e-01 -8.64708693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.89586016899997 meters Centerline goodness : 0.451559 Centerline is valid? [False, False] Translation: X:6.94, Y:16.20, Z:-86.47 [[ 9.89877079e-01 -1.89141862e-02 -1.40661375e-01 6.93798150e+00] [ 1.87443194e-03 9.92736010e-01 -1.20298386e-01 1.62013095e+01] [ 1.41914959e-01 1.18816955e-01 9.82722075e-01 -8.64655775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.92586016899998 meters Centerline goodness : 0.997630 Centerline is valid? [False, True] Translation: X:6.94, Y:16.20, Z:-86.46 [[ 9.90032597e-01 -1.73113757e-02 -1.39770428e-01 6.93548227e+00] [ 5.59200760e-04 9.92892360e-01 -1.19014486e-01 1.62003565e+01] [ 1.40837295e-01 1.17750061e-01 9.83005483e-01 -8.64635614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.95586016899998 meters Centerline goodness : 0.236793 Centerline is valid? [True, False] Translation: X:6.94, Y:16.20, Z:-86.46 [[ 9.90127089e-01 -1.28621742e-02 -1.39581199e-01 6.93500301e+00] [-3.40693165e-03 9.93278799e-01 -1.15696243e-01 1.62009783e+01] [ 1.40131151e-01 1.15029528e-01 9.83428426e-01 -8.64631092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.98586016899998 meters Centerline goodness : 0.999134 Centerline is valid? [False, True] Translation: X:6.93, Y:16.20, Z:-86.46 [[ 9.90228911e-01 -1.09763420e-02 -1.39018791e-01 6.93303464e+00] [-5.01360589e-03 9.93450810e-01 -1.14150564e-01 1.62002310e+01] [ 1.39361286e-01 1.13732174e-01 9.83688683e-01 -8.64615341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.01586016899998 meters Centerline goodness : 0.997422 Centerline is valid? [True, True] SLAMing on 152.04586016899998 meters Centerline goodness : 0.997075 Centerline is valid? [True, True] SLAMing on 152.07586016899998 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] SLAMing on 152.10586016899998 meters Centerline goodness : 0.995460 Centerline is valid? [True, True] Traceback (most recent call last): File "/app/lidar_slam/__main__.py", line 304, in main transformation = SlamTools.execute_icp_registration(overlap_previous, overlap_current, transformation) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/app/lidar_slam/tools/slam_tools.py", line 334, in execute_icp_registration overlap_previous = SlamTools.adding_tail_to_points(overlap_previous) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/app/lidar_slam/tools/slam_tools.py", line 278, in adding_tail_to_points raise ValueError("At least two points are required to define a direction.") ValueError: At least two points are required to define a direction.