+ python -m lidar_slam --no-model /working/7ce822c6-814c-4a4f-be5e-ec901f4ddba8 Lidar SLAM 0.0.15 ===================================================== The recording path: /working/7ce822c6-814c-4a4f-be5e-ec901f4ddba8 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: True 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 0.002414037 Adjusted end_distance from 9.223372036854776e+18 to 289.862414037 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.002414037 meters Centerline goodness : 0.986646 Centerline is valid? [0, True] SLAMing on 0.032414037 meters Centerline goodness : 0.986618 Centerline is valid? [True, True] Translation: X:0.04, Y:-0.01, Z:-0.00 [[ 0.99995168 0.00983037 0. 0.04021918] [-0.00983037 0.99995168 0. -0.00777688] [ 0. 0. 1. -0.00278886] [ 0. 0. 0. 1. ]] SLAMing on 0.062414037 meters Centerline goodness : 0.987106 Centerline is valid? [True, True] Translation: X:0.05, Y:0.02, Z:-0.00 [[ 0.99999639 -0.0026874 0. 0.04637754] [ 0.0026874 0.99999639 0. 0.02174279] [ 0. 0. 1. -0.00104424] [ 0. 0. 0. 1. ]] SLAMing on 0.09241403699999999 meters Centerline goodness : 0.989354 Centerline is valid? [True, True] Translation: X:0.08, Y:0.02, Z:-0.00 [[ 0.99999534 -0.00305241 0. 0.07806064] [ 0.00305241 0.99999534 0. 0.02360855] [ 0. 0. 1. -0.00286739] [ 0. 0. 0. 1. ]] SLAMing on 0.12241403699999999 meters Centerline goodness : 0.987443 Centerline is valid? [True, True] Translation: X:0.11, Y:0.02, Z:-0.00 [[ 9.99999999e-01 -5.04217198e-05 0.00000000e+00 1.07742151e-01] [ 5.04217198e-05 9.99999999e-01 0.00000000e+00 2.28687206e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.04592317e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.152414037 meters Centerline goodness : 0.987775 Centerline is valid? [True, True] Translation: X:0.14, Y:0.02, Z:-0.00 [[ 9.99999999e-01 3.94202269e-05 0.00000000e+00 1.37378375e-01] [-3.94202269e-05 9.99999999e-01 0.00000000e+00 2.24868833e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.90546826e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.182414037 meters Centerline goodness : 0.986306 Centerline is valid? [True, True] Translation: X:0.17, Y:0.02, Z:0.01 [[ 0.99999892 0.0014729 0. 0.16762978] [-0.0014729 0.99999892 0. 0.02104524] [ 0. 0. 1. 0.00524158] [ 0. 0. 0. 1. ]] SLAMing on 0.212414037 meters Centerline goodness : 0.987271 Centerline is valid? [True, True] Translation: X:0.20, Y:0.03, Z:0.01 [[ 0.99999832 0.00183506 0. 0.1983184 ] [-0.00183506 0.99999832 0. 0.02631014] [ 0. 0. 1. 0.00652267] [ 0. 0. 0. 1. ]] SLAMing on 0.242414037 meters Centerline goodness : 0.988261 Centerline is valid? [True, True] Translation: X:0.23, Y:0.03, Z:0.00 [[ 0.99999476 0.00323687 0. 0.2264683 ] [-0.00323687 0.99999476 0. 0.02819933] [ 0. 0. 1. 0.00223759] [ 0. 0. 0. 1. ]] SLAMing on 0.272414037 meters Centerline goodness : 0.988935 Centerline is valid? [True, True] Translation: X:0.26, Y:0.03, Z:0.00 [[ 0.9999991 0.00134386 0. 0.25730566] [-0.00134386 0.9999991 0. 0.03096073] [ 0. 0. 1. 0.00193175] [ 0. 0. 0. 1. ]] SLAMing on 0.30241403699999997 meters Centerline goodness : 0.990675 Centerline is valid? [True, True] Translation: X:0.29, Y:0.03, Z:-0.01 [[ 9.99999902e-01 -4.43585546e-04 0.00000000e+00 2.88203810e-01] [ 4.43585546e-04 9.99999902e-01 0.00000000e+00 3.19943793e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.41928613e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.33241403699999994 meters Centerline goodness : 0.986745 Centerline is valid? [True, True] Translation: X:0.33, Y:0.02, Z:0.00 [[ 0.99998752 0.0049966 0. 0.33336196] [-0.0049966 0.99998752 0. 0.01943257] [ 0. 0. 1. 0.00225172] [ 0. 0. 0. 1. ]] SLAMing on 0.36241403699999997 meters Centerline goodness : 0.989551 Centerline is valid? [True, True] Translation: X:0.35, Y:0.03, Z:0.00 [[ 0.99993645 -0.01127398 0. 0.34603813] [ 0.01127398 0.99993645 0. 0.03419066] [ 0. 0. 1. 0.00200727] [ 0. 0. 0. 1. ]] SLAMing on 0.392414037 meters Centerline goodness : 0.988071 Centerline is valid? [True, True] Translation: X:0.39, Y:0.03, Z:0.01 [[ 0.99994167 -0.01080036 0. 0.38741242] [ 0.01080036 0.99994167 0. 0.02734741] [ 0. 0. 1. 0.01051047] [ 0. 0. 0. 1. ]] SLAMing on 0.42241403699999996 meters Centerline goodness : 0.988696 Centerline is valid? [True, True] Translation: X:0.41, Y:0.03, Z:0.00 [[ 0.99982885 -0.01850037 0. 0.40593272] [ 0.01850037 0.99982885 0. 0.03313732] [ 0. 0. 1. 0.0022962 ] [ 0. 0. 0. 1. ]] SLAMing on 0.45241403699999994 meters Centerline goodness : 0.987821 Centerline is valid? [True, True] Translation: X:0.45, Y:0.02, Z:-0.00 [[ 0.99986284 -0.0165622 0. 0.44909482] [ 0.0165622 0.99986284 0. 0.02304606] [ 0. 0. 1. -0.00170016] [ 0. 0. 0. 1. ]] SLAMing on 0.48241403699999996 meters Centerline goodness : 0.988200 Centerline is valid? [True, True] Translation: X:0.48, Y:0.03, Z:-0.00 [[ 0.99966267 -0.02597206 0. 0.48380241] [ 0.02597206 0.99966267 0. 0.02653506] [ 0. 0. 1. -0.00420124] [ 0. 0. 0. 1. ]] SLAMing on 0.512414037 meters Centerline goodness : 0.990694 Centerline is valid? [True, True] Translation: X:0.50, Y:0.04, Z:-0.01 [[ 0.99936673 -0.03558279 0. 0.49585646] [ 0.03558279 0.99936673 0. 0.03866411] [ 0. 0. 1. -0.01008479] [ 0. 0. 0. 1. ]] SLAMing on 0.542414037 meters Centerline goodness : 0.987617 Centerline is valid? [True, True] Translation: X:0.54, Y:0.03, Z:-0.00 [[ 0.99962326 -0.02744691 0. 0.54336211] [ 0.02744691 0.99962326 0. 0.03091492] [ 0. 0. 1. -0.00299947] [ 0. 0. 0. 1. ]] SLAMing on 0.5724140369999999 meters Centerline goodness : 0.991048 Centerline is valid? [True, True] Translation: X:0.56, Y:0.05, Z:-0.00 [[ 0.99925658 -0.0385524 0. 0.5570834 ] [ 0.0385524 0.99925658 0. 0.04614752] [ 0. 0. 1. -0.00490395] [ 0. 0. 0. 1. ]] SLAMing on 0.602414037 meters Centerline goodness : 0.988469 Centerline is valid? [True, True] Translation: X:0.60, Y:0.04, Z:-0.00 [[ 0.99960251 -0.02819243 0. 0.59837587] [ 0.02819243 0.99960251 0. 0.03683214] [ 0. 0. 1. -0.00209851] [ 0. 0. 0. 1. ]] SLAMing on 0.632414037 meters Centerline goodness : 0.990438 Centerline is valid? [True, True] Translation: X:0.61, Y:0.05, Z:-0.00 [[ 0.99939529 -0.03477152 0. 0.61203573] [ 0.03477152 0.99939529 0. 0.05490913] [ 0. 0. 1. -0.00235492] [ 0. 0. 0. 1. ]] SLAMing on 0.6624140369999999 meters Centerline goodness : 0.990264 Centerline is valid? [True, True] Translation: X:0.65, Y:0.05, Z:-0.01 [[ 0.99953501 -0.03049189 0. 0.65089341] [ 0.03049189 0.99953501 0. 0.04980654] [ 0. 0. 1. -0.00582628] [ 0. 0. 0. 1. ]] SLAMing on 0.6924140369999999 meters Centerline goodness : 0.990073 Centerline is valid? [True, True] Translation: X:0.67, Y:0.05, Z:-0.00 [[ 0.99945534 -0.03300042 0. 0.67494725] [ 0.03300042 0.99945534 0. 0.05480211] [ 0. 0. 1. -0.00120593] [ 0. 0. 0. 1. ]] SLAMing on 0.722414037 meters Centerline goodness : 0.990185 Centerline is valid? [True, True] Translation: X:0.71, Y:0.05, Z:-0.01 [[ 0.99950993 -0.03130323 0. 0.71320458] [ 0.03130323 0.99950993 0. 0.05478511] [ 0. 0. 1. -0.00589634] [ 0. 0. 0. 1. ]] SLAMing on 0.752414037 meters Centerline goodness : 0.989539 Centerline is valid? [True, True] Translation: X:0.73, Y:0.07, Z:0.00 [[ 9.99126232e-01 -4.17943978e-02 0.00000000e+00 7.29121590e-01] [ 4.17943978e-02 9.99126232e-01 0.00000000e+00 7.01212061e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.79512107e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.782414037 meters Centerline goodness : 0.989085 Centerline is valid? [True, True] Translation: X:0.76, Y:0.07, Z:0.00 [[ 9.99084172e-01 -4.27880603e-02 0.00000000e+00 7.62932489e-01] [ 4.27880603e-02 9.99084172e-01 0.00000000e+00 7.25686054e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73604580e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8124140369999999 meters Centerline goodness : 0.989657 Centerline is valid? [True, True] Translation: X:0.79, Y:0.08, Z:-0.00 [[ 0.99897407 -0.04528592 0. 0.79327883] [ 0.04528592 0.99897407 0. 0.07601042] [ 0. 0. 1. -0.00171231] [ 0. 0. 0. 1. ]] SLAMing on 0.842414037 meters Centerline goodness : 0.989584 Centerline is valid? [True, True] Translation: X:0.83, Y:0.08, Z:-0.00 [[ 0.99893376 -0.04616656 0. 0.82863048] [ 0.04616656 0.99893376 0. 0.07671686] [ 0. 0. 1. -0.00427424] [ 0. 0. 0. 1. ]] SLAMing on 0.872414037 meters Centerline goodness : 0.990114 Centerline is valid? [True, True] Translation: X:0.86, Y:0.08, Z:-0.01 [[ 0.99866276 -0.05169807 0. 0.85589775] [ 0.05169807 0.99866276 0. 0.08113758] [ 0. 0. 1. -0.00847017] [ 0. 0. 0. 1. ]] SLAMing on 0.9024140369999999 meters Centerline goodness : 0.990399 Centerline is valid? [True, True] Translation: X:0.89, Y:0.08, Z:-0.01 [[ 0.99856297 -0.05359103 0. 0.88699588] [ 0.05359103 0.99856297 0. 0.08180407] [ 0. 0. 1. -0.00892229] [ 0. 0. 0. 1. ]] SLAMing on 0.9324140369999999 meters Centerline goodness : 0.989266 Centerline is valid? [True, True] Translation: X:0.92, Y:0.09, Z:-0.01 [[ 0.9984217 -0.05616145 0. 0.91812203] [ 0.05616145 0.9984217 0. 0.08801757] [ 0. 0. 1. -0.00830617] [ 0. 0. 0. 1. ]] SLAMing on 0.9624140369999999 meters Centerline goodness : 0.989674 Centerline is valid? [True, True] Translation: X:0.95, Y:0.09, Z:-0.01 [[ 0.99844044 -0.05582728 0. 0.95268347] [ 0.05582728 0.99844044 0. 0.08993806] [ 0. 0. 1. -0.01048334] [ 0. 0. 0. 1. ]] SLAMing on 0.992414037 meters Centerline goodness : 0.990154 Centerline is valid? [True, True] Translation: X:0.98, Y:0.09, Z:-0.02 [[ 0.9984075 -0.05641326 0. 0.98138317] [ 0.05641326 0.9984075 0. 0.09413388] [ 0. 0. 1. -0.01565075] [ 0. 0. 0. 1. ]] SLAMing on 1.022414037 meters Centerline goodness : 0.990243 Centerline is valid? [True, True] Translation: X:1.02, Y:0.10, Z:-0.01 [[ 0.99838575 -0.05679703 0. 1.01535251] [ 0.05679703 0.99838575 0. 0.10228835] [ 0. 0. 1. -0.01248389] [ 0. 0. 0. 1. ]] SLAMing on 1.0524140370000001 meters Centerline goodness : 0.989447 Centerline is valid? [True, True] Translation: X:1.05, Y:0.11, Z:-0.01 [[ 0.9984363 -0.0559013 0. 1.04698229] [ 0.0559013 0.9984363 0. 0.10656077] [ 0. 0. 1. -0.00931608] [ 0. 0. 0. 1. ]] SLAMing on 1.0824140370000002 meters Centerline goodness : 0.990246 Centerline is valid? [True, True] Translation: X:1.08, Y:0.11, Z:-0.01 [[ 0.9985436 -0.05395062 0. 1.07833414] [ 0.05395062 0.9985436 0. 0.11066243] [ 0. 0. 1. -0.0149446 ] [ 0. 0. 0. 1. ]] SLAMing on 1.112414037 meters Centerline goodness : 0.990246 Centerline is valid? [True, True] Translation: X:1.11, Y:0.11, Z:-0.01 [[ 0.99854695 -0.05388862 0. 1.10997619] [ 0.05388862 0.99854695 0. 0.10869772] [ 0. 0. 1. -0.0149446 ] [ 0. 0. 0. 1. ]] SLAMing on 1.142414037 meters Centerline goodness : 0.990977 Centerline is valid? [True, True] Translation: X:1.14, Y:0.11, Z:-0.02 [[ 0.99847814 -0.05514889 0. 1.14073505] [ 0.05514889 0.99847814 0. 0.11005016] [ 0. 0. 1. -0.01839985] [ 0. 0. 0. 1. ]] SLAMing on 1.172414037 meters Centerline goodness : 0.989760 Centerline is valid? [True, True] Translation: X:1.17, Y:0.11, Z:-0.02 [[ 0.99841973 -0.05619643 0. 1.17069689] [ 0.05619643 0.99841973 0. 0.1118908 ] [ 0. 0. 1. -0.01567879] [ 0. 0. 0. 1. ]] SLAMing on 1.202414037 meters Centerline goodness : 0.989176 Centerline is valid? [True, True] Translation: X:1.20, Y:0.12, Z:-0.02 [[ 0.99830867 -0.058136 0. 1.19986733] [ 0.058136 0.99830867 0. 0.11933617] [ 0. 0. 1. -0.01593837] [ 0. 0. 0. 1. ]] SLAMing on 1.232414037 meters Centerline goodness : 0.989133 Centerline is valid? [True, True] Translation: X:1.24, Y:0.12, Z:-0.02 [[ 0.99841472 -0.05628543 0. 1.23602041] [ 0.05628543 0.99841472 0. 0.12471915] [ 0. 0. 1. -0.01589005] [ 0. 0. 0. 1. ]] SLAMing on 1.262414037 meters Centerline goodness : 0.988636 Centerline is valid? [True, True] Translation: X:1.27, Y:0.13, Z:-0.02 [[ 0.9984857 -0.0550119 0. 1.27081511] [ 0.0550119 0.9984857 0. 0.12581325] [ 0. 0. 1. -0.01511005] [ 0. 0. 0. 1. ]] SLAMing on 1.2924140370000001 meters Centerline goodness : 0.987618 Centerline is valid? [True, True] Translation: X:1.30, Y:0.13, Z:-0.01 [[ 0.99849722 -0.05480234 0. 1.3013448 ] [ 0.05480234 0.99849722 0. 0.12767162] [ 0. 0. 1. -0.01455634] [ 0. 0. 0. 1. ]] SLAMing on 1.322414037 meters Centerline goodness : 0.987197 Centerline is valid? [True, True] Translation: X:1.33, Y:0.14, Z:-0.01 [[ 0.99839156 -0.0566947 0. 1.32977544] [ 0.0566947 0.99839156 0. 0.13827007] [ 0. 0. 1. -0.01435605] [ 0. 0. 0. 1. ]] SLAMing on 1.352414037 meters Centerline goodness : 0.987517 Centerline is valid? [True, True] Translation: X:1.36, Y:0.14, Z:-0.01 [[ 0.99841175 -0.05633803 0. 1.36212318] [ 0.05633803 0.99841175 0. 0.13954558] [ 0. 0. 1. -0.01487203] [ 0. 0. 0. 1. ]] SLAMing on 1.382414037 meters Centerline goodness : 0.988236 Centerline is valid? [True, True] Translation: X:1.40, Y:0.15, Z:-0.02 [[ 0.99842537 -0.05609611 0. 1.39538129] [ 0.05609611 0.99842537 0. 0.14551609] [ 0. 0. 1. -0.021661 ] [ 0. 0. 0. 1. ]] SLAMing on 1.412414037 meters Centerline goodness : 0.986522 Centerline is valid? [True, True] Translation: X:1.43, Y:0.14, Z:-0.02 [[ 0.99860361 -0.05282825 0. 1.42881452] [ 0.05282825 0.99860361 0. 0.1401934 ] [ 0. 0. 1. -0.02324795] [ 0. 0. 0. 1. ]] SLAMing on 1.442414037 meters Centerline goodness : 0.985967 Centerline is valid? [True, True] Translation: X:1.46, Y:0.14, Z:-0.03 [[ 0.99863443 -0.05224246 0. 1.46142325] [ 0.05224246 0.99863443 0. 0.1407126 ] [ 0. 0. 1. -0.02552767] [ 0. 0. 0. 1. ]] SLAMing on 1.472414037 meters Centerline goodness : 0.986690 Centerline is valid? [True, True] Translation: X:1.49, Y:0.15, Z:-0.03 [[ 0.99839289 -0.05667126 0. 1.49114949] [ 0.05667126 0.99839289 0. 0.14940285] [ 0. 0. 1. -0.02841096] [ 0. 0. 0. 1. ]] SLAMing on 1.502414037 meters Centerline goodness : 0.986964 Centerline is valid? [True, True] Translation: X:1.52, Y:0.15, Z:-0.03 [[ 0.99845883 -0.05549745 0. 1.52061379] [ 0.05549745 0.99845883 0. 0.15115463] [ 0. 0. 1. -0.02730395] [ 0. 0. 0. 1. ]] SLAMing on 1.5324140370000001 meters Centerline goodness : 0.987932 Centerline is valid? [True, True] Translation: X:1.55, Y:0.15, Z:-0.03 [[ 0.99845011 -0.05565413 0. 1.55287328] [ 0.05565413 0.99845011 0. 0.15295044] [ 0. 0. 1. -0.02753851] [ 0. 0. 0. 1. ]] SLAMing on 1.5624140370000001 meters Centerline goodness : 0.986906 Centerline is valid? [True, True] Translation: X:1.58, Y:0.16, Z:-0.03 [[ 0.99855886 -0.05366757 0. 1.58359422] [ 0.05366757 0.99855886 0. 0.15787699] [ 0. 0. 1. -0.02743039] [ 0. 0. 0. 1. ]] SLAMing on 1.592414037 meters Centerline goodness : 0.987389 Centerline is valid? [True, True] Translation: X:1.62, Y:0.16, Z:-0.03 [[ 0.99847512 -0.05520349 0. 1.6167754 ] [ 0.05520349 0.99847512 0. 0.15844164] [ 0. 0. 1. -0.03105029] [ 0. 0. 0. 1. ]] SLAMing on 1.622414037 meters Centerline goodness : 0.987068 Centerline is valid? [True, True] Translation: X:1.65, Y:0.16, Z:-0.03 [[ 0.99847019 -0.05529261 0. 1.6466081 ] [ 0.05529261 0.99847019 0. 0.16126348] [ 0. 0. 1. -0.02905705] [ 0. 0. 0. 1. ]] SLAMing on 1.652414037 meters Centerline goodness : 0.987594 Centerline is valid? [True, True] Translation: X:1.68, Y:0.16, Z:-0.03 [[ 0.99847358 -0.05523147 0. 1.6779746 ] [ 0.05523147 0.99847358 0. 0.16253783] [ 0. 0. 1. -0.02881216] [ 0. 0. 0. 1. ]] SLAMing on 1.682414037 meters Centerline goodness : 0.988048 Centerline is valid? [True, True] Translation: X:1.71, Y:0.16, Z:-0.03 [[ 0.99847593 -0.0551889 0. 1.70985786] [ 0.0551889 0.99847593 0. 0.16398872] [ 0. 0. 1. -0.02926932] [ 0. 0. 0. 1. ]] SLAMing on 1.712414037 meters Centerline goodness : 0.985464 Centerline is valid? [True, True] Translation: X:1.74, Y:0.16, Z:-0.03 [[ 0.99864575 -0.05202572 0. 1.74401702] [ 0.05202572 0.99864575 0. 0.15910004] [ 0. 0. 1. -0.03367569] [ 0. 0. 0. 1. ]] SLAMing on 1.742414037 meters Centerline goodness : 0.987905 Centerline is valid? [True, True] Translation: X:1.77, Y:0.16, Z:-0.04 [[ 0.99841764 -0.05623364 0. 1.77272533] [ 0.05623364 0.99841764 0. 0.1645883 ] [ 0. 0. 1. -0.03786512] [ 0. 0. 0. 1. ]] SLAMing on 1.772414037 meters Centerline goodness : 0.987912 Centerline is valid? [True, True] Translation: X:1.80, Y:0.17, Z:-0.04 [[ 0.99848537 -0.05501796 0. 1.80365151] [ 0.05501796 0.99848537 0. 0.16815531] [ 0. 0. 1. -0.0428063 ] [ 0. 0. 0. 1. ]] SLAMing on 1.802414037 meters Centerline goodness : 0.989584 Centerline is valid? [True, True] Translation: X:1.84, Y:0.18, Z:-0.04 [[ 0.99831445 -0.05803668 0. 1.83519377] [ 0.05803668 0.99831445 0. 0.17517229] [ 0. 0. 1. -0.04422752] [ 0. 0. 0. 1. ]] SLAMing on 1.832414037 meters Centerline goodness : 0.987844 Centerline is valid? [True, True] Translation: X:1.87, Y:0.17, Z:-0.04 [[ 0.99859971 -0.05290201 0. 1.86622585] [ 0.05290201 0.99859971 0. 0.17065645] [ 0. 0. 1. -0.04135187] [ 0. 0. 0. 1. ]] SLAMing on 1.862414037 meters Centerline goodness : 0.990387 Centerline is valid? [True, True] Translation: X:1.90, Y:0.18, Z:-0.04 [[ 0.99872862 -0.05040969 0. 1.90080567] [ 0.05040969 0.99872862 0. 0.17641895] [ 0. 0. 1. -0.03677532] [ 0. 0. 0. 1. ]] SLAMing on 1.892414037 meters Centerline goodness : 0.989708 Centerline is valid? [True, True] Translation: X:1.93, Y:0.18, Z:-0.03 [[ 0.99883576 -0.04824028 0. 1.92912831] [ 0.04824028 0.99883576 0. 0.17701044] [ 0. 0. 1. -0.03202897] [ 0. 0. 0. 1. ]] SLAMing on 1.922414037 meters Centerline goodness : 0.990593 Centerline is valid? [True, True] Translation: X:1.96, Y:0.18, Z:-0.04 [[ 0.99872776 -0.05042683 0. 1.96081291] [ 0.05042683 0.99872776 0. 0.17665493] [ 0. 0. 1. -0.04037134] [ 0. 0. 0. 1. ]] SLAMing on 1.952414037 meters Centerline goodness : 0.992056 Centerline is valid? [True, True] Translation: X:1.99, Y:0.18, Z:-0.04 [[ 0.99845665 -0.05553669 0. 1.98890621] [ 0.05553669 0.99845665 0. 0.17952985] [ 0. 0. 1. -0.04459662] [ 0. 0. 0. 1. ]] SLAMing on 1.982414037 meters Centerline goodness : 0.992090 Centerline is valid? [True, True] Translation: X:2.02, Y:0.18, Z:-0.05 [[ 0.9984014 -0.05652115 0. 2.02032451] [ 0.05652115 0.9984014 0. 0.17945902] [ 0. 0. 1. -0.04911409] [ 0. 0. 0. 1. ]] SLAMing on 2.0124140369999997 meters Centerline goodness : 0.992543 Centerline is valid? [True, True] Translation: X:2.05, Y:0.18, Z:-0.05 [[ 0.99849917 -0.05476678 0. 2.05033723] [ 0.05476678 0.99849917 0. 0.18257835] [ 0. 0. 1. -0.04769342] [ 0. 0. 0. 1. ]] SLAMing on 2.042414037 meters Centerline goodness : 0.992230 Centerline is valid? [True, True] Translation: X:2.08, Y:0.18, Z:-0.05 [[ 0.99856382 -0.05357518 0. 2.08176878] [ 0.05357518 0.99856382 0. 0.18274952] [ 0. 0. 1. -0.04691957] [ 0. 0. 0. 1. ]] SLAMing on 2.0724140369999997 meters Centerline goodness : 0.992275 Centerline is valid? [True, True] Translation: X:2.11, Y:0.18, Z:-0.05 [[ 0.99854699 -0.05388787 0. 2.11493947] [ 0.05388787 0.99854699 0. 0.18345172] [ 0. 0. 1. -0.04789085] [ 0. 0. 0. 1. ]] SLAMing on 2.102414037 meters Centerline goodness : 0.989011 Centerline is valid? [True, True] Translation: X:2.15, Y:0.18, Z:-0.05 [[ 0.99866353 -0.05168324 0. 2.14506298] [ 0.05168324 0.99866353 0. 0.17593295] [ 0. 0. 1. -0.04568219] [ 0. 0. 0. 1. ]] SLAMing on 2.1324140369999998 meters Centerline goodness : 0.989061 Centerline is valid? [True, True] Translation: X:2.18, Y:0.17, Z:-0.05 [[ 0.99852746 -0.05424865 0. 2.17657 ] [ 0.05424865 0.99852746 0. 0.174375 ] [ 0. 0. 1. -0.04803401] [ 0. 0. 0. 1. ]] SLAMing on 2.162414037 meters Centerline goodness : 0.989737 Centerline is valid? [True, True] Translation: X:2.21, Y:0.17, Z:-0.05 [[ 0.99839496 -0.05663477 0. 2.20656513] [ 0.05663477 0.99839496 0. 0.17110192] [ 0. 0. 1. -0.049582 ] [ 0. 0. 0. 1. ]] SLAMing on 2.192414037 meters Centerline goodness : 0.989517 Centerline is valid? [True, True] Translation: X:2.24, Y:0.17, Z:-0.05 [[ 0.9983533 -0.05736454 0. 2.23994333] [ 0.05736454 0.9983533 0. 0.17004721] [ 0. 0. 1. -0.04956727] [ 0. 0. 0. 1. ]] SLAMing on 2.2224140369999996 meters Centerline goodness : 0.988899 Centerline is valid? [True, True] Translation: X:2.27, Y:0.17, Z:-0.05 [[ 0.99839205 -0.05668612 0. 2.27264852] [ 0.05668612 0.99839205 0. 0.16752001] [ 0. 0. 1. -0.04916592] [ 0. 0. 0. 1. ]] SLAMing on 2.252414037 meters Centerline goodness : 0.988540 Centerline is valid? [True, True] Translation: X:2.30, Y:0.16, Z:-0.05 [[ 0.9983484 -0.05744969 0. 2.30394109] [ 0.05744969 0.9983484 0. 0.16458444] [ 0. 0. 1. -0.05036673] [ 0. 0. 0. 1. ]] SLAMing on 2.2824140369999997 meters Centerline goodness : 0.989337 Centerline is valid? [True, True] Translation: X:2.34, Y:0.16, Z:-0.05 [[ 0.9983227 -0.05789466 0. 2.33595252] [ 0.05789466 0.9983227 0. 0.16340983] [ 0. 0. 1. -0.0510349 ] [ 0. 0. 0. 1. ]] SLAMing on 2.312414037 meters Centerline goodness : 0.992416 Centerline is valid? [True, True] Translation: X:2.37, Y:0.17, Z:-0.06 [[ 0.99811665 -0.06134455 0. 2.36799136] [ 0.06134455 0.99811665 0. 0.16877113] [ 0. 0. 1. -0.05771069] [ 0. 0. 0. 1. ]] SLAMing on 2.3424140369999997 meters Centerline goodness : 0.991875 Centerline is valid? [True, True] Translation: X:2.40, Y:0.17, Z:-0.06 [[ 0.99802296 -0.06285032 0. 2.39866368] [ 0.06285032 0.99802296 0. 0.16633727] [ 0. 0. 1. -0.06092236] [ 0. 0. 0. 1. ]] SLAMing on 2.372414037 meters Centerline goodness : 0.992531 Centerline is valid? [True, True] Translation: X:2.43, Y:0.16, Z:-0.06 [[ 0.99803224 -0.06270291 0. 2.4280501 ] [ 0.06270291 0.99803224 0. 0.16453245] [ 0. 0. 1. -0.06167432] [ 0. 0. 0. 1. ]] SLAMing on 2.402414037 meters Centerline goodness : 0.986922 Centerline is valid? [True, True] Translation: X:2.46, Y:0.15, Z:-0.07 [[ 0.99863419 -0.05224703 0. 2.46031196] [ 0.05224703 0.99863419 0. 0.14651485] [ 0. 0. 1. -0.06611 ] [ 0. 0. 0. 1. ]] SLAMing on 2.4324140369999996 meters Centerline goodness : 0.989074 Centerline is valid? [True, True] Translation: X:2.49, Y:0.15, Z:-0.05 [[ 0.99834962 -0.05742852 0. 2.48718204] [ 0.05742852 0.99834962 0. 0.15464656] [ 0. 0. 1. -0.05123732] [ 0. 0. 0. 1. ]] SLAMing on 2.462414037 meters Centerline goodness : 0.992180 Centerline is valid? [True, True] Translation: X:2.52, Y:0.16, Z:-0.06 [[ 0.99818565 -0.06021135 0. 2.5180911 ] [ 0.06021135 0.99818565 0. 0.15816899] [ 0. 0. 1. -0.05652935] [ 0. 0. 0. 1. ]] SLAMing on 2.4924140369999996 meters Centerline goodness : 0.988668 Centerline is valid? [True, True] Translation: X:2.55, Y:0.15, Z:-0.05 [[ 0.99830976 -0.05811731 0. 2.54913105] [ 0.05811731 0.99830976 0. 0.15003205] [ 0. 0. 1. -0.05129078] [ 0. 0. 0. 1. ]] SLAMing on 2.522414037 meters Centerline goodness : 0.985836 Centerline is valid? [True, True] Translation: X:2.58, Y:0.14, Z:-0.06 [[ 0.9985161 -0.05445732 0. 2.58165516] [ 0.05445732 0.9985161 0. 0.13913339] [ 0. 0. 1. -0.06424176] [ 0. 0. 0. 1. ]] SLAMing on 2.5524140369999997 meters Centerline goodness : 0.987297 Centerline is valid? [True, True] Translation: X:2.61, Y:0.14, Z:-0.07 [[ 0.99825503 -0.05904985 0. 2.61434283] [ 0.05904985 0.99825503 0. 0.13851382] [ 0. 0. 1. -0.06730172] [ 0. 0. 0. 1. ]] SLAMing on 2.582414037 meters Centerline goodness : 0.987969 Centerline is valid? [True, True] Translation: X:2.64, Y:0.14, Z:-0.05 [[ 0.99813816 -0.06099352 0. 2.64161058] [ 0.06099352 0.99813816 0. 0.14116407] [ 0. 0. 1. -0.05340316] [ 0. 0. 0. 1. ]] SLAMing on 2.6124140369999997 meters Centerline goodness : 0.987021 Centerline is valid? [True, True] Translation: X:2.67, Y:0.14, Z:-0.06 [[ 0.99807815 -0.06196786 0. 2.67201894] [ 0.06196786 0.99807815 0. 0.13797363] [ 0. 0. 1. -0.05932605] [ 0. 0. 0. 1. ]] SLAMing on 2.6424140369999995 meters Centerline goodness : 0.986712 Centerline is valid? [True, True] Translation: X:2.70, Y:0.13, Z:-0.05 [[ 0.99821468 -0.05972808 0. 2.70438531] [ 0.05972808 0.99821468 0. 0.13343135] [ 0. 0. 1. -0.05201236] [ 0. 0. 0. 1. ]] SLAMing on 2.672414037 meters Centerline goodness : 0.987415 Centerline is valid? [True, True] Translation: X:2.74, Y:0.13, Z:-0.06 [[ 0.99820509 -0.05988818 0. 2.73540623] [ 0.05988818 0.99820509 0. 0.13066736] [ 0. 0. 1. -0.05593131] [ 0. 0. 0. 1. ]] SLAMing on 2.7024140369999996 meters Centerline goodness : 0.986704 Centerline is valid? [True, True] Translation: X:2.76, Y:0.13, Z:-0.06 [[ 0.99828143 -0.05860186 0. 2.76479408] [ 0.05860186 0.99828143 0. 0.1269687 ] [ 0. 0. 1. -0.05532904] [ 0. 0. 0. 1. ]] SLAMing on 2.732414037 meters Centerline goodness : 0.986411 Centerline is valid? [True, True] Translation: X:2.80, Y:0.12, Z:-0.06 [[ 0.9983023 -0.05824539 0. 2.79662868] [ 0.05824539 0.9983023 0. 0.1243061 ] [ 0. 0. 1. -0.05807796] [ 0. 0. 0. 1. ]] SLAMing on 2.7624140369999997 meters Centerline goodness : 0.983985 Centerline is valid? [True, True] Translation: X:2.83, Y:0.12, Z:-0.06 [[ 0.99831986 -0.05794365 0. 2.82568806] [ 0.05794365 0.99831986 0. 0.11848755] [ 0. 0. 1. -0.06264363] [ 0. 0. 0. 1. ]] SLAMing on 2.792414037 meters Centerline goodness : 0.983326 Centerline is valid? [True, True] Translation: X:2.86, Y:0.11, Z:-0.06 [[ 0.99836221 -0.05720921 0. 2.85635855] [ 0.05720921 0.99836221 0. 0.11321503] [ 0. 0. 1. -0.06335144] [ 0. 0. 0. 1. ]] SLAMing on 2.8224140369999997 meters Centerline goodness : 0.983542 Centerline is valid? [True, True] Translation: X:2.89, Y:0.11, Z:-0.05 [[ 0.998444 -0.05576353 0. 2.88770939] [ 0.05576353 0.998444 0. 0.10889923] [ 0. 0. 1. -0.05412076] [ 0. 0. 0. 1. ]] SLAMing on 2.852414037 meters Centerline goodness : 0.972278 Centerline is valid? [True, True] Translation: X:2.91, Y:0.12, Z:-0.06 [[ 0.99804471 -0.06250413 0. 2.91294488] [ 0.06250413 0.99804471 0. 0.12221886] [ 0. 0. 1. -0.05856899] [ 0. 0. 0. 1. ]] SLAMing on 2.8824140369999998 meters Centerline goodness : 0.978589 Centerline is valid? [True, True] Translation: X:2.95, Y:0.11, Z:-0.06 [[ 0.99836317 -0.05719249 0. 2.94883481] [ 0.05719249 0.99836317 0. 0.11483748] [ 0. 0. 1. -0.05604574] [ 0. 0. 0. 1. ]] SLAMing on 2.9124140369999996 meters Centerline goodness : 0.980578 Centerline is valid? [True, True] Translation: X:2.98, Y:0.10, Z:-0.05 [[ 0.99879895 -0.04899643 0. 2.97966777] [ 0.04899643 0.99879895 0. 0.09852376] [ 0. 0. 1. -0.05488834] [ 0. 0. 0. 1. ]] SLAMing on 2.942414037 meters Centerline goodness : 0.978390 Centerline is valid? [True, True] Translation: X:3.01, Y:0.09, Z:-0.06 [[ 0.99889368 -0.04702568 0. 3.00951631] [ 0.04702568 0.99889368 0. 0.09320131] [ 0. 0. 1. -0.05768155] [ 0. 0. 0. 1. ]] SLAMing on 2.9724140369999996 meters Centerline goodness : 0.980487 Centerline is valid? [True, True] Translation: X:3.04, Y:0.09, Z:-0.06 [[ 0.99897076 -0.0453587 0. 3.04440363] [ 0.0453587 0.99897076 0. 0.09209806] [ 0. 0. 1. -0.0614124 ] [ 0. 0. 0. 1. ]] SLAMing on 3.002414037 meters Centerline goodness : 0.978082 Centerline is valid? [True, True] Translation: X:3.07, Y:0.09, Z:-0.06 [[ 0.99908994 -0.0426531 0. 3.0741586 ] [ 0.0426531 0.99908994 0. 0.08877545] [ 0. 0. 1. -0.06072306] [ 0. 0. 0. 1. ]] SLAMing on 3.0324140369999997 meters Centerline goodness : 0.978082 Centerline is valid? [True, True] Translation: X:3.11, Y:0.09, Z:-0.06 [[ 0.99909362 -0.04256683 0. 3.1058146 ] [ 0.04256683 0.99909362 0. 0.08663329] [ 0. 0. 1. -0.06072306] [ 0. 0. 0. 1. ]] SLAMing on 3.062414037 meters Centerline goodness : 0.978082 Centerline is valid? [True, True] Translation: X:3.14, Y:0.08, Z:-0.06 [[ 0.99909729 -0.04248055 0. 3.13747041] [ 0.04248055 0.99909729 0. 0.0844884 ] [ 0. 0. 1. -0.06072306] [ 0. 0. 0. 1. ]] SLAMing on 3.0924140369999997 meters Centerline goodness : 0.976810 Centerline is valid? [True, True] Translation: X:3.17, Y:0.08, Z:-0.06 [[ 0.99921289 -0.03966866 0. 3.16826981] [ 0.03966866 0.99921289 0. 0.08234656] [ 0. 0. 1. -0.06101962] [ 0. 0. 0. 1. ]] SLAMing on 3.122414037 meters Centerline goodness : 0.975023 Centerline is valid? [True, True] Translation: X:3.20, Y:0.08, Z:-0.06 [[ 0.9994354 -0.03359886 0. 3.19785204] [ 0.03359886 0.9994354 0. 0.08088095] [ 0. 0. 1. -0.0610827 ] [ 0. 0. 0. 1. ]] SLAMing on 3.152414037 meters Centerline goodness : 0.972887 Centerline is valid? [True, True] Translation: X:3.23, Y:0.08, Z:-0.06 [[ 0.99952781 -0.0307271 0. 3.22861053] [ 0.0307271 0.99952781 0. 0.07737891] [ 0. 0. 1. -0.05905834] [ 0. 0. 0. 1. ]] SLAMing on 3.1824140369999996 meters Centerline goodness : 0.971823 Centerline is valid? [True, True] Translation: X:3.26, Y:0.07, Z:-0.06 [[ 0.99958398 -0.02884199 0. 3.25841281] [ 0.02884199 0.99958398 0. 0.07337917] [ 0. 0. 1. -0.06259373] [ 0. 0. 0. 1. ]] SLAMing on 3.212414037 meters Centerline goodness : 0.963640 Centerline is valid? [True, True] Translation: X:3.29, Y:0.07, Z:-0.05 [[ 0.99970379 -0.02433781 0. 3.29122229] [ 0.02433781 0.99970379 0. 0.06915671] [ 0. 0. 1. -0.05429361] [ 0. 0. 0. 1. ]] SLAMing on 3.2424140369999996 meters Centerline goodness : 0.948994 Centerline is valid? [True, False] Translation: X:3.29, Y:0.07, Z:-0.05 [[ 9.99719602e-01 -2.36776998e-02 -2.91170976e-04 3.29181911e+00] [ 2.36778040e-02 9.99719577e-01 3.59754074e-04 6.83277647e-02] [ 2.82571176e-04 -3.66547489e-04 9.99999893e-01 -5.39078286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.272414037 meters Centerline goodness : 0.950920 Centerline is valid? [False, True] Translation: X:3.29, Y:0.07, Z:-0.05 [[ 9.99751886e-01 -2.22628323e-02 -7.29518133e-04 3.29320043e+00] [ 2.22638437e-02 9.99751137e-01 1.40890101e-03 6.66265557e-02] [ 6.97970456e-04 -1.42479332e-03 9.99998741e-01 -5.38860385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3024140369999997 meters Centerline goodness : 0.947419 Centerline is valid? [True, False] Translation: X:3.29, Y:0.07, Z:-0.05 [[ 9.99767316e-01 -2.15503612e-02 -9.46979459e-04 3.29401012e+00] [ 2.15524302e-02 9.99765228e-01 2.23190751e-03 6.50286666e-02] [ 8.98658722e-04 -2.25179789e-03 9.99997061e-01 -5.42019352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.332414037 meters Centerline goodness : 0.946116 Centerline is valid? [False, False] Translation: X:3.29, Y:0.06, Z:-0.05 [[ 9.99782422e-01 -2.08295473e-02 -1.11287999e-03 3.29491374e+00] [ 2.08330990e-02 9.99777583e-01 3.28133947e-03 6.26365865e-02] [ 1.04428365e-03 -3.30381026e-03 9.99993997e-01 -5.49001777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3624140369999997 meters Centerline goodness : 0.940296 Centerline is valid? [False, False] Translation: X:3.30, Y:0.06, Z:-0.06 [[ 9.99797007e-01 -2.01098923e-02 -1.23976787e-03 3.29587758e+00] [ 2.01157429e-02 9.99785638e-01 4.90250452e-03 5.65954621e-02] [ 1.14091327e-03 -4.92644820e-03 9.99987214e-01 -5.59843753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3924140369999995 meters Centerline goodness : 0.935181 Centerline is valid? [False, False] Translation: X:3.30, Y:0.05, Z:-0.06 [[ 9.99805832e-01 -1.96569148e-02 -1.38001154e-03 3.29684546e+00] [ 1.96649840e-02 9.99788018e-01 6.09980038e-03 5.27604441e-02] [ 1.25981575e-03 -6.12575390e-03 9.99980444e-01 -5.71197851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.422414037 meters Centerline goodness : 0.927499 Centerline is valid? [False, False] Translation: X:3.30, Y:0.05, Z:-0.06 [[ 9.99743858e-01 -2.25775999e-02 -1.57176984e-03 3.29871396e+00] [ 2.25836384e-02 9.99737207e-01 3.93639791e-03 4.82294491e-02] [ 1.48248237e-03 -3.97088592e-03 9.99991017e-01 -5.89511658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4524140369999996 meters Centerline goodness : 0.923910 Centerline is valid? [False, False] Translation: X:3.30, Y:0.05, Z:-0.06 [[ 9.99739729e-01 -2.27581014e-02 -1.59457936e-03 3.29869751e+00] [ 2.27652263e-02 9.99730245e-01 4.60238291e-03 4.51544526e-02] [ 1.48940772e-03 -4.63748600e-03 9.99988138e-01 -5.92091041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.482414037 meters Centerline goodness : 0.918681 Centerline is valid? [False, False] Translation: X:3.30, Y:0.04, Z:-0.06 [[ 9.99723903e-01 -2.34588037e-02 -1.34245846e-03 3.29748195e+00] [ 2.34652351e-02 9.99712178e-01 4.99437610e-03 4.19023563e-02] [ 1.22490998e-03 -5.02449827e-03 9.99986627e-01 -5.87888068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5124140369999997 meters Centerline goodness : 0.913170 Centerline is valid? [False, False] Translation: X:3.30, Y:0.04, Z:-0.06 [[ 9.99614717e-01 -2.77157657e-02 -1.50121261e-03 3.29778794e+00] [ 2.77192362e-02 9.99613003e-01 2.34256363e-03 3.51580887e-02] [ 1.43570570e-03 -2.38327354e-03 9.99996129e-01 -5.90320792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.542414037 meters Centerline goodness : 0.911379 Centerline is valid? [False, False] Translation: X:3.30, Y:0.03, Z:-0.06 [[ 9.99593723e-01 -2.84633401e-02 -1.49263999e-03 3.29748259e+00] [ 2.84674167e-02 9.99590841e-01 2.78495689e-03 3.06256686e-02] [ 1.41276009e-03 -2.82631703e-03 9.99995008e-01 -5.91656367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5724140369999997 meters Centerline goodness : 0.906402 Centerline is valid? [False, False] Translation: X:3.30, Y:0.03, Z:-0.06 [[ 9.99580816e-01 -2.89175813e-02 -1.40186396e-03 3.29700082e+00] [ 2.89221824e-02 9.99575948e-01 3.38118237e-03 2.70482634e-02] [ 1.30349388e-03 -3.42031000e-03 9.99993301e-01 -5.91919266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6024140369999995 meters Centerline goodness : 0.906321 Centerline is valid? [False, False] Translation: X:3.30, Y:0.02, Z:-0.06 [[ 9.99483712e-01 -3.20837025e-02 -1.71630211e-03 3.29800367e+00] [ 3.20849355e-02 9.99484904e-01 6.95786930e-04 2.35342312e-02] [ 1.69309463e-03 -7.50495146e-04 9.99998285e-01 -5.91802722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6324140369999998 meters Centerline goodness : 0.899559 Centerline is valid? [False, False] Translation: X:3.30, Y:0.02, Z:-0.06 [[ 9.99476426e-01 -3.23106315e-02 -1.70227320e-03 3.29779813e+00] [ 3.23133793e-02 9.99476486e-01 1.61219189e-03 2.01032594e-02] [ 1.64929109e-03 -1.66635399e-03 9.99997252e-01 -5.94298746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6624140369999996 meters Centerline goodness : 0.882185 Centerline is valid? [False, False] Translation: X:3.30, Y:0.01, Z:-0.06 [[ 9.99353470e-01 -3.59157471e-02 -1.64380750e-03 3.29809838e+00] [ 3.59146642e-02 9.99354627e-01 -6.83618186e-04 1.42516601e-02] [ 1.66729929e-03 6.24139411e-04 9.99998415e-01 -5.98014136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.692414037 meters Centerline goodness : 0.877327 Centerline is valid? [False, False] Translation: X:3.30, Y:0.01, Z:-0.06 [[ 9.99338677e-01 -3.63396844e-02 -1.27934998e-03 3.29707263e+00] [ 3.63395354e-02 9.99339491e-01 -1.39511684e-04 1.02187525e-02] [ 1.28357477e-03 9.29284380e-05 9.99999172e-01 -5.96580426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7224140369999996 meters Centerline goodness : 0.868364 Centerline is valid? [False, False] Translation: X:3.30, Y:0.01, Z:-0.06 [[ 9.99330224e-01 -3.65839891e-02 -8.45232289e-04 3.29611999e+00] [ 3.65844501e-02 9.99330421e-01 5.36588869e-04 6.25081722e-03] [ 8.25035778e-04 -5.67151834e-04 9.99999499e-01 -5.97375392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.752414037 meters Centerline goodness : 0.865224 Centerline is valid? [False, False] Translation: X:3.30, Y:0.00, Z:-0.06 [[ 9.99318852e-01 -3.68998460e-02 -4.82606040e-04 3.29510341e+00] [ 3.69003933e-02 9.99318253e-01 1.17914461e-03 2.05909405e-03] [ 4.38766770e-04 -1.19614979e-03 9.99999188e-01 -5.95856514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7824140369999997 meters Centerline goodness : 0.862381 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.01, Z:-0.06 [[ 9.99331744e-01 -3.65461398e-02 6.67348265e-04 3.29329559e+00] [ 3.65444231e-02 9.99329087e-01 2.42508821e-03 -5.35948796e-03] [-7.55528145e-04 -2.39907978e-03 9.99996837e-01 -5.94368312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.812414037 meters Centerline goodness : 0.857611 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.01, Z:-0.06 [[ 9.99345706e-01 -3.61524418e-02 1.07732678e-03 3.29207019e+00] [ 3.61478911e-02 9.99338525e-01 3.98036835e-03 -9.21641019e-03] [-1.22051419e-03 -3.93882093e-03 9.99991498e-01 -5.82394391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8424140369999997 meters Centerline goodness : 0.855540 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.01, Z:-0.06 [[ 9.99355097e-01 -3.58929488e-02 1.04197813e-03 3.29259782e+00] [ 3.58876240e-02 9.99344570e-01 4.74438095e-03 -1.15597520e-02] [-1.21158501e-03 -4.70392717e-03 9.99988202e-01 -5.86540589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8724140369999995 meters Centerline goodness : 0.861407 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.01, Z:-0.06 [[ 9.99344189e-01 -3.61688940e-02 1.73299956e-03 3.29264039e+00] [ 3.61645357e-02 9.99342763e-01 2.48347457e-03 -1.31812969e-02] [-1.82168509e-03 -2.41917276e-03 9.99995415e-01 -6.05300869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.902414037 meters Centerline goodness : 0.853537 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.02, Z:-0.06 [[ 9.99289467e-01 -3.76113481e-02 2.43857699e-03 3.29345743e+00] [ 3.76116720e-02 9.99292427e-01 -8.70519239e-05 -1.69951575e-02] [-2.43357738e-03 1.78709029e-04 9.99997023e-01 -6.34151670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9324140369999996 meters Centerline goodness : 0.853903 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.02, Z:-0.06 [[ 9.99310916e-01 -3.70259352e-02 2.60271517e-03 3.29362317e+00] [ 3.70245605e-02 9.99314191e-01 5.74424538e-04 -1.90921967e-02] [-2.62219881e-03 -4.77664326e-04 9.99996448e-01 -6.39986468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.962414037 meters Centerline goodness : 0.840328 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.02, Z:-0.06 [[ 9.99353032e-01 -3.58187652e-02 3.24542639e-03 3.29300247e+00] [ 3.58132287e-02 9.99356971e-01 1.74831878e-03 -2.25452046e-02] [-3.30596211e-03 -1.63095848e-03 9.99993205e-01 -6.47179001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9924140369999996 meters Centerline goodness : 0.837887 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.02, Z:-0.07 [[ 9.99388669e-01 -3.48131286e-02 3.21457641e-03 3.29380537e+00] [ 3.48038756e-02 9.99389980e-01 2.89086887e-03 -2.48691430e-02] [-3.31325564e-03 -2.77722188e-03 9.99990655e-01 -6.57640904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.022414037 meters Centerline goodness : 0.841562 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.03, Z:-0.07 [[ 9.99437007e-01 -3.32188287e-02 4.70949882e-03 3.29251359e+00] [ 3.32122027e-02 9.99447229e-01 1.47825901e-03 -2.83351587e-02] [-4.75600158e-03 -1.32101393e-03 9.99987818e-01 -6.84076735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.052414037 meters Centerline goodness : 0.837301 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.03, Z:-0.07 [[ 9.99458967e-01 -3.24838007e-02 5.15528044e-03 3.29217656e+00] [ 3.24770867e-02 9.99471526e-01 1.38078135e-03 -2.98086682e-02] [-5.19740904e-03 -1.21260581e-03 9.99985758e-01 -6.93589441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.082414037 meters Centerline goodness : 0.833879 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.03, Z:-0.07 [[ 9.99493774e-01 -3.14335662e-02 4.91193293e-03 3.29340945e+00] [ 3.14218878e-02 9.99503240e-01 2.43693432e-03 -3.14124406e-02] [-4.98609441e-03 -2.28135847e-03 9.99984967e-01 -7.02034526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.112414037 meters Centerline goodness : 0.832459 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.03, Z:-0.07 [[ 0.99958194 -0.02846674 0.00505844 3.29216123] [ 0.02843616 0.99957749 0.00601808 -0.03265936] [-0.00522762 -0.00587172 0.9999691 -0.06956663] [ 0. 0. 0. 1. ]] SLAMing on 4.142414037 meters Centerline goodness : 0.831677 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.03, Z:-0.07 [[ 0.99958649 -0.02832518 0.00495377 3.29222295] [ 0.02829585 0.99958222 0.00589362 -0.03172481] [-0.00511863 -0.00575101 0.99997036 -0.06921516] [ 0. 0. 0. 1. ]] SLAMing on 4.172414037 meters Centerline goodness : 0.822428 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.03, Z:-0.07 [[ 0.99959414 -0.02807822 0.00481324 3.29236947] [ 0.02804887 0.99958818 0.00606041 -0.03180467] [-0.00498142 -0.00592294 0.99997005 -0.0689144 ] [ 0. 0. 0. 1. ]] SLAMing on 4.2024140370000005 meters Centerline goodness : 0.819712 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.04, Z:-0.07 [[ 0.99959311 -0.02813063 0.00472116 3.29280541] [ 0.02809925 0.99958343 0.00658748 -0.03544153] [-0.0049045 -0.00645214 0.99996716 -0.06943187] [ 0. 0. 0. 1. ]] SLAMing on 4.232414037 meters Centerline goodness : 0.821849 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.04, Z:-0.07 [[ 0.99959491 -0.02804977 0.00481997 3.29300135] [ 0.02801457 0.99958144 0.0072204 -0.03796555] [-0.00502048 -0.00708244 0.99996232 -0.07010186] [ 0. 0. 0. 1. ]] SLAMing on 4.262414037 meters Centerline goodness : 0.819230 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.04, Z:-0.07 [[ 0.99958875 -0.0282471 0.00494378 3.29280932] [ 0.0282102 0.99957477 0.00737933 -0.0391696 ] [-0.00515012 -0.00723683 0.99996055 -0.07026709] [ 0. 0. 0. 1. ]] SLAMing on 4.292414037 meters Centerline goodness : 0.814364 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.04, Z:-0.07 [[ 0.99955846 -0.0294363 0.00404931 3.29402637] [ 0.02940149 0.99953236 0.00840347 -0.04009242] [-0.00429479 -0.00828071 0.99995649 -0.06876696] [ 0. 0. 0. 1. ]] SLAMing on 4.322414037000001 meters Centerline goodness : 0.811449 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.04, Z:-0.07 [[ 0.99954685 -0.02981448 0.00414661 3.29349601] [ 0.02977991 0.99952315 0.00816304 -0.04000469] [-0.00438801 -0.00803586 0.99995808 -0.06826394] [ 0. 0. 0. 1. ]] SLAMing on 4.352414037 meters Centerline goodness : 0.806952 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.04, Z:-0.07 [[ 0.99953173 -0.03031882 0.00413367 3.29321194] [ 0.03028473 0.99950869 0.00807504 -0.04101932] [-0.00437647 -0.00794608 0.99995885 -0.06796367] [ 0. 0. 0. 1. ]] SLAMing on 4.382414037 meters Centerline goodness : 0.811143 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.04, Z:-0.07 [[ 0.99953864 -0.03011817 0.00392538 3.29414463] [ 0.03008392 0.99951113 0.00851209 -0.04220585] [-0.00417983 -0.00839008 0.99995607 -0.06875788] [ 0. 0. 0. 1. ]] SLAMing on 4.4124140370000005 meters Centerline goodness : 0.801509 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.04, Z:-0.07 [[ 0.99954102 -0.03005282 0.00381834 3.29486907] [ 0.03001816 0.99951035 0.00882977 -0.04336317] [-0.00408183 -0.00871109 0.99995373 -0.06955629] [ 0. 0. 0. 1. ]] SLAMing on 4.442414037 meters Centerline goodness : 0.806025 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.04, Z:-0.07 [[ 0.99954387 -0.02996252 0.00378139 3.2952515 ] [ 0.02992688 0.99951018 0.00915296 -0.04412465] [-0.00405378 -0.00903562 0.99995096 -0.07006521] [ 0. 0. 0. 1. ]] SLAMing on 4.472414037 meters Centerline goodness : 0.799161 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.04, Z:-0.07 [[ 0.9995443 -0.0299542 0.00373466 3.29514863] [ 0.02991978 0.9995122 0.00895358 -0.04339783] [-0.00400103 -0.00883776 0.99995294 -0.06964783] [ 0. 0. 0. 1. ]] SLAMing on 4.502414037 meters Centerline goodness : 0.799111 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.04, Z:-0.07 [[ 0.99961472 -0.02744719 0.0041314 3.29273807] [ 0.0273973 0.99955635 0.01168265 -0.04407776] [-0.00445022 -0.01156496 0.99992322 -0.06778322] [ 0. 0. 0. 1. ]] SLAMing on 4.532414037000001 meters Centerline goodness : 0.799111 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.04, Z:-0.07 [[ 0.99961472 -0.02744719 0.0041314 3.29273807] [ 0.0273973 0.99955635 0.01168265 -0.04407776] [-0.00445022 -0.01156496 0.99992322 -0.06778322] [ 0. 0. 0. 1. ]] SLAMing on 4.562414037 meters Centerline goodness : 0.798072 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.04, Z:-0.07 [[ 0.99963185 -0.02683407 0.00401089 3.29327673] [ 0.02678448 0.99956986 0.01194494 -0.043986 ] [-0.0043297 -0.01183312 0.99992061 -0.06788246] [ 0. 0. 0. 1. ]] SLAMing on 4.592414037 meters Centerline goodness : 0.795446 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.04, Z:-0.07 [[ 0.99966582 -0.02559529 0.0036243 3.29552995] [ 0.0255474 0.999593 0.01269473 -0.04363714] [-0.00394776 -0.0125979 0.99991285 -0.0695993 ] [ 0. 0. 0. 1. ]] SLAMing on 4.622414037 meters Centerline goodness : 0.795102 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.04, Z:-0.07 [[ 0.9996741 -0.02528676 0.0035033 3.29598623] [ 0.02524052 0.99960114 0.01266776 -0.04285947] [-0.00382223 -0.01257521 0.99991362 -0.06969639] [ 0. 0. 0. 1. ]] SLAMing on 4.652414037 meters Centerline goodness : 0.795922 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.04, Z:-0.07 [[ 9.99680319e-01 -2.50723109e-02 3.26183306e-03 3.29639951e+00] [ 2.50298692e-02 9.99609055e-01 1.24596854e-02 -4.17819326e-02] [-3.57295097e-03 -1.23740590e-02 9.99917055e-01 -6.93914399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.682414037 meters Centerline goodness : 0.791369 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.04, Z:-0.07 [[ 9.99689545e-01 -2.47296576e-02 3.04260844e-03 3.29698285e+00] [ 2.46895934e-02 9.99616171e-01 1.25672416e-02 -4.16509529e-02] [-3.35222418e-03 -1.24882192e-02 9.99916400e-01 -6.94342694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.712414037 meters Centerline goodness : 0.797347 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.04, Z:-0.07 [[ 0.99976765 -0.02113361 -0.00424444 3.28975553] [ 0.0211575 0.9997601 0.0056652 -0.0416901 ] [ 0.0041237 -0.00575368 0.99997494 -0.06724912] [ 0. 0. 0. 1. ]] SLAMing on 4.7424140370000005 meters Centerline goodness : 0.793131 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.04, Z:-0.07 [[ 0.99977224 -0.02088412 -0.00439536 3.29038464] [ 0.02091004 0.99976374 0.00593583 -0.04186625] [ 0.00427036 -0.00602638 0.99997272 -0.06769606] [ 0. 0. 0. 1. ]] SLAMing on 4.772414037 meters Centerline goodness : 0.789092 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.04, Z:-0.07 [[ 0.99982681 -0.01815614 -0.00408649 3.28879631] [ 0.01819199 0.99979477 0.0089145 -0.04055452] [ 0.0039238 -0.0089873 0.99995192 -0.06695174] [ 0. 0. 0. 1. ]] SLAMing on 4.802414037 meters Centerline goodness : 0.783450 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.04, Z:-0.07 [[ 0.99982939 -0.01794802 -0.00436591 3.28970681] [ 0.01798588 0.99979957 0.00879317 -0.03922319] [ 0.00420721 -0.0088702 0.99995181 -0.06728259] [ 0. 0. 0. 1. ]] SLAMing on 4.832414037 meters Centerline goodness : 0.787790 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.04, Z:-0.07 [[ 0.99983283 -0.01770255 -0.00457513 3.29049994] [ 0.01774252 0.99980343 0.00884874 -0.03875089] [ 0.00441758 -0.00892844 0.99995038 -0.06769842] [ 0. 0. 0. 1. ]] SLAMing on 4.862414037 meters Centerline goodness : 0.782272 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.04, Z:-0.07 [[ 0.99983772 -0.01741514 -0.00460992 3.29118766] [ 0.01745667 0.99980597 0.00912642 -0.04011388] [ 0.00445009 -0.00920541 0.99994773 -0.06848964] [ 0. 0. 0. 1. ]] SLAMing on 4.892414037 meters Centerline goodness : 0.784329 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.04, Z:-0.07 [[ 0.99983997 -0.01724983 -0.00474132 3.29176986] [ 0.01729346 0.999807 0.00932202 -0.04098938] [ 0.00457961 -0.00940253 0.99994531 -0.0689251 ] [ 0. 0. 0. 1. ]] SLAMing on 4.922414037 meters Centerline goodness : 0.782695 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.04, Z:-0.07 [[ 0.99988771 -0.01426234 -0.00459994 3.29124135] [ 0.01431847 0.99982049 0.01240845 -0.03921162] [ 0.00442214 -0.01247292 0.99991243 -0.06910754] [ 0. 0. 0. 1. ]] SLAMing on 4.9524140370000005 meters Centerline goodness : 0.782695 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.04, Z:-0.07 [[ 0.99988767 -0.01426493 -0.00459993 3.2912427 ] [ 0.01432105 0.99982049 0.01240531 -0.03920698] [ 0.00442214 -0.0124698 0.99991247 -0.06910893] [ 0. 0. 0. 1. ]] SLAMing on 4.982414037 meters Centerline goodness : 0.784235 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.04, Z:-0.07 [[ 0.99988667 -0.01426347 -0.00481567 3.29158377] [ 0.0143189 0.99982927 0.01167918 -0.03551417] [ 0.00464826 -0.01174682 0.9999202 -0.06872548] [ 0. 0. 0. 1. ]] SLAMing on 5.012414037 meters Centerline goodness : 0.781439 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.03, Z:-0.07 [[ 0.99988371 -0.01440336 -0.00501031 3.29167077] [ 0.01445724 0.99983618 0.01089055 -0.03260737] [ 0.00485263 -0.01096172 0.99992814 -0.0680588 ] [ 0. 0. 0. 1. ]] SLAMing on 5.042414037 meters Centerline goodness : 0.775849 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.03, Z:-0.07 [[ 0.99987577 -0.01499759 -0.00485 3.29032909] [ 0.01504576 0.99983627 0.01005235 -0.03259209] [ 0.00469845 -0.01012407 0.99993771 -0.06647674] [ 0. 0. 0. 1. ]] SLAMing on 5.072414037 meters Centerline goodness : 0.776243 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.03, Z:-0.07 [[ 0.99987131 -0.01536262 -0.00462136 3.28960552] [ 0.01540777 0.9998323 0.00989782 -0.03403366] [ 0.00446853 -0.00996775 0.99994034 -0.06612814] [ 0. 0. 0. 1. ]] SLAMing on 5.102414037 meters Centerline goodness : 0.777983 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.03, Z:-0.07 [[ 0.99986281 -0.01595703 -0.00444133 3.28866199] [ 0.01599815 0.999828 0.0093823 -0.03408231] [ 0.00429085 -0.00945207 0.99994612 -0.06536428] [ 0. 0. 0. 1. ]] SLAMing on 5.132414037 meters Centerline goodness : 0.781315 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.03, Z:-0.06 [[ 0.99989404 -0.01391638 -0.00427015 3.2869132 ] [ 0.01396602 0.99983258 0.01182211 -0.03312233] [ 0.00410492 -0.0118805 0.999921 -0.06412573] [ 0. 0. 0. 1. ]] SLAMing on 5.1624140370000005 meters Centerline goodness : 0.776451 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.03, Z:-0.06 [[ 0.99992965 -0.01116251 -0.00401229 3.28544027] [ 0.01121887 0.99983468 0.01430924 -0.02921297] [ 0.0038519 -0.01435325 0.99988957 -0.06310601] [ 0. 0. 0. 1. ]] SLAMing on 5.192414037 meters Centerline goodness : 0.775011 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.03, Z:-0.06 [[ 0.99992875 -0.01118058 -0.00418317 3.28587913] [ 0.01123798 0.99983938 0.0139612 -0.02774202] [ 0.00402641 -0.01400722 0.99989379 -0.06309352] [ 0. 0. 0. 1. ]] SLAMing on 5.222414037 meters Centerline goodness : 0.774902 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.03, Z:-0.06 [[ 0.99992897 -0.01114916 -0.00421226 3.28650969] [ 0.01120721 0.99983894 0.01401778 -0.02805138] [ 0.0040553 -0.01406399 0.99989287 -0.06387591] [ 0. 0. 0. 1. ]] SLAMing on 5.252414037 meters Centerline goodness : 0.774137 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.03, Z:-0.07 [[ 0.99990036 -0.01336339 -0.00454813 3.28948377] [ 0.0134136 0.99984735 0.01119571 -0.02814119] [ 0.00439782 -0.0112556 0.99992698 -0.06630509] [ 0. 0. 0. 1. ]] SLAMing on 5.282414037 meters Centerline goodness : 0.775754 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.03, Z:-0.07 [[ 0.99989718 -0.01363347 -0.00444418 3.28930005] [ 0.01368106 0.99984743 0.01086002 -0.02742056] [ 0.00429544 -0.01091971 0.99993115 -0.06633002] [ 0. 0. 0. 1. ]] SLAMing on 5.312414037 meters Centerline goodness : 0.773641 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.02, Z:-0.07 [[ 0.99988936 -0.01424418 -0.00428626 3.28836781] [ 0.014285 0.9998514 0.00964969 -0.02332633] [ 0.00414817 -0.00970985 0.99994425 -0.06526273] [ 0. 0. 0. 1. ]] SLAMing on 5.342414037 meters Centerline goodness : 0.770641 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.02, Z:-0.06 [[ 0.99988207 -0.01474104 -0.00430645 3.28801005] [ 0.01477867 0.99985168 0.0088432 -0.02109413] [ 0.00417545 -0.0089058 0.99995162 -0.06468194] [ 0. 0. 0. 1. ]] SLAMing on 5.372414037 meters Centerline goodness : 0.771528 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.02, Z:-0.06 [[ 0.99987644 -0.01512948 -0.00426756 3.28773557] [ 0.01516491 0.99984975 0.0083966 -0.01989128] [ 0.00413988 -0.00846028 0.99995564 -0.06444922] [ 0. 0. 0. 1. ]] SLAMing on 5.402414037 meters Centerline goodness : 0.770297 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.02, Z:-0.06 [[ 0.99986269 -0.01609787 -0.00393312 3.28702086] [ 0.01612866 0.99983851 0.0079261 -0.0202217 ] [ 0.00380489 -0.00798845 0.99996085 -0.0647526 ] [ 0. 0. 0. 1. ]] SLAMing on 5.432414037 meters Centerline goodness : 0.768624 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.02, Z:-0.07 [[ 0.999862 -0.01615578 -0.00386865 3.28733401] [ 0.01618746 0.9998345 0.00830249 -0.02159413] [ 0.00373388 -0.00836397 0.99995805 -0.06552635] [ 0. 0. 0. 1. ]] SLAMing on 5.462414037 meters Centerline goodness : 0.771165 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.02, Z:-0.07 [[ 0.99985028 -0.01692862 -0.00358301 3.28658833] [ 0.01695638 0.9998253 0.00786456 -0.02220719] [ 0.00344925 -0.00792414 0.99996265 -0.06549711] [ 0. 0. 0. 1. ]] SLAMing on 5.4924140370000005 meters Centerline goodness : 0.773717 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.02, Z:-0.07 [[ 0.99984763 -0.01707099 -0.00364776 3.28669244] [ 0.01709869 0.99982413 0.00770294 -0.02146724] [ 0.00351562 -0.00776414 0.99996368 -0.06547156] [ 0. 0. 0. 1. ]] SLAMing on 5.522414037 meters Centerline goodness : 0.775084 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.02, Z:-0.06 [[ 9.99879233e-01 -1.51616853e-02 -3.41220027e-03 3.28477115e+00] [ 1.51952035e-02 9.99834325e-01 1.00213891e-02 -1.96534276e-02] [ 3.25969380e-03 -1.00720280e-02 9.99943963e-01 -6.42541279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.552414037 meters Centerline goodness : 0.772927 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.02, Z:-0.07 [[ 0.99988175 -0.0149335 -0.00367 3.28614358] [ 0.01496892 0.99983972 0.00982122 -0.01761287] [ 0.00352275 -0.00987499 0.99994504 -0.06526184] [ 0. 0. 0. 1. ]] SLAMing on 5.582414037 meters Centerline goodness : 0.772927 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.02, Z:-0.07 [[ 0.99988175 -0.0149335 -0.00367 3.28614358] [ 0.01496892 0.99983972 0.00982122 -0.01761287] [ 0.00352275 -0.00987499 0.99994504 -0.06526184] [ 0. 0. 0. 1. ]] SLAMing on 5.612414037 meters Centerline goodness : 0.773505 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.02, Z:-0.07 [[ 0.99988322 -0.01482829 -0.00369659 3.28643619] [ 0.01486273 0.99984468 0.00947195 -0.01684837] [ 0.00355556 -0.00952579 0.99994831 -0.0653041 ] [ 0. 0. 0. 1. ]] SLAMing on 5.642414037 meters Centerline goodness : 0.770060 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.02, Z:-0.06 [[ 0.99988212 -0.01489148 -0.00373912 3.28599278] [ 0.0149245 0.99984845 0.00896296 -0.01580605] [ 0.00360508 -0.00901771 0.99995284 -0.06431112] [ 0. 0. 0. 1. ]] SLAMing on 5.672414037 meters Centerline goodness : 0.771161 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.01, Z:-0.06 [[ 9.99921579e-01 -1.20488665e-02 -3.41490776e-03 3.28383269e+00] [ 1.20872801e-02 9.99861265e-01 1.14607242e-02 -1.42965452e-02] [ 3.27634526e-03 -1.15011023e-02 9.99928493e-01 -6.24107415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7024140370000005 meters Centerline goodness : 0.770004 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.01, Z:-0.06 [[ 9.99954800e-01 -8.90911867e-03 -3.32047578e-03 3.28285981e+00] [ 8.95734823e-03 9.99850283e-01 1.48046666e-02 -1.42453223e-02] [ 3.18808211e-03 -1.48337401e-02 9.99884892e-01 -6.18091851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.732414037 meters Centerline goodness : 0.778297 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.01, Z:-0.06 [[ 0.99996163 -0.00806094 -0.00343031 3.28388524] [ 0.00811018 0.99986066 0.01459091 -0.01127696] [ 0.00331222 -0.01461817 0.99988766 -0.06220157] [ 0. 0. 0. 1. ]] SLAMing on 5.762414037 meters Centerline goodness : 0.770646 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.01, Z:-0.06 [[ 0.99996148 -0.00800628 -0.00359729 3.28410145] [ 0.00805676 0.99986606 0.01424623 -0.01035557] [ 0.00348275 -0.01427467 0.99989205 -0.06178586] [ 0. 0. 0. 1. ]] SLAMing on 5.792414037 meters Centerline goodness : 0.777743 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.01, Z:-0.06 [[ 0.99996007 -0.00815777 -0.00364932 3.2838203 ] [ 0.00820714 0.99987213 0.01372433 -0.00956302] [ 0.00353689 -0.01375374 0.99989916 -0.06101758] [ 0. 0. 0. 1. ]] SLAMing on 5.822414037 meters Centerline goodness : 0.778259 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.01, Z:-0.06 [[ 0.99995958 -0.00815211 -0.00379292 3.28382802] [ 0.00820204 0.99987737 0.01334045 -0.00836095] [ 0.00368371 -0.01337102 0.99990382 -0.06041211] [ 0. 0. 0. 1. ]] SLAMing on 5.852414037 meters Centerline goodness : 0.769866 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.00, Z:-0.06 [[ 0.99995983 -0.00805568 -0.0039308 3.28427064] [ 0.00810371 0.99989078 0.01235993 -0.00410523] [ 0.0038308 -0.01239128 0.99991589 -0.06009034] [ 0. 0. 0. 1. ]] SLAMing on 5.882414037 meters Centerline goodness : 0.769279 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.00, Z:-0.06 [[ 0.99995931 -0.00801873 -0.00413229 3.28499905] [ 0.00806837 0.99989376 0.01213986 -0.00331533] [ 0.0040345 -0.01217271 0.99991777 -0.0604337 ] [ 0. 0. 0. 1. ]] SLAMing on 5.9124140370000005 meters Centerline goodness : 0.776647 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.00, Z:-0.06 [[ 0.99993007 -0.01101766 -0.00429718 3.28661389] [ 0.01105495 0.99990059 0.00875193 -0.00405126] [ 0.00420032 -0.00879882 0.99995247 -0.06163394] [ 0. 0. 0. 1. ]] SLAMing on 5.942414037 meters Centerline goodness : 0.766323 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.00, Z:-0.06 [[ 0.99992704 -0.01142935 -0.00390846 3.28553368] [ 0.01146236 0.99989791 0.00853105 -0.00485605] [ 0.00381056 -0.00857523 0.99995597 -0.06125971] [ 0. 0. 0. 1. ]] SLAMing on 5.972414037 meters Centerline goodness : 0.768188 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.00, Z:-0.06 [[ 0.99992398 -0.01174473 -0.00375406 3.28476151] [ 0.01177509 0.99989729 0.00817076 -0.00449416] [ 0.00365771 -0.00821435 0.99995957 -0.06056361] [ 0. 0. 0. 1. ]] SLAMing on 6.002414037 meters Centerline goodness : 0.776511 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.00, Z:-0.06 [[ 9.99951039e-01 -9.34784774e-03 -3.24622328e-03 3.28238053e+00] [ 9.38249977e-03 9.99897349e-01 1.08286499e-02 -2.72777619e-03] [ 3.14466548e-03 -1.08585774e-02 9.99936099e-01 -5.91831299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.032414037 meters Centerline goodness : 0.775691 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.00, Z:-0.06 [[ 9.99950506e-01 -9.30517293e-03 -3.52136500e-03 3.28315245e+00] [ 9.34192236e-03 9.99900521e-01 1.05676995e-02 -1.21719146e-03] [ 3.42268043e-03 -1.06000727e-02 9.99937960e-01 -5.93515270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.062414037 meters Centerline goodness : 0.777207 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.00, Z:-0.06 [[ 9.99950925e-01 -9.11517178e-03 -3.88091877e-03 3.28431074e+00] [ 9.15584292e-03 9.99901961e-01 1.05942579e-02 -8.34253480e-04] [ 3.78396981e-03 -1.06292710e-02 9.99936348e-01 -5.98452714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.092414037 meters Centerline goodness : 0.774548 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.00, Z:-0.06 [[ 9.99948018e-01 -9.48797353e-03 -3.73349749e-03 3.28366350e+00] [ 9.52653771e-03 9.99900009e-01 1.04507074e-02 -3.19270192e-03] [ 3.63396814e-03 -1.04857315e-02 9.99938420e-01 -5.94081130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.122414037 meters Centerline goodness : 0.775918 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.00, Z:-0.06 [[ 0.99994316 -0.0101016 -0.00341185 3.28204609] [ 0.01013488 0.99989982 0.00988135 -0.0038155 ] [ 0.00331169 -0.00991537 0.99994536 -0.05801979] [ 0. 0. 0. 1. ]] SLAMing on 6.152414037 meters Centerline goodness : 0.765310 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.00, Z:-0.06 [[ 9.99938304e-01 -1.06148137e-02 -3.27336410e-03 3.28073256e+00] [ 1.06444056e-02 9.99901397e-01 9.15933275e-03 -3.04211192e-03] [ 3.17581673e-03 -9.19361066e-03 9.99952695e-01 -5.64777555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.182414037 meters Centerline goodness : 0.775987 Centerline is valid? [False, False] Translation: X:3.28, Y:0.00, Z:-0.05 [[ 9.99963224e-01 -8.06895138e-03 -2.90564450e-03 3.27835773e+00] [ 8.10146515e-03 9.99902681e-01 1.13575824e-02 7.51560509e-04] [ 2.81371795e-03 -1.13807047e-02 9.99931279e-01 -5.44251169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.212414037 meters Centerline goodness : 0.775851 Centerline is valid? [False, False] Translation: X:3.28, Y:0.00, Z:-0.05 [[ 9.99964220e-01 -7.83868994e-03 -3.18005028e-03 3.27911545e+00] [ 7.87298265e-03 9.99909398e-01 1.09184493e-02 3.29441645e-03] [ 3.09417582e-03 -1.09430951e-02 9.99935335e-01 -5.43656770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2424140370000005 meters Centerline goodness : 0.777150 Centerline is valid? [False, False] Translation: X:3.28, Y:0.00, Z:-0.06 [[ 0.99996948 -0.00701859 -0.00343198 3.28086374] [ 0.00705651 0.9999128 0.01116265 0.00408562] [ 0.00335333 -0.01118652 0.99993181 -0.05573173] [ 0. 0. 0. 1. ]] SLAMing on 6.272414037 meters Centerline goodness : 0.775225 Centerline is valid? [False, False] Translation: X:3.28, Y:0.00, Z:-0.06 [[ 9.99972372e-01 -6.48217462e-03 -3.63829108e-03 3.28207134e+00] [ 6.52377772e-03 9.99912109e-01 1.15418436e-02 2.93030481e-03] [ 3.56315507e-03 -1.15652601e-02 9.99926772e-01 -5.66721003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.302414037 meters Centerline goodness : 0.766439 Centerline is valid? [False, False] Translation: X:3.28, Y:0.00, Z:-0.06 [[ 9.99974857e-01 -6.00752131e-03 -3.76775552e-03 3.28293507e+00] [ 6.05137481e-03 9.99912798e-01 1.17378136e-02 2.14618207e-03] [ 3.69691181e-03 -1.17603185e-02 9.99924011e-01 -5.72592704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.332414037 meters Centerline goodness : 0.775416 Centerline is valid? [False, False] Translation: X:3.28, Y:0.00, Z:-0.06 [[ 9.99992153e-01 -1.89267905e-03 -3.48013364e-03 3.28180269e+00] [ 1.94595249e-03 9.99880000e-01 1.53687461e-02 2.21143647e-03] [ 3.45062792e-03 -1.53753977e-02 9.99875837e-01 -5.62428125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.362414037 meters Centerline goodness : 0.772803 Centerline is valid? [False, False] Translation: X:3.28, Y:0.00, Z:-0.05 [[ 9.99993381e-01 1.58725250e-03 -3.27391688e-03 3.28030771e+00] [-1.52618663e-03 9.99826377e-01 1.85711461e-02 3.26403895e-03] [ 3.30282555e-03 -1.85660265e-02 9.99822181e-01 -5.47445287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.392414037 meters Centerline goodness : 0.776332 Centerline is valid? [False, False] Translation: X:3.28, Y:0.01, Z:-0.05 [[ 0.9999735 0.00649443 -0.00328884 3.28001013] [-0.00642142 0.99974299 0.02174218 0.00778925] [ 0.00342919 -0.02172048 0.9997582 -0.05300392] [ 0. 0. 0. 1. ]] SLAMing on 6.422414037 meters Centerline goodness : 0.777074 Centerline is valid? [False, False] Translation: X:3.28, Y:0.01, Z:-0.05 [[ 0.99996598 0.00742758 -0.00358694 3.28129634] [-0.00734838 0.99973947 0.02161008 0.00979314] [ 0.00374651 -0.02158298 0.99976004 -0.05321705] [ 0. 0. 0. 1. ]] SLAMing on 6.4524140370000005 meters Centerline goodness : 0.774048 Centerline is valid? [False, False] Translation: X:3.28, Y:0.01, Z:-0.05 [[ 0.99995789 0.00826907 -0.0039801 3.28291801] [-0.0081799 0.9997262 0.02192305 0.00989154] [ 0.00416029 -0.02188957 0.99975174 -0.05401189] [ 0. 0. 0. 1. ]] SLAMing on 6.482414037 meters Centerline goodness : 0.773666 Centerline is valid? [False, False] Translation: X:3.28, Y:0.01, Z:-0.05 [[ 0.9998747 0.01203552 -0.01028247 3.27556983] [-0.01190241 0.99984583 0.0129096 0.00914589] [ 0.01043626 -0.0127856 0.9998638 -0.05097588] [ 0. 0. 0. 1. ]] SLAMing on 6.512414037 meters Centerline goodness : 0.776261 Centerline is valid? [False, False] Translation: X:3.27, Y:0.01, Z:-0.05 [[ 0.9998395 0.01500284 -0.00979232 3.27387349] [-0.01484065 0.99975488 0.01642985 0.00612968] [ 0.01003641 -0.01628189 0.99981707 -0.05040694] [ 0. 0. 0. 1. ]] SLAMing on 6.542414037 meters Centerline goodness : 0.777728 Centerline is valid? [False, False] Translation: X:3.27, Y:0.01, Z:-0.05 [[ 0.99978641 0.01816536 -0.00985641 3.27353478] [-0.01796771 0.99964282 0.01978382 0.00563951] [ 0.01021227 -0.0196025 0.9997557 -0.05001421] [ 0. 0. 0. 1. ]] SLAMing on 6.572414037 meters Centerline goodness : 0.779223 Centerline is valid? [False, False] Translation: X:3.27, Y:0.01, Z:-0.05 [[ 0.99970833 0.0220477 -0.00985635 3.27348892] [-0.02181379 0.99949188 0.0232408 0.00769377] [ 0.01036375 -0.02301902 0.99968131 -0.04973379] [ 0. 0. 0. 1. ]] SLAMing on 6.602414037 meters Centerline goodness : 0.778582 Centerline is valid? [False, False] Translation: X:3.28, Y:0.01, Z:-0.05 [[ 0.99967984 0.02297452 -0.01060117 3.27583376] [-0.02271885 0.9994624 0.02363827 0.00844988] [ 0.01113855 -0.02338986 0.99966437 -0.05073298] [ 0. 0. 0. 1. ]] SLAMing on 6.632414037 meters Centerline goodness : 0.775322 Centerline is valid? [False, False] Translation: X:3.28, Y:0.01, Z:-0.05 [[ 0.99964105 0.02415838 -0.01158244 3.2790847 ] [-0.02386497 0.9994067 0.02483368 0.00617798] [ 0.01217551 -0.02454835 0.9996245 -0.05260763] [ 0. 0. 0. 1. ]] SLAMing on 6.6624140370000005 meters Centerline goodness : 0.769978 Centerline is valid? [False, False] Translation: X:3.29, Y:0.00, Z:-0.06 [[ 0.999771 0.01993533 -0.00777952 3.29347133] [-0.01970375 0.99939131 0.02878831 0.00427407] [ 0.00834869 -0.02862843 0.99955526 -0.0564221 ] [ 0. 0. 0. 1. ]] SLAMing on 6.692414037 meters Centerline goodness : 0.771667 Centerline is valid? [False, False] Translation: X:3.31, Y:0.00, Z:-0.06 [[ 9.99860785e-01 1.62855538e-02 -3.63201715e-03 3.30756672e+00] [-1.61561708e-02 9.99318577e-01 3.31867509e-02 2.39943372e-03] [ 4.17000683e-03 -3.31234513e-02 9.99442569e-01 -5.95989454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.722414037 meters Centerline goodness : 0.774466 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.00, Z:-0.06 [[ 9.99931499e-01 1.15109738e-02 2.12015614e-03 3.31931066e+00] [-1.15812234e-02 9.99255455e-01 3.68023281e-02 -3.63791038e-04] [-1.69494696e-03 -3.68243611e-02 9.99320316e-01 -6.22974019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.752414037 meters Centerline goodness : 0.772193 Centerline is valid? [False, False] Translation: X:3.35, Y:0.00, Z:-0.06 [[ 9.99964449e-01 8.42934580e-03 -2.16451889e-04 3.34773551e+00] [-8.41989121e-03 9.99566919e-01 2.81971658e-02 2.01753674e-03] [ 4.54041809e-04 -2.81943408e-02 9.99602357e-01 -5.59620810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.782414037 meters Centerline goodness : 0.772078 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.00, Z:-0.06 [[ 9.99983968e-01 3.92368661e-03 4.08265603e-03 3.35616606e+00] [-4.07106149e-03 9.99316618e-01 3.67385814e-02 -8.07307487e-04] [-3.93571534e-03 -3.67546132e-02 9.99316571e-01 -5.77971355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.812414037 meters Centerline goodness : 0.777078 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.00, Z:-0.06 [[ 9.99988801e-01 3.32325698e-03 3.36954164e-03 3.35710007e+00] [-3.44367169e-03 9.99331963e-01 3.63836449e-02 -1.34829182e-03] [-3.24637846e-03 -3.63948410e-02 9.99332215e-01 -5.74644922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.842414037 meters Centerline goodness : 0.773899 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.00, Z:-0.06 [[ 9.99994435e-01 2.33745421e-03 2.38027853e-03 3.35851757e+00] [-2.42020081e-03 9.99371169e-01 3.53752704e-02 -1.08523978e-03] [-2.29609366e-03 -3.53808343e-02 9.99371265e-01 -5.69364468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.872414037 meters Centerline goodness : 0.773899 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.00, Z:-0.06 [[ 9.99994501e-01 2.34939558e-03 2.34060281e-03 3.35858689e+00] [-2.42963438e-03 9.99388218e-01 3.48896248e-02 -1.24606717e-04] [-2.25720135e-03 -3.48951198e-02 9.99388431e-01 -5.68686764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.902414037 meters Centerline goodness : 0.775181 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.00, Z:-0.06 [[ 9.99996548e-01 1.76860170e-03 1.94309025e-03 3.35891154e+00] [-1.83523703e-03 9.99391062e-01 3.48444797e-02 -1.39841295e-03] [-1.88028102e-03 -3.48479255e-02 9.99390858e-01 -5.64989559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.932414037 meters Centerline goodness : 0.777220 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.00, Z:-0.06 [[ 9.99996182e-01 -2.10883128e-03 1.78589543e-03 3.35885261e+00] [ 2.05165207e-03 9.99503679e-01 3.14354258e-02 -3.59107331e-03] [-1.85130106e-03 -3.14316417e-02 9.99504189e-01 -5.58807829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.962414037 meters Centerline goodness : 0.777054 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.00, Z:-0.05 [[ 9.99988112e-01 -1.84326214e-03 -4.51412316e-03 3.35008833e+00] [ 1.93579641e-03 9.99786315e-01 2.05809927e-02 -2.30686648e-03] [ 4.47522239e-03 -2.05894865e-02 9.99777998e-01 -5.20790673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.992414037 meters Centerline goodness : 0.777841 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.01, Z:-0.05 [[ 0.99997457 -0.00514005 -0.00494403 3.35222675] [ 0.00522967 0.99981905 0.01828957 -0.00566637] [ 0.00484913 -0.01831496 0.99982051 -0.05423976] [ 0. 0. 0. 1. ]] SLAMing on 7.022414037 meters Centerline goodness : 0.777903 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.01, Z:-0.06 [[ 0.99997413 -0.00523703 -0.00493048 3.35264422] [ 0.00532902 0.99980844 0.01883295 -0.00696791] [ 0.00483091 -0.01885873 0.99981049 -0.05525157] [ 0. 0. 0. 1. ]] SLAMing on 7.052414037 meters Centerline goodness : 0.776774 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.01, Z:-0.06 [[ 0.99997247 -0.0055449 -0.00493159 3.35286813] [ 0.00563751 0.99980424 0.01896555 -0.00741997] [ 0.00482546 -0.01899283 0.99980798 -0.05590674] [ 0. 0. 0. 1. ]] SLAMing on 7.082414037 meters Centerline goodness : 0.775963 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.01, Z:-0.05 [[ 0.99993083 -0.00389913 -0.01109625 3.34301646] [ 0.00403474 0.99991713 0.01222542 -0.00707033] [ 0.01104766 -0.01226934 0.9998637 -0.05415708] [ 0. 0. 0. 1. ]] SLAMing on 7.112414037 meters Centerline goodness : 0.775538 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.01, Z:-0.05 [[ 0.99993062 -0.00411775 -0.01103589 3.3429107 ] [ 0.00425431 0.99991432 0.01237926 -0.00794329] [ 0.01098397 -0.01242535 0.99986247 -0.05434335] [ 0. 0. 0. 1. ]] SLAMing on 7.142414037 meters Centerline goodness : 0.774960 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.01, Z:-0.06 [[ 0.99992258 -0.00593023 -0.01093921 3.33117176] [ 0.0061568 0.99976479 0.02079577 -0.01061021] [ 0.01081331 -0.02086151 0.9997239 -0.05569143] [ 0. 0. 0. 1. ]] SLAMing on 7.172414037 meters Centerline goodness : 0.777773 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.01, Z:-0.06 [[ 0.9999221 -0.00623688 -0.01081181 3.33050342] [ 0.006458 0.99976819 0.02053946 -0.01069978] [ 0.0106812 -0.02060768 0.99973058 -0.05512522] [ 0. 0. 0. 1. ]] SLAMing on 7.202414037 meters Centerline goodness : 0.776386 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.01, Z:-0.05 [[ 0.99992016 -0.00662336 -0.01076105 3.32985722] [ 0.00683799 0.99977594 0.02003292 -0.01024132] [ 0.01062596 -0.0201049 0.99974141 -0.05431426] [ 0. 0. 0. 1. ]] SLAMing on 7.232414037 meters Centerline goodness : 0.778461 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.01, Z:-0.05 [[ 0.9999169 -0.00743508 -0.01053155 3.32828225] [ 0.00763433 0.99979019 0.01900753 -0.00857447] [ 0.01038802 -0.01908635 0.99976387 -0.05276865] [ 0. 0. 0. 1. ]] SLAMing on 7.262414037 meters Centerline goodness : 0.777670 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.01, Z:-0.05 [[ 0.99991336 -0.00795465 -0.01048783 3.32759902] [ 0.00814475 0.99980102 0.01820933 -0.00693651] [ 0.0103409 -0.01829317 0.99977919 -0.05189605] [ 0. 0. 0. 1. ]] SLAMing on 7.292414037 meters Centerline goodness : 0.776863 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.00, Z:-0.05 [[ 0.99990905 -0.00825606 -0.01066451 3.32853813] [ 0.0084434 0.9998087 0.01764268 -0.0046664 ] [ 0.01051681 -0.01773112 0.99978748 -0.05277182] [ 0. 0. 0. 1. ]] SLAMing on 7.322414037 meters Centerline goodness : 0.777443 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.00, Z:-0.05 [[ 0.99990771 -0.00824906 -0.01079511 3.32951375] [ 0.0084391 0.99980809 0.01767927 -0.0045849 ] [ 0.0106472 -0.01776874 0.99978543 -0.05384542] [ 0. 0. 0. 1. ]] SLAMing on 7.352414037 meters Centerline goodness : 0.776786 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.01, Z:-0.05 [[ 0.99990569 -0.00842052 -0.01084942 3.32995575] [ 0.00861063 0.99980809 0.01759633 -0.00513935] [ 0.01069916 -0.01768809 0.99978631 -0.05435766] [ 0. 0. 0. 1. ]] SLAMing on 7.382414037 meters Centerline goodness : 0.780403 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.01, Z:-0.05 [[ 0.9999041 -0.0087342 -0.01074734 3.32969746] [ 0.00892005 0.99980938 0.01736782 -0.00560367] [ 0.01059359 -0.01746202 0.99979141 -0.05436491] [ 0. 0. 0. 1. ]] SLAMing on 7.4124140370000005 meters Centerline goodness : 0.776629 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.00, Z:-0.05 [[ 0.99990194 -0.00932374 -0.01044865 3.32830331] [ 0.00949407 0.99982088 0.01637276 -0.00362071] [ 0.01029412 -0.01647035 0.99981136 -0.05300343] [ 0. 0. 0. 1. ]] SLAMing on 7.442414037 meters Centerline goodness : 0.776595 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.00, Z:-0.05 [[ 9.99926853e-01 -6.81770594e-03 -9.99036814e-03 3.32572484e+00] [ 7.00312621e-03 9.99801659e-01 1.86439818e-02 -7.90068585e-05] [ 9.86127746e-03 -1.87125818e-02 9.99776272e-01 -5.10719431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.472414037 meters Centerline goodness : 0.773399 Centerline is valid? [False, False] Translation: X:3.33, Y:0.00, Z:-0.05 [[ 9.99923359e-01 -6.98214852e-03 -1.02237818e-02 3.32611198e+00] [ 7.16379148e-03 9.99815204e-01 1.78392101e-02 2.82856800e-03] [ 1.00973365e-02 -1.79110839e-02 9.99788596e-01 -5.07177612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.502414037 meters Centerline goodness : 0.774639 Centerline is valid? [False, False] Translation: X:3.33, Y:0.00, Z:-0.05 [[ 0.99992203 -0.00696406 -0.01036541 3.32652273] [ 0.00714469 0.99982147 0.0174924 0.00433425] [ 0.01024174 -0.01756509 0.99979327 -0.0507827 ] [ 0. 0. 0. 1. ]] SLAMing on 7.532414037 meters Centerline goodness : 0.771757 Centerline is valid? [False, False] Translation: X:3.33, Y:0.00, Z:-0.05 [[ 0.9999198 -0.00694792 -0.01058862 3.32720051] [ 0.00712955 0.99982643 0.01721293 0.00496462] [ 0.01046719 -0.01728704 0.99979578 -0.05099582] [ 0. 0. 0. 1. ]] SLAMing on 7.562414037 meters Centerline goodness : 0.774167 Centerline is valid? [False, False] Translation: X:3.33, Y:0.00, Z:-0.05 [[ 0.99991974 -0.00724622 -0.01039215 3.32672563] [ 0.00741842 0.99983422 0.01662849 0.00495721] [ 0.01026993 -0.01670425 0.99980773 -0.05076384] [ 0. 0. 0. 1. ]] SLAMing on 7.592414037 meters Centerline goodness : 0.776238 Centerline is valid? [False, False] Translation: X:3.33, Y:0.01, Z:-0.05 [[ 0.99991826 -0.00753868 -0.01032702 3.32629096] [ 0.00770278 0.99984322 0.01594372 0.00628097] [ 0.01020521 -0.01602197 0.99981956 -0.05015537] [ 0. 0. 0. 1. ]] SLAMing on 7.622414037 meters Centerline goodness : 0.772699 Centerline is valid? [False, False] Translation: X:3.33, Y:0.01, Z:-0.05 [[ 0.99992018 -0.00722127 -0.01036763 3.32676984] [ 0.00737808 0.99985774 0.01516779 0.01037031] [ 0.01025662 -0.01524307 0.99983121 -0.05014463] [ 0. 0. 0. 1. ]] SLAMing on 7.652414037 meters Centerline goodness : 0.772705 Centerline is valid? [False, False] Translation: X:3.33, Y:0.01, Z:-0.05 [[ 0.99991894 -0.0069944 -0.01063952 3.3278375 ] [ 0.00715007 0.99986691 0.0146642 0.01306404] [ 0.01053554 -0.01473908 0.99983587 -0.05055156] [ 0. 0. 0. 1. ]] SLAMing on 7.682414037 meters Centerline goodness : 0.771987 Centerline is valid? [False, False] Translation: X:3.33, Y:0.02, Z:-0.05 [[ 0.99991822 -0.00649196 -0.01101873 3.32933792] [ 0.00665191 0.99987213 0.01454251 0.01515536] [ 0.01092291 -0.01461462 0.99983354 -0.05129794] [ 0. 0. 0. 1. ]] SLAMing on 7.712414037 meters Centerline goodness : 0.770864 Centerline is valid? [False, False] Translation: X:3.33, Y:0.02, Z:-0.05 [[ 9.99935663e-01 -2.76403812e-03 -1.10013598e-02 3.32913556e+00] [ 2.96221100e-03 9.99832911e-01 1.80381464e-02 1.62189087e-02] [ 1.09496635e-02 -1.80695742e-02 9.99776773e-01 -5.12663657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.742414037 meters Centerline goodness : 0.770305 Centerline is valid? [False, False] Translation: X:3.33, Y:0.02, Z:-0.05 [[ 9.99934759e-01 -2.56756175e-03 -1.11303566e-02 3.32924990e+00] [ 2.76543243e-03 9.99837765e-01 1.77987840e-02 1.69003021e-02] [ 1.10828514e-02 -1.78284030e-02 9.99779635e-01 -5.08210000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.772414037 meters Centerline goodness : 0.778497 Centerline is valid? [False, False] Translation: X:3.32, Y:0.02, Z:-0.05 [[ 9.99984238e-01 1.88329020e-03 -5.28928562e-03 3.31984745e+00] [-1.81695040e-03 9.99919981e-01 1.25192214e-02 1.72288253e-02] [ 5.31243970e-03 -1.25094137e-02 9.99907642e-01 -5.34420268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.802414037 meters Centerline goodness : 0.777860 Centerline is valid? [False, False] Translation: X:3.32, Y:0.02, Z:-0.05 [[ 9.99984223e-01 1.95206690e-03 -5.26711738e-03 3.31966507e+00] [-1.88689316e-03 9.99921950e-01 1.23504266e-02 1.75896024e-02] [ 5.29081514e-03 -1.23402932e-02 9.99909858e-01 -5.30786721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.832414037 meters Centerline goodness : 0.770574 Centerline is valid? [False, False] Translation: X:3.32, Y:0.02, Z:-0.05 [[ 0.99997848 0.00461721 -0.00466013 3.31734889] [-0.00454511 0.99987164 0.01536361 0.01775291] [ 0.00473047 -0.01534209 0.99987111 -0.05195945] [ 0. 0. 0. 1. ]] SLAMing on 7.862414037 meters Centerline goodness : 0.771575 Centerline is valid? [False, False] Translation: X:3.32, Y:0.02, Z:-0.05 [[ 0.99997983 0.00442054 -0.0045604 3.31713738] [-0.00435289 0.99988189 0.01473973 0.01948338] [ 0.00462502 -0.01471958 0.99988096 -0.05172021] [ 0. 0. 0. 1. ]] SLAMing on 7.892414037 meters Centerline goodness : 0.777914 Centerline is valid? [False, False] Translation: X:3.32, Y:0.02, Z:-0.05 [[ 0.99998094 0.00423056 -0.00449728 3.3167902 ] [-0.0041643 0.99988415 0.01464046 0.01924274] [ 0.0045587 -0.01462145 0.99988271 -0.05146989] [ 0. 0. 0. 1. ]] SLAMing on 7.922414037 meters Centerline goodness : 0.773070 Centerline is valid? [False, False] Translation: X:3.32, Y:0.02, Z:-0.05 [[ 0.99998245 0.00395591 -0.00440974 3.31615086] [-0.00389089 0.99988501 0.01465706 0.01802039] [ 0.00446722 -0.01463964 0.99988286 -0.05092669] [ 0. 0. 0. 1. ]] SLAMing on 7.952414037 meters Centerline goodness : 0.771152 Centerline is valid? [False, False] Translation: X:3.31, Y:0.02, Z:-0.05 [[ 9.99987205e-01 3.17255271e-03 -3.94019744e-03 3.31404885e+00] [-3.11533714e-03 9.99890838e-01 1.44432134e-02 1.57374340e-02] [ 3.98558918e-03 -1.44307535e-02 9.99887928e-01 -4.95078279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.982414037 meters Centerline goodness : 0.771985 Centerline is valid? [False, False] Translation: X:3.31, Y:0.02, Z:-0.05 [[ 9.99988083e-01 2.95258758e-03 -3.88797972e-03 3.31361175e+00] [-2.89683434e-03 9.99894007e-01 1.42682857e-02 1.54831650e-02] [ 3.92969598e-03 -1.42568528e-02 9.99890644e-01 -4.90199630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.012414037 meters Centerline goodness : 0.772950 Centerline is valid? [False, False] Translation: X:3.31, Y:0.01, Z:-0.05 [[ 0.9999772 0.0054624 -0.0039697 3.3129148 ] [-0.00539007 0.9998233 0.01800852 0.01427016] [ 0.00406737 -0.01798671 0.99982995 -0.04896144] [ 0. 0. 0. 1. ]] SLAMing on 8.042414036999999 meters Centerline goodness : 0.773279 Centerline is valid? [False, False] Translation: X:3.30, Y:0.02, Z:-0.05 [[ 0.99990696 0.00777726 -0.01120629 3.3037303 ] [-0.00765241 0.99990865 0.01114123 0.01640821] [ 0.01129192 -0.01105444 0.99987514 -0.04631571] [ 0. 0. 0. 1. ]] SLAMing on 8.072414037 meters Centerline goodness : 0.773484 Centerline is valid? [False, False] Translation: X:3.30, Y:0.02, Z:-0.05 [[ 0.99990716 0.00777314 -0.01119172 3.30390238] [-0.00764467 0.99990492 0.0114762 0.01538543] [ 0.01127986 -0.01138957 0.99987151 -0.04673071] [ 0. 0. 0. 1. ]] SLAMing on 8.102414036999999 meters Centerline goodness : 0.774683 Centerline is valid? [False, False] Translation: X:3.30, Y:0.01, Z:-0.05 [[ 0.99990907 0.00750066 -0.01120722 3.3037138 ] [-0.00737073 0.99990566 0.01159026 0.01398353] [ 0.0112931 -0.0115066 0.99987002 -0.04666241] [ 0. 0. 0. 1. ]] SLAMing on 8.132414036999998 meters Centerline goodness : 0.774437 Centerline is valid? [False, False] Translation: X:3.27, Y:0.01, Z:-0.05 [[ 0.99995763 0.00575508 -0.00718436 3.27232826] [-0.00563318 0.99984174 0.01687504 0.00738604] [ 0.00728034 -0.01683386 0.99983179 -0.05257555] [ 0. 0. 0. 1. ]] SLAMing on 8.162414037 meters Centerline goodness : 0.776765 Centerline is valid? [False, False] Translation: X:3.24, Y:0.01, Z:-0.06 [[ 0.99998867 0.00347612 -0.00325076 3.23997571] [-0.00341399 0.999815 0.01892894 0.00656272] [ 0.00331596 -0.01891762 0.99981555 -0.05600946] [ 0. 0. 0. 1. ]] SLAMing on 8.192414036999999 meters Centerline goodness : 0.774909 Centerline is valid? [False, False] Translation: X:3.24, Y:0.01, Z:-0.06 [[ 9.99990171e-01 3.11352889e-03 -3.15655728e-03 3.23925120e+00] [-3.05341602e-03 9.99817226e-01 1.88730325e-02 5.46568283e-03] [ 3.21474208e-03 -1.88632087e-02 9.99816906e-01 -5.53682543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.222414036999998 meters Centerline goodness : 0.776859 Centerline is valid? [False, False] Translation: X:3.24, Y:0.01, Z:-0.05 [[ 9.99991915e-01 2.49584707e-03 -3.15300601e-03 3.23836964e+00] [-2.43754221e-03 9.99828428e-01 1.83622721e-02 6.64279786e-03] [ 3.19829446e-03 -1.83544380e-02 9.99826428e-01 -5.42689045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.252414037 meters Centerline goodness : 0.778133 Centerline is valid? [False, False] Translation: X:3.24, Y:0.01, Z:-0.05 [[ 9.99991683e-01 2.29753382e-03 -3.36982315e-03 3.23836987e+00] [-2.23619068e-03 9.99833756e-01 1.80958405e-02 7.13803850e-03] [ 3.41083874e-03 -1.80881544e-02 9.99830578e-01 -5.36286920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.282414036999999 meters Centerline goodness : 0.776011 Centerline is valid? [False, False] Translation: X:3.23, Y:0.01, Z:-0.05 [[ 9.99948399e-01 3.18505694e-03 -9.64654037e-03 3.22990223e+00] [-3.11108835e-03 9.99965721e-01 7.67321182e-03 6.76114577e-03] [ 9.67064931e-03 -7.64280463e-03 9.99924030e-01 -5.01295935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.312414037 meters Centerline goodness : 0.777538 Centerline is valid? [False, False] Translation: X:3.23, Y:0.00, Z:-0.05 [[ 9.99948653e-01 3.08966338e-03 -9.65122598e-03 3.22998369e+00] [-3.01068848e-03 9.99961956e-01 8.18672594e-03 2.85352630e-03] [ 9.67615303e-03 -8.15724873e-03 9.99919912e-01 -5.05070868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.342414037 meters Centerline goodness : 0.776729 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.00, Z:-0.05 [[ 9.99949043e-01 2.99899663e-03 -9.63934268e-03 3.23007892e+00] [-2.91515008e-03 9.99957899e-01 8.70068063e-03 -6.50885075e-04] [ 9.66503017e-03 -8.67213714e-03 9.99915687e-01 -5.09203802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.372414036999999 meters Centerline goodness : 0.779426 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.00, Z:-0.05 [[ 9.99952019e-01 2.79590468e-03 -9.38839049e-03 3.22947300e+00] [-2.70893444e-03 9.99953423e-01 9.26356763e-03 -3.23241719e-03] [ 9.41385326e-03 -9.23769062e-03 9.99913018e-01 -5.11341213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.402414037 meters Centerline goodness : 0.775622 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.00, Z:-0.05 [[ 9.99951763e-01 2.60402947e-03 -9.47053605e-03 3.22930097e+00] [-2.51893614e-03 9.99956453e-01 8.98591567e-03 -2.17171704e-03] [ 9.49352323e-03 -8.96162653e-03 9.99914778e-01 -5.06053299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.432414037 meters Centerline goodness : 0.776214 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.00, Z:-0.05 [[ 9.99951382e-01 2.52839770e-03 -9.53104977e-03 3.22923633e+00] [-2.44518887e-03 9.99958887e-01 8.73185634e-03 -9.38864399e-04] [ 9.55273553e-03 -8.70812660e-03 9.99916453e-01 -5.02318422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.462414036999999 meters Centerline goodness : 0.776599 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.00, Z:-0.05 [[ 9.99951433e-01 2.52711397e-03 -9.52599570e-03 3.22903497e+00] [-2.44164624e-03 9.99956761e-01 8.97302921e-03 -2.38404070e-03] [ 9.54825967e-03 -8.94933430e-03 9.99914366e-01 -5.00282688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.492414037 meters Centerline goodness : 0.775319 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.00, Z:-0.05 [[ 9.99951688e-01 2.50529096e-03 -9.50504631e-03 3.22893479e+00] [-2.41729471e-03 9.99954221e-01 9.25806542e-03 -4.53055075e-03] [ 9.52780533e-03 -9.23464164e-03 9.99911967e-01 -5.00197995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.522414036999999 meters Centerline goodness : 0.773800 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.01, Z:-0.05 [[ 9.99956173e-01 1.39681412e-03 -9.25752844e-03 3.22821917e+00] [-1.31200272e-03 9.99957176e-01 9.16109284e-03 -8.96797510e-03] [ 9.26992833e-03 -9.14854543e-03 9.99915183e-01 -5.03311340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.552414036999998 meters Centerline goodness : 0.773143 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.01, Z:-0.05 [[ 9.99958175e-01 8.33039635e-04 -9.10792101e-03 3.22756284e+00] [-7.50526712e-04 9.99958684e-01 9.05913605e-03 -9.98734447e-03] [ 9.11509132e-03 -9.05192142e-03 9.99917486e-01 -5.00871825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.582414037 meters Centerline goodness : 0.772739 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.01, Z:-0.05 [[ 9.99961857e-01 -6.45657999e-04 -8.71022984e-03 3.22526295e+00] [ 7.19659332e-04 9.99963654e-01 8.49545316e-03 -1.09609847e-02] [ 8.70442810e-03 -8.50139752e-03 9.99925977e-01 -4.86095100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.612414036999999 meters Centerline goodness : 0.772278 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.01, Z:-0.05 [[ 9.99963025e-01 -1.43335675e-03 -8.47903243e-03 3.22393269e+00] [ 1.50151032e-03 9.99966576e-01 8.03699655e-03 -1.11489905e-02] [ 8.46722914e-03 -8.04943074e-03 9.99931754e-01 -4.76179660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.642414037 meters Centerline goodness : 0.774944 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.01, Z:-0.05 [[ 9.99963042e-01 -1.82023776e-03 -8.40245863e-03 3.22360010e+00] [ 1.88759458e-03 9.99966095e-01 8.01536516e-03 -1.20231678e-02] [ 8.38758387e-03 -8.03092936e-03 9.99932574e-01 -4.75053914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.672414037 meters Centerline goodness : 0.772133 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.01, Z:-0.05 [[ 9.99963285e-01 -2.07237851e-03 -8.31467674e-03 3.22333836e+00] [ 2.13950073e-03 9.99965132e-01 8.07198298e-03 -1.28603636e-02] [ 8.29765862e-03 -8.08947587e-03 9.99932852e-01 -4.75335101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.702414036999999 meters Centerline goodness : 0.773377 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.01, Z:-0.05 [[ 9.99963622e-01 -2.40030622e-03 -8.18487701e-03 3.22291893e+00] [ 2.46609945e-03 9.99964655e-01 8.03779479e-03 -1.38868475e-02] [ 8.16529455e-03 -8.05768712e-03 9.99934199e-01 -4.75048624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.732414037 meters Centerline goodness : 0.773377 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.01, Z:-0.05 [[ 9.99963622e-01 -2.40030622e-03 -8.18487701e-03 3.22291893e+00] [ 2.46609945e-03 9.99964655e-01 8.03779479e-03 -1.38868475e-02] [ 8.16529455e-03 -8.05768712e-03 9.99934199e-01 -4.75048624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.762414037 meters Centerline goodness : 0.773646 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.01, Z:-0.05 [[ 9.99964408e-01 -2.52877262e-03 -8.04911109e-03 3.22248266e+00] [ 2.59109807e-03 9.99966672e-01 7.74216002e-03 -1.35391179e-02] [ 8.02926466e-03 -7.76274050e-03 9.99937633e-01 -4.71080886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.792414036999999 meters Centerline goodness : 0.771946 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.01, Z:-0.05 [[ 9.99964345e-01 -2.41948956e-03 -8.09040584e-03 3.22222689e+00] [ 2.47891329e-03 9.99969967e-01 7.34301977e-03 -1.22627542e-02] [ 8.07239650e-03 -7.36281337e-03 9.99940311e-01 -4.63596760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.822414037 meters Centerline goodness : 0.772716 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.01, Z:-0.04 [[ 9.99969377e-01 -6.67444017e-04 -7.79741711e-03 3.21999267e+00] [ 7.39894299e-04 9.99956551e-01 9.29238774e-03 -1.19164230e-02] [ 7.79087617e-03 -9.29787244e-03 9.99926423e-01 -4.46304026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.852414036999999 meters Centerline goodness : 0.772703 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.01, Z:-0.04 [[ 9.99968203e-01 -7.45794140e-04 -7.93953493e-03 3.22026223e+00] [ 8.15668163e-04 9.99960936e-01 8.80117303e-03 -1.03768521e-02] [ 7.93266092e-03 -8.80736921e-03 9.99929749e-01 -4.44358359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.882414036999998 meters Centerline goodness : 0.772619 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.01, Z:-0.05 [[ 9.99965170e-01 -3.23047666e-04 -8.33996357e-03 3.22175275e+00] [ 3.94992951e-04 9.99962714e-01 8.62636529e-03 -8.88108041e-03] [ 8.33686588e-03 -8.62935906e-03 9.99928013e-01 -4.50663076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.912414037 meters Centerline goodness : 0.772032 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.01, Z:-0.05 [[ 9.99961457e-01 3.18522635e-05 -8.77976665e-03 3.22329790e+00] [ 4.48511913e-05 9.99961839e-01 8.73605345e-03 -8.45206161e-03] [ 8.77970986e-03 -8.73611051e-03 9.99923296e-01 -4.58984147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.942414036999999 meters Centerline goodness : 0.773358 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.01, Z:-0.05 [[ 9.99958765e-01 3.41150501e-04 -9.07480626e-03 3.22420795e+00] [-2.62213123e-04 9.99962135e-01 8.69828733e-03 -8.03544832e-03] [ 9.07743007e-03 -8.69554913e-03 9.99920991e-01 -4.61761476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.972414036999998 meters Centerline goodness : 0.772495 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.01, Z:-0.04 [[ 0.99995407 0.00382639 -0.00878691 3.22256025] [-0.00372539 0.99992715 0.01148153 -0.00593745] [ 0.00883021 -0.01144827 0.99989548 -0.04452433] [ 0. 0. 0. 1. ]] SLAMing on 9.002414037 meters Centerline goodness : 0.774262 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.00, Z:-0.04 [[ 0.99993888 0.00697968 -0.00857396 3.22088792] [-0.00685665 0.99987429 0.01429619 -0.0040196 ] [ 0.00867267 -0.01423653 0.99986104 -0.04283713] [ 0. 0. 0. 1. ]] SLAMing on 9.032414036999999 meters Centerline goodness : 0.772045 Centerline is valid? [False, False] Translation: X:3.22, Y:0.00, Z:-0.04 [[ 9.99897676e-01 1.13759769e-02 -8.67321371e-03 3.22107429e+00] [-1.12263590e-02 9.99790614e-01 1.71083823e-02 3.37892785e-04] [ 8.86602222e-03 -1.70092631e-02 9.99816022e-01 -4.20606749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.062414037 meters Centerline goodness : 0.773915 Centerline is valid? [False, False] Translation: X:3.22, Y:0.00, Z:-0.04 [[ 9.99839598e-01 1.55356808e-02 -8.91182710e-03 3.22206552e+00] [-1.53455146e-02 9.99661192e-01 2.10241932e-02 3.70559307e-04] [ 9.23543285e-03 -2.08840643e-02 9.99739247e-01 -4.29076043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.092414037 meters Centerline goodness : 0.771520 Centerline is valid? [False, False] Translation: X:3.22, Y:0.00, Z:-0.04 [[ 9.99823588e-01 1.62744779e-02 -9.37730237e-03 3.22387455e+00] [-1.60765988e-02 9.99654300e-01 2.08043953e-02 1.76934555e-03] [ 9.71264131e-03 -2.06499700e-02 9.99739588e-01 -4.36580559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.122414036999999 meters Centerline goodness : 0.769059 Centerline is valid? [False, False] Translation: X:3.22, Y:0.00, Z:-0.04 [[ 9.99732323e-01 2.10328447e-02 -9.63853579e-03 3.22479560e+00] [-2.07901707e-02 9.99480640e-01 2.46215164e-02 2.37973922e-03] [ 1.01513905e-02 -2.44145390e-02 9.99650379e-01 -4.35760858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.152414037 meters Centerline goodness : 0.769771 Centerline is valid? [False, False] Translation: X:3.23, Y:0.00, Z:-0.04 [[ 0.99971546 0.02155952 -0.01020747 3.22581124] [-0.02130964 0.99948512 0.02398741 0.00439967] [ 0.01071937 -0.02376307 0.99966015 -0.0427953 ] [ 0. 0. 0. 1. ]] SLAMing on 9.182414037 meters Centerline goodness : 0.771449 Centerline is valid? [False, False] Translation: X:3.23, Y:0.01, Z:-0.04 [[ 0.99967015 0.0234069 -0.0105688 3.22722044] [-0.02314609 0.99944012 0.02415991 0.00703568] [ 0.0111284 -0.02390732 0.99965224 -0.04244593] [ 0. 0. 0. 1. ]] SLAMing on 9.212414036999999 meters Centerline goodness : 0.771730 Centerline is valid? [False, False] Translation: X:3.23, Y:0.01, Z:-0.04 [[ 0.99965114 0.02397883 -0.01107278 3.22880184] [-0.023705 0.99942526 0.02423257 0.00798571] [ 0.01164748 -0.02396163 0.99964503 -0.04292762] [ 0. 0. 0. 1. ]] SLAMing on 9.242414037 meters Centerline goodness : 0.771662 Centerline is valid? [False, False] Translation: X:3.23, Y:0.01, Z:-0.04 [[ 0.99963583 0.02440201 -0.01152198 3.23024397] [-0.02411694 0.99941465 0.02426375 0.00873608] [ 0.01210732 -0.02397704 0.99963919 -0.04344516] [ 0. 0. 0. 1. ]] SLAMing on 9.272414036999999 meters Centerline goodness : 0.771129 Centerline is valid? [False, False] Translation: X:3.23, Y:0.01, Z:-0.04 [[ 0.99961665 0.02496397 -0.01197281 3.23174053] [-0.02466358 0.99939277 0.02461279 0.00841538] [ 0.01257997 -0.02430806 0.99962536 -0.04410623] [ 0. 0. 0. 1. ]] SLAMing on 9.302414036999998 meters Centerline goodness : 0.770055 Centerline is valid? [False, False] Translation: X:3.23, Y:0.01, Z:-0.05 [[ 0.99958112 0.02615368 -0.01239228 3.23391811] [-0.02582961 0.99933782 0.02562717 0.00668573] [ 0.01305432 -0.02529635 0.99959476 -0.04562331] [ 0. 0. 0. 1. ]] SLAMing on 9.332414037 meters Centerline goodness : 0.775637 Centerline is valid? [False, False] Translation: X:3.23, Y:0.01, Z:-0.05 [[ 0.99956956 0.02647353 -0.01264333 3.23482929] [-0.02614121 0.99932621 0.02576341 0.00662592] [ 0.01331686 -0.02542181 0.99958811 -0.04602365] [ 0. 0. 0. 1. ]] SLAMing on 9.362414036999999 meters Centerline goodness : 0.771028 Centerline is valid? [False, False] Translation: X:3.24, Y:0.01, Z:-0.05 [[ 0.99956253 0.02663885 -0.01285001 3.23529095] [-0.02630296 0.99932525 0.0256359 0.00709416] [ 0.01352425 -0.02528669 0.99958875 -0.0458737 ] [ 0. 0. 0. 1. ]] SLAMing on 9.392414036999998 meters Centerline goodness : 0.767934 Centerline is valid? [False, False] Translation: X:3.23, Y:0.01, Z:-0.04 [[ 0.99955407 0.02687205 -0.01302102 3.23464951] [-0.02653298 0.99932141 0.02554843 0.00637817] [ 0.01369872 -0.02519155 0.99958878 -0.04423838] [ 0. 0. 0. 1. ]] SLAMing on 9.422414037 meters Centerline goodness : 0.769712 Centerline is valid? [False, False] Translation: X:3.24, Y:0.01, Z:-0.04 [[ 0.99962441 0.02373296 -0.01370353 3.23618465] [-0.02343375 0.99949208 0.02159713 0.006967 ] [ 0.01420913 -0.02126789 0.99967284 -0.04412495] [ 0. 0. 0. 1. ]] SLAMing on 9.452414036999999 meters Centerline goodness : 0.769849 Centerline is valid? [False, False] Translation: X:3.24, Y:0.01, Z:-0.05 [[ 0.99966756 0.02130314 -0.01452389 3.23915431] [-0.02102612 0.999599 0.01896693 0.00515212] [ 0.01492212 -0.01865524 0.99971462 -0.04567311] [ 0. 0. 0. 1. ]] SLAMing on 9.482414037 meters Centerline goodness : 0.771047 Centerline is valid? [False, False] Translation: X:3.24, Y:0.01, Z:-0.05 [[ 0.99971096 0.01861982 -0.01520828 3.2415086 ] [-0.01838202 0.99970887 0.01562928 0.00628015] [ 0.01549487 -0.01534521 0.99976219 -0.04650406] [ 0. 0. 0. 1. ]] SLAMing on 9.512414037 meters Centerline goodness : 0.773923 Centerline is valid? [False, False] Translation: X:3.24, Y:0.01, Z:-0.05 [[ 0.99974844 0.0157874 -0.01593129 3.24370869] [-0.01559552 0.9998052 0.01209756 0.00782238] [ 0.01611918 -0.01184606 0.9997999 -0.04702302] [ 0. 0. 0. 1. ]] SLAMing on 9.542414036999999 meters Centerline goodness : 0.770764 Centerline is valid? [False, False] Translation: X:3.26, Y:0.00, Z:-0.05 [[ 0.99988175 0.01096812 -0.010779 3.25521077] [-0.01077719 0.99978677 0.01761436 0.00436911] [ 0.0109699 -0.01749611 0.99978675 -0.05096634] [ 0. 0. 0. 1. ]] SLAMing on 9.572414037 meters Centerline goodness : 0.776606 Centerline is valid? [False, False] Translation: X:3.26, Y:0.00, Z:-0.05 [[ 9.99898846e-01 8.26417497e-03 -1.15759112e-02 3.25798725e+00] [-8.09268852e-03 9.99857970e-01 1.47833971e-02 2.52014837e-03] [ 1.16964396e-02 -1.46882214e-02 9.99823709e-01 -5.23319599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.602414036999999 meters Centerline goodness : 0.772484 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.00, Z:-0.05 [[ 9.99918294e-01 3.17364974e-03 -1.23827652e-02 3.26190299e+00] [-3.05608141e-03 9.99950186e-01 9.50191091e-03 -1.10582520e-03] [ 1.24123041e-02 -9.46329181e-03 9.99878183e-01 -5.46523463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.632414036999998 meters Centerline goodness : 0.778580 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.00, Z:-0.06 [[ 9.99915780e-01 7.18124302e-04 -1.29583126e-02 3.26449089e+00] [-6.30023826e-04 9.99976671e-01 6.80156333e-03 -1.21621378e-03] [ 1.29628946e-02 -6.79282645e-03 9.99892905e-01 -5.61265955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.662414037 meters Centerline goodness : 0.777840 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.00, Z:-0.06 [[ 9.99999581e-01 -6.88970065e-04 -6.02282341e-04 3.26722656e+00] [ 6.93008488e-04 9.99977107e-01 6.73090561e-03 -1.65270287e-03] [ 5.97631160e-04 -6.73132017e-03 9.99977166e-01 -6.27061425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.692414036999999 meters Centerline goodness : 0.777094 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.00, Z:-0.06 [[ 9.99993961e-01 -3.29845217e-03 -1.09465900e-03 3.26883723e+00] [ 3.30264672e-03 9.99987126e-01 3.85240198e-03 -1.86429738e-03] [ 1.08193795e-03 -3.85599399e-03 9.99991980e-01 -6.29733869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.722414036999998 meters Centerline goodness : 0.774710 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.00, Z:-0.06 [[ 9.99980096e-01 -6.10246774e-03 -1.60223734e-03 3.27046807e+00] [ 6.10358323e-03 9.99981133e-01 6.92241237e-04 -2.41931000e-03] [ 1.59798273e-03 -7.02006848e-04 9.99998477e-01 -6.33142392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.752414037 meters Centerline goodness : 0.772949 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.01, Z:-0.07 [[ 0.9999457 -0.00964367 0.00394906 3.28068494] [ 0.00961067 0.99991944 0.0082915 -0.00726536] [-0.00402871 -0.00825309 0.99995783 -0.0670875 ] [ 0. 0. 0. 1. ]] SLAMing on 9.782414036999999 meters Centerline goodness : 0.776598 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.01, Z:-0.07 [[ 9.99878973e-01 -1.52016904e-02 3.30862262e-03 3.28427952e+00] [ 1.51921512e-02 9.99880418e-01 2.88940411e-03 -1.07893063e-02] [-3.35215080e-03 -2.83878932e-03 9.99990352e-01 -6.95770902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.812414037 meters Centerline goodness : 0.778748 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.01, Z:-0.07 [[ 9.99879286e-01 -1.52401400e-02 3.02521120e-03 3.28497389e+00] [ 1.52286250e-02 9.99876841e-01 3.79357171e-03 -1.37547514e-02] [-3.08265319e-03 -3.74704397e-03 9.99988228e-01 -7.00798209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.842414037 meters Centerline goodness : 0.774865 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.02, Z:-0.07 [[ 9.99860348e-01 -1.64409294e-02 2.99659324e-03 3.28413620e+00] [ 1.64286537e-02 9.99856732e-01 4.07613311e-03 -1.60413770e-02] [-3.06317934e-03 -4.02633388e-03 9.99987203e-01 -6.93150555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.872414036999999 meters Centerline goodness : 0.778523 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.02, Z:-0.07 [[ 9.99857920e-01 -1.66206728e-02 2.80963280e-03 3.28442435e+00] [ 1.66076078e-02 9.99851451e-01 4.61114623e-03 -1.78971376e-02] [-2.88585578e-03 -4.56382980e-03 9.99985422e-01 -6.94206948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.902414037 meters Centerline goodness : 0.774561 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.02, Z:-0.07 [[ 9.99854480e-01 -1.68463915e-02 2.68647933e-03 3.28483451e+00] [ 1.68318107e-02 9.99843964e-01 5.36072271e-03 -2.07637669e-02] [-2.77636898e-03 -5.31472431e-03 9.99982023e-01 -7.00595524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.932414037 meters Centerline goodness : 0.776120 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.03, Z:-0.08 [[ 0.99968126 -0.02408367 0.00757277 3.29700494] [ 0.02400934 0.99966412 0.00975744 -0.02705983] [-0.00780522 -0.00957252 0.99992372 -0.0755492 ] [ 0. 0. 0. 1. ]] SLAMing on 9.962414036999999 meters Centerline goodness : 0.775136 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.03, Z:-0.08 [[ 0.99959903 -0.02736205 0.00728713 3.29846597] [ 0.0273161 0.99960679 0.00633242 -0.02759811] [-0.00745754 -0.00613082 0.9999534 -0.07634303] [ 0. 0. 0. 1. ]] SLAMing on 9.992414037 meters Centerline goodness : 0.775772 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.03, Z:-0.08 [[ 0.99940774 -0.03204851 0.01253268 3.3097968 ] [ 0.03189549 0.99941644 0.01222529 -0.02970467] [-0.01291717 -0.01181831 0.99984673 -0.08066908] [ 0. 0. 0. 1. ]] SLAMing on 10.022414036999999 meters Centerline goodness : 0.777053 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.03, Z:-0.08 [[ 0.99930334 -0.03528772 0.01214986 3.31177491] [ 0.03517927 0.99934024 0.00902771 -0.03015509] [-0.01246041 -0.00859399 0.99988543 -0.08190843] [ 0. 0. 0. 1. ]] SLAMing on 10.052414036999998 meters Centerline goodness : 0.780585 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.03, Z:-0.08 [[ 0.99926379 -0.03658733 0.01154352 3.31465971] [ 0.03650191 0.99930524 0.00752618 -0.02999545] [-0.01181086 -0.00709928 0.99990505 -0.08378395] [ 0. 0. 0. 1. ]] SLAMing on 10.082414037 meters Centerline goodness : 0.776698 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.03, Z:-0.09 [[ 0.99906714 -0.04003245 0.0161945 3.32525081] [ 0.03978945 0.99909461 0.01505871 -0.03192315] [-0.01678268 -0.01440029 0.99975546 -0.08667473] [ 0. 0. 0. 1. ]] SLAMing on 10.112414036999999 meters Centerline goodness : 0.778393 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.03, Z:-0.09 [[ 0.99907082 -0.04006471 0.01588436 3.32588728] [ 0.03982427 0.99909146 0.01517508 -0.03246465] [-0.01647791 -0.0145284 0.99975867 -0.08677113] [ 0. 0. 0. 1. ]] SLAMing on 10.142414036999998 meters Centerline goodness : 0.781685 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.03, Z:-0.09 [[ 0.99907647 -0.04022356 0.0151086 3.32746431] [ 0.03999921 0.99908908 0.01486873 -0.03220451] [-0.01569291 -0.01425067 0.9997753 -0.08699193] [ 0. 0. 0. 1. ]] SLAMing on 10.172414037 meters Centerline goodness : 0.781892 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.03, Z:-0.09 [[ 0.99906604 -0.04073536 0.01441076 3.32876458] [ 0.04053274 0.99907895 0.01408372 -0.03093534] [-0.01497119 -0.01348645 0.99979697 -0.08713471] [ 0. 0. 0. 1. ]] SLAMing on 10.202414036999999 meters Centerline goodness : 0.780729 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.03, Z:-0.09 [[ 0.9991614 -0.03839456 0.014225 3.32833034] [ 0.03814501 0.99912041 0.01741758 -0.03166731] [-0.01488123 -0.01686036 0.99974711 -0.08705165] [ 0. 0. 0. 1. ]] SLAMing on 10.232414037 meters Centerline goodness : 0.779676 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.03, Z:-0.09 [[ 0.99916476 -0.03848472 0.01373733 3.32963141] [ 0.0382544 0.99912926 0.01665287 -0.02988756] [-0.01436625 -0.01611344 0.99976696 -0.0876349 ] [ 0. 0. 0. 1. ]] SLAMing on 10.262414037 meters Centerline goodness : 0.780095 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.03, Z:-0.09 [[ 0.99917399 -0.03841992 0.01323804 3.33098826] [ 0.03820214 0.99913661 0.01632875 -0.02915906] [-0.01385396 -0.01580954 0.99977904 -0.08832657] [ 0. 0. 0. 1. ]] SLAMing on 10.292414036999999 meters Centerline goodness : 0.778869 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.03, Z:-0.09 [[ 0.99915184 -0.03896443 0.01331828 3.33068124] [ 0.03875307 0.99912428 0.0157758 -0.02814628] [-0.01392131 -0.01524629 0.99978685 -0.08831478] [ 0. 0. 0. 1. ]] SLAMing on 10.322414037 meters Centerline goodness : 0.777109 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.03, Z:-0.09 [[ 0.99913953 -0.03928653 0.01329541 3.3305394 ] [ 0.03908364 0.99912047 0.01519052 -0.02610512] [-0.0138805 -0.01465782 0.99979622 -0.08802897] [ 0. 0. 0. 1. ]] SLAMing on 10.352414036999999 meters Centerline goodness : 0.778377 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.02, Z:-0.08 [[ 0.99930705 -0.03651275 0.00722831 3.32070729] [ 0.03646354 0.99931167 0.00682568 -0.01940841] [-0.00747256 -0.00655738 0.99995058 -0.08386792] [ 0. 0. 0. 1. ]] SLAMing on 10.382414036999998 meters Centerline goodness : 0.772491 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.02, Z:-0.08 [[ 0.99938973 -0.03421558 0.00703304 3.32019408] [ 0.03414601 0.99936895 0.00978531 -0.01924496] [-0.00736341 -0.00953918 0.99992739 -0.08361228] [ 0. 0. 0. 1. ]] SLAMing on 10.412414037 meters Centerline goodness : 0.776647 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.02, Z:-0.08 [[ 0.99938512 -0.03439503 0.00680874 3.32087937] [ 0.03433246 0.99936901 0.00910346 -0.01743813] [-0.00711756 -0.00886411 0.99993538 -0.08394884] [ 0. 0. 0. 1. ]] SLAMing on 10.442414036999999 meters Centerline goodness : 0.773731 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.01, Z:-0.08 [[ 0.99936628 -0.03491526 0.00692585 3.32025055] [ 0.03486253 0.99936327 0.0075935 -0.01467794] [-0.00718657 -0.00734724 0.99994718 -0.08310266] [ 0. 0. 0. 1. ]] SLAMing on 10.472414036999998 meters Centerline goodness : 0.774671 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.01, Z:-0.08 [[ 0.99934681 -0.03543147 0.00711123 3.31945568] [ 0.03538633 0.99935336 0.00637661 -0.01217015] [-0.00733256 -0.0061208 0.99995438 -0.08223369] [ 0. 0. 0. 1. ]] SLAMing on 10.502414037 meters Centerline goodness : 0.773604 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.01, Z:-0.08 [[ 0.99942603 -0.03303708 0.007494 3.31724184] [ 0.0329672 0.9994135 0.0092644 -0.01171456] [-0.00779568 -0.00901203 0.999929 -0.08099743] [ 0. 0. 0. 1. ]] SLAMing on 10.532414036999999 meters Centerline goodness : 0.773968 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.01, Z:-0.08 [[ 0.99950831 -0.03039585 0.00769668 3.31590238] [ 0.03030503 0.99947275 0.01165446 -0.0079453 ] [-0.00804687 -0.01141548 0.99990246 -0.08025526] [ 0. 0. 0. 1. ]] SLAMing on 10.562414036999998 meters Centerline goodness : 0.773575 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.01, Z:-0.08 [[ 0.99960046 -0.02724386 0.00752958 3.31562477] [ 0.02713042 0.99952266 0.01477796 -0.00658549] [-0.0079286 -0.01456777 0.99986245 -0.08003372] [ 0. 0. 0. 1. ]] SLAMing on 10.592414037 meters Centerline goodness : 0.771447 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.00, Z:-0.08 [[ 0.99964278 -0.02569972 0.00733802 3.31749849] [ 0.02558612 0.9995574 0.01517761 -0.00439519] [-0.00772483 -0.01498444 0.99985789 -0.08154544] [ 0. 0. 0. 1. ]] SLAMing on 10.622414036999999 meters Centerline goodness : 0.772106 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.01, Z:-0.08 [[ 0.99973273 -0.02197102 0.00719281 3.31779263] [ 0.02182937 0.99957707 0.0192135 -0.00537185] [-0.00761191 -0.01905135 0.99978953 -0.08224387] [ 0. 0. 0. 1. ]] SLAMing on 10.652414037 meters Centerline goodness : 0.772106 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.01, Z:-0.08 [[ 0.99973307 -0.02194241 0.00723385 3.31774766] [ 0.02180007 0.99957795 0.01920127 -0.00533338] [-0.00765212 -0.01903844 0.99978947 -0.08224563] [ 0. 0. 0. 1. ]] SLAMing on 10.682414037 meters Centerline goodness : 0.773873 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.00, Z:-0.08 [[ 9.99757211e-01 -2.10379486e-02 6.55169443e-03 3.31979521e+00] [ 2.09104897e-02 9.99601738e-01 1.89503904e-02 -2.99207940e-03] [-6.94776247e-03 -1.88087903e-02 9.99798959e-01 -8.31202318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.712414036999999 meters Centerline goodness : 0.772146 Centerline is valid? [False, False] Translation: X:3.32, Y:0.00, Z:-0.08 [[ 9.99828441e-01 -1.74063019e-02 6.33325644e-03 3.31922655e+00] [ 1.72697858e-02 9.99630166e-01 2.10067879e-02 2.70587177e-03] [-6.69656468e-03 -2.08938100e-02 9.99759273e-01 -8.15938031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.742414037 meters Centerline goodness : 0.772828 Centerline is valid? [False, False] Translation: X:3.32, Y:0.01, Z:-0.08 [[ 0.99983751 -0.01703678 0.00589115 3.31994668] [ 0.01691619 0.99965794 0.01994603 0.00701488] [-0.00622895 -0.01984313 0.9997837 -0.0808281 ] [ 0. 0. 0. 1. ]] SLAMing on 10.772414036999999 meters Centerline goodness : 0.772187 Centerline is valid? [False, False] Translation: X:3.35, Y:0.01, Z:-0.08 [[ 0.99988869 -0.01453545 0.00336708 3.34819643] [ 0.01447603 0.99974991 0.01704604 0.01026635] [-0.00361401 -0.0169954 0.99984904 -0.0761794 ] [ 0. 0. 0. 1. ]] SLAMing on 10.802414036999998 meters Centerline goodness : 0.768590 Centerline is valid? [False, False] Translation: X:3.35, Y:0.01, Z:-0.08 [[ 9.99913126e-01 -1.28986200e-02 2.71407612e-03 3.35102223e+00] [ 1.28505852e-02 9.99772426e-01 1.70281949e-02 1.36295477e-02] [-2.93309869e-03 -1.69918381e-02 9.99851326e-01 -7.75368317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.832414037 meters Centerline goodness : 0.770783 Centerline is valid? [False, False] Translation: X:3.35, Y:0.01, Z:-0.08 [[ 9.99922024e-01 -1.22971690e-02 2.17374129e-03 3.35292413e+00] [ 1.22582944e-02 9.99779087e-01 1.70737070e-02 1.47923920e-02] [-2.38321934e-03 -1.70457293e-02 9.99851871e-01 -7.85157788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.862414036999999 meters Centerline goodness : 0.768149 Centerline is valid? [False, False] Translation: X:3.38, Y:0.02, Z:-0.08 [[ 9.99954590e-01 -9.17920544e-03 -2.56125136e-03 3.38456712e+00] [ 9.21399698e-03 9.99860661e-01 1.39198212e-02 1.84229268e-02] [ 2.43312158e-03 -1.39427885e-02 9.99899834e-01 -7.50852364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.892414036999998 meters Centerline goodness : 0.768872 Centerline is valid? [False, False] Translation: X:3.39, Y:0.02, Z:-0.08 [[ 9.99959642e-01 -8.39231380e-03 -3.20679866e-03 3.38686536e+00] [ 8.43633015e-03 9.99866850e-01 1.39682326e-02 2.06120464e-02] [ 3.08914588e-03 -1.39947225e-02 9.99897297e-01 -7.62152427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.922414037 meters Centerline goodness : 0.767065 Centerline is valid? [False, False] Translation: X:3.39, Y:0.02, Z:-0.08 [[ 0.99996329 -0.00767487 -0.00381046 3.38898108] [ 0.0077275 0.99987218 0.01399678 0.02301888] [ 0.00370255 -0.01402572 0.99989478 -0.077234 ] [ 0. 0. 0. 1. ]] SLAMing on 10.952414036999999 meters Centerline goodness : 0.768800 Centerline is valid? [False, False] Translation: X:3.39, Y:0.03, Z:-0.08 [[ 0.99996707 -0.00675321 -0.00449998 3.39104759] [ 0.00681417 0.99988333 0.01367112 0.02703308] [ 0.00440713 -0.01370134 0.99989642 -0.07764838] [ 0. 0. 0. 1. ]] SLAMing on 10.982414037 meters Centerline goodness : 0.767686 Centerline is valid? [False, False] Translation: X:3.39, Y:0.03, Z:-0.08 [[ 0.99996668 -0.00649875 -0.00493935 3.3919767 ] [ 0.00656442 0.99988869 0.0133984 0.0281015 ] [ 0.00485172 -0.01343038 0.99989804 -0.07754451] [ 0. 0. 0. 1. ]] SLAMing on 11.012414037 meters Centerline goodness : 0.767637 Centerline is valid? [False, False] Translation: X:3.39, Y:0.03, Z:-0.08 [[ 0.99996612 -0.00643733 -0.00513019 3.39238795] [ 0.0065043 0.99989243 0.01314609 0.02872549] [ 0.00504501 -0.01317901 0.99990043 -0.0774626 ] [ 0. 0. 0. 1. ]] SLAMing on 11.042414036999999 meters Centerline goodness : 0.767564 Centerline is valid? [False, False] Translation: X:3.39, Y:0.03, Z:-0.08 [[ 0.9999487 -0.00842754 -0.00561879 3.39468662] [ 0.00848464 0.99991181 0.0102171 0.03053361] [ 0.00553219 -0.01026425 0.99993202 -0.07844139] [ 0. 0. 0. 1. ]] SLAMing on 11.072414037 meters Centerline goodness : 0.767856 Centerline is valid? [False, False] Translation: X:3.40, Y:0.03, Z:-0.08 [[ 0.99992706 -0.01043942 -0.00607471 3.39702201] [ 0.01048612 0.99991532 0.00770691 0.03191193] [ 0.00599374 -0.00777005 0.99995185 -0.0796763 ] [ 0. 0. 0. 1. ]] SLAMing on 11.102414036999999 meters Centerline goodness : 0.766287 Centerline is valid? [False, False] Translation: X:3.41, Y:0.03, Z:-0.08 [[ 9.99894553e-01 -1.45119469e-02 5.35286522e-04 3.40569984e+00] [ 1.45032311e-02 9.99800528e-01 1.37317352e-02 3.03843960e-02] [-7.34453960e-04 -1.37225239e-02 9.99905572e-01 -8.19549020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.132414036999998 meters Centerline goodness : 0.768142 Centerline is valid? [False, False] Translation: X:3.41, Y:0.03, Z:-0.08 [[ 9.99853649e-01 -1.71079040e-02 -2.31386478e-05 3.40810384e+00] [ 1.71071945e-02 9.99797906e-01 1.05589422e-02 3.15602463e-02] [-1.57507397e-04 -1.05577927e-02 9.99944253e-01 -8.30396693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.162414037 meters Centerline goodness : 0.766664 Centerline is valid? [False, False] Translation: X:3.41, Y:0.03, Z:-0.09 [[ 9.99828387e-01 -1.85175643e-02 -5.44630711e-04 3.41122003e+00] [ 1.85217043e-02 9.99788273e-01 8.96410173e-03 3.17768734e-02] [ 3.78522068e-04 -8.97265086e-03 9.99959673e-01 -8.53104151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.192414036999999 meters Centerline goodness : 0.767121 Centerline is valid? [False, False] Translation: X:3.41, Y:0.03, Z:-0.09 [[ 9.99779415e-01 -2.09624731e-02 -1.30254041e-03 3.41468893e+00] [ 2.09704194e-02 9.99759483e-01 6.42004539e-03 3.13283588e-02] [ 1.16764709e-03 -6.44594404e-03 9.99978543e-01 -8.74973468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.222414036999998 meters Centerline goodness : 0.767748 Centerline is valid? [False, False] Translation: X:3.42, Y:0.03, Z:-0.09 [[ 9.99740263e-01 -2.27240198e-02 -1.73926592e-03 3.41748047e+00] [ 2.27317542e-02 9.99731181e-01 4.56443167e-03 3.13579184e-02] [ 1.63507613e-03 -4.60278269e-03 9.99988070e-01 -8.95573554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.252414037 meters Centerline goodness : 0.765496 Centerline is valid? [False, False] Translation: X:3.42, Y:0.03, Z:-0.09 [[ 9.99743240e-01 -2.25816874e-02 -1.87671142e-03 3.41819906e+00] [ 2.25912841e-02 9.99730946e-01 5.26017734e-03 2.97315358e-02] [ 1.75742281e-03 -5.30122405e-03 9.99984404e-01 -9.03071187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.282414036999999 meters Centerline goodness : 0.766106 Centerline is valid? [False, False] Translation: X:3.43, Y:0.03, Z:-0.10 [[ 0.9996137 -0.02757269 0.00349197 3.4301386 ] [ 0.02753266 0.99955997 0.01103711 0.02623291] [-0.00379475 -0.01093671 0.99993299 -0.09502623] [ 0. 0. 0. 1. ]] SLAMing on 11.312414036999998 meters Centerline goodness : 0.770447 Centerline is valid? [False, False] Translation: X:3.44, Y:0.02, Z:-0.10 [[ 0.99944146 -0.03204216 0.00949094 3.43973975] [ 0.03187597 0.9993443 0.01717263 0.02364277] [-0.01003496 -0.0168605 0.99980749 -0.09840376] [ 0. 0. 0. 1. ]] SLAMing on 11.342414037 meters Centerline goodness : 0.771905 Centerline is valid? [False, False] Translation: X:3.44, Y:0.02, Z:-0.10 [[ 0.99930301 -0.0360803 0.00957655 3.43910074] [ 0.03595546 0.99927008 0.01290369 0.0232059 ] [-0.01003513 -0.01255036 0.99987088 -0.09675569] [ 0. 0. 0. 1. ]] SLAMing on 11.372414036999999 meters Centerline goodness : 0.767487 Centerline is valid? [False, False] Translation: X:3.45, Y:0.02, Z:-0.10 [[ 0.99909848 -0.0396745 0.01510492 3.4496853 ] [ 0.03937854 0.9990358 0.01941118 0.02215693] [-0.01586048 -0.01879887 0.99969748 -0.10025185] [ 0. 0. 0. 1. ]] SLAMing on 11.402414037 meters Centerline goodness : 0.767822 Centerline is valid? [False, False] Translation: X:3.46, Y:0.02, Z:-0.10 [[ 0.99885339 -0.04347663 0.02004195 3.46027266] [ 0.04294786 0.99873635 0.02609933 0.02091213] [-0.02115133 -0.02520865 0.99945843 -0.10365336] [ 0. 0. 0. 1. ]] SLAMing on 11.432414037 meters Centerline goodness : 0.772468 Centerline is valid? [False, False] Translation: X:3.47, Y:0.02, Z:-0.11 [[ 0.99859071 -0.04734352 0.02398314 3.47284951] [ 0.04656684 0.99840348 0.0319689 0.02055028] [-0.02545837 -0.03080703 0.99920108 -0.10720991] [ 0. 0. 0. 1. ]] SLAMing on 11.462414036999999 meters Centerline goodness : 0.771495 Centerline is valid? [False, False] Translation: X:3.48, Y:0.02, Z:-0.11 [[ 0.99844962 -0.05049124 0.02343035 3.47507144] [ 0.04982274 0.99835737 0.0282887 0.02120032] [-0.0248202 -0.02707748 0.99932516 -0.10804143] [ 0. 0. 0. 1. ]] SLAMing on 11.492414037 meters Centerline goodness : 0.768313 Centerline is valid? [False, False] Translation: X:3.49, Y:0.02, Z:-0.11 [[ 0.99807652 -0.05890016 0.01934002 3.49476952] [ 0.05807511 0.99747976 0.04076045 0.01933988] [-0.02169208 -0.03955888 0.99898176 -0.10918292] [ 0. 0. 0. 1. ]] SLAMing on 11.522414036999999 meters Centerline goodness : 0.766704 Centerline is valid? [False, False] Translation: X:3.50, Y:0.02, Z:-0.11 [[ 0.99837601 -0.05660428 0.00642626 3.49607345] [ 0.05629197 0.99755883 0.04132307 0.01600362] [-0.00874964 -0.04089421 0.99912517 -0.10567075] [ 0. 0. 0. 1. ]] SLAMing on 11.552414036999998 meters Centerline goodness : 0.769602 Centerline is valid? [False, False] Translation: X:3.50, Y:0.01, Z:-0.11 [[ 0.99827945 -0.05827973 0.0064513 3.49573845] [ 0.05796674 0.99747097 0.04112816 0.01441561] [-0.00883192 -0.04068344 0.99913305 -0.10599314] [ 0. 0. 0. 1. ]] SLAMing on 11.582414037 meters Centerline goodness : 0.770319 Centerline is valid? [False, False] Translation: X:3.49, Y:0.01, Z:-0.10 [[ 0.9982048 -0.05950227 0.0068309 3.49383596] [ 0.05918233 0.99744132 0.04010323 0.01459082] [-0.00919966 -0.03962697 0.99917219 -0.10436086] [ 0. 0. 0. 1. ]] SLAMing on 11.612414036999999 meters Centerline goodness : 0.768794 Centerline is valid? [False, False] Translation: X:3.50, Y:0.01, Z:-0.10 [[ 0.99814753 -0.06056946 0.00573099 3.49511129] [ 0.06027722 0.99730015 0.04194135 0.01381212] [-0.00825589 -0.04151821 0.99910364 -0.10195563] [ 0. 0. 0. 1. ]] SLAMing on 11.642414036999998 meters Centerline goodness : 0.769435 Centerline is valid? [False, False] Translation: X:3.50, Y:0.02, Z:-0.10 [[ 0.99809834 -0.06141368 0.00529694 3.49539228] [ 0.0611401 0.99725481 0.04176993 0.01502657] [-0.00784764 -0.04136665 0.99911321 -0.10091567] [ 0. 0. 0. 1. ]] SLAMing on 11.672414037 meters Centerline goodness : 0.771626 Centerline is valid? [False, False] Translation: X:3.50, Y:0.02, Z:-0.10 [[ 0.99805041 -0.06220885 0.00504338 3.49582088] [ 0.06194886 0.99722551 0.0412749 0.01593589] [-0.00759705 -0.040882 0.9991351 -0.10064793] [ 0. 0. 0. 1. ]] SLAMing on 11.702414036999999 meters Centerline goodness : 0.767630 Centerline is valid? [False, False] Translation: X:3.49, Y:0.01, Z:-0.10 [[ 9.98260691e-01 -5.88146295e-02 -4.05354905e-03 3.49408329e+00] [ 5.89263794e-02 9.97539281e-01 3.79876903e-02 1.33422562e-02] [ 1.80934248e-03 -3.81604789e-02 9.99269986e-01 -9.58860300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.732414037 meters Centerline goodness : 0.768085 Centerline is valid? [False, False] Translation: X:3.49, Y:0.01, Z:-0.10 [[ 9.98232051e-01 -5.93038919e-02 -3.97754063e-03 3.49392659e+00] [ 5.94118872e-02 9.97521492e-01 3.76974803e-02 1.29298689e-02] [ 1.73207497e-03 -3.78671462e-02 9.99281281e-01 -9.59205805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.762414037 meters Centerline goodness : 0.767869 Centerline is valid? [False, False] Translation: X:3.49, Y:0.01, Z:-0.10 [[ 9.98186783e-01 -6.00491322e-02 -4.15317679e-03 3.49428438e+00] [ 6.01625153e-02 9.97491082e-01 3.73096955e-02 1.30502594e-02] [ 1.90234197e-03 -3.74919105e-02 9.99295120e-01 -9.58264720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.792414036999999 meters Centerline goodness : 0.770810 Centerline is valid? [False, False] Translation: X:3.49, Y:0.02, Z:-0.10 [[ 9.98147004e-01 -6.07142504e-02 -4.04209528e-03 3.49373410e+00] [ 6.08209889e-02 9.97492382e-01 3.61905524e-02 1.61858849e-02] [ 1.83467698e-03 -3.63693357e-02 9.99336733e-01 -9.54418335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.822414037 meters Centerline goodness : 0.768882 Centerline is valid? [False, False] Translation: X:3.49, Y:0.02, Z:-0.09 [[ 9.98108204e-01 -6.13287381e-02 -4.33587210e-03 3.49350208e+00] [ 6.14450842e-02 9.97465686e-01 3.58706982e-02 1.79650307e-02] [ 2.12497898e-03 -3.60692562e-02 9.99347033e-01 -9.41335409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.852414036999999 meters Centerline goodness : 0.774981 Centerline is valid? [False, False] Translation: X:3.49, Y:0.02, Z:-0.09 [[ 9.98091890e-01 -6.15568782e-02 -4.83015268e-03 3.49393913e+00] [ 6.16922193e-02 9.97432218e-01 3.63736146e-02 1.83967431e-02] [ 2.57870374e-03 -3.66021925e-02 9.99326588e-01 -9.31532132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.882414036999998 meters Centerline goodness : 0.768842 Centerline is valid? [False, False] Translation: X:3.49, Y:0.02, Z:-0.09 [[ 9.98049257e-01 -6.22377706e-02 -4.91336545e-03 3.49432717e+00] [ 6.23747476e-02 9.97402918e-01 3.60112584e-02 1.78460623e-02] [ 2.65934459e-03 -3.62474796e-02 9.99339306e-01 -9.32595593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.912414037 meters Centerline goodness : 0.773611 Centerline is valid? [False, False] Translation: X:3.49, Y:0.02, Z:-0.09 [[ 9.97991070e-01 -6.31581384e-02 -4.98726380e-03 3.49499408e+00] [ 6.32951654e-02 9.97371588e-01 3.52652511e-02 1.75480822e-02] [ 2.74686760e-03 -3.55100754e-02 9.99365543e-01 -9.38686598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.942414036999999 meters Centerline goodness : 0.770554 Centerline is valid? [False, False] Translation: X:3.50, Y:0.02, Z:-0.09 [[ 9.97925810e-01 -6.41376597e-02 -5.51704531e-03 3.49643852e+00] [ 6.42910100e-02 9.97328236e-01 3.46850816e-02 1.79498543e-02] [ 3.27768511e-03 -3.49678345e-02 9.99383063e-01 -9.43365874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.972414036999998 meters Centerline goodness : 0.767962 Centerline is valid? [False, False] Translation: X:3.50, Y:0.02, Z:-0.09 [[ 0.99781373 -0.06576857 -0.00650014 3.49826897] [ 0.06595031 0.99726056 0.03349518 0.02118536] [ 0.00427941 -0.03385063 0.99941774 -0.09425211] [ 0. 0. 0. 1. ]] SLAMing on 12.002414037 meters Centerline goodness : 0.774956 Centerline is valid? [False, False] Translation: X:3.50, Y:0.02, Z:-0.09 [[ 0.99778485 -0.06617532 -0.00679878 3.49832021] [ 0.0663638 0.99725591 0.03281006 0.02365793] [ 0.00460891 -0.03318857 0.99943848 -0.09370393] [ 0. 0. 0. 1. ]] SLAMing on 12.032414036999999 meters Centerline goodness : 0.767540 Centerline is valid? [False, False] Translation: X:3.50, Y:0.03, Z:-0.09 [[ 0.99796373 -0.06336502 -0.00729806 3.49744767] [ 0.0635877 0.99732777 0.03597118 0.02556756] [ 0.00499924 -0.036362 0.99932618 -0.09160781] [ 0. 0. 0. 1. ]] SLAMing on 12.062414036999998 meters Centerline goodness : 0.769377 Centerline is valid? [False, False] Translation: X:3.50, Y:0.03, Z:-0.09 [[ 0.99799789 -0.06284415 -0.00712925 3.49637725] [ 0.06305885 0.9973773 0.03552613 0.02684923] [ 0.00487794 -0.03590457 0.99934332 -0.09080026] [ 0. 0. 0. 1. ]] SLAMing on 12.092414037 meters Centerline goodness : 0.769847 Centerline is valid? [False, False] Translation: X:3.50, Y:0.03, Z:-0.09 [[ 0.99799224 -0.06295092 -0.00697688 3.49569477] [ 0.06315545 0.99740543 0.0345513 0.02837099] [ 0.00478374 -0.03492256 0.99937857 -0.09054154] [ 0. 0. 0. 1. ]] SLAMing on 12.122414036999999 meters Centerline goodness : 0.769996 Centerline is valid? [False, False] Translation: X:3.50, Y:0.03, Z:-0.09 [[ 0.99795914 -0.06349573 -0.00677181 3.4963631 ] [ 0.06368059 0.99745943 0.03192922 0.03056386] [ 0.00472724 -0.03229529 0.99946719 -0.09278935] [ 0. 0. 0. 1. ]] SLAMing on 12.152414037 meters Centerline goodness : 0.768902 Centerline is valid? [False, False] Translation: X:3.50, Y:0.03, Z:-0.09 [[ 0.99790884 -0.06422976 -0.00724448 3.49747354] [ 0.06442478 0.99744045 0.03101604 0.0322253 ] [ 0.00523378 -0.0314179 0.99949263 -0.09326179] [ 0. 0. 0. 1. ]] SLAMing on 12.182414037 meters Centerline goodness : 0.769165 Centerline is valid? [False, False] Translation: X:3.50, Y:0.04, Z:-0.09 [[ 0.99778231 -0.06599512 -0.00866631 3.4983547 ] [ 0.06623483 0.99731826 0.03113248 0.03617015] [ 0.00658847 -0.03163745 0.9994777 -0.09023623] [ 0. 0. 0. 1. ]] SLAMing on 12.212414036999999 meters Centerline goodness : 0.767951 Centerline is valid? [False, False] Translation: X:3.50, Y:0.04, Z:-0.09 [[ 0.99772946 -0.06668099 -0.00946367 3.49836412] [ 0.06695002 0.9972517 0.03172922 0.03772372] [ 0.00732193 -0.03229077 0.9994517 -0.08772344] [ 0. 0. 0. 1. ]] SLAMing on 12.242414037 meters Centerline goodness : 0.768638 Centerline is valid? [False, False] Translation: X:3.50, Y:0.04, Z:-0.09 [[ 0.99765546 -0.06771253 -0.00992928 3.49785506] [ 0.0679944 0.99718801 0.03150933 0.03946367] [ 0.00776778 -0.03211059 0.99945414 -0.08542497] [ 0. 0. 0. 1. ]] SLAMing on 12.272414036999999 meters Centerline goodness : 0.767224 Centerline is valid? [False, False] Translation: X:3.50, Y:0.04, Z:-0.09 [[ 0.99752179 -0.06947821 -0.01109297 3.50005271] [ 0.06978646 0.99709976 0.03036306 0.04229752] [ 0.00895123 -0.03106195 0.99947738 -0.08533915] [ 0. 0. 0. 1. ]] SLAMing on 12.302414036999998 meters Centerline goodness : 0.768026 Centerline is valid? [False, False] Translation: X:3.50, Y:0.04, Z:-0.08 [[ 0.99761228 -0.06579366 -0.0209985 3.49889016] [ 0.06634223 0.99744247 0.0265936 0.04178028] [ 0.01919511 -0.02792319 0.99942576 -0.08096573] [ 0. 0. 0. 1. ]] SLAMing on 12.332414037 meters Centerline goodness : 0.765675 Centerline is valid? [False, False] Translation: X:3.50, Y:0.05, Z:-0.08 [[ 0.99734977 -0.06961617 -0.02114286 3.50079148] [ 0.0700537 0.99732821 0.0207104 0.04615762] [ 0.01964459 -0.02213665 0.99956193 -0.08330914] [ 0. 0. 0. 1. ]] SLAMing on 12.362414036999999 meters Centerline goodness : 0.764881 Centerline is valid? [False, False] Translation: X:3.50, Y:0.05, Z:-0.08 [[ 0.99729675 -0.07016055 -0.02183305 3.50213369] [ 0.0706067 0.99729599 0.02038147 0.04769238] [ 0.02034403 -0.02186793 0.99955386 -0.08335802] [ 0. 0. 0. 1. ]] SLAMing on 12.392414036999998 meters Centerline goodness : 0.768667 Centerline is valid? [False, False] Translation: X:3.50, Y:0.05, Z:-0.08 [[ 0.9973607 -0.06877045 -0.02328636 3.50401151] [ 0.06933183 0.99729948 0.02422471 0.0478815 ] [ 0.02155753 -0.02577526 0.99943529 -0.08208231] [ 0. 0. 0. 1. ]] SLAMing on 12.422414037 meters Centerline goodness : 0.765869 Centerline is valid? [False, False] Translation: X:3.50, Y:0.05, Z:-0.08 [[ 0.99746162 -0.06714191 -0.0237123 3.50183293] [ 0.06778662 0.99732022 0.02752014 0.04965427] [ 0.021801 -0.02905766 0.99933997 -0.07804405] [ 0. 0. 0. 1. ]] SLAMing on 12.452414036999999 meters Centerline goodness : 0.766586 Centerline is valid? [False, False] Translation: X:3.50, Y:0.05, Z:-0.08 [[ 0.99748588 -0.06682471 -0.02358754 3.50096721] [ 0.06746119 0.99734817 0.02730595 0.05031067] [ 0.02170028 -0.02882854 0.99934879 -0.07717222] [ 0. 0. 0. 1. ]] SLAMing on 12.482414037 meters Centerline goodness : 0.769020 Centerline is valid? [False, False] Translation: X:3.50, Y:0.05, Z:-0.08 [[ 0.99753302 -0.06601705 -0.02386667 3.50128912] [ 0.06665745 0.99740746 0.02711336 0.05256799] [ 0.02201485 -0.02863736 0.99934741 -0.0772925 ] [ 0. 0. 0. 1. ]] SLAMing on 12.512414037 meters Centerline goodness : 0.767271 Centerline is valid? [False, False] Translation: X:3.50, Y:0.05, Z:-0.08 [[ 0.99754819 -0.06563513 -0.02428258 3.50211599] [ 0.06628399 0.99743657 0.02695765 0.05425467] [ 0.02245097 -0.02850111 0.9993416 -0.07762243] [ 0. 0. 0. 1. ]] SLAMing on 12.542414036999999 meters Centerline goodness : 0.767271 Centerline is valid? [False, False] Translation: X:3.50, Y:0.05, Z:-0.08 [[ 0.99754819 -0.06563513 -0.02428258 3.50211599] [ 0.06628399 0.99743657 0.02695765 0.05425467] [ 0.02245097 -0.02850111 0.9993416 -0.07762243] [ 0. 0. 0. 1. ]] SLAMing on 12.572414037 meters Centerline goodness : 0.764446 Centerline is valid? [False, False] Translation: X:3.50, Y:0.06, Z:-0.08 [[ 0.99754659 -0.06549318 -0.02472739 3.50269695] [ 0.06614682 0.99745497 0.02661174 0.05621608] [ 0.02292157 -0.02818209 0.99933997 -0.0774578 ] [ 0. 0. 0. 1. ]] SLAMing on 12.602414036999999 meters Centerline goodness : 0.766527 Centerline is valid? [False, False] Translation: X:3.50, Y:0.06, Z:-0.08 [[ 0.9975232 -0.06579263 -0.02487547 3.50263904] [ 0.0664253 0.99746486 0.02552505 0.05859911] [ 0.02313305 -0.02711419 0.99936464 -0.0772588 ] [ 0. 0. 0. 1. ]] SLAMing on 12.632414036999998 meters Centerline goodness : 0.761577 Centerline is valid? [False, False] Translation: X:3.50, Y:0.06, Z:-0.08 [[ 0.99752755 -0.06561556 -0.02516705 3.50346809] [ 0.06624317 0.99749099 0.02497151 0.06044749] [ 0.02346539 -0.02657691 0.99937132 -0.07788924] [ 0. 0. 0. 1. ]] SLAMing on 12.662414037 meters Centerline goodness : 0.759744 Centerline is valid? [False, False] Translation: X:3.50, Y:0.06, Z:-0.08 [[ 0.99754182 -0.06545179 -0.02502744 3.50351045] [ 0.06602459 0.99755772 0.02278923 0.06499543] [ 0.02347472 -0.02438564 0.99942697 -0.07903453] [ 0. 0. 0. 1. ]] SLAMing on 12.692414036999999 meters Centerline goodness : 0.772209 Centerline is valid? [False, False] Translation: X:3.50, Y:0.07, Z:-0.08 [[ 0.99757864 -0.06475175 -0.02537837 3.50446196] [ 0.06533083 0.99760556 0.02269406 0.06667879] [ 0.02384812 -0.0242971 0.99942029 -0.079825 ] [ 0. 0. 0. 1. ]] SLAMing on 12.722414036999998 meters Centerline goodness : 0.766648 Centerline is valid? [False, False] Translation: X:3.50, Y:0.07, Z:-0.08 [[ 0.99779452 -0.06131785 -0.02542062 3.50352051] [ 0.06196189 0.99775596 0.02537256 0.06817252] [ 0.02380778 -0.02689171 0.9993548 -0.07922214] [ 0. 0. 0. 1. ]] SLAMing on 12.752414037 meters Centerline goodness : 0.768968 Centerline is valid? [False, False] Translation: X:3.50, Y:0.07, Z:-0.08 [[ 0.99784075 -0.06064324 -0.02522388 3.50254459] [ 0.06127188 0.99780938 0.02494397 0.0698115 ] [ 0.02365594 -0.02643562 0.99937058 -0.0787262 ] [ 0. 0. 0. 1. ]] SLAMing on 12.782414036999999 meters Centerline goodness : 0.768561 Centerline is valid? [False, False] Translation: X:3.50, Y:0.07, Z:-0.08 [[ 0.99785583 -0.06022638 -0.02562261 3.50312849] [ 0.06086944 0.99782999 0.02510418 0.07099455] [ 0.02405508 -0.02660998 0.99935642 -0.07861952] [ 0. 0. 0. 1. ]] SLAMing on 12.812414036999998 meters Centerline goodness : 0.769861 Centerline is valid? [False, False] Translation: X:3.50, Y:0.07, Z:-0.08 [[ 0.9978539 -0.05994906 -0.02633809 3.50484311] [ 0.06060417 0.99785322 0.02482108 0.07368458] [ 0.02479355 -0.02636401 0.99934489 -0.07947284] [ 0. 0. 0. 1. ]] SLAMing on 12.842414037 meters Centerline goodness : 0.774512 Centerline is valid? [False, False] Translation: X:3.51, Y:0.08, Z:-0.08 [[ 0.99780948 -0.06054108 -0.02666481 3.505456 ] [ 0.06118356 0.99783852 0.02397626 0.07521647] [ 0.02515562 -0.02555519 0.99935686 -0.07951015] [ 0. 0. 0. 1. ]] SLAMing on 12.872414036999999 meters Centerline goodness : 0.770971 Centerline is valid? [False, False] Translation: X:3.51, Y:0.08, Z:-0.08 [[ 0.99777058 -0.06104284 -0.0269747 3.50663794] [ 0.06167137 0.99782876 0.02311728 0.07662875] [ 0.02550499 -0.02472931 0.99936878 -0.08042512] [ 0. 0. 0. 1. ]] SLAMing on 12.902414037 meters Centerline goodness : 0.776029 Centerline is valid? [False, False] Translation: X:3.51, Y:0.08, Z:-0.08 [[ 0.99764432 -0.06257216 -0.02811637 3.50992766] [ 0.06319234 0.99776459 0.0217382 0.07983456] [ 0.02669331 -0.02346373 0.99936826 -0.08203882] [ 0. 0. 0. 1. ]] SLAMing on 12.932414037 meters Centerline goodness : 0.771984 Centerline is valid? [False, False] Translation: X:3.51, Y:0.08, Z:-0.08 [[ 0.99761009 -0.06288639 -0.02862547 3.51070381] [ 0.06350677 0.99775398 0.02130436 0.08169972] [ 0.02722143 -0.02307136 0.99936315 -0.081813 ] [ 0. 0. 0. 1. ]] SLAMing on 12.962414036999999 meters Centerline goodness : 0.771587 Centerline is valid? [False, False] Translation: X:3.51, Y:0.08, Z:-0.08 [[ 0.99758349 -0.06308579 -0.02910965 3.51081917] [ 0.06370686 0.99774926 0.02092497 0.0843978 ] [ 0.02772406 -0.02272889 0.99935718 -0.08079413] [ 0. 0. 0. 1. ]] SLAMing on 12.992414037 meters Centerline goodness : 0.771770 Centerline is valid? [False, False] Translation: X:3.51, Y:0.09, Z:-0.08 [[ 0.99771502 -0.06035264 -0.0303692 3.51257253] [ 0.06108622 0.99784784 0.02383634 0.08828484] [ 0.02886525 -0.02563702 0.99925449 -0.08075517] [ 0. 0. 0. 1. ]] SLAMing on 13.022414036999999 meters Centerline goodness : 0.771919 Centerline is valid? [False, False] Translation: X:3.51, Y:0.09, Z:-0.08 [[ 0.99774338 -0.05999229 -0.03015072 3.51258292] [ 0.06068777 0.99789851 0.02270592 0.08997579] [ 0.02872518 -0.02448446 0.99928743 -0.08168846] [ 0. 0. 0. 1. ]] SLAMing on 13.052414036999998 meters Centerline goodness : 0.768513 Centerline is valid? [False, False] Translation: X:3.51, Y:0.09, Z:-0.08 [[ 0.99783232 -0.05893007 -0.02929022 3.51141991] [ 0.05955102 0.99800855 0.02079932 0.09205346] [ 0.02800619 -0.02249849 0.99935453 -0.08303296] [ 0. 0. 0. 1. ]] SLAMing on 13.082414037 meters Centerline goodness : 0.773572 Centerline is valid? [False, False] Translation: X:3.51, Y:0.09, Z:-0.08 [[ 0.99798509 -0.05609014 -0.02965905 3.51179475] [ 0.05681181 0.99809456 0.0240761 0.09203248] [ 0.02825211 -0.02571257 0.99927007 -0.08301509] [ 0. 0. 0. 1. ]] SLAMing on 13.112414036999999 meters Centerline goodness : 0.774383 Centerline is valid? [False, False] Translation: X:3.51, Y:0.10, Z:-0.08 [[ 0.99802214 -0.05527196 -0.02994706 3.51166866] [ 0.05598742 0.99815245 0.02360281 0.0954053 ] [ 0.02858716 -0.02523279 0.99927278 -0.08244776] [ 0. 0. 0. 1. ]] SLAMing on 13.142414036999998 meters Centerline goodness : 0.776903 Centerline is valid? [False, False] Translation: X:3.51, Y:0.10, Z:-0.08 [[ 0.99823676 -0.05099044 -0.03038672 3.51023787] [ 0.05178253 0.99832309 0.0258761 0.10140138] [ 0.02901633 -0.02740398 0.99920322 -0.08031737] [ 0. 0. 0. 1. ]] SLAMing on 13.172414037 meters Centerline goodness : 0.774943 Centerline is valid? [False, False] Translation: X:3.51, Y:0.10, Z:-0.08 [[ 0.99823998 -0.05072223 -0.03072778 3.51104553] [ 0.05149963 0.99835856 0.02505947 0.10448455] [ 0.02940627 -0.02659783 0.9992136 -0.08000809] [ 0. 0. 0. 1. ]] SLAMing on 13.202414036999999 meters Centerline goodness : 0.776187 Centerline is valid? [False, False] Translation: X:3.51, Y:0.11, Z:-0.08 [[ 0.99829819 -0.04978951 -0.03035985 3.51095359] [ 0.05053427 0.9984272 0.02427781 0.10573493] [ 0.02910332 -0.02577071 0.99924415 -0.0812416 ] [ 0. 0. 0. 1. ]] SLAMing on 13.232414036999998 meters Centerline goodness : 0.777640 Centerline is valid? [False, False] Translation: X:3.51, Y:0.11, Z:-0.08 [[ 0.99831278 -0.04927663 -0.03071495 3.51253719] [ 0.05001582 0.99846526 0.02378099 0.10753953] [ 0.02949596 -0.0252771 0.99924524 -0.08182521] [ 0. 0. 0. 1. ]] SLAMing on 13.262414037 meters Centerline goodness : 0.771119 Centerline is valid? [False, False] Translation: X:3.51, Y:0.11, Z:-0.08 [[ 0.99830049 -0.0493826 -0.03094326 3.51277072] [ 0.05010204 0.99848102 0.02292263 0.11000611] [ 0.02976428 -0.02443399 0.99925826 -0.0811947 ] [ 0. 0. 0. 1. ]] SLAMing on 13.292414036999999 meters Centerline goodness : 0.769653 Centerline is valid? [False, False] Translation: X:3.51, Y:0.12, Z:-0.08 [[ 0.99831725 -0.0489799 -0.03104254 3.51315836] [ 0.04966551 0.99852985 0.02171354 0.11604027] [ 0.02993338 -0.02321875 0.99928218 -0.08069983] [ 0. 0. 0. 1. ]] SLAMing on 13.322414037 meters Centerline goodness : 0.768245 Centerline is valid? [False, False] Translation: X:3.51, Y:0.12, Z:-0.08 [[ 0.99830998 -0.04885569 -0.03146918 3.51421099] [ 0.04953378 0.99854868 0.02114086 0.11808546] [ 0.03039065 -0.02266392 0.99928112 -0.08060435] [ 0. 0. 0. 1. ]] SLAMing on 13.352414036999999 meters Centerline goodness : 0.777704 Centerline is valid? [False, False] Translation: X:3.52, Y:0.12, Z:-0.08 [[ 0.99830819 -0.04864899 -0.03184395 3.51545883] [ 0.04932645 0.99856515 0.02084587 0.11933372] [ 0.03078413 -0.02238136 0.99927544 -0.08098359] [ 0. 0. 0. 1. ]] SLAMing on 13.382414036999998 meters Centerline goodness : 0.771981 Centerline is valid? [False, False] Translation: X:3.52, Y:0.12, Z:-0.08 [[ 0.99833586 -0.04797251 -0.0320022 3.51621973] [ 0.04864065 0.99860725 0.02043633 0.12102281] [ 0.03097725 -0.02195892 0.99927885 -0.08083415] [ 0. 0. 0. 1. ]] SLAMing on 13.412414037 meters Centerline goodness : 0.776245 Centerline is valid? [False, False] Translation: X:3.52, Y:0.12, Z:-0.08 [[ 0.99834099 -0.04751201 -0.03252492 3.51779315] [ 0.04818083 0.99863642 0.02009762 0.12279259] [ 0.0315257 -0.02163136 0.99926884 -0.08105658] [ 0. 0. 0. 1. ]] SLAMing on 13.442414036999999 meters Centerline goodness : 0.774921 Centerline is valid? [False, False] Translation: X:3.52, Y:0.13, Z:-0.08 [[ 0.99833958 -0.04716552 -0.03306794 3.51934012] [ 0.04782438 0.99866687 0.01942445 0.1256103 ] [ 0.03210769 -0.02097365 0.99926433 -0.08112821] [ 0. 0. 0. 1. ]] SLAMing on 13.472414036999998 meters Centerline goodness : 0.776721 Centerline is valid? [False, False] Translation: X:3.52, Y:0.13, Z:-0.08 [[ 0.99834472 -0.04687533 -0.03332444 3.52023933] [ 0.0475198 0.99869303 0.01881732 0.12877023] [ 0.03239882 -0.02036975 0.99926743 -0.08122662] [ 0. 0. 0. 1. ]] SLAMing on 13.502414037 meters Centerline goodness : 0.777215 Centerline is valid? [False, False] Translation: X:3.52, Y:0.13, Z:-0.08 [[ 0.99841092 -0.04548307 -0.03327042 3.52136053] [ 0.04612386 0.99875969 0.01875267 0.13315072] [ 0.03237622 -0.02025743 0.99927044 -0.08192867] [ 0. 0. 0. 1. ]] SLAMing on 13.532414036999999 meters Centerline goodness : 0.774133 Centerline is valid? [False, False] Translation: X:3.52, Y:0.13, Z:-0.08 [[ 0.99840323 -0.04540627 -0.03360434 3.52212178] [ 0.04603823 0.99877247 0.01827679 0.13450449] [ 0.03273321 -0.01979469 0.99926809 -0.08176553] [ 0. 0. 0. 1. ]] SLAMing on 13.562414036999998 meters Centerline goodness : 0.777148 Centerline is valid? [False, False] Translation: X:3.56, Y:0.14, Z:-0.08 [[ 0.99839333 -0.04820453 -0.02978389 3.56460296] [ 0.04874466 0.99865473 0.01768279 0.13969837] [ 0.02889143 -0.01910619 0.99939994 -0.08286769] [ 0. 0. 0. 1. ]] SLAMing on 13.592414037 meters Centerline goodness : 0.771264 Centerline is valid? [False, False] Translation: X:3.52, Y:0.14, Z:-0.09 [[ 0.99844201 -0.04623509 -0.03123906 3.52149202] [ 0.0469446 0.99864689 0.02237376 0.13788167] [ 0.03016234 -0.0238054 0.9992615 -0.08527638] [ 0. 0. 0. 1. ]] SLAMing on 13.622414036999999 meters Centerline goodness : 0.771307 Centerline is valid? [False, False] Translation: X:3.52, Y:0.14, Z:-0.08 [[ 0.99842518 -0.04653487 -0.03133168 3.52120292] [ 0.04722794 0.99864719 0.02175578 0.13883288] [ 0.03027689 -0.02320125 0.99927224 -0.08444753] [ 0. 0. 0. 1. ]] SLAMing on 13.652414037 meters Centerline goodness : 0.771742 Centerline is valid? [False, False] Translation: X:3.52, Y:0.14, Z:-0.08 [[ 0.99827499 -0.04944053 -0.03166514 3.52291501] [ 0.05000516 0.99859921 0.01729431 0.14251595] [ 0.03076575 -0.0188479 0.9993489 -0.08392211] [ 0. 0. 0. 1. ]] SLAMing on 13.682414037 meters Centerline goodness : 0.772862 Centerline is valid? [False, False] Translation: X:3.52, Y:0.14, Z:-0.08 [[ 0.99825759 -0.04980707 -0.03163935 3.52262723] [ 0.05035746 0.99858922 0.01684309 0.14278313] [ 0.03075581 -0.01840702 0.99935742 -0.08352696] [ 0. 0. 0. 1. ]] SLAMing on 13.712414036999999 meters Centerline goodness : 0.771412 Centerline is valid? [False, False] Translation: X:3.52, Y:0.14, Z:-0.08 [[ 0.99825161 -0.04991375 -0.03165964 3.52300996] [ 0.0504654 0.9985833 0.0168709 0.14220386] [ 0.0307727 -0.01843912 0.99935631 -0.08396767] [ 0. 0. 0. 1. ]] SLAMing on 13.742414037 meters Centerline goodness : 0.770485 Centerline is valid? [False, False] Translation: X:3.52, Y:0.14, Z:-0.08 [[ 0.99825242 -0.04980269 -0.03180869 3.52398294] [ 0.05036568 0.99858359 0.01714969 0.14137612] [ 0.03090954 -0.01872178 0.99934683 -0.08485711] [ 0. 0. 0. 1. ]] SLAMing on 13.772414036999999 meters Centerline goodness : 0.773009 Centerline is valid? [False, False] Translation: X:3.52, Y:0.14, Z:-0.08 [[ 0.99824401 -0.04994364 -0.03185163 3.52394111] [ 0.05049655 0.99858298 0.01679683 0.14211278] [ 0.0309676 -0.01837574 0.99935146 -0.08449899] [ 0. 0. 0. 1. ]] SLAMing on 13.802414036999998 meters Centerline goodness : 0.768758 Centerline is valid? [False, False] Translation: X:3.52, Y:0.14, Z:-0.08 [[ 0.99823162 -0.05012007 -0.03196263 3.52312799] [ 0.0506535 0.99858646 0.01610317 0.14275187] [ 0.03111036 -0.01769371 0.99935933 -0.08258484] [ 0. 0. 0. 1. ]] SLAMing on 13.832414037 meters Centerline goodness : 0.771982 Centerline is valid? [False, False] Translation: X:3.52, Y:0.14, Z:-0.08 [[ 0.99823099 -0.05004824 -0.03209459 3.52326694] [ 0.05058517 0.9985893 0.01614143 0.14180692] [ 0.03124147 -0.01773638 0.99935449 -0.08222111] [ 0. 0. 0. 1. ]] SLAMing on 13.862414036999999 meters Centerline goodness : 0.774173 Centerline is valid? [False, False] Translation: X:3.52, Y:0.14, Z:-0.08 [[ 0.99822751 -0.05001409 -0.03225579 3.52353469] [ 0.05055617 0.99858959 0.01621435 0.14077916] [ 0.03139935 -0.01781634 0.99934812 -0.0820008 ] [ 0. 0. 0. 1. ]] SLAMing on 13.892414036999998 meters Centerline goodness : 0.771975 Centerline is valid? [False, False] Translation: X:3.52, Y:0.14, Z:-0.08 [[ 0.99822549 -0.04987467 -0.03253303 3.52372279] [ 0.05041959 0.99859755 0.01614947 0.14024931] [ 0.03168195 -0.01776112 0.99934018 -0.08117199] [ 0. 0. 0. 1. ]] SLAMing on 13.922414037 meters Centerline goodness : 0.769463 Centerline is valid? [False, False] Translation: X:3.52, Y:0.14, Z:-0.08 [[ 0.99822075 -0.04990114 -0.03263762 3.52344348] [ 0.05043381 0.99860391 0.0157058 0.14083406] [ 0.03180832 -0.01732389 0.99934384 -0.08014637] [ 0. 0. 0. 1. ]] SLAMing on 13.952414036999999 meters Centerline goodness : 0.769719 Centerline is valid? [False, False] Translation: X:3.52, Y:0.14, Z:-0.08 [[ 0.99821557 -0.04979002 -0.03296407 3.52378249] [ 0.05031382 0.99861694 0.01525535 0.14145577] [ 0.03215892 -0.01688668 0.9993401 -0.07922401] [ 0. 0. 0. 1. ]] SLAMing on 13.982414036999998 meters Centerline goodness : 0.769866 Centerline is valid? [False, False] Translation: X:3.53, Y:0.14, Z:-0.08 [[ 0.99825536 -0.0487253 -0.03334788 3.52538536] [ 0.04927695 0.99865819 0.01592479 0.1403624 ] [ 0.03252719 -0.01754029 0.99931693 -0.07975702] [ 0. 0. 0. 1. ]] SLAMing on 14.012414037 meters Centerline goodness : 0.770092 Centerline is valid? [False, False] Translation: X:3.53, Y:0.14, Z:-0.08 [[ 0.99826728 -0.04823573 -0.03370091 3.5267168 ] [ 0.04880615 0.99867505 0.01631289 0.13926081] [ 0.03286939 -0.01792943 0.99929882 -0.08031159] [ 0. 0. 0. 1. ]] SLAMing on 14.042414036999999 meters Centerline goodness : 0.767222 Centerline is valid? [False, False] Translation: X:3.53, Y:0.14, Z:-0.08 [[ 0.99827949 -0.04766387 -0.03414986 3.52833967] [ 0.04825699 0.99869434 0.01675918 0.13832613] [ 0.03330647 -0.01837831 0.9992762 -0.08101703] [ 0. 0. 0. 1. ]] SLAMing on 14.072414037 meters Centerline goodness : 0.769259 Centerline is valid? [False, False] Translation: X:3.53, Y:0.14, Z:-0.08 [[ 0.99831549 -0.04662722 -0.03452649 3.53011706] [ 0.04724135 0.99873558 0.01718978 0.13870164] [ 0.03368132 -0.0187919 0.99925594 -0.08176959] [ 0. 0. 0. 1. ]] SLAMing on 14.102414036999999 meters Centerline goodness : 0.766966 Centerline is valid? [False, False] Translation: X:3.53, Y:0.14, Z:-0.08 [[ 0.99831271 -0.04644006 -0.03485772 3.53072086] [ 0.04705154 0.99874896 0.01693148 0.13955188] [ 0.03402782 -0.01854302 0.99924885 -0.08127185] [ 0. 0. 0. 1. ]] SLAMing on 14.132414036999998 meters Centerline goodness : 0.772439 Centerline is valid? [False, False] Translation: X:3.53, Y:0.14, Z:-0.08 [[ 0.9982024 -0.04857153 -0.03511102 3.53259264] [ 0.0490627 0.99870761 0.01326475 0.14037768] [ 0.03442135 -0.01496355 0.99929538 -0.08067632] [ 0. 0. 0. 1. ]] SLAMing on 14.162414037 meters Centerline goodness : 0.769778 Centerline is valid? [False, False] Translation: X:3.53, Y:0.14, Z:-0.08 [[ 0.99803296 -0.05153637 -0.03569617 3.53496672] [ 0.05189766 0.99860939 0.00926897 0.14112408] [ 0.03516884 -0.01110328 0.9993197 -0.08056745] [ 0. 0. 0. 1. ]] SLAMing on 14.192414036999999 meters Centerline goodness : 0.769463 Centerline is valid? [False, False] Translation: X:3.54, Y:0.14, Z:-0.08 [[ 0.99785747 -0.05478265 -0.03576764 3.5360734 ] [ 0.05500533 0.99847215 0.00527108 0.1421121 ] [ 0.03542422 -0.00722719 0.99934623 -0.0804043 ] [ 0. 0. 0. 1. ]] SLAMing on 14.222414036999998 meters Centerline goodness : 0.772182 Centerline is valid? [False, False] Translation: X:3.54, Y:0.14, Z:-0.08 [[ 9.97668765e-01 -5.78708341e-02 -3.61663075e-02 3.53781722e+00] [ 5.79586088e-02 9.98318030e-01 1.38240727e-03 1.43409714e-01] [ 3.60254758e-02 -3.47533343e-03 9.99344829e-01 -8.00905126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.252414037 meters Centerline goodness : 0.768176 Centerline is valid? [False, False] Translation: X:3.55, Y:0.14, Z:-0.08 [[ 0.99768932 -0.06111334 -0.02968476 3.54605756] [ 0.06140538 0.99807209 0.00902714 0.14162901] [ 0.02907585 -0.01082908 0.99951855 -0.08191012] [ 0. 0. 0. 1. ]] SLAMing on 14.282414036999999 meters Centerline goodness : 0.770046 Centerline is valid? [False, False] Translation: X:3.55, Y:0.14, Z:-0.08 [[ 0.997484 -0.06430429 -0.0298433 3.54704827] [ 0.06448537 0.99790539 0.00514459 0.14286976] [ 0.02944997 -0.0070561 0.99954135 -0.0813446 ] [ 0. 0. 0. 1. ]] SLAMing on 14.312414036999998 meters Centerline goodness : 0.764089 Centerline is valid? [False, False] Translation: X:3.55, Y:0.14, Z:-0.08 [[ 0.99745068 -0.06490432 -0.02965761 3.54609813] [ 0.06508029 0.99786747 0.0050062 0.14117987] [ 0.02926944 -0.00692356 0.99954758 -0.08064803] [ 0. 0. 0. 1. ]] SLAMing on 14.342414037 meters Centerline goodness : 0.771216 Centerline is valid? [False, False] Translation: X:3.55, Y:0.14, Z:-0.08 [[ 9.97206234e-01 -6.84626568e-02 -2.98762564e-02 3.54775607e+00] [ 6.85494047e-02 9.97645937e-01 1.88786685e-03 1.38144675e-01] [ 2.96766774e-02 -3.93059218e-03 9.99551822e-01 -8.13609825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.372414036999999 meters Centerline goodness : 0.770697 Centerline is valid? [False, False] Translation: X:3.55, Y:0.14, Z:-0.08 [[ 9.97207999e-01 -6.83500634e-02 -3.00744969e-02 3.54886161e+00] [ 6.84613856e-02 9.97650150e-01 2.68634088e-03 1.35367647e-01] [ 2.98202148e-02 -4.73778235e-03 9.99544050e-01 -8.24896799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.402414036999998 meters Centerline goodness : 0.769565 Centerline is valid? [False, False] Translation: X:3.55, Y:0.14, Z:-0.08 [[ 9.97009333e-01 -7.09639868e-02 -3.06023139e-02 3.55207934e+00] [ 7.09936173e-02 9.97476763e-01 -1.18577838e-04 1.35229418e-01] [ 3.05335118e-02 -2.05434575e-03 9.99531632e-01 -8.42332020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.432414037 meters Centerline goodness : 0.772567 Centerline is valid? [False, False] Translation: X:3.55, Y:0.13, Z:-0.08 [[ 9.96781276e-01 -7.38216204e-02 -3.12643008e-02 3.55329813e+00] [ 7.38325628e-02 9.97270326e-01 -8.05880790e-04 1.33324139e-01] [ 3.12384509e-02 -1.50503657e-03 9.99510827e-01 -8.31614788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.462414036999999 meters Centerline goodness : 0.772567 Centerline is valid? [False, False] Translation: X:3.55, Y:0.13, Z:-0.08 [[ 9.96781276e-01 -7.38216204e-02 -3.12643008e-02 3.55329813e+00] [ 7.38325628e-02 9.97270326e-01 -8.05880790e-04 1.33324139e-01] [ 3.12384509e-02 -1.50503657e-03 9.99510827e-01 -8.31614788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.492414037 meters Centerline goodness : 0.774532 Centerline is valid? [False, False] Translation: X:3.55, Y:0.13, Z:-0.08 [[ 9.96743056e-01 -7.41963248e-02 -3.15940670e-02 3.55395949e+00] [ 7.42293637e-02 9.97241187e-01 -1.27498165e-04 1.32135995e-01] [ 3.15163648e-02 -2.21812458e-03 9.99500775e-01 -8.28032765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.522414036999999 meters Centerline goodness : 0.773962 Centerline is valid? [False, False] Translation: X:3.55, Y:0.13, Z:-0.08 [[ 9.96749111e-01 -7.39685404e-02 -3.19353208e-02 3.55477763e+00] [ 7.40320948e-02 9.97255530e-01 8.10662313e-04 1.30575949e-01] [ 3.17877118e-02 -3.17226564e-03 9.99489609e-01 -8.27389166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.552414036999998 meters Centerline goodness : 0.773869 Centerline is valid? [False, False] Translation: X:3.55, Y:0.13, Z:-0.08 [[ 9.96853331e-01 -7.26562782e-02 -3.16938632e-02 3.55444420e+00] [ 7.27638483e-02 9.97346654e-01 2.25244386e-03 1.27241487e-01] [ 3.14461142e-02 -4.55152362e-03 9.99495085e-01 -8.26373486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.582414037 meters Centerline goodness : 0.773754 Centerline is valid? [False, False] Translation: X:3.55, Y:0.13, Z:-0.08 [[ 9.96903127e-01 -7.19959815e-02 -3.16343864e-02 3.55394125e+00] [ 7.21334293e-02 9.97389781e-01 3.22386745e-03 1.25322154e-01] [ 3.13197082e-02 -5.49578032e-03 9.99494308e-01 -8.17355512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.612414036999999 meters Centerline goodness : 0.773387 Centerline is valid? [False, False] Translation: X:3.55, Y:0.12, Z:-0.08 [[ 0.99693865 -0.07133863 -0.03200196 3.55474978] [ 0.07151805 0.99742917 0.0044958 0.12401325] [ 0.03159896 -0.00677075 0.99947769 -0.08164479] [ 0. 0. 0. 1. ]] SLAMing on 14.642414036999998 meters Centerline goodness : 0.773879 Centerline is valid? [False, False] Translation: X:3.56, Y:0.12, Z:-0.08 [[ 0.99691593 -0.07134979 -0.03267774 3.55551678] [ 0.07158044 0.99741713 0.00594212 0.12185164] [ 0.03216937 -0.00826288 0.99944828 -0.08036644] [ 0. 0. 0. 1. ]] SLAMing on 14.672414037 meters Centerline goodness : 0.765535 Centerline is valid? [False, False] Translation: X:3.56, Y:0.12, Z:-0.08 [[ 0.99686463 -0.07187464 -0.03308991 3.55636639] [ 0.07211598 0.99737725 0.00615727 0.12114631] [ 0.03256057 -0.00852427 0.99943341 -0.08006266] [ 0. 0. 0. 1. ]] SLAMing on 14.702414036999999 meters Centerline goodness : 0.771496 Centerline is valid? [False, False] Translation: X:3.56, Y:0.12, Z:-0.08 [[ 0.9968051 -0.07237789 -0.03377907 3.55819746] [ 0.07263517 0.99733771 0.00645116 0.12009282] [ 0.03322222 -0.0088841 0.9994085 -0.08031694] [ 0. 0. 0. 1. ]] SLAMing on 14.732414036999998 meters Centerline goodness : 0.771198 Centerline is valid? [False, False] Translation: X:3.56, Y:0.12, Z:-0.08 [[ 9.96608461e-01 -7.50621317e-02 -3.37231756e-02 3.55996326e+00] [ 7.51909678e-02 9.97165849e-01 2.56679157e-03 1.19238561e-01] [ 3.34349302e-02 -5.09376440e-03 9.99427916e-01 -8.23589458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.762414037 meters Centerline goodness : 0.767713 Centerline is valid? [False, False] Translation: X:3.56, Y:0.12, Z:-0.08 [[ 9.96574668e-01 -7.52158072e-02 -3.43731576e-02 3.56267631e+00] [ 7.53611257e-02 9.97151943e-01 2.94998987e-03 1.18307523e-01] [ 3.40533750e-02 -5.53028502e-03 9.99404715e-01 -8.42086960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.792414036999999 meters Centerline goodness : 0.768097 Centerline is valid? [False, False] Translation: X:3.56, Y:0.12, Z:-0.09 [[ 9.96574071e-01 -7.50697563e-02 -3.47080961e-02 3.56400818e+00] [ 7.52165019e-02 9.97162893e-01 2.93995218e-03 1.18025462e-01] [ 3.43889240e-02 -5.54050169e-03 9.99393168e-01 -8.50723205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.822414037 meters Centerline goodness : 0.768760 Centerline is valid? [False, False] Translation: X:3.57, Y:0.12, Z:-0.09 [[ 0.9966621 -0.07374904 -0.03501054 3.56521664] [ 0.07393074 0.99725567 0.00392213 0.11759345] [ 0.03462521 -0.0064974 0.99937925 -0.08605804] [ 0. 0. 0. 1. ]] SLAMing on 14.852414036999999 meters Centerline goodness : 0.765325 Centerline is valid? [False, False] Translation: X:3.56, Y:0.12, Z:-0.09 [[ 0.99702102 -0.06908739 -0.03429327 3.56284475] [ 0.06937288 0.99756478 0.00720477 0.11596926] [ 0.033712 -0.00956233 0.99938584 -0.08557599] [ 0. 0. 0. 1. ]] SLAMing on 14.882414036999998 meters Centerline goodness : 0.767278 Centerline is valid? [False, False] Translation: X:3.56, Y:0.12, Z:-0.09 [[ 0.99717428 -0.06726776 -0.03344417 3.56068127] [ 0.06754556 0.99768988 0.00724563 0.11597344] [ 0.03287951 -0.00948416 0.99941432 -0.08531085] [ 0. 0. 0. 1. ]] SLAMing on 14.912414037 meters Centerline goodness : 0.766029 Centerline is valid? [False, False] Translation: X:3.56, Y:0.11, Z:-0.09 [[ 0.99744269 -0.06335653 -0.03307599 3.55992921] [ 0.06369163 0.99792743 0.00917698 0.11454247] [ 0.03242602 -0.01126017 0.99941071 -0.08597224] [ 0. 0. 0. 1. ]] SLAMing on 14.942414036999999 meters Centerline goodness : 0.767992 Centerline is valid? [False, False] Translation: X:3.56, Y:0.11, Z:-0.09 [[ 0.99789368 -0.05720078 -0.03059853 3.55523939] [ 0.0575143 0.99829981 0.00946542 0.11326446] [ 0.03000508 -0.01120534 0.99948694 -0.08754922] [ 0. 0. 0. 1. ]] SLAMing on 14.972414036999998 meters Centerline goodness : 0.773377 Centerline is valid? [False, False] Translation: X:3.55, Y:0.11, Z:-0.09 [[ 0.99802549 -0.05533824 -0.02971185 3.55392807] [ 0.05562075 0.99841348 0.00876679 0.11293389] [ 0.02917957 -0.01040208 0.99952006 -0.08874748] [ 0. 0. 0. 1. ]] SLAMing on 15.002414037 meters Centerline goodness : 0.767280 Centerline is valid? [False, False] Translation: X:3.55, Y:0.11, Z:-0.09 [[ 0.99812922 -0.05393229 -0.02879871 3.55255287] [ 0.05417891 0.99850037 0.00785238 0.11271598] [ 0.02833203 -0.00939798 0.99955439 -0.08984866] [ 0. 0. 0. 1. ]] SLAMing on 15.032414036999999 meters Centerline goodness : 0.770649 Centerline is valid? [False, False] Translation: X:3.55, Y:0.11, Z:-0.09 [[ 0.99828001 -0.05153624 -0.02794718 3.55032446] [ 0.05178524 0.99862408 0.00826008 0.11201825] [ 0.02748303 -0.00969312 0.99957527 -0.08936734] [ 0. 0. 0. 1. ]] SLAMing on 15.062414036999998 meters Centerline goodness : 0.770793 Centerline is valid? [False, False] Translation: X:3.55, Y:0.11, Z:-0.09 [[ 0.99831654 -0.05079246 -0.02800379 3.55025165] [ 0.05105923 0.99865602 0.00889432 0.11154629] [ 0.02751438 -0.0103092 0.99956825 -0.08909924] [ 0. 0. 0. 1. ]] SLAMing on 15.092414037 meters Centerline goodness : 0.772535 Centerline is valid? [False, False] Translation: X:3.55, Y:0.11, Z:-0.09 [[ 0.99834355 -0.05037783 -0.02778915 3.54970398] [ 0.05064132 0.9986776 0.0088605 0.11107133] [ 0.02730603 -0.01025311 0.99957454 -0.08886203] [ 0. 0. 0. 1. ]] SLAMing on 15.122414036999999 meters Centerline goodness : 0.763823 Centerline is valid? [False, False] Translation: X:3.55, Y:0.11, Z:-0.09 [[ 0.99828418 -0.052035 -0.02685248 3.54838903] [ 0.05219735 0.99862229 0.00538048 0.11051244] [ 0.02653551 -0.00677287 0.99962493 -0.08930777] [ 0. 0. 0. 1. ]] SLAMing on 15.152414036999998 meters Centerline goodness : 0.771715 Centerline is valid? [False, False] Translation: X:3.55, Y:0.11, Z:-0.09 [[ 9.98240494e-01 -5.30830951e-02 -2.64215888e-02 3.54797363e+00] [ 5.31875082e-02 9.98579207e-01 3.26435557e-03 1.09656746e-01] [ 2.62107671e-02 -4.66391038e-03 9.99645559e-01 -8.96092416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.182414037 meters Centerline goodness : 0.766183 Centerline is valid? [False, False] Translation: X:3.55, Y:0.11, Z:-0.09 [[ 9.98028022e-01 -5.68434386e-02 -2.66249911e-02 3.54935420e+00] [ 5.69036896e-02 9.98378530e-01 1.51016570e-03 1.06313139e-01] [ 2.64959765e-02 -3.02224792e-03 9.99644351e-01 -8.96725823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.212414036999999 meters Centerline goodness : 0.763784 Centerline is valid? [False, False] Translation: X:3.55, Y:0.10, Z:-0.09 [[ 9.97871837e-01 -5.93639921e-02 -2.69761594e-02 3.55029589e+00] [ 5.94224259e-02 9.98231988e-01 1.36896922e-03 1.03682182e-01] [ 2.68471978e-02 -2.96904467e-03 9.99635140e-01 -8.90072315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.242414037 meters Centerline goodness : 0.767563 Centerline is valid? [False, False] Translation: X:3.55, Y:0.10, Z:-0.09 [[ 9.97691678e-01 -6.22787856e-02 -2.70678331e-02 3.55122519e+00] [ 6.22946124e-02 9.98057771e-01 -2.58964254e-04 1.01299430e-01] [ 2.70313891e-02 -1.42781369e-03 9.99633566e-01 -8.89209427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.272414036999999 meters Centerline goodness : 0.771826 Centerline is valid? [False, False] Translation: X:3.55, Y:0.10, Z:-0.09 [[ 9.97540566e-01 -6.41734423e-02 -2.81884468e-02 3.55400334e+00] [ 6.42457849e-02 9.97932713e-01 1.66732212e-03 9.81090775e-02] [ 2.80231754e-02 -3.47421035e-03 9.99601236e-01 -8.85254938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.302414036999998 meters Centerline goodness : 0.766886 Centerline is valid? [False, False] Translation: X:3.56, Y:0.09, Z:-0.09 [[ 0.99713841 -0.0692671 -0.03028303 3.55726863] [ 0.06942417 0.99757854 0.00416525 0.09436578] [ 0.02992119 -0.00625571 0.99953269 -0.08503007] [ 0. 0. 0. 1. ]] SLAMing on 15.332414037 meters Centerline goodness : 0.773967 Centerline is valid? [False, False] Translation: X:3.56, Y:0.09, Z:-0.08 [[ 0.99695742 -0.07124793 -0.03161701 3.56033116] [ 0.07146055 0.99742745 0.00564515 0.09250059] [ 0.03113347 -0.00788734 0.99948412 -0.0846062 ] [ 0. 0. 0. 1. ]] SLAMing on 15.362414036999999 meters Centerline goodness : 0.768890 Centerline is valid? [False, False] Translation: X:3.56, Y:0.09, Z:-0.08 [[ 0.99677186 -0.07330288 -0.03274969 3.56333554] [ 0.07355735 0.99726893 0.00663263 0.09025144] [ 0.03217406 -0.0090202 0.99944158 -0.08461347] [ 0. 0. 0. 1. ]] SLAMing on 15.392414036999998 meters Centerline goodness : 0.770416 Centerline is valid? [False, False] Translation: X:3.57, Y:0.09, Z:-0.08 [[ 0.99636513 -0.07850653 -0.03306427 3.5655601 ] [ 0.07868364 0.99689125 0.00408794 0.08602136] [ 0.03264055 -0.00667469 0.99944487 -0.08493663] [ 0. 0. 0. 1. ]] SLAMing on 15.422414037 meters Centerline goodness : 0.770168 Centerline is valid? [False, False] Translation: X:3.57, Y:0.08, Z:-0.08 [[ 0.99620771 -0.07999635 -0.03421672 3.56847273] [ 0.08023075 0.99676097 0.00553102 0.08375006] [ 0.03366343 -0.00825528 0.99939913 -0.08483694] [ 0. 0. 0. 1. ]] SLAMing on 15.452414036999999 meters Centerline goodness : 0.768596 Centerline is valid? [False, False] Translation: X:3.57, Y:0.08, Z:-0.08 [[ 0.99603257 -0.08183509 -0.034959 3.56981107] [ 0.08209955 0.99660488 0.00619505 0.08231229] [ 0.03433334 -0.00904059 0.99936955 -0.08368435] [ 0. 0. 0. 1. ]] SLAMing on 15.482414036999998 meters Centerline goodness : 0.768191 Centerline is valid? [False, False] Translation: X:3.57, Y:0.08, Z:-0.08 [[ 0.99586558 -0.0832783 -0.03628312 3.57270256] [ 0.083632 0.99646181 0.0083394 0.07983438] [ 0.03546025 -0.01133935 0.99930675 -0.08297198] [ 0. 0. 0. 1. ]] SLAMing on 15.512414037 meters Centerline goodness : 0.769966 Centerline is valid? [False, False] Translation: X:3.57, Y:0.08, Z:-0.08 [[ 0.99578684 -0.08398161 -0.03681927 3.57336987] [ 0.08437116 0.99639234 0.00915453 0.07855682] [ 0.03591763 -0.01222244 0.99928001 -0.08183249] [ 0. 0. 0. 1. ]] SLAMing on 15.542414036999999 meters Centerline goodness : 0.771147 Centerline is valid? [False, False] Translation: X:3.57, Y:0.08, Z:-0.08 [[ 0.99575888 -0.08413283 -0.03722793 3.5742316 ] [ 0.08456664 0.99636528 0.01023289 0.07675474] [ 0.0362317 -0.01333773 0.99925441 -0.08145281] [ 0. 0. 0. 1. ]] SLAMing on 15.572414037 meters Centerline goodness : 0.767270 Centerline is valid? [False, False] Translation: X:3.57, Y:0.07, Z:-0.08 [[ 0.99557757 -0.08647784 -0.03670001 3.57497779] [ 0.08682635 0.99619127 0.00800806 0.07346881] [ 0.03586771 -0.01115917 0.99929424 -0.08274465] [ 0. 0. 0. 1. ]] SLAMing on 15.602414036999999 meters Centerline goodness : 0.768849 Centerline is valid? [False, False] Translation: X:3.58, Y:0.07, Z:-0.08 [[ 0.99547771 -0.08741529 -0.03718448 3.57739536] [ 0.08776823 0.99610908 0.00796438 0.07099515] [ 0.03634359 -0.01119198 0.99927668 -0.08411722] [ 0. 0. 0. 1. ]] SLAMing on 15.632414036999998 meters Centerline goodness : 0.767257 Centerline is valid? [False, False] Translation: X:3.58, Y:0.07, Z:-0.08 [[ 0.99534713 -0.08853618 -0.03801882 3.58009778] [ 0.08891451 0.99600405 0.00837491 0.06926964] [ 0.03712542 -0.01171637 0.99924193 -0.08490248] [ 0. 0. 0. 1. ]] SLAMing on 15.662414037 meters Centerline goodness : 0.766591 Centerline is valid? [False, False] Translation: X:3.58, Y:0.07, Z:-0.08 [[ 0.99514668 -0.09024093 -0.03923839 3.58242639] [ 0.09066315 0.99583991 0.00911411 0.06911534] [ 0.03825269 -0.01262735 0.99918831 -0.08397649] [ 0. 0. 0. 1. ]] SLAMing on 15.692414036999999 meters Centerline goodness : 0.767981 Centerline is valid? [False, False] Translation: X:3.58, Y:0.07, Z:-0.08 [[ 0.99508371 -0.09058141 -0.04004263 3.58389279] [ 0.09104743 0.99579667 0.00996802 0.06886349] [ 0.0389714 -0.01356479 0.99914825 -0.08348463] [ 0. 0. 0. 1. ]] SLAMing on 15.722414036999998 meters Centerline goodness : 0.766693 Centerline is valid? [False, False] Translation: X:3.59, Y:0.07, Z:-0.08 [[ 0.9950344 -0.09083915 -0.0406791 3.58548112] [ 0.0913449 0.99576131 0.01074768 0.06788988] [ 0.03953036 -0.01441014 0.99911446 -0.08361078] [ 0. 0. 0. 1. ]] SLAMing on 15.752414037 meters Centerline goodness : 0.767992 Centerline is valid? [False, False] Translation: X:3.59, Y:0.07, Z:-0.08 [[ 0.9949893 -0.09112843 -0.04113262 3.58690126] [ 0.09165627 0.99572849 0.01113072 0.06692806] [ 0.03994259 -0.01484501 0.99909169 -0.08399331] [ 0. 0. 0. 1. ]] SLAMing on 15.782414036999999 meters Centerline goodness : 0.764548 Centerline is valid? [False, False] Translation: X:3.59, Y:0.06, Z:-0.08 [[ 0.99498267 -0.09119272 -0.04115051 3.58772953] [ 0.09173725 0.99571637 0.01154036 0.06472263] [ 0.03992184 -0.0152575 0.99908631 -0.08477939] [ 0. 0. 0. 1. ]] SLAMing on 15.812414036999998 meters Centerline goodness : 0.764392 Centerline is valid? [False, False] Translation: X:3.59, Y:0.06, Z:-0.08 [[ 0.99494669 -0.09135036 -0.0416676 3.58883016] [ 0.09192723 0.99569171 0.01214114 0.06442854] [ 0.04037899 -0.01591018 0.99905776 -0.08459365] [ 0. 0. 0. 1. ]] SLAMing on 15.842414037 meters Centerline goodness : 0.765175 Centerline is valid? [False, False] Translation: X:3.59, Y:0.06, Z:-0.08 [[ 0.99488764 -0.09186377 -0.04194795 3.58883352] [ 0.09245984 0.99563803 0.01249374 0.06398634] [ 0.04061725 -0.01630837 0.99904168 -0.08345584] [ 0. 0. 0. 1. ]] SLAMing on 15.872414036999999 meters Centerline goodness : 0.768166 Centerline is valid? [False, False] Translation: X:3.59, Y:0.06, Z:-0.08 [[ 0.99481031 -0.09236607 -0.04267256 3.59012962] [ 0.09300382 0.99557817 0.01320575 0.06410822] [ 0.04126411 -0.01710593 0.99900183 -0.08294344] [ 0. 0. 0. 1. ]] SLAMing on 15.902414036999998 meters Centerline goodness : 0.767542 Centerline is valid? [False, False] Translation: X:3.59, Y:0.06, Z:-0.08 [[ 0.99452673 -0.09469362 -0.04415547 3.59306171] [ 0.09538906 0.99534283 0.01391343 0.06391346] [ 0.04263232 -0.01804923 0.99892778 -0.08206065] [ 0. 0. 0. 1. ]] SLAMing on 15.932414037 meters Centerline goodness : 0.765645 Centerline is valid? [False, False] Translation: X:3.60, Y:0.06, Z:-0.08 [[ 0.99435966 -0.09610533 -0.04486245 3.59501972] [ 0.09680763 0.99520815 0.01374847 0.06371715] [ 0.04332618 -0.01801395 0.99889856 -0.08222638] [ 0. 0. 0. 1. ]] SLAMing on 15.962414036999999 meters Centerline goodness : 0.766817 Centerline is valid? [False, False] Translation: X:3.60, Y:0.06, Z:-0.08 [[ 0.99416474 -0.09761225 -0.04591649 3.59796022] [ 0.09834076 0.99505602 0.01387862 0.06315409] [ 0.04433476 -0.0183131 0.99884887 -0.08280934] [ 0. 0. 0. 1. ]] SLAMing on 15.992414037 meters Centerline goodness : 0.766008 Centerline is valid? [False, False] Translation: X:3.60, Y:0.06, Z:-0.08 [[ 0.99393308 -0.09975764 -0.04631887 3.59959165] [ 0.10045611 0.99485657 0.01299924 0.06259691] [ 0.04478386 -0.01757339 0.99884212 -0.0831958 ] [ 0. 0. 0. 1. ]] SLAMing on 16.022414037 meters Centerline goodness : 0.764039 Centerline is valid? [False, False] Translation: X:3.60, Y:0.06, Z:-0.08 [[ 0.99383641 -0.10034721 -0.04711293 3.60099232] [ 0.10108869 0.99478415 0.01362269 0.06268078] [ 0.0455002 -0.01830131 0.99879667 -0.08260902] [ 0. 0. 0. 1. ]] SLAMing on 16.052414037000002 meters Centerline goodness : 0.766796 Centerline is valid? [False, False] Translation: X:3.60, Y:0.06, Z:-0.08 [[ 0.99375838 -0.10076984 -0.04785101 3.60185627] [ 0.10155937 0.99472584 0.01435938 0.06324029] [ 0.04615164 -0.01912947 0.99875127 -0.08153152] [ 0. 0. 0. 1. ]] SLAMing on 16.082414037 meters Centerline goodness : 0.766709 Centerline is valid? [False, False] Translation: X:3.60, Y:0.06, Z:-0.08 [[ 0.99369945 -0.10033145 -0.04995006 3.60438029] [ 0.10135829 0.99467869 0.01846102 0.06408537] [ 0.04783204 -0.02340756 0.99858108 -0.07932565] [ 0. 0. 0. 1. ]] SLAMing on 16.112414037 meters Centerline goodness : 0.766028 Centerline is valid? [False, False] Translation: X:3.60, Y:0.06, Z:-0.08 [[ 0.99365689 -0.10063402 -0.05018735 3.60472879] [ 0.1016511 0.99465478 0.01813614 0.06479861] [ 0.04809398 -0.0231227 0.99857514 -0.07917439] [ 0. 0. 0. 1. ]] SLAMing on 16.142414037 meters Centerline goodness : 0.765762 Centerline is valid? [False, False] Translation: X:3.61, Y:0.07, Z:-0.08 [[ 0.99359878 -0.1010463 -0.05050844 3.60641316] [ 0.10204012 0.99462644 0.0174944 0.06518248] [ 0.04846928 -0.0225363 0.9985704 -0.08064215] [ 0. 0. 0. 1. ]] SLAMing on 16.172414037 meters Centerline goodness : 0.764297 Centerline is valid? [False, False] Translation: X:3.61, Y:0.07, Z:-0.08 [[ 0.99358179 -0.10105643 -0.05082155 3.60713009] [ 0.10205476 0.99462587 0.0174416 0.06561812] [ 0.04878584 -0.02251624 0.99855544 -0.08079452] [ 0. 0. 0. 1. ]] SLAMing on 16.202414037 meters Centerline goodness : 0.764838 Centerline is valid? [False, False] Translation: X:3.61, Y:0.07, Z:-0.08 [[ 0.99364836 -0.09959364 -0.05238366 3.60960142] [ 0.10080448 0.99468465 0.02099769 0.06562028] [ 0.05001399 -0.02614482 0.99840625 -0.0802319 ] [ 0. 0. 0. 1. ]] SLAMing on 16.232414037 meters Centerline goodness : 0.767359 Centerline is valid? [False, False] Translation: X:3.61, Y:0.07, Z:-0.08 [[ 0.99375061 -0.097862 -0.0536913 3.61058571] [ 0.09924709 0.99477907 0.02376149 0.06888136] [ 0.05108564 -0.0289417 0.99827483 -0.07886897] [ 0. 0. 0. 1. ]] SLAMing on 16.262414037 meters Centerline goodness : 0.771797 Centerline is valid? [False, False] Translation: X:3.61, Y:0.07, Z:-0.08 [[ 0.99372125 -0.09777166 -0.05439464 3.61196744] [ 0.09917061 0.99478968 0.02363666 0.07082819] [ 0.05180023 -0.02888261 0.99823972 -0.07909586] [ 0. 0. 0. 1. ]] SLAMing on 16.292414037 meters Centerline goodness : 0.772628 Centerline is valid? [False, False] Translation: X:3.61, Y:0.07, Z:-0.08 [[ 0.99368413 -0.09824217 -0.05422478 3.61158768] [ 0.09958442 0.99477183 0.02262638 0.07236182] [ 0.05171842 -0.02788342 0.99827237 -0.07908547] [ 0. 0. 0. 1. ]] SLAMing on 16.322414037 meters Centerline goodness : 0.771868 Centerline is valid? [False, False] Translation: X:3.61, Y:0.07, Z:-0.08 [[ 0.99365249 -0.09827597 -0.0547408 3.61296092] [ 0.09963819 0.99476405 0.02273136 0.07251417] [ 0.05222024 -0.02804135 0.99824182 -0.07945245] [ 0. 0. 0. 1. ]] SLAMing on 16.352414037 meters Centerline goodness : 0.771868 Centerline is valid? [False, False] Translation: X:3.61, Y:0.07, Z:-0.08 [[ 0.99365249 -0.09827597 -0.0547408 3.61296092] [ 0.09963819 0.99476405 0.02273136 0.07251417] [ 0.05222024 -0.02804135 0.99824182 -0.07945245] [ 0. 0. 0. 1. ]] SLAMing on 16.382414037 meters Centerline goodness : 0.766041 Centerline is valid? [False, False] Translation: X:3.61, Y:0.07, Z:-0.08 [[ 0.99359241 -0.09859792 -0.05525006 3.61354366] [ 0.09999568 0.99471908 0.02312616 0.07257276] [ 0.05267809 -0.02850275 0.99820469 -0.07876638] [ 0. 0. 0. 1. ]] SLAMing on 16.412414037 meters Centerline goodness : 0.772900 Centerline is valid? [False, False] Translation: X:3.61, Y:0.07, Z:-0.08 [[ 0.99357071 -0.09887374 -0.05514725 3.61313931] [ 0.10023912 0.99470754 0.02256149 0.07345923] [ 0.05262465 -0.02794434 0.9982233 -0.07851188] [ 0. 0. 0. 1. ]] SLAMing on 16.442414037 meters Centerline goodness : 0.761684 Centerline is valid? [False, False] Translation: X:3.61, Y:0.08, Z:-0.08 [[ 0.99349819 -0.09913149 -0.05598477 3.6146011 ] [ 0.10049595 0.994692 0.02209963 0.07663416] [ 0.05349684 -0.02758219 0.99818701 -0.07860999] [ 0. 0. 0. 1. ]] SLAMing on 16.472414037 meters Centerline goodness : 0.771548 Centerline is valid? [False, False] Translation: X:3.62, Y:0.08, Z:-0.08 [[ 0.99344342 -0.09947661 -0.05634333 3.61559235] [ 0.10080793 0.994678 0.02129406 0.07883101] [ 0.05392521 -0.0268343 0.99818435 -0.07917494] [ 0. 0. 0. 1. ]] SLAMing on 16.502414037 meters Centerline goodness : 0.763853 Centerline is valid? [False, False] Translation: X:3.62, Y:0.08, Z:-0.08 [[ 0.99339303 -0.09950947 -0.05716777 3.61774495] [ 0.10085018 0.99467872 0.02105925 0.0811124 ] [ 0.05476796 -0.02668549 0.99814245 -0.08016373] [ 0. 0. 0. 1. ]] SLAMing on 16.532414037000002 meters Centerline goodness : 0.766948 Centerline is valid? [False, False] Translation: X:3.62, Y:0.09, Z:-0.08 [[ 0.99337081 -0.09929807 -0.0579165 3.61870525] [ 0.10062037 0.99471629 0.02037284 0.08610026] [ 0.0555875 -0.02606536 0.99811353 -0.08024837] [ 0. 0. 0. 1. ]] SLAMing on 16.562414037 meters Centerline goodness : 0.769808 Centerline is valid? [False, False] Translation: X:3.62, Y:0.09, Z:-0.08 [[ 0.99337865 -0.09903774 -0.05822701 3.61927451] [ 0.10033137 0.99475858 0.01972276 0.08801646] [ 0.05596852 -0.02543416 0.99810853 -0.08052214] [ 0. 0. 0. 1. ]] SLAMing on 16.592414037 meters Centerline goodness : 0.766746 Centerline is valid? [False, False] Translation: X:3.62, Y:0.09, Z:-0.08 [[ 0.99339419 -0.09867667 -0.05857389 3.62046174] [ 0.09996089 0.99480206 0.01940824 0.08965465] [ 0.05635429 -0.02513513 0.99809439 -0.0814831 ] [ 0. 0. 0. 1. ]] SLAMing on 16.622414037000002 meters Centerline goodness : 0.764275 Centerline is valid? [False, False] Translation: X:3.62, Y:0.09, Z:-0.08 [[ 0.99340344 -0.098527 -0.05866894 3.62107876] [ 0.0997859 0.99482899 0.01892209 0.09065158] [ 0.05650123 -0.0246516 0.99809815 -0.08220374] [ 0. 0. 0. 1. ]] SLAMing on 16.652414037 meters Centerline goodness : 0.767469 Centerline is valid? [False, False] Translation: X:3.62, Y:0.09, Z:-0.08 [[ 0.99337287 -0.09880474 -0.0587193 3.62074956] [ 0.10001865 0.99482093 0.0180995 0.09332369] [ 0.05662687 -0.02385258 0.99811044 -0.08177669] [ 0. 0. 0. 1. ]] SLAMing on 16.682414037 meters Centerline goodness : 0.768662 Centerline is valid? [False, False] Translation: X:3.62, Y:0.09, Z:-0.08 [[ 0.99332236 -0.09890977 -0.05939311 3.62167388] [ 0.10016441 0.99479842 0.01852526 0.09410033] [ 0.05725184 -0.02435063 0.99806276 -0.08116538] [ 0. 0. 0. 1. ]] SLAMing on 16.712414037000002 meters Centerline goodness : 0.763494 Centerline is valid? [False, False] Translation: X:3.62, Y:0.10, Z:-0.08 [[ 0.99327236 -0.09915528 -0.05981847 3.62216853] [ 0.10043552 0.99476628 0.01878177 0.09504293] [ 0.05764308 -0.02466331 0.99803256 -0.08066521] [ 0. 0. 0. 1. ]] SLAMing on 16.742414037 meters Centerline goodness : 0.766394 Centerline is valid? [False, False] Translation: X:3.62, Y:0.10, Z:-0.08 [[ 0.99311373 -0.1000366 -0.0609737 3.62382782] [ 0.10133173 0.99468021 0.0185245 0.09842425] [ 0.05879621 -0.0245755 0.99796746 -0.07993626] [ 0. 0. 0. 1. ]] SLAMing on 16.772414037 meters Centerline goodness : 0.764598 Centerline is valid? [False, False] Translation: X:3.62, Y:0.10, Z:-0.08 [[ 0.99303674 -0.10049301 -0.06147514 3.62486296] [ 0.10177837 0.99464171 0.01813937 0.09997076] [ 0.05932286 -0.0242699 0.99794377 -0.08008223] [ 0. 0. 0. 1. ]] SLAMing on 16.802414037000002 meters Centerline goodness : 0.765137 Centerline is valid? [False, False] Translation: X:3.63, Y:0.10, Z:-0.08 [[ 0.99297287 -0.10059688 -0.0623309 3.62722819] [ 0.10190691 0.99462745 0.01819928 0.101246 ] [ 0.06016523 -0.02442334 0.9978896 -0.0810725 ] [ 0. 0. 0. 1. ]] SLAMing on 16.832414037 meters Centerline goodness : 0.764691 Centerline is valid? [False, False] Translation: X:3.63, Y:0.11, Z:-0.08 [[ 0.99264434 -0.10397602 -0.06201783 3.62818013] [ 0.10495656 0.99439495 0.01275942 0.10568505] [ 0.06034354 -0.01917474 0.99799348 -0.08270945] [ 0. 0. 0. 1. ]] SLAMing on 16.862414037 meters Centerline goodness : 0.763418 Centerline is valid? [False, False] Translation: X:3.63, Y:0.11, Z:-0.08 [[ 0.99256343 -0.1043562 -0.06267078 3.62982369] [ 0.10534638 0.99435449 0.01269982 0.10677194] [ 0.06099167 -0.01920752 0.99795345 -0.08324946] [ 0. 0. 0. 1. ]] SLAMing on 16.892414037 meters Centerline goodness : 0.763780 Centerline is valid? [False, False] Translation: X:3.63, Y:0.11, Z:-0.08 [[ 0.99275704 -0.10189 -0.06365449 3.63127299] [ 0.1031491 0.99452387 0.01680883 0.10557711] [ 0.06159326 -0.02325299 0.99783043 -0.0832127 ] [ 0. 0. 0. 1. ]] SLAMing on 16.922414037 meters Centerline goodness : 0.767045 Centerline is valid? [False, False] Translation: X:3.63, Y:0.11, Z:-0.08 [[ 0.99271092 -0.10207912 -0.06406929 3.63116422] [ 0.10333198 0.99450928 0.01654696 0.10733602] [ 0.06202841 -0.02304675 0.99780826 -0.08195681] [ 0. 0. 0. 1. ]] SLAMing on 16.952414037 meters Centerline goodness : 0.766056 Centerline is valid? [False, False] Translation: X:3.63, Y:0.11, Z:-0.08 [[ 0.99267918 -0.10210925 -0.06451158 3.63130834] [ 0.10337646 0.99450358 0.01661161 0.10895655] [ 0.0624608 -0.02315898 0.99777869 -0.08097342] [ 0. 0. 0. 1. ]] SLAMing on 16.982414037 meters Centerline goodness : 0.763937 Centerline is valid? [False, False] Translation: X:3.63, Y:0.11, Z:-0.08 [[ 0.99263566 -0.10251433 -0.06453884 3.63107829] [ 0.10372486 0.99448234 0.01568517 0.1116848 ] [ 0.06257479 -0.02226395 0.99779192 -0.08052813] [ 0. 0. 0. 1. ]] SLAMing on 17.012414037 meters Centerline goodness : 0.764997 Centerline is valid? [False, False] Translation: X:3.63, Y:0.11, Z:-0.08 [[ 0.99261495 -0.10269542 -0.06456938 3.63118225] [ 0.10388296 0.9944718 0.01530254 0.11234196] [ 0.06264093 -0.02189719 0.99779588 -0.08040793] [ 0. 0. 0. 1. ]] SLAMing on 17.042414037 meters Centerline goodness : 0.764432 Centerline is valid? [False, False] Translation: X:3.63, Y:0.11, Z:-0.08 [[ 0.99258971 -0.10290611 -0.06462198 3.63125746] [ 0.10405654 0.99446293 0.01468754 0.11340854] [ 0.06275273 -0.02130304 0.99780172 -0.08017054] [ 0. 0. 0. 1. ]] SLAMing on 17.072414037 meters Centerline goodness : 0.766725 Centerline is valid? [False, False] Translation: X:3.63, Y:0.11, Z:-0.08 [[ 0.99257517 -0.10300966 -0.06468037 3.63172079] [ 0.10413886 0.99445956 0.01432744 0.11454468] [ 0.06284615 -0.0209568 0.99780317 -0.08053861] [ 0. 0. 0. 1. ]] SLAMing on 17.102414037 meters Centerline goodness : 0.765683 Centerline is valid? [False, False] Translation: X:3.63, Y:0.12, Z:-0.08 [[ 0.99256073 -0.10300467 -0.06490949 3.63263865] [ 0.10411859 0.99446622 0.01400953 0.1162881 ] [ 0.06310724 -0.02066359 0.99779281 -0.08109779] [ 0. 0. 0. 1. ]] SLAMing on 17.132414037 meters Centerline goodness : 0.765968 Centerline is valid? [False, False] Translation: X:3.63, Y:0.12, Z:-0.08 [[ 0.99254291 -0.10303049 -0.06514054 3.63368086] [ 0.10413228 0.99446851 0.01374217 0.11791531] [ 0.06336435 -0.02042293 0.99778147 -0.08183097] [ 0. 0. 0. 1. ]] SLAMing on 17.162414037 meters Centerline goodness : 0.763630 Centerline is valid? [False, False] Translation: X:3.63, Y:0.12, Z:-0.08 [[ 0.99252845 -0.1031569 -0.06516072 3.63430285] [ 0.10423813 0.99446198 0.01340824 0.11999034] [ 0.06341671 -0.0201003 0.9977847 -0.08269927] [ 0. 0. 0. 1. ]] SLAMing on 17.192414037 meters Centerline goodness : 0.764187 Centerline is valid? [False, False] Translation: X:3.63, Y:0.12, Z:-0.08 [[ 0.99250113 -0.10341807 -0.06516299 3.6341513 ] [ 0.10446801 0.99444448 0.01290745 0.12068348] [ 0.06346612 -0.01961811 0.99779115 -0.08233928] [ 0. 0. 0. 1. ]] SLAMing on 17.222414037 meters Centerline goodness : 0.763579 Centerline is valid? [False, False] Translation: X:3.63, Y:0.12, Z:-0.08 [[ 0.99249735 -0.10347362 -0.06513241 3.63407695] [ 0.10449622 0.99444691 0.01248547 0.12160115] [ 0.0634788 -0.01919789 0.99779852 -0.08212231] [ 0. 0. 0. 1. ]] SLAMing on 17.252414037 meters Centerline goodness : 0.764301 Centerline is valid? [False, False] Translation: X:3.63, Y:0.12, Z:-0.08 [[ 0.99247717 -0.10358695 -0.06525961 3.63392199] [ 0.10456719 0.99444806 0.01177927 0.12347255] [ 0.06367712 -0.01851467 0.99779879 -0.08136239] [ 0. 0. 0. 1. ]] SLAMing on 17.282414037000002 meters Centerline goodness : 0.764036 Centerline is valid? [False, False] Translation: X:3.63, Y:0.13, Z:-0.08 [[ 0.9928388 -0.09997507 -0.06539185 3.63268013] [ 0.10113477 0.99476467 0.01466318 0.12606874] [ 0.06358355 -0.02117156 0.99775192 -0.0804955 ] [ 0. 0. 0. 1. ]] SLAMing on 17.312414037 meters Centerline goodness : 0.763805 Centerline is valid? [False, False] Translation: X:3.63, Y:0.13, Z:-0.08 [[ 0.99283928 -0.09982695 -0.0656105 3.63293509] [ 0.10094837 0.9947932 0.01399686 0.12844368] [ 0.06387162 -0.0205199 0.99774714 -0.0799661 ] [ 0. 0. 0. 1. ]] SLAMing on 17.342414037 meters Centerline goodness : 0.762260 Centerline is valid? [False, False] Translation: X:3.63, Y:0.13, Z:-0.08 [[ 0.99283828 -0.09973724 -0.0657619 3.63321144] [ 0.10082652 0.9948131 0.01345024 0.13027352] [ 0.06407931 -0.01998445 0.99774469 -0.0796693 ] [ 0. 0. 0. 1. ]] SLAMing on 17.372414037000002 meters Centerline goodness : 0.763413 Centerline is valid? [False, False] Translation: X:3.63, Y:0.13, Z:-0.08 [[ 0.99286287 -0.0993533 -0.06597147 3.63398477] [ 0.10041797 0.99486021 0.01301507 0.13224233] [ 0.0643393 -0.0195469 0.99773662 -0.07972533] [ 0. 0. 0. 1. ]] SLAMing on 17.402414037 meters Centerline goodness : 0.761826 Centerline is valid? [False, False] Translation: X:3.63, Y:0.13, Z:-0.08 [[ 0.99285692 -0.09928678 -0.06616091 3.63469461] [ 0.10033641 0.99487216 0.01272726 0.13333923] [ 0.064558 -0.0192747 0.99772779 -0.07997446] [ 0. 0. 0. 1. ]] SLAMing on 17.432414037 meters Centerline goodness : 0.763722 Centerline is valid? [False, False] Translation: X:3.64, Y:0.13, Z:-0.08 [[ 0.99285063 -0.09915822 -0.06644751 3.6355442 ] [ 0.10019292 0.99489055 0.01241629 0.13491712] [ 0.06487683 -0.01898509 0.99771267 -0.0801743 ] [ 0. 0. 0. 1. ]] SLAMing on 17.462414037000002 meters Centerline goodness : 0.761187 Centerline is valid? [False, False] Translation: X:3.64, Y:0.14, Z:-0.08 [[ 0.99285653 -0.09904499 -0.06652826 3.63574724] [ 0.1000296 0.99491652 0.0116273 0.13867282] [ 0.06503843 -0.01819904 0.99771679 -0.07994201] [ 0. 0. 0. 1. ]] SLAMing on 17.492414037 meters Centerline goodness : 0.760771 Centerline is valid? [False, False] Translation: X:3.64, Y:0.14, Z:-0.08 [[ 0.99284842 -0.09901221 -0.06669785 3.63626511] [ 0.09998567 0.99492345 0.01141024 0.13950744] [ 0.0652295 -0.01799747 0.99770797 -0.08003006] [ 0. 0. 0. 1. ]] SLAMing on 17.522414037 meters Centerline goodness : 0.764593 Centerline is valid? [False, False] Translation: X:3.64, Y:0.14, Z:-0.08 [[ 0.99286117 -0.09879124 -0.06683555 3.63730313] [ 0.09977818 0.99494226 0.01158517 0.13891952] [ 0.065353 -0.01817119 0.99769674 -0.08082215] [ 0. 0. 0. 1. ]] SLAMing on 17.552414037000002 meters Centerline goodness : 0.758719 Centerline is valid? [False, False] Translation: X:3.64, Y:0.14, Z:-0.08 [[ 0.99285555 -0.09885017 -0.06683188 3.63747367] [ 0.09983292 0.99493752 0.0115203 0.13881515] [ 0.06535476 -0.01811001 0.99769774 -0.080964 ] [ 0. 0. 0. 1. ]] SLAMing on 17.582414037 meters Centerline goodness : 0.758934 Centerline is valid? [False, False] Translation: X:3.64, Y:0.14, Z:-0.08 [[ 0.99284342 -0.09905534 -0.06670814 3.6370823 ] [ 0.10001553 0.9949228 0.01120316 0.13952076] [ 0.06525972 -0.01779484 0.99770963 -0.08075276] [ 0. 0. 0. 1. ]] SLAMing on 17.612414037 meters Centerline goodness : 0.759047 Centerline is valid? [False, False] Translation: X:3.64, Y:0.14, Z:-0.08 [[ 0.99282918 -0.09922759 -0.06666412 3.6367566 ] [ 0.10015958 0.994913 0.0107785 0.14088941] [ 0.06525548 -0.01737826 0.99771725 -0.08038495] [ 0. 0. 0. 1. ]] SLAMing on 17.642414037 meters Centerline goodness : 0.760354 Centerline is valid? [False, False] Translation: X:3.64, Y:0.14, Z:-0.08 [[ 0.99283049 -0.09914529 -0.06676694 3.63703188] [ 0.10005544 0.9949273 0.01042045 0.14269374] [ 0.06539512 -0.01702613 0.99771418 -0.08028292] [ 0. 0. 0. 1. ]] SLAMing on 17.672414037 meters Centerline goodness : 0.765951 Centerline is valid? [False, False] Translation: X:3.64, Y:0.14, Z:-0.08 [[ 0.99282237 -0.09920552 -0.06679832 3.63710179] [ 0.10010546 0.99492399 0.0102545 0.14268911] [ 0.06544195 -0.01686777 0.9977138 -0.08015387] [ 0. 0. 0. 1. ]] SLAMing on 17.702414037 meters Centerline goodness : 0.760805 Centerline is valid? [False, False] Translation: X:3.64, Y:0.14, Z:-0.08 [[ 0.99281165 -0.09926799 -0.06686468 3.63731515] [ 0.10016031 0.99491985 0.01011933 0.14234411] [ 0.06552047 -0.01674378 0.99771074 -0.08005666] [ 0. 0. 0. 1. ]] SLAMing on 17.732414037 meters Centerline goodness : 0.761109 Centerline is valid? [False, False] Translation: X:3.64, Y:0.14, Z:-0.08 [[ 0.99280818 -0.09920628 -0.06700771 3.63776665] [ 0.10009314 0.9949278 0.01000177 0.14233029] [ 0.06567559 -0.01663685 0.99770233 -0.08003401] [ 0. 0. 0. 1. ]] SLAMing on 17.762414037 meters Centerline goodness : 0.762754 Centerline is valid? [False, False] Translation: X:3.64, Y:0.14, Z:-0.08 [[ 0.99282699 -0.09890235 -0.06717799 3.63850063] [ 0.09977774 0.99496154 0.00979482 0.14391777] [ 0.06587079 -0.01642743 0.99769293 -0.08032375] [ 0. 0. 0. 1. ]] SLAMing on 17.792414037 meters Centerline goodness : 0.768915 Centerline is valid? [False, False] Translation: X:3.64, Y:0.14, Z:-0.08 [[ 0.99282511 -0.09884036 -0.06729696 3.63894875] [ 0.09970037 0.99497182 0.00953477 0.14499043] [ 0.06601616 -0.01617589 0.99768743 -0.08041174] [ 0. 0. 0. 1. ]] SLAMing on 17.822414037 meters Centerline goodness : 0.769529 Centerline is valid? [False, False] Translation: X:3.64, Y:0.15, Z:-0.08 [[ 0.9928423 -0.09866342 -0.06730296 3.63926501] [ 0.09949703 0.99499588 0.00914029 0.14714461] [ 0.06606436 -0.01577131 0.99769072 -0.08060583] [ 0. 0. 0. 1. ]] SLAMing on 17.852414037 meters Centerline goodness : 0.760725 Centerline is valid? [False, False] Translation: X:3.64, Y:0.15, Z:-0.08 [[ 0.99283557 -0.09867349 -0.06738748 3.63960209] [ 0.09949424 0.9949981 0.00892583 0.14828752] [ 0.06616967 -0.01556654 0.99768695 -0.08083496] [ 0. 0. 0. 1. ]] SLAMing on 17.882414037 meters Centerline goodness : 0.769127 Centerline is valid? [False, False] Translation: X:3.64, Y:0.15, Z:-0.08 [[ 0.992828 -0.09868126 -0.06748751 3.63981734] [ 0.09948316 0.99500192 0.00861834 0.14903085] [ 0.06629974 -0.0152704 0.9976829 -0.08064176] [ 0. 0. 0. 1. ]] SLAMing on 17.912414037 meters Centerline goodness : 0.769346 Centerline is valid? [False, False] Translation: X:3.64, Y:0.15, Z:-0.08 [[ 0.99282909 -0.09868835 -0.06746116 3.63972881] [ 0.09946682 0.9950065 0.00827156 0.14944955] [ 0.06630799 -0.01492239 0.99768761 -0.08029869] [ 0. 0. 0. 1. ]] SLAMing on 17.942414037 meters Centerline goodness : 0.760339 Centerline is valid? [False, False] Translation: X:3.64, Y:0.15, Z:-0.08 [[ 0.99285798 -0.09845926 -0.06737067 3.6392115 ] [ 0.09919965 0.99503756 0.00772588 0.15066844] [ 0.06627566 -0.01435385 0.9976981 -0.0793598 ] [ 0. 0. 0. 1. ]] SLAMing on 17.972414037 meters Centerline goodness : 0.760733 Centerline is valid? [False, False] Translation: X:3.64, Y:0.15, Z:-0.08 [[ 0.99286739 -0.09829603 -0.06747028 3.639635 ] [ 0.09903362 0.99505455 0.00766763 0.15123448] [ 0.06638292 -0.01429477 0.99769182 -0.07949205] [ 0. 0. 0. 1. ]] SLAMing on 18.002414037 meters Centerline goodness : 0.761503 Centerline is valid? [False, False] Translation: X:3.64, Y:0.15, Z:-0.08 [[ 0.99287141 -0.09809694 -0.06770048 3.64037135] [ 0.09884194 0.99507308 0.00773581 0.15149455] [ 0.06660807 -0.01437231 0.9976757 -0.07976179] [ 0. 0. 0. 1. ]] SLAMing on 18.032414037 meters Centerline goodness : 0.761402 Centerline is valid? [False, False] Translation: X:3.64, Y:0.15, Z:-0.08 [[ 0.99288183 -0.09789986 -0.06783283 3.64103801] [ 0.09865727 0.99509012 0.00789922 0.15128497] [ 0.06672644 -0.0145352 0.99766543 -0.08014999] [ 0. 0. 0. 1. ]] SLAMing on 18.062414037 meters Centerline goodness : 0.760744 Centerline is valid? [False, False] Translation: X:3.64, Y:0.15, Z:-0.08 [[ 0.99287671 -0.09786407 -0.06795928 3.64124716] [ 0.09862747 0.99509257 0.0079622 0.15031206] [ 0.06684656 -0.01460814 0.99765632 -0.07987031] [ 0. 0. 0. 1. ]] SLAMing on 18.092414037 meters Centerline goodness : 0.767543 Centerline is valid? [False, False] Translation: X:3.64, Y:0.15, Z:-0.08 [[ 0.99287197 -0.09787114 -0.06801835 3.64139491] [ 0.09863473 0.99509193 0.00795196 0.14999908] [ 0.06690624 -0.01460425 0.99765238 -0.07978922] [ 0. 0. 0. 1. ]] SLAMing on 18.122414037000002 meters Centerline goodness : 0.768912 Centerline is valid? [False, False] Translation: X:3.64, Y:0.15, Z:-0.08 [[ 0.9928733 -0.09778015 -0.06812972 3.64161735] [ 0.09854996 0.99509976 0.00802315 0.14970831] [ 0.06701136 -0.01468016 0.99764421 -0.07969388] [ 0. 0. 0. 1. ]] SLAMing on 18.152414037 meters Centerline goodness : 0.766186 Centerline is valid? [False, False] Translation: X:3.64, Y:0.15, Z:-0.08 [[ 0.99287313 -0.09762993 -0.06834727 3.64181481] [ 0.09839656 0.99511566 0.00793335 0.14970432] [ 0.06723891 -0.01460194 0.99763005 -0.07915606] [ 0. 0. 0. 1. ]] SLAMing on 18.182414037 meters Centerline goodness : 0.768724 Centerline is valid? [False, False] Translation: X:3.64, Y:0.15, Z:-0.08 [[ 0.99291293 -0.09720243 -0.06837835 3.64149883] [ 0.09794042 0.99516389 0.00751643 0.15123377] [ 0.06731705 -0.01416016 0.99763115 -0.07805295] [ 0. 0. 0. 1. ]] SLAMing on 18.212414037000002 meters Centerline goodness : 0.769537 Centerline is valid? [False, False] Translation: X:3.64, Y:0.15, Z:-0.08 [[ 0.99293208 -0.09688147 -0.06855556 3.64187832] [ 0.09760956 0.99519769 0.00734362 0.15224988] [ 0.06751487 -0.0139834 0.99762027 -0.07778047] [ 0. 0. 0. 1. ]] SLAMing on 18.242414037 meters Centerline goodness : 0.769751 Centerline is valid? [False, False] Translation: X:3.64, Y:0.15, Z:-0.08 [[ 0.9929483 -0.09658434 -0.06873963 3.64242795] [ 0.09730202 0.99522913 0.0071623 0.15307131] [ 0.06771991 -0.0138003 0.99760892 -0.07767252] [ 0. 0. 0. 1. ]] SLAMing on 18.272414037 meters Centerline goodness : 0.769751 Centerline is valid? [False, False] Translation: X:3.64, Y:0.15, Z:-0.08 [[ 0.9929483 -0.09658434 -0.06873963 3.64242795] [ 0.09730202 0.99522913 0.0071623 0.15307131] [ 0.06771991 -0.0138003 0.99760892 -0.07767252] [ 0. 0. 0. 1. ]] SLAMing on 18.302414037000002 meters Centerline goodness : 0.771249 Centerline is valid? [False, False] Translation: X:3.64, Y:0.15, Z:-0.08 [[ 0.99299741 -0.09570501 -0.0692582 3.64447597] [ 0.09645238 0.99530919 0.00752095 0.15273506] [ 0.06821353 -0.0141484 0.99757042 -0.07843688] [ 0. 0. 0. 1. ]] SLAMing on 18.332414037 meters Centerline goodness : 0.770857 Centerline is valid? [False, False] Translation: X:3.65, Y:0.15, Z:-0.08 [[ 0.99302824 -0.09518137 -0.06953722 3.64572656] [ 0.09596056 0.99535343 0.00794463 0.15190207] [ 0.06845793 -0.01456207 0.99754772 -0.07906487] [ 0. 0. 0. 1. ]] SLAMing on 18.362414037 meters Centerline goodness : 0.766410 Centerline is valid? [False, False] Translation: X:3.65, Y:0.15, Z:-0.08 [[ 0.99304907 -0.09476117 -0.06981312 3.64666238] [ 0.09556283 0.99538941 0.00822648 0.15137819] [ 0.06871169 -0.01484083 0.99752617 -0.07935742] [ 0. 0. 0. 1. ]] SLAMing on 18.392414037 meters Centerline goodness : 0.768438 Centerline is valid? [False, False] Translation: X:3.65, Y:0.15, Z:-0.08 [[ 0.99310494 -0.09405666 -0.0699709 3.64719633] [ 0.0948621 0.99545606 0.00827122 0.15216979] [ 0.06887499 -0.01485178 0.99751474 -0.07911679] [ 0. 0. 0. 1. ]] SLAMing on 18.422414037 meters Centerline goodness : 0.765633 Centerline is valid? [False, False] Translation: X:3.65, Y:0.15, Z:-0.08 [[ 0.99311043 -0.09386926 -0.07014433 3.64728425] [ 0.09465581 0.99547818 0.0079674 0.15320033] [ 0.06907925 -0.01455208 0.99750503 -0.07844685] [ 0. 0. 0. 1. ]] SLAMing on 18.452414037 meters Centerline goodness : 0.765130 Centerline is valid? [False, False] Translation: X:3.65, Y:0.15, Z:-0.08 [[ 0.99311147 -0.09372775 -0.07031867 3.64749046] [ 0.09450182 0.99549448 0.00775589 0.15428537] [ 0.0692749 -0.0143477 0.99749443 -0.07810509] [ 0. 0. 0. 1. ]] SLAMing on 18.482414037 meters Centerline goodness : 0.766555 Centerline is valid? [False, False] Translation: X:3.65, Y:0.16, Z:-0.08 [[ 0.99310405 -0.09369784 -0.07046314 3.64759414] [ 0.0944587 0.99550025 0.00753714 0.15518762] [ 0.06943986 -0.01414102 0.99748591 -0.07774269] [ 0. 0. 0. 1. ]] SLAMing on 18.512414037 meters Centerline goodness : 0.767066 Centerline is valid? [False, False] Translation: X:3.65, Y:0.16, Z:-0.08 [[ 0.99309539 -0.09372558 -0.07054828 3.64779072] [ 0.09447951 0.99549916 0.00741943 0.15529831] [ 0.06953537 -0.01403357 0.99748077 -0.07764094] [ 0. 0. 0. 1. ]] SLAMing on 18.542414037 meters Centerline goodness : 0.766737 Centerline is valid? [False, False] Translation: X:3.65, Y:0.15, Z:-0.08 [[ 0.99281977 -0.09666795 -0.0704572 3.6496001 ] [ 0.09719864 0.99525641 0.00413492 0.15433039] [ 0.06972326 -0.01095357 0.99750623 -0.07824952] [ 0. 0. 0. 1. ]] SLAMing on 18.572414037 meters Centerline goodness : 0.766602 Centerline is valid? [False, False] Translation: X:3.65, Y:0.15, Z:-0.08 [[ 0.99281228 -0.09672113 -0.07048971 3.64976326] [ 0.09725934 0.99525006 0.00423547 0.1528735 ] [ 0.06974523 -0.01106081 0.99750351 -0.07821247] [ 0. 0. 0. 1. ]] SLAMing on 18.602414037 meters Centerline goodness : 0.766211 Centerline is valid? [False, False] Translation: X:3.65, Y:0.15, Z:-0.08 [[ 0.9928077 -0.09671468 -0.07056305 3.65014507] [ 0.09725826 0.99524989 0.00430067 0.15273559] [ 0.06981193 -0.01113257 0.99749805 -0.07848576] [ 0. 0. 0. 1. ]] SLAMing on 18.632414037 meters Centerline goodness : 0.766927 Centerline is valid? [False, False] Translation: X:3.65, Y:0.15, Z:-0.08 [[ 0.99280875 -0.09649636 -0.07084654 3.65089053] [ 0.09704333 0.99527082 0.00431141 0.15296757] [ 0.07009546 -0.01115559 0.99747791 -0.07849857] [ 0. 0. 0. 1. ]] SLAMing on 18.662414037 meters Centerline goodness : 0.766995 Centerline is valid? [False, False] Translation: X:3.65, Y:0.15, Z:-0.08 [[ 0.99281408 -0.09630892 -0.07102676 3.65118183] [ 0.09685957 0.99528859 0.00434157 0.15269343] [ 0.07027399 -0.01119 0.99746496 -0.07821334] [ 0. 0. 0. 1. ]] SLAMing on 18.692414037 meters Centerline goodness : 0.766834 Centerline is valid? [False, False] Translation: X:3.65, Y:0.15, Z:-0.08 [[ 0.99281959 -0.09613718 -0.07118221 3.65146113] [ 0.09668622 0.99530562 0.00430021 0.15243185] [ 0.07043465 -0.01115167 0.99745406 -0.07786314] [ 0. 0. 0. 1. ]] SLAMing on 18.722414037 meters Centerline goodness : 0.767233 Centerline is valid? [False, False] Translation: X:3.65, Y:0.15, Z:-0.08 [[ 0.99285319 -0.09535799 -0.07175929 3.65303105] [ 0.09593642 0.9953766 0.0046499 0.15159176] [ 0.07098412 -0.011501 0.99741114 -0.07784543] [ 0. 0. 0. 1. ]] SLAMing on 18.752414037 meters Centerline goodness : 0.766788 Centerline is valid? [False, False] Translation: X:3.65, Y:0.15, Z:-0.08 [[ 0.99287206 -0.09497364 -0.07200751 3.6540557 ] [ 0.09557987 0.99540914 0.00501263 0.15060222] [ 0.07120087 -0.01185937 0.99739149 -0.07830681] [ 0. 0. 0. 1. ]] SLAMing on 18.782414037 meters Centerline goodness : 0.768599 Centerline is valid? [False, False] Translation: X:3.66, Y:0.15, Z:-0.08 [[ 0.99290068 -0.09440566 -0.07235893 3.65568644] [ 0.0950516 0.995457 0.0055283 0.14937305] [ 0.0715083 -0.01236689 0.99736334 -0.07918687] [ 0. 0. 0. 1. ]] SLAMing on 18.812414037 meters Centerline goodness : 0.768178 Centerline is valid? [False, False] Translation: X:3.66, Y:0.15, Z:-0.08 [[ 0.99292124 -0.09414905 -0.07241108 3.65639964] [ 0.09481181 0.99547853 0.00576303 0.14868938] [ 0.07154109 -0.01258766 0.99735822 -0.07971152] [ 0. 0. 0. 1. ]] SLAMing on 18.842414037 meters Centerline goodness : 0.767621 Centerline is valid? [False, False] Translation: X:3.66, Y:0.15, Z:-0.08 [[ 0.99301648 -0.09350108 -0.07194319 3.65527372] [ 0.09415849 0.99554036 0.0057938 0.1483354 ] [ 0.07108062 -0.0125274 0.9973919 -0.07949484] [ 0. 0. 0. 1. ]] SLAMing on 18.872414037000002 meters Centerline goodness : 0.767406 Centerline is valid? [False, False] Translation: X:3.66, Y:0.15, Z:-0.08 [[ 0.99303379 -0.09339204 -0.07184584 3.65510276] [ 0.09408324 0.99554446 0.00628999 0.14767609] [ 0.07093829 -0.01300566 0.99739592 -0.07947405] [ 0. 0. 0. 1. ]] SLAMing on 18.902414037 meters Centerline goodness : 0.765948 Centerline is valid? [False, False] Translation: X:3.66, Y:0.15, Z:-0.08 [[ 0.99307375 -0.09313558 -0.07162599 3.65511048] [ 0.09385694 0.99556271 0.00676506 0.14645119] [ 0.0706781 -0.0134408 0.99740862 -0.07980483] [ 0. 0. 0. 1. ]] SLAMing on 18.932414037 meters Centerline goodness : 0.766722 Centerline is valid? [False, False] Translation: X:3.65, Y:0.14, Z:-0.08 [[ 0.99315588 -0.09269988 -0.07105021 3.65350148] [ 0.09347937 0.9955913 0.00771828 0.14274945] [ 0.07002149 -0.01430718 0.99744288 -0.07866304] [ 0. 0. 0. 1. ]] SLAMing on 18.962414037000002 meters Centerline goodness : 0.766826 Centerline is valid? [False, False] Translation: X:3.65, Y:0.14, Z:-0.08 [[ 0.9931212 -0.09268524 -0.07155234 3.65430336] [ 0.09357192 0.99557062 0.00913389 0.14109204] [ 0.07038883 -0.01576635 0.99739502 -0.07812362] [ 0. 0. 0. 1. ]] SLAMing on 18.992414037 meters Centerline goodness : 0.768589 Centerline is valid? [False, False] Translation: X:3.65, Y:0.14, Z:-0.08 [[ 0.99304484 -0.09335405 -0.0717424 3.65425555] [ 0.09427899 0.99549944 0.00960887 0.13960757] [ 0.07052249 -0.01630584 0.99737691 -0.07706896] [ 0. 0. 0. 1. ]] SLAMing on 19.022414037 meters Centerline goodness : 0.768671 Centerline is valid? [False, False] Translation: X:3.65, Y:0.14, Z:-0.08 [[ 0.99293322 -0.09436528 -0.07196401 3.65489562] [ 0.09533171 0.99539425 0.01010736 0.13813226] [ 0.07067877 -0.01689638 0.99735602 -0.07679182] [ 0. 0. 0. 1. ]] SLAMing on 19.052414037000002 meters Centerline goodness : 0.767774 Centerline is valid? [False, False] Translation: X:3.66, Y:0.14, Z:-0.08 [[ 0.99241533 -0.09958985 -0.07206715 3.65585225] [ 0.10035609 0.99492638 0.00708159 0.136374 ] [ 0.07099625 -0.01426025 0.99737464 -0.0759943 ] [ 0. 0. 0. 1. ]] SLAMing on 19.082414037 meters Centerline goodness : 0.767905 Centerline is valid? [False, False] Translation: X:3.66, Y:0.14, Z:-0.08 [[ 0.99210049 -0.10309438 -0.07147142 3.6557039 ] [ 0.10362476 0.99460942 0.00374324 0.13595927] [ 0.07070024 -0.01111988 0.99743562 -0.076233 ] [ 0. 0. 0. 1. ]] SLAMing on 19.112414037 meters Centerline goodness : 0.765737 Centerline is valid? [False, False] Translation: X:3.66, Y:0.13, Z:-0.08 [[ 9.91775682e-01 -1.06422138e-01 -7.11008083e-02 3.65616265e+00] [ 1.06740195e-01 9.94286715e-01 6.78076753e-04 1.34894289e-01] [ 7.06224268e-02 -8.26181415e-03 9.97468904e-01 -7.65790620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.142414037 meters Centerline goodness : 0.769550 Centerline is valid? [False, False] Translation: X:3.66, Y:0.13, Z:-0.08 [[ 9.91535963e-01 -1.08635499e-01 -7.10968564e-02 3.65709068e+00] [ 1.08875900e-01 9.94055226e-01 -4.96714314e-04 1.33737623e-01] [ 7.07281624e-02 -7.24822413e-03 9.97469293e-01 -7.68679549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.172414037 meters Centerline goodness : 0.770791 Centerline is valid? [False, False] Translation: X:3.66, Y:0.13, Z:-0.08 [[ 9.91092115e-01 -1.12550151e-01 -7.11960871e-02 3.65820280e+00] [ 1.12650743e-01 9.93631209e-01 -2.61362342e-03 1.32578391e-01] [ 7.10368178e-02 -5.42995053e-03 9.97458915e-01 -7.64712351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.202414037 meters Centerline goodness : 0.769248 Centerline is valid? [False, False] Translation: X:3.66, Y:0.13, Z:-0.08 [[ 9.90978893e-01 -1.13250368e-01 -7.16602189e-02 3.65923935e+00] [ 1.13386674e-01 9.93548553e-01 -2.17607954e-03 1.32057081e-01] [ 7.14443486e-02 -5.96886497e-03 9.97426728e-01 -7.61739872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.232414037 meters Centerline goodness : 0.768862 Centerline is valid? [False, False] Translation: X:3.66, Y:0.13, Z:-0.08 [[ 9.90982548e-01 -1.13107794e-01 -7.18346501e-02 3.66059249e+00] [ 1.13299416e-01 9.93559883e-01 -1.41467502e-03 1.30478182e-01] [ 7.15320373e-02 -6.73690565e-03 9.97415551e-01 -7.72059784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.262414037 meters Centerline goodness : 0.770740 Centerline is valid? [False, False] Translation: X:3.66, Y:0.13, Z:-0.08 [[ 9.91036528e-01 -1.12644754e-01 -7.18175416e-02 3.66132044e+00] [ 1.12873197e-01 9.93609009e-01 -8.82523062e-04 1.29046945e-01] [ 7.14579679e-02 -7.23166293e-03 9.97417396e-01 -7.80437783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.292414037 meters Centerline goodness : 0.768925 Centerline is valid? [False, False] Translation: X:3.66, Y:0.13, Z:-0.08 [[ 9.91077221e-01 -1.12234199e-01 -7.18987227e-02 3.66201672e+00] [ 1.12515872e-01 9.93649919e-01 -1.33310194e-04 1.27785237e-01] [ 7.14571219e-02 -7.95762679e-03 9.97411929e-01 -7.85621426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.322414037 meters Centerline goodness : 0.771480 Centerline is valid? [False, False] Translation: X:3.66, Y:0.13, Z:-0.08 [[ 9.91164165e-01 -1.11626629e-01 -7.16456070e-02 3.66152310e+00] [ 1.11928302e-01 9.93716265e-01 1.97161185e-04 1.26961788e-01] [ 7.11733966e-02 -8.21459027e-03 9.97430132e-01 -7.85521927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.352414037 meters Centerline goodness : 0.770539 Centerline is valid? [False, False] Translation: X:3.66, Y:0.13, Z:-0.08 [[ 9.91457864e-01 -1.08716674e-01 -7.20554604e-02 3.66195016e+00] [ 1.09230325e-01 9.94011267e-01 3.21510453e-03 1.26644044e-01] [ 7.12744040e-02 -1.10582821e-02 9.97395445e-01 -7.88399235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.382414037 meters Centerline goodness : 0.775447 Centerline is valid? [False, False] Translation: X:3.66, Y:0.13, Z:-0.08 [[ 9.91581130e-01 -1.07575504e-01 -7.20720066e-02 3.66212334e+00] [ 1.08114006e-01 9.94131979e-01 3.60139649e-03 1.27241043e-01] [ 7.12616645e-02 -1.13630701e-02 9.97392929e-01 -7.93889773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.412414037 meters Centerline goodness : 0.773019 Centerline is valid? [False, False] Translation: X:3.66, Y:0.13, Z:-0.08 [[ 9.91706379e-01 -1.06449788e-01 -7.20201331e-02 3.66266755e+00] [ 1.06967690e-01 9.94256814e-01 3.36173820e-03 1.28074670e-01] [ 7.12486518e-02 -1.10376845e-02 9.97397513e-01 -8.06393742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.442414037 meters Centerline goodness : 0.771943 Centerline is valid? [False, False] Translation: X:3.66, Y:0.13, Z:-0.08 [[ 9.91835320e-01 -1.05588417e-01 -7.15107224e-02 3.66231758e+00] [ 1.06045734e-01 9.94357806e-01 2.61830914e-03 1.28783332e-01] [ 7.08307820e-02 -1.01803385e-02 9.97436394e-01 -8.19195589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.472414037 meters Centerline goodness : 0.772163 Centerline is valid? [False, False] Translation: X:3.66, Y:0.13, Z:-0.09 [[ 9.92229552e-01 -1.02693132e-01 -7.02469646e-02 3.66179849e+00] [ 1.03027704e-01 9.94677826e-01 1.14667445e-03 1.29934505e-01] [ 6.97553425e-02 -8.37514773e-03 9.97528972e-01 -8.56488588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.502414037 meters Centerline goodness : 0.775414 Centerline is valid? [False, False] Translation: X:3.66, Y:0.13, Z:-0.09 [[ 9.92381124e-01 -1.01622479e-01 -6.96604346e-02 3.66057873e+00] [ 1.01908314e-01 9.94793642e-01 5.52555590e-04 1.30458093e-01] [ 6.92416054e-02 -7.64732319e-03 9.97570608e-01 -8.59830314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.532414037 meters Centerline goodness : 0.771999 Centerline is valid? [False, False] Translation: X:3.66, Y:0.13, Z:-0.09 [[ 9.92668099e-01 -9.88132747e-02 -6.96130932e-02 3.66044657e+00] [ 9.92405134e-02 9.95059820e-01 2.69737286e-03 1.29718251e-01] [ 6.90026558e-02 -9.58603511e-03 9.97570419e-01 -8.64377339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.562414037 meters Centerline goodness : 0.773640 Centerline is valid? [False, False] Translation: X:3.66, Y:0.13, Z:-0.08 [[ 0.99314651 -0.0944435 -0.06885079 3.65640476] [ 0.09515684 0.99543663 0.00714829 0.1269391 ] [ 0.06786149 -0.01365092 0.99760136 -0.08363975] [ 0. 0. 0. 1. ]] SLAMing on 19.592414037 meters Centerline goodness : 0.772769 Centerline is valid? [False, False] Translation: X:3.65, Y:0.13, Z:-0.08 [[ 0.9933048 -0.09314938 -0.06832839 3.65466023] [ 0.09391792 0.99554686 0.00811587 0.12556566] [ 0.06726812 -0.0144788 0.99762987 -0.08277509] [ 0. 0. 0. 1. ]] SLAMing on 19.622414037000002 meters Centerline goodness : 0.773737 Centerline is valid? [False, False] Translation: X:3.65, Y:0.12, Z:-0.08 [[ 0.99338193 -0.09264241 -0.06789488 3.65343408] [ 0.09343168 0.9955891 0.00853627 0.12414058] [ 0.06680458 -0.01482331 0.99765596 -0.08209339] [ 0. 0. 0. 1. ]] SLAMing on 19.652414037 meters Centerline goodness : 0.770470 Centerline is valid? [False, False] Translation: X:3.65, Y:0.12, Z:-0.08 [[ 0.99340455 -0.09269604 -0.06748953 3.65330664] [ 0.09348935 0.99558239 0.00868577 0.12255074] [ 0.06638626 -0.01493803 0.99768217 -0.08259027] [ 0. 0. 0. 1. ]] SLAMing on 19.682414037 meters Centerline goodness : 0.770133 Centerline is valid? [False, False] Translation: X:3.65, Y:0.12, Z:-0.08 [[ 0.99297564 -0.09732418 -0.06728586 3.65423907] [ 0.09788522 0.99518472 0.00508426 0.1210204 ] [ 0.06646704 -0.01163483 0.99772078 -0.08276418] [ 0. 0. 0. 1. ]] SLAMing on 19.712414037000002 meters Centerline goodness : 0.771465 Centerline is valid? [False, False] Translation: X:3.66, Y:0.12, Z:-0.08 [[ 9.92646092e-01 -1.00513275e-01 -6.74597453e-02 3.65612426e+00] [ 1.00922715e-01 9.94890658e-01 2.68041459e-03 1.20842939e-01] [ 6.68456531e-02 -9.46892372e-03 9.97718396e-01 -8.36645702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.742414037 meters Centerline goodness : 0.770567 Centerline is valid? [False, False] Translation: X:3.66, Y:0.12, Z:-0.08 [[ 9.92332216e-01 -1.03208705e-01 -6.80054066e-02 3.65820489e+00] [ 1.03599493e-01 9.94616583e-01 2.23547834e-03 1.19625221e-01] [ 6.74085844e-02 -9.26366281e-03 9.97682448e-01 -8.38176477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.772414037 meters Centerline goodness : 0.770463 Centerline is valid? [False, False] Translation: X:3.66, Y:0.12, Z:-0.08 [[ 9.91732041e-01 -1.08367290e-01 -6.87320128e-02 3.66186342e+00] [ 1.08670452e-01 9.94077600e-01 6.76157262e-04 1.16192591e-01] [ 6.82516810e-02 -8.13970570e-03 9.97634930e-01 -8.45168467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.802414037000002 meters Centerline goodness : 0.773261 Centerline is valid? [False, False] Translation: X:3.66, Y:0.11, Z:-0.08 [[ 9.91485852e-01 -1.10466229e-01 -6.89421382e-02 3.66310418e+00] [ 1.10806244e-01 9.93841402e-01 1.11559936e-03 1.13774628e-01] [ 6.83943152e-02 -8.74532037e-03 9.97620036e-01 -8.43311511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.832414037 meters Centerline goodness : 0.770680 Centerline is valid? [False, False] Translation: X:3.66, Y:0.11, Z:-0.08 [[ 9.91313147e-01 -1.11774155e-01 -6.93165367e-02 3.66450595e+00] [ 1.12176570e-01 9.93686419e-01 1.92808318e-03 1.11338585e-01] [ 6.86633913e-02 -9.68702551e-03 9.97592853e-01 -8.41800474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.862414037 meters Centerline goodness : 0.772787 Centerline is valid? [False, False] Translation: X:3.67, Y:0.11, Z:-0.08 [[ 9.91153557e-01 -1.12797368e-01 -6.99384006e-02 3.66636826e+00] [ 1.13279945e-01 9.93558701e-01 2.95994705e-03 1.09291474e-01] [ 6.91540323e-02 -1.08563802e-02 9.97546921e-01 -8.40988001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.892414037 meters Centerline goodness : 0.770028 Centerline is valid? [False, False] Translation: X:3.67, Y:0.11, Z:-0.08 [[ 9.90782476e-01 -1.16022087e-01 -6.99210984e-02 3.66762388e+00] [ 1.16428375e-01 9.93197549e-01 1.74971467e-03 1.05918848e-01] [ 6.92424580e-02 -9.87438652e-03 9.97550990e-01 -8.39938607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.922414037 meters Centerline goodness : 0.775736 Centerline is valid? [False, False] Translation: X:3.67, Y:0.10, Z:-0.08 [[ 9.90652398e-01 -1.16704306e-01 -7.06252850e-02 3.67000729e+00] [ 1.17169358e-01 9.93108891e-01 2.46401976e-03 1.04492061e-01] [ 6.98510368e-02 -1.07161064e-02 9.97499874e-01 -8.45642595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.952414037 meters Centerline goodness : 0.769442 Centerline is valid? [False, False] Translation: X:3.67, Y:0.10, Z:-0.09 [[ 9.90488325e-01 -1.17885504e-01 -7.09639809e-02 3.67175528e+00] [ 1.18353554e-01 9.92968587e-01 2.41265515e-03 1.03886505e-01] [ 7.01805868e-02 -1.07885461e-02 9.97475961e-01 -8.53461091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.982414037 meters Centerline goodness : 0.770235 Centerline is valid? [False, False] Translation: X:3.67, Y:0.10, Z:-0.09 [[ 9.90314850e-01 -1.18883409e-01 -7.17163396e-02 3.67461195e+00] [ 1.19384113e-01 9.92844414e-01 2.72088154e-03 1.03054664e-01] [ 7.08796995e-02 -1.12563210e-02 9.97421357e-01 -8.65910818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.012414037 meters Centerline goodness : 0.771033 Centerline is valid? [False, False] Translation: X:3.68, Y:0.10, Z:-0.09 [[ 9.89984730e-01 -1.21727798e-01 -7.15022906e-02 3.67575167e+00] [ 1.22072904e-01 9.92521030e-01 4.60286552e-04 1.00896957e-01] [ 7.09114974e-02 -9.18416888e-03 9.97440329e-01 -8.72101537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.042414037 meters Centerline goodness : 0.773633 Centerline is valid? [False, False] Translation: X:3.68, Y:0.10, Z:-0.09 [[ 9.89950077e-01 -1.21881123e-01 -7.17205428e-02 3.67674163e+00] [ 1.22307691e-01 9.92490990e-01 1.56985972e-03 9.84441490e-02] [ 7.09906562e-02 -1.03260567e-02 9.97423531e-01 -8.72830288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.072414037 meters Centerline goodness : 0.771749 Centerline is valid? [False, False] Translation: X:3.68, Y:0.10, Z:-0.09 [[ 9.89937940e-01 -1.21741210e-01 -7.21245617e-02 3.67768784e+00] [ 1.22285252e-01 9.92489967e-01 3.15954387e-03 9.61313136e-02] [ 7.11982572e-02 -1.19475225e-02 9.97390628e-01 -8.68780719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.102414037 meters Centerline goodness : 0.772040 Centerline is valid? [False, False] Translation: X:3.68, Y:0.09, Z:-0.08 [[ 0.99001057 -0.12096222 -0.07243761 3.67708218] [ 0.12171935 0.99254572 0.00611438 0.09312271] [ 0.07115803 -0.01487036 0.9973542 -0.08465379] [ 0. 0. 0. 1. ]] SLAMing on 20.132414037 meters Centerline goodness : 0.771125 Centerline is valid? [False, False] Translation: X:3.68, Y:0.09, Z:-0.08 [[ 0.99008592 -0.12020325 -0.07267083 3.6773274 ] [ 0.12105152 0.99261889 0.00736731 0.09225909] [ 0.07124886 -0.01609118 0.99732877 -0.0842259 ] [ 0. 0. 0. 1. ]] SLAMing on 20.162414037 meters Centerline goodness : 0.771125 Centerline is valid? [False, False] Translation: X:3.68, Y:0.09, Z:-0.08 [[ 0.99008592 -0.12020325 -0.07267083 3.6773274 ] [ 0.12105152 0.99261889 0.00736731 0.09225909] [ 0.07124886 -0.01609118 0.99732877 -0.0842259 ] [ 0. 0. 0. 1. ]] SLAMing on 20.192414037 meters Centerline goodness : 0.773348 Centerline is valid? [False, False] Translation: X:3.68, Y:0.09, Z:-0.08 [[ 0.99019413 -0.11942027 -0.07248708 3.67722701] [ 0.12030764 0.99270454 0.00798584 0.0911424 ] [ 0.07100458 -0.01662828 0.99733738 -0.08453798] [ 0. 0. 0. 1. ]] SLAMing on 20.222414037 meters Centerline goodness : 0.771674 Centerline is valid? [False, False] Translation: X:3.68, Y:0.09, Z:-0.09 [[ 0.99028329 -0.1188168 -0.07226051 3.67753958] [ 0.11970729 0.99277615 0.00810471 0.09008572] [ 0.07077554 -0.01667607 0.99735286 -0.08543103] [ 0. 0. 0. 1. ]] SLAMing on 20.252414037 meters Centerline goodness : 0.772437 Centerline is valid? [False, False] Translation: X:3.68, Y:0.09, Z:-0.09 [[ 0.99047916 -0.11751556 -0.07170167 3.67823923] [ 0.11838699 0.9929352 0.00801256 0.08831752] [ 0.07025351 -0.01642482 0.99739394 -0.08795569] [ 0. 0. 0. 1. ]] SLAMing on 20.282414037 meters Centerline goodness : 0.772169 Centerline is valid? [False, False] Translation: X:3.68, Y:0.09, Z:-0.09 [[ 0.99052957 -0.11715948 -0.07158796 3.67899441] [ 0.11804203 0.99297466 0.00820985 0.08707131] [ 0.07012317 -0.01658249 0.9974005 -0.08901258] [ 0. 0. 0. 1. ]] SLAMing on 20.312414037 meters Centerline goodness : 0.770916 Centerline is valid? [False, False] Translation: X:3.68, Y:0.09, Z:-0.09 [[ 0.9905638 -0.11679163 -0.07171516 3.68031667] [ 0.11770077 0.99301213 0.00857024 0.0860436 ] [ 0.07021309 -0.01693029 0.99738833 -0.09024442] [ 0. 0. 0. 1. ]] SLAMing on 20.342414037 meters Centerline goodness : 0.770565 Centerline is valid? [False, False] Translation: X:3.68, Y:0.08, Z:-0.09 [[ 0.99060825 -0.11669647 -0.07125464 3.68059767] [ 0.11759357 0.99302531 0.00851338 0.08431825] [ 0.06976418 -0.01681252 0.99742183 -0.09145501] [ 0. 0. 0. 1. ]] SLAMing on 20.372414037000002 meters Centerline goodness : 0.773551 Centerline is valid? [False, False] Translation: X:3.68, Y:0.08, Z:-0.09 [[ 0.99058602 -0.11688674 -0.0712519 3.68110784] [ 0.11776115 0.99300823 0.0081829 0.08386346] [ 0.06979725 -0.01649657 0.99742479 -0.0919502 ] [ 0. 0. 0. 1. ]] SLAMing on 20.402414037 meters Centerline goodness : 0.776117 Centerline is valid? [False, False] Translation: X:3.68, Y:0.08, Z:-0.09 [[ 0.99061163 -0.11668457 -0.07122712 3.68207914] [ 0.11756084 0.99303164 0.00822245 0.083107 ] [ 0.06977135 -0.01651877 0.99742623 -0.09311139] [ 0. 0. 0. 1. ]] SLAMing on 20.432414037 meters Centerline goodness : 0.771858 Centerline is valid? [False, False] Translation: X:3.68, Y:0.08, Z:-0.09 [[ 0.99064895 -0.11636961 -0.07122333 3.68293683] [ 0.11727039 0.99306292 0.00858489 0.0819183 ] [ 0.06973023 -0.01685699 0.99742345 -0.09403558] [ 0. 0. 0. 1. ]] SLAMing on 20.462414037000002 meters Centerline goodness : 0.777978 Centerline is valid? [False, False] Translation: X:3.68, Y:0.08, Z:-0.09 [[ 0.9907017 -0.11599302 -0.07110381 3.68285261] [ 0.11696325 0.99308962 0.00962299 0.07962574] [ 0.06949626 -0.01785004 0.9974225 -0.09375603] [ 0. 0. 0. 1. ]] SLAMing on 20.492414037 meters Centerline goodness : 0.773505 Centerline is valid? [False, False] Translation: X:3.68, Y:0.08, Z:-0.09 [[ 0.99068921 -0.11577792 -0.07162657 3.683791 ] [ 0.11685244 0.99308855 0.0109836 0.07858035] [ 0.06985986 -0.01925107 0.99737104 -0.0932534 ] [ 0. 0. 0. 1. ]] SLAMing on 20.522414037 meters Centerline goodness : 0.779980 Centerline is valid? [False, False] Translation: X:3.68, Y:0.08, Z:-0.09 [[ 0.99064371 -0.11598081 -0.07192704 3.68416779] [ 0.11709821 0.99305371 0.01150369 0.07823143] [ 0.07009321 -0.01981859 0.99734355 -0.09271528] [ 0. 0. 0. 1. ]] SLAMing on 20.552414037000002 meters Centerline goodness : 0.772830 Centerline is valid? [False, False] Translation: X:3.68, Y:0.08, Z:-0.09 [[ 0.99064361 -0.11593975 -0.0719945 3.68452482] [ 0.11708337 0.99305128 0.01185894 0.07773291] [ 0.0701193 -0.02017734 0.99733453 -0.09271131] [ 0. 0. 0. 1. ]] SLAMing on 20.582414037 meters Centerline goodness : 0.775105 Centerline is valid? [False, False] Translation: X:3.68, Y:0.07, Z:-0.09 [[ 0.99073631 -0.11519844 -0.07190882 3.68495381] [ 0.11641678 0.99311571 0.01297407 0.07472466] [ 0.06991919 -0.02122528 0.99732682 -0.09318232] [ 0. 0. 0. 1. ]] SLAMing on 20.612414037 meters Centerline goodness : 0.775382 Centerline is valid? [False, False] Translation: X:3.69, Y:0.07, Z:-0.09 [[ 0.99073963 -0.11510142 -0.07201843 3.6858234 ] [ 0.11636775 0.9931127 0.01362792 0.07271683] [ 0.06995382 -0.02188234 0.9973102 -0.0935486 ] [ 0. 0. 0. 1. ]] SLAMing on 20.642414037 meters Centerline goodness : 0.777674 Centerline is valid? [False, False] Translation: X:3.69, Y:0.07, Z:-0.09 [[ 0.99073379 -0.11516528 -0.07199658 3.68625809] [ 0.11645047 0.99309921 0.01390154 0.07156679] [ 0.06989877 -0.02215676 0.997308 -0.09392733] [ 0. 0. 0. 1. ]] SLAMing on 20.672414037 meters Centerline goodness : 0.781283 Centerline is valid? [False, False] Translation: X:3.69, Y:0.07, Z:-0.09 [[ 0.99060977 -0.11586722 -0.07257454 3.68775609] [ 0.11716742 0.99301479 0.0139074 0.07236547] [ 0.07045618 -0.02228017 0.99726602 -0.09408832] [ 0. 0. 0. 1. ]] SLAMing on 20.702414037 meters Centerline goodness : 0.775447 Centerline is valid? [False, False] Translation: X:3.69, Y:0.07, Z:-0.09 [[ 0.99058825 -0.11583794 -0.07291424 3.68881023] [ 0.11717601 0.9930077 0.01433476 0.07242895] [ 0.07074389 -0.02274365 0.99723519 -0.09442978] [ 0. 0. 0. 1. ]] SLAMing on 20.732414037 meters Centerline goodness : 0.779518 Centerline is valid? [False, False] Translation: X:3.69, Y:0.07, Z:-0.09 [[ 0.99058956 -0.11562876 -0.07322788 3.6898789 ] [ 0.11701554 0.99301793 0.01492516 0.07190826] [ 0.07099082 -0.02335351 0.99720355 -0.09488523] [ 0. 0. 0. 1. ]] SLAMing on 20.762414037 meters Centerline goodness : 0.774724 Centerline is valid? [False, False] Translation: X:3.69, Y:0.07, Z:-0.10 [[ 0.99061701 -0.11553157 -0.07300959 3.69024379] [ 0.11688439 0.99303934 0.01452242 0.07136329] [ 0.0708236 -0.02291984 0.9972255 -0.0959098 ] [ 0. 0. 0. 1. ]] SLAMing on 20.792414037 meters Centerline goodness : 0.777366 Centerline is valid? [False, False] Translation: X:3.69, Y:0.07, Z:-0.10 [[ 0.99076714 -0.11478161 -0.07215018 3.69091353] [ 0.11602285 0.99315829 0.01324075 0.0701979 ] [ 0.07013676 -0.02148957 0.99730589 -0.09910645] [ 0. 0. 0. 1. ]] SLAMing on 20.822414037 meters Centerline goodness : 0.775491 Centerline is valid? [False, False] Translation: X:3.69, Y:0.07, Z:-0.10 [[ 0.9907593 -0.11463875 -0.0724842 3.69199969] [ 0.1159167 0.99316496 0.01366312 0.06987293] [ 0.07042244 -0.02193899 0.99727597 -0.09953541] [ 0. 0. 0. 1. ]] SLAMing on 20.852414037 meters Centerline goodness : 0.779907 Centerline is valid? [False, False] Translation: X:3.69, Y:0.07, Z:-0.10 [[ 0.99074808 -0.11473206 -0.07248991 3.69139054] [ 0.11602237 0.99315027 0.01383318 0.06999096] [ 0.07040627 -0.02211565 0.99727321 -0.0985721 ] [ 0. 0. 0. 1. ]] SLAMing on 20.882414037 meters Centerline goodness : 0.778960 Centerline is valid? [False, False] Translation: X:3.69, Y:0.07, Z:-0.10 [[ 0.99092245 -0.11259056 -0.07345796 3.69111574] [ 0.11425237 0.9932736 0.01881361 0.06846483] [ 0.07084562 -0.02703557 0.99712084 -0.09569447] [ 0. 0. 0. 1. ]] SLAMing on 20.912414037 meters Centerline goodness : 0.782567 Centerline is valid? [False, False] Translation: X:3.69, Y:0.07, Z:-0.10 [[ 0.99087807 -0.11281579 -0.07371054 3.69126335] [ 0.11451453 0.99323548 0.01922768 0.06813009] [ 0.07104274 -0.02749321 0.9970943 -0.09501195] [ 0. 0. 0. 1. ]] SLAMing on 20.942414037 meters Centerline goodness : 0.781284 Centerline is valid? [False, False] Translation: X:3.69, Y:0.07, Z:-0.10 [[ 0.99082712 -0.11299534 -0.07411931 3.6925899 ] [ 0.11474442 0.99319836 0.01976685 0.0670465 ] [ 0.07138162 -0.02809031 0.99705346 -0.09531645] [ 0. 0. 0. 1. ]] SLAMing on 20.972414037 meters Centerline goodness : 0.778779 Centerline is valid? [False, False] Translation: X:3.70, Y:0.06, Z:-0.10 [[ 0.9905865 -0.11469541 -0.07472177 3.69520007] [ 0.11650935 0.99298063 0.02037244 0.06410936] [ 0.07186064 -0.02888645 0.9969963 -0.09594637] [ 0. 0. 0. 1. ]] SLAMing on 21.002414037 meters Centerline goodness : 0.782751 Centerline is valid? [False, False] Translation: X:3.70, Y:0.06, Z:-0.10 [[ 0.99043458 -0.11576838 -0.07508012 3.6963518 ] [ 0.11759461 0.9928529 0.02036219 0.06339122] [ 0.07218622 -0.02899644 0.99696959 -0.0959406 ] [ 0. 0. 0. 1. ]] SLAMing on 21.032414037 meters Centerline goodness : 0.781439 Centerline is valid? [False, False] Translation: X:3.70, Y:0.06, Z:-0.10 [[ 0.99030903 -0.11654423 -0.07553452 3.69769328] [ 0.11837874 0.99276165 0.02026753 0.06353427] [ 0.07262571 -0.0290128 0.99693719 -0.09615294] [ 0. 0. 0. 1. ]] SLAMing on 21.062414037 meters Centerline goodness : 0.779573 Centerline is valid? [False, False] Translation: X:3.70, Y:0.06, Z:-0.10 [[ 0.99021645 -0.11679429 -0.07635758 3.69972995] [ 0.11868961 0.9927144 0.02075802 0.06419149] [ 0.07337686 -0.02961779 0.9968644 -0.09652264] [ 0. 0. 0. 1. ]] SLAMing on 21.092414037 meters Centerline goodness : 0.781276 Centerline is valid? [False, False] Translation: X:3.70, Y:0.07, Z:-0.10 [[ 0.99009675 -0.11759843 -0.07667483 3.69999574] [ 0.11944126 0.99264196 0.01989266 0.06682878] [ 0.07377131 -0.02885379 0.99685769 -0.0961942 ] [ 0. 0. 0. 1. ]] SLAMing on 21.122414037 meters Centerline goodness : 0.779081 Centerline is valid? [False, False] Translation: X:3.70, Y:0.07, Z:-0.10 [[ 0.9901163 -0.11732065 -0.07684776 3.70089061] [ 0.11916826 0.99267464 0.01989916 0.0671681 ] [ 0.07395025 -0.02886029 0.99684424 -0.09697997] [ 0. 0. 0. 1. ]] SLAMing on 21.152414037 meters Centerline goodness : 0.778125 Centerline is valid? [False, False] Translation: X:3.70, Y:0.07, Z:-0.10 [[ 0.99016692 -0.11678469 -0.07701174 3.70200463] [ 0.11863545 0.99273852 0.01989614 0.06689626] [ 0.07412896 -0.02883682 0.99683165 -0.09812189] [ 0. 0. 0. 1. ]] SLAMing on 21.182414037 meters Centerline goodness : 0.778693 Centerline is valid? [False, False] Translation: X:3.70, Y:0.07, Z:-0.10 [[ 0.99034165 -0.11545512 -0.07676929 3.70207957] [ 0.1173231 0.99288692 0.02026947 0.06615641] [ 0.07388301 -0.02908051 0.99684283 -0.09905468] [ 0. 0. 0. 1. ]] SLAMing on 21.212414037000002 meters Centerline goodness : 0.777737 Centerline is valid? [False, False] Translation: X:3.70, Y:0.07, Z:-0.10 [[ 0.99043155 -0.11482877 -0.07654864 3.70072455] [ 0.11672894 0.99294568 0.02081411 0.06615906] [ 0.07361858 -0.02955039 0.99684857 -0.09788903] [ 0. 0. 0. 1. ]] SLAMing on 21.242414037 meters Centerline goodness : 0.784222 Centerline is valid? [False, False] Translation: X:3.70, Y:0.07, Z:-0.10 [[ 0.99047122 -0.11419413 -0.07698353 3.70050144] [ 0.11619241 0.99298341 0.02198331 0.06674551] [ 0.07393301 -0.03071874 0.99678998 -0.09650312] [ 0. 0. 0. 1. ]] SLAMing on 21.272414037 meters Centerline goodness : 0.782967 Centerline is valid? [False, False] Translation: X:3.70, Y:0.07, Z:-0.09 [[ 0.99045184 -0.11410466 -0.07736455 3.70011636] [ 0.1161775 0.99296607 0.0228292 0.06728335] [ 0.07421546 -0.03159924 0.99674147 -0.09496335] [ 0. 0. 0. 1. ]] SLAMing on 21.302414037000002 meters Centerline goodness : 0.779654 Centerline is valid? [False, False] Translation: X:3.70, Y:0.07, Z:-0.09 [[ 0.99007633 -0.11662336 -0.07840825 3.70157908] [ 0.11868345 0.99268544 0.02213248 0.06965612] [ 0.07525356 -0.03121861 0.99667562 -0.09352704] [ 0. 0. 0. 1. ]] SLAMing on 21.332414037 meters Centerline goodness : 0.777665 Centerline is valid? [False, False] Translation: X:3.70, Y:0.07, Z:-0.09 [[ 0.98988493 -0.11763235 -0.07931244 3.70445842] [ 0.11973101 0.99255748 0.02222926 0.06980422] [ 0.07610728 -0.03150057 0.99660192 -0.0945662 ] [ 0. 0. 0. 1. ]] SLAMing on 21.362414037 meters Centerline goodness : 0.778204 Centerline is valid? [False, False] Translation: X:3.71, Y:0.07, Z:-0.10 [[ 0.98973516 -0.11868028 -0.07961972 3.70642046] [ 0.12073813 0.99245083 0.02153268 0.06968755] [ 0.07646315 -0.03092479 0.99659272 -0.09580074] [ 0. 0. 0. 1. ]] SLAMing on 21.392414037 meters Centerline goodness : 0.778347 Centerline is valid? [False, False] Translation: X:3.71, Y:0.07, Z:-0.10 [[ 0.98955339 -0.12056701 -0.07904227 3.70702112] [ 0.12234779 0.99232278 0.0180699 0.07058528] [ 0.07625681 -0.02755178 0.99670748 -0.09758898] [ 0. 0. 0. 1. ]] SLAMing on 21.422414037 meters Centerline goodness : 0.776576 Centerline is valid? [False, False] Translation: X:3.71, Y:0.07, Z:-0.10 [[ 0.989532 -0.12067188 -0.07914997 3.70793893] [ 0.12247088 0.99230403 0.01826482 0.07031792] [ 0.07633678 -0.02776719 0.99669538 -0.09829947] [ 0. 0. 0. 1. ]] SLAMing on 21.452414037 meters Centerline goodness : 0.775787 Centerline is valid? [False, False] Translation: X:3.71, Y:0.07, Z:-0.10 [[ 0.98959689 -0.12012957 -0.07916365 3.70734842] [ 0.12194561 0.99236432 0.01850214 0.0714361 ] [ 0.07633652 -0.02796332 0.99668992 -0.09775339] [ 0. 0. 0. 1. ]] SLAMing on 21.482414037 meters Centerline goodness : 0.782175 Centerline is valid? [False, False] Translation: X:3.71, Y:0.07, Z:-0.10 [[ 0.99001169 -0.11660076 -0.0792535 3.70507844] [ 0.11864638 0.9927017 0.02159569 0.07319476] [ 0.07615701 -0.03078312 0.99662054 -0.0959064 ] [ 0. 0. 0. 1. ]] SLAMing on 21.512414037 meters Centerline goodness : 0.776752 Centerline is valid? [False, False] Translation: X:3.70, Y:0.07, Z:-0.10 [[ 0.99021986 -0.1148237 -0.07924733 3.70420445] [ 0.11693714 0.9928833 0.02254903 0.07385196] [ 0.07609418 -0.03159546 0.99659992 -0.09544745] [ 0. 0. 0. 1. ]] SLAMing on 21.542414037 meters Centerline goodness : 0.775191 Centerline is valid? [False, False] Translation: X:3.70, Y:0.07, Z:-0.10 [[ 0.99040645 -0.11366821 -0.07857865 3.70268644] [ 0.11572774 0.9930338 0.02215771 0.07467542] [ 0.07551263 -0.03103887 0.99666164 -0.09566986] [ 0. 0. 0. 1. ]] SLAMing on 21.572414037 meters Centerline goodness : 0.777659 Centerline is valid? [False, False] Translation: X:3.70, Y:0.08, Z:-0.10 [[ 0.99048737 -0.11319187 -0.07824561 3.70189485] [ 0.11517496 0.99311684 0.0212995 0.07573778] [ 0.0752961 -0.03010882 0.99670655 -0.09591193] [ 0. 0. 0. 1. ]] SLAMing on 21.602414037 meters Centerline goodness : 0.775748 Centerline is valid? [False, False] Translation: X:3.70, Y:0.08, Z:-0.10 [[ 0.99061957 -0.11249849 -0.07756903 3.70129927] [ 0.11432992 0.99324998 0.01957397 0.07773163] [ 0.0748434 -0.02825881 0.99679482 -0.0976006 ] [ 0. 0. 0. 1. ]] SLAMing on 21.632414037 meters Centerline goodness : 0.777481 Centerline is valid? [False, False] Translation: X:3.70, Y:0.08, Z:-0.10 [[ 0.99071139 -0.1119397 -0.07720398 3.70099177] [ 0.11371433 0.99333232 0.01897256 0.07869596] [ 0.07456543 -0.02757553 0.99683478 -0.09839185] [ 0. 0. 0. 1. ]] SLAMing on 21.662414037 meters Centerline goodness : 0.776952 Centerline is valid? [False, False] Translation: X:3.70, Y:0.08, Z:-0.10 [[ 0.99076659 -0.11156687 -0.07703505 3.70050083] [ 0.11329195 0.99339163 0.01838489 0.08013897] [ 0.07447483 -0.02694258 0.99685887 -0.09849834] [ 0. 0. 0. 1. ]] SLAMing on 21.692414037 meters Centerline goodness : 0.775972 Centerline is valid? [False, False] Translation: X:3.70, Y:0.08, Z:-0.10 [[ 0.99080986 -0.11118481 -0.07703091 3.70048251] [ 0.11288038 0.99344544 0.01800512 0.08154488] [ 0.07452411 -0.02653493 0.99686612 -0.09881876] [ 0. 0. 0. 1. ]] SLAMing on 21.722414037 meters Centerline goodness : 0.774461 Centerline is valid? [False, False] Translation: X:3.70, Y:0.08, Z:-0.10 [[ 0.99091152 -0.11056718 -0.07661114 3.69984363] [ 0.11222066 0.99352723 0.01761163 0.08208076] [ 0.07416798 -0.02604892 0.99690549 -0.09931779] [ 0. 0. 0. 1. ]] SLAMing on 21.752414037 meters Centerline goodness : 0.775553 Centerline is valid? [False, False] Translation: X:3.70, Y:0.08, Z:-0.10 [[ 0.99088701 -0.11087755 -0.07647943 3.69935618] [ 0.11250726 0.99349982 0.01732697 0.08241781] [ 0.07406113 -0.02577356 0.99692059 -0.09890838] [ 0. 0. 0. 1. ]] SLAMing on 21.782414037 meters Centerline goodness : 0.773432 Centerline is valid? [False, False] Translation: X:3.70, Y:0.08, Z:-0.10 [[ 0.99086996 -0.11085329 -0.07673506 3.70007832] [ 0.11252857 0.99348814 0.01785034 0.08226386] [ 0.07425661 -0.02632225 0.99689172 -0.0989966 ] [ 0. 0. 0. 1. ]] SLAMing on 21.812414037 meters Centerline goodness : 0.774171 Centerline is valid? [False, False] Translation: X:3.70, Y:0.08, Z:-0.10 [[ 0.99082929 -0.11128243 -0.07663903 3.70023065] [ 0.11294333 0.99344419 0.01767611 0.08205741] [ 0.07416956 -0.02616988 0.99690221 -0.09921413] [ 0. 0. 0. 1. ]] SLAMing on 21.842414037 meters Centerline goodness : 0.774090 Centerline is valid? [False, False] Translation: X:3.70, Y:0.08, Z:-0.10 [[ 0.99075064 -0.11185263 -0.07682557 3.70074899] [ 0.1134831 0.99339134 0.0171821 0.08254183] [ 0.074396 -0.02574158 0.99689649 -0.09925477] [ 0. 0. 0. 1. ]] SLAMing on 21.872414037 meters Centerline goodness : 0.774680 Centerline is valid? [False, False] Translation: X:3.70, Y:0.08, Z:-0.10 [[ 0.99076885 -0.11170751 -0.07680178 3.70129798] [ 0.11332293 0.99341287 0.01699385 0.08270444] [ 0.07439754 -0.02554038 0.99690155 -0.10002477] [ 0. 0. 0. 1. ]] SLAMing on 21.902414037 meters Centerline goodness : 0.772857 Centerline is valid? [False, False] Translation: X:3.70, Y:0.08, Z:-0.10 [[ 0.99080621 -0.11124015 -0.07699801 3.70234327] [ 0.1128922 0.9934543 0.01743281 0.08246469] [ 0.07455477 -0.02596501 0.99687883 -0.10085589] [ 0. 0. 0. 1. ]] SLAMing on 21.932414037 meters Centerline goodness : 0.772918 Centerline is valid? [False, False] Translation: X:3.70, Y:0.08, Z:-0.10 [[ 0.9907082 -0.11200339 -0.07715246 3.70270955] [ 0.11362253 0.99338003 0.01691254 0.0828465 ] [ 0.07474745 -0.02552165 0.99687585 -0.10062456] [ 0. 0. 0. 1. ]] SLAMing on 21.962414037000002 meters Centerline goodness : 0.778525 Centerline is valid? [False, False] Translation: X:3.70, Y:0.08, Z:-0.10 [[ 0.99066405 -0.11211009 -0.0775633 3.70421226] [ 0.1137715 0.99335579 0.01732951 0.08251952] [ 0.07510514 -0.02599221 0.99683681 -0.10126641] [ 0. 0. 0. 1. ]] SLAMing on 21.992414037 meters Centerline goodness : 0.773378 Centerline is valid? [False, False] Translation: X:3.71, Y:0.08, Z:-0.10 [[ 0.99057172 -0.11264859 -0.07796135 3.70509032] [ 0.11434445 0.99328476 0.0176274 0.08201033] [ 0.07545212 -0.02637565 0.99680053 -0.1010094 ] [ 0. 0. 0. 1. ]] SLAMing on 22.022414037 meters Centerline goodness : 0.773526 Centerline is valid? [False, False] Translation: X:3.71, Y:0.08, Z:-0.10 [[ 0.99044606 -0.11350952 -0.07830832 3.70611198] [ 0.11529401 0.99315648 0.01864143 0.080523 ] [ 0.07565644 -0.02749181 0.99675489 -0.10080428] [ 0. 0. 0. 1. ]] SLAMing on 22.052414037000002 meters Centerline goodness : 0.775588 Centerline is valid? [False, False] Translation: X:3.71, Y:0.08, Z:-0.10 [[ 0.99036327 -0.11406433 -0.07854887 3.70691127] [ 0.11586898 0.9930866 0.01879876 0.07954651] [ 0.07586156 -0.02771898 0.996733 -0.10068401] [ 0. 0. 0. 1. ]] SLAMing on 22.082414037 meters Centerline goodness : 0.775588 Centerline is valid? [False, False] Translation: X:3.71, Y:0.08, Z:-0.10 [[ 0.99036327 -0.11406433 -0.07854887 3.70691127] [ 0.11586898 0.9930866 0.01879876 0.07954651] [ 0.07586156 -0.02771898 0.996733 -0.10068401] [ 0. 0. 0. 1. ]] SLAMing on 22.112414037 meters Centerline goodness : 0.771897 Centerline is valid? [False, False] Translation: X:3.71, Y:0.08, Z:-0.10 [[ 0.99029586 -0.11447317 -0.07880351 3.70785203] [ 0.11632368 0.99302398 0.01929172 0.07821255] [ 0.0760454 -0.02827123 0.99670348 -0.10082001] [ 0. 0. 0. 1. ]] SLAMing on 22.142414037 meters Centerline goodness : 0.772611 Centerline is valid? [False, False] Translation: X:3.71, Y:0.08, Z:-0.10 [[ 0.99026396 -0.1146677 -0.07892154 3.70854274] [ 0.11656364 0.99298513 0.01983547 0.07688119] [ 0.07609343 -0.02884173 0.99668347 -0.10093861] [ 0. 0. 0. 1. ]] SLAMing on 22.172414037 meters Centerline goodness : 0.772729 Centerline is valid? [False, False] Translation: X:3.71, Y:0.08, Z:-0.10 [[ 0.99017084 -0.1154123 -0.07900444 3.70855862] [ 0.1173748 0.992873 0.02064872 0.07506994] [ 0.07605826 -0.02971889 0.99666039 -0.09998097] [ 0. 0. 0. 1. ]] SLAMing on 22.202414037 meters Centerline goodness : 0.772492 Centerline is valid? [False, False] Translation: X:3.71, Y:0.07, Z:-0.10 [[ 0.99014122 -0.11563637 -0.0790481 3.70855664] [ 0.11764702 0.99282799 0.02125462 0.07425558] [ 0.07602336 -0.03034485 0.99664419 -0.09945582] [ 0. 0. 0. 1. ]] SLAMing on 22.232414037 meters Centerline goodness : 0.773281 Centerline is valid? [False, False] Translation: X:3.71, Y:0.07, Z:-0.10 [[ 0.99012431 -0.11566518 -0.0792175 3.70907207] [ 0.11771518 0.99281026 0.02170083 0.07356349] [ 0.07613792 -0.03081162 0.99662112 -0.09943805] [ 0. 0. 0. 1. ]] SLAMing on 22.262414037 meters Centerline goodness : 0.774739 Centerline is valid? [False, False] Translation: X:3.71, Y:0.07, Z:-0.10 [[ 0.99010429 -0.11582585 -0.07923298 3.70977425] [ 0.11788294 0.99278858 0.02178171 0.0727169 ] [ 0.07613872 -0.03090638 0.99661813 -0.10001835] [ 0. 0. 0. 1. ]] SLAMing on 22.292414037 meters Centerline goodness : 0.776056 Centerline is valid? [False, False] Translation: X:3.71, Y:0.07, Z:-0.10 [[ 0.98997412 -0.11757821 -0.07827262 3.71051857] [ 0.11935407 0.99268135 0.01839402 0.07170257] [ 0.07553704 -0.02755176 0.99676229 -0.10277885] [ 0. 0. 0. 1. ]] SLAMing on 22.322414037 meters Centerline goodness : 0.775097 Centerline is valid? [False, False] Translation: X:3.71, Y:0.07, Z:-0.10 [[ 0.98991188 -0.11788418 -0.07859897 3.71179168] [ 0.11969394 0.99263453 0.01870948 0.0706634 ] [ 0.0758145 -0.02792856 0.99673073 -0.10324155] [ 0. 0. 0. 1. ]] SLAMing on 22.352414037 meters Centerline goodness : 0.779702 Centerline is valid? [False, False] Translation: X:3.71, Y:0.07, Z:-0.10 [[ 0.98985613 -0.11812146 -0.07894402 3.71250096] [ 0.11999682 0.99258406 0.0194329 0.07011169] [ 0.07606314 -0.02870881 0.99668962 -0.10293648] [ 0. 0. 0. 1. ]] SLAMing on 22.382414037 meters Centerline goodness : 0.780618 Centerline is valid? [False, False] Translation: X:3.71, Y:0.07, Z:-0.10 [[ 0.98979954 -0.11842928 -0.07919201 3.71256218] [ 0.12034857 0.99253218 0.01990203 0.0696964 ] [ 0.07624364 -0.02922966 0.99666069 -0.10206597] [ 0. 0. 0. 1. ]] SLAMing on 22.412414037 meters Centerline goodness : 0.778114 Centerline is valid? [False, False] Translation: X:3.71, Y:0.07, Z:-0.10 [[ 0.98967801 -0.11917129 -0.07959673 3.71288959] [ 0.12117313 0.99241355 0.02079456 0.06898021] [ 0.07651476 -0.0302249 0.99661023 -0.10085087] [ 0. 0. 0. 1. ]] SLAMing on 22.442414037 meters Centerline goodness : 0.780030 Centerline is valid? [False, False] Translation: X:3.71, Y:0.07, Z:-0.10 [[ 0.98960886 -0.11957609 -0.07984903 3.71412484] [ 0.12160113 0.99235726 0.02098161 0.0680566 ] [ 0.07672987 -0.03047332 0.99658612 -0.10141979] [ 0. 0. 0. 1. ]] SLAMing on 22.472414037 meters Centerline goodness : 0.778128 Centerline is valid? [False, False] Translation: X:3.72, Y:0.07, Z:-0.10 [[ 0.98953475 -0.12011149 -0.07996385 3.7158824 ] [ 0.12211606 0.99230096 0.02065111 0.06737842] [ 0.07686777 -0.03019986 0.99658382 -0.10303545] [ 0. 0. 0. 1. ]] SLAMing on 22.502414037 meters Centerline goodness : 0.776439 Centerline is valid? [False, False] Translation: X:3.72, Y:0.07, Z:-0.11 [[ 0.98929558 -0.12232517 -0.07956639 3.71747118] [ 0.12410962 0.9921077 0.01786379 0.0664529 ] [ 0.07675323 -0.02754752 0.99666949 -0.10510854] [ 0. 0. 0. 1. ]] SLAMing on 22.532414037 meters Centerline goodness : 0.774808 Centerline is valid? [False, False] Translation: X:3.72, Y:0.07, Z:-0.10 [[ 0.98930169 -0.12203931 -0.0799286 3.71819739] [ 0.12390232 0.99211706 0.01876041 0.06579344] [ 0.07700902 -0.02846304 0.99662403 -0.10490018] [ 0. 0. 0. 1. ]] SLAMing on 22.562414037 meters Centerline goodness : 0.777811 Centerline is valid? [False, False] Translation: X:3.72, Y:0.07, Z:-0.10 [[ 0.98937113 -0.12134246 -0.08012971 3.71805422] [ 0.12330417 0.99216764 0.01998663 0.06516607] [ 0.07707688 -0.02965452 0.99658405 -0.10406479] [ 0. 0. 0. 1. ]] SLAMing on 22.592414037 meters Centerline goodness : 0.778510 Centerline is valid? [False, False] Translation: X:3.72, Y:0.07, Z:-0.10 [[ 0.98955979 -0.12012094 -0.07963902 3.71578272] [ 0.12209659 0.9923085 0.0204026 0.06568502] [ 0.0765757 -0.02991324 0.99661495 -0.1026148 ] [ 0. 0. 0. 1. ]] SLAMing on 22.622414037 meters Centerline goodness : 0.779347 Centerline is valid? [False, False] Translation: X:3.72, Y:0.07, Z:-0.10 [[ 0.98968002 -0.11922888 -0.07948543 3.71594582] [ 0.12120122 0.99241724 0.02045194 0.06557356] [ 0.07644425 -0.02987461 0.9966262 -0.10345787] [ 0. 0. 0. 1. ]] SLAMing on 22.652414037 meters Centerline goodness : 0.778516 Centerline is valid? [False, False] Translation: X:3.72, Y:0.07, Z:-0.10 [[ 0.98976305 -0.11874937 -0.0791687 3.71592825] [ 0.12065499 0.9924986 0.01972075 0.06598847] [ 0.076233 -0.02907097 0.99666615 -0.10451011] [ 0. 0. 0. 1. ]] SLAMing on 22.682414037 meters Centerline goodness : 0.778949 Centerline is valid? [False, False] Translation: X:3.72, Y:0.07, Z:-0.11 [[ 0.9898919 -0.11784785 -0.0789045 3.71630117] [ 0.11973243 0.99261313 0.01957866 0.0660927 ] [ 0.07601434 -0.02882819 0.9966899 -0.10597609] [ 0. 0. 0. 1. ]] SLAMing on 22.712414037000002 meters Centerline goodness : 0.779151 Centerline is valid? [False, False] Translation: X:3.71, Y:0.07, Z:-0.11 [[ 0.99001127 -0.11718943 -0.0783857 3.71488049] [ 0.11900075 0.99271552 0.01883402 0.06784905] [ 0.07560755 -0.02797384 0.99674518 -0.10587786] [ 0. 0. 0. 1. ]] SLAMing on 22.742414037 meters Centerline goodness : 0.780250 Centerline is valid? [False, False] Translation: X:3.72, Y:0.07, Z:-0.11 [[ 0.9900442 -0.11677873 -0.07858245 3.71550569] [ 0.11860889 0.9927588 0.01902377 0.06831851] [ 0.07579185 -0.02815496 0.99672609 -0.10627842] [ 0. 0. 0. 1. ]] SLAMing on 22.772414037 meters Centerline goodness : 0.780149 Centerline is valid? [False, False] Translation: X:3.72, Y:0.07, Z:-0.11 [[ 0.99008898 -0.11638594 -0.07860105 3.71588029] [ 0.1182265 0.99280164 0.0191677 0.06783617] [ 0.07580441 -0.02827046 0.99672186 -0.10669329] [ 0. 0. 0. 1. ]] SLAMing on 22.802414037000002 meters Centerline goodness : 0.780873 Centerline is valid? [False, False] Translation: X:3.72, Y:0.07, Z:-0.11 [[ 0.99009586 -0.11648515 -0.07836706 3.71574311] [ 0.11832136 0.99278982 0.01919454 0.06604592] [ 0.07556614 -0.02827694 0.99673977 -0.10675444] [ 0. 0. 0. 1. ]] SLAMing on 22.832414037 meters Centerline goodness : 0.781842 Centerline is valid? [False, False] Translation: X:3.72, Y:0.07, Z:-0.11 [[ 0.99012628 -0.11639429 -0.07811734 3.71549046] [ 0.11823262 0.99279796 0.01931978 0.06506548] [ 0.07530602 -0.02836504 0.99675696 -0.10683665] [ 0. 0. 0. 1. ]] SLAMing on 22.862414037 meters Centerline goodness : 0.780003 Centerline is valid? [False, False] Translation: X:3.72, Y:0.07, Z:-0.11 [[ 0.99010775 -0.11640272 -0.07833927 3.71594659] [ 0.11825878 0.99279192 0.01946985 0.06550411] [ 0.07550826 -0.02854155 0.99673662 -0.10687152] [ 0. 0. 0. 1. ]] SLAMing on 22.892414037 meters Centerline goodness : 0.779122 Centerline is valid? [False, False] Translation: X:3.72, Y:0.07, Z:-0.11 [[ 0.99012293 -0.1162816 -0.07832728 3.71612019] [ 0.11810796 0.99281731 0.01908672 0.06693188] [ 0.07554524 -0.02814928 0.99674497 -0.10734171] [ 0. 0. 0. 1. ]] SLAMing on 22.922414037 meters Centerline goodness : 0.778803 Centerline is valid? [False, False] Translation: X:3.72, Y:0.07, Z:-0.11 [[ 0.99014925 -0.11580494 -0.07869995 3.71745536] [ 0.1175879 0.99289207 0.01839602 0.06949913] [ 0.0760102 -0.02746897 0.9967286 -0.10868925] [ 0. 0. 0. 1. ]] SLAMing on 22.952414037 meters Centerline goodness : 0.778692 Centerline is valid? [False, False] Translation: X:3.72, Y:0.07, Z:-0.11 [[ 0.99016623 -0.11568148 -0.07866785 3.71784301] [ 0.11744928 0.99291185 0.01821321 0.06951702] [ 0.07600331 -0.02727359 0.99673449 -0.10926521] [ 0. 0. 0. 1. ]] SLAMing on 22.982414037 meters Centerline goodness : 0.777660 Centerline is valid? [False, False] Translation: X:3.72, Y:0.07, Z:-0.11 [[ 0.99020535 -0.11527255 -0.07877571 3.71843141] [ 0.11709173 0.99294196 0.01886244 0.06828645] [ 0.07604539 -0.02790168 0.9967139 -0.10961181] [ 0. 0. 0. 1. ]] SLAMing on 23.012414037 meters Centerline goodness : 0.778560 Centerline is valid? [False, False] Translation: X:3.72, Y:0.07, Z:-0.11 [[ 0.99024247 -0.115022 -0.07867524 3.71860873] [ 0.11687467 0.99295819 0.01934811 0.06677749] [ 0.07589577 -0.02835447 0.99671252 -0.10981289] [ 0. 0. 0. 1. ]] SLAMing on 23.042414037 meters Centerline goodness : 0.777632 Centerline is valid? [False, False] Translation: X:3.72, Y:0.07, Z:-0.11 [[ 0.99011814 -0.11588899 -0.07896708 3.71886956] [ 0.11776886 0.9928483 0.01956383 0.06626171] [ 0.0761351 -0.02867037 0.99668523 -0.10891462] [ 0. 0. 0. 1. ]] SLAMing on 23.072414037 meters Centerline goodness : 0.778630 Centerline is valid? [False, False] Translation: X:3.72, Y:0.07, Z:-0.11 [[ 0.99003521 -0.11624502 -0.07948189 3.71971725] [ 0.11818407 0.9927877 0.02012741 0.06626633] [ 0.07656893 -0.02932034 0.99663309 -0.10835491] [ 0. 0. 0. 1. ]] SLAMing on 23.102414037 meters Centerline goodness : 0.779440 Centerline is valid? [False, False] Translation: X:3.72, Y:0.07, Z:-0.11 [[ 0.98989657 -0.11680426 -0.0803838 3.72131396] [ 0.11884847 0.99268781 0.0211178 0.06608976] [ 0.07732937 -0.03045793 0.99654026 -0.1076088 ] [ 0. 0. 0. 1. ]] SLAMing on 23.132414037 meters Centerline goodness : 0.780395 Centerline is valid? [False, False] Translation: X:3.72, Y:0.07, Z:-0.11 [[ 0.98977553 -0.11765227 -0.08063716 3.72190802] [ 0.1197551 0.9925654 0.02174052 0.065095 ] [ 0.07747983 -0.03117494 0.9965064 -0.10705451] [ 0. 0. 0. 1. ]] SLAMing on 23.162414037 meters Centerline goodness : 0.778404 Centerline is valid? [False, False] Translation: X:3.72, Y:0.06, Z:-0.11 [[ 0.98920659 -0.12198115 -0.08118453 3.72460551] [ 0.12392773 0.99210222 0.01936767 0.06349364] [ 0.07818086 -0.02921964 0.9965109 -0.1073316 ] [ 0. 0. 0. 1. ]] SLAMing on 23.192414037 meters Centerline goodness : 0.779755 Centerline is valid? [False, False] Translation: X:3.73, Y:0.06, Z:-0.11 [[ 0.98895768 -0.12348683 -0.08193721 3.72689765] [ 0.12547678 0.99190335 0.01957873 0.06244047] [ 0.07885608 -0.02964375 0.99644517 -0.10752012] [ 0. 0. 0. 1. ]] SLAMing on 23.222414037 meters Centerline goodness : 0.776092 Centerline is valid? [False, False] Translation: X:3.73, Y:0.06, Z:-0.11 [[ 0.9885287 -0.12589824 -0.08343045 3.73054785] [ 0.12803897 0.99155092 0.02080394 0.06110326] [ 0.08010636 -0.03124764 0.99629642 -0.10711383] [ 0. 0. 0. 1. ]] SLAMing on 23.252414037 meters Centerline goodness : 0.775747 Centerline is valid? [False, False] Translation: X:3.73, Y:0.06, Z:-0.11 [[ 0.98839236 -0.12653863 -0.08407444 3.73277763] [ 0.12875354 0.99144473 0.02144472 0.05949738] [ 0.08064157 -0.03202067 0.9962287 -0.10765207] [ 0. 0. 0. 1. ]] SLAMing on 23.282414037 meters Centerline goodness : 0.772999 Centerline is valid? [False, False] Translation: X:3.73, Y:0.06, Z:-0.11 [[ 0.98828917 -0.12700365 -0.08458486 3.73489096] [ 0.12928657 0.99136186 0.02206004 0.05777765] [ 0.0810525 -0.03273738 0.99617205 -0.10843414] [ 0. 0. 0. 1. ]] SLAMing on 23.312414037 meters Centerline goodness : 0.778214 Centerline is valid? [False, False] Translation: X:3.74, Y:0.06, Z:-0.11 [[ 0.98817642 -0.12772036 -0.08482255 3.73541127] [ 0.13002447 0.99126231 0.02219617 0.05715905] [ 0.08124649 -0.03296274 0.99614882 -0.10799319] [ 0. 0. 0. 1. ]] SLAMing on 23.342414037 meters Centerline goodness : 0.778887 Centerline is valid? [False, False] Translation: X:3.74, Y:0.06, Z:-0.11 [[ 0.98818564 -0.12680692 -0.08607638 3.73568068] [ 0.12947335 0.991239 0.02611325 0.05658883] [ 0.08201092 -0.03694934 0.99594626 -0.10502995] [ 0. 0. 0. 1. ]] SLAMing on 23.372414037 meters Centerline goodness : 0.779670 Centerline is valid? [False, False] Translation: X:3.74, Y:0.06, Z:-0.10 [[ 0.98814116 -0.12698025 -0.08633114 3.73535642] [ 0.12969179 0.99119915 0.02653828 0.05710418] [ 0.08220152 -0.03742001 0.99591297 -0.10382142] [ 0. 0. 0. 1. ]] SLAMing on 23.402414037 meters Centerline goodness : 0.779001 Centerline is valid? [False, False] Translation: X:3.74, Y:0.06, Z:-0.10 [[ 0.98811644 -0.12701004 -0.08656992 3.73623569] [ 0.12973852 0.9911905 0.02663302 0.05724379] [ 0.08242462 -0.03754798 0.99588972 -0.10429981] [ 0. 0. 0. 1. ]] SLAMing on 23.432414037 meters Centerline goodness : 0.780040 Centerline is valid? [False, False] Translation: X:3.74, Y:0.06, Z:-0.11 [[ 0.98804573 -0.1274909 -0.08667011 3.73772042] [ 0.13015903 0.99115632 0.02584122 0.05713533] [ 0.0826091 -0.0368132 0.99590186 -0.10577304] [ 0. 0. 0. 1. ]] SLAMing on 23.462414037000002 meters Centerline goodness : 0.775140 Centerline is valid? [False, False] Translation: X:3.74, Y:0.06, Z:-0.11 [[ 0.98793845 -0.12944725 -0.08497662 3.73810971] [ 0.1315659 0.99110965 0.01980066 0.0577492 ] [ 0.08165801 -0.03074186 0.99618618 -0.11037007] [ 0. 0. 0. 1. ]] SLAMing on 23.492414037 meters Centerline goodness : 0.780414 Centerline is valid? [False, False] Translation: X:3.74, Y:0.06, Z:-0.11 [[ 0.98805224 -0.12860041 -0.08493946 3.73864581] [ 0.13072464 0.99121866 0.01991586 0.05774036] [ 0.08163239 -0.03078159 0.99618705 -0.11141627] [ 0. 0. 0. 1. ]] SLAMing on 23.522414037 meters Centerline goodness : 0.779401 Centerline is valid? [False, False] Translation: X:3.74, Y:0.06, Z:-0.11 [[ 0.98820282 -0.12769102 -0.08455882 3.73726524] [ 0.12978171 0.99134717 0.0196847 0.05914131] [ 0.08131358 -0.03042667 0.99622403 -0.11108879] [ 0. 0. 0. 1. ]] SLAMing on 23.552414037000002 meters Centerline goodness : 0.777028 Centerline is valid? [False, False] Translation: X:3.73, Y:0.06, Z:-0.11 [[ 0.98884963 -0.12244917 -0.0847503 3.73417462] [ 0.12482939 0.99190319 0.02336004 0.06241292] [ 0.08120368 -0.03367889 0.99612835 -0.1088035 ] [ 0. 0. 0. 1. ]] SLAMing on 23.582414037 meters Centerline goodness : 0.779223 Centerline is valid? [False, False] Translation: X:3.73, Y:0.06, Z:-0.11 [[ 0.98913209 -0.12066537 -0.08400941 3.73186207] [ 0.12294618 0.99215807 0.02250804 0.06479758] [ 0.08063467 -0.03259206 0.99621072 -0.10883569] [ 0. 0. 0. 1. ]] SLAMing on 23.612414037 meters Centerline goodness : 0.776878 Centerline is valid? [False, False] Translation: X:3.73, Y:0.07, Z:-0.11 [[ 0.98944921 -0.11835363 -0.08356241 3.73136192] [ 0.12061245 0.99244457 0.02250384 0.06514308] [ 0.08026765 -0.03234507 0.99624841 -0.1102059 ] [ 0. 0. 0. 1. ]] SLAMing on 23.642414037 meters Centerline goodness : 0.780021 Centerline is valid? [False, False] Translation: X:3.73, Y:0.07, Z:-0.11 [[ 0.98968097 -0.11722618 -0.08239906 3.72973084] [ 0.11934279 0.99262605 0.02123246 0.06518039] [ 0.07930246 -0.0308471 0.99637321 -0.11159651] [ 0. 0. 0. 1. ]] SLAMing on 23.672414037 meters Centerline goodness : 0.783234 Centerline is valid? [False, False] Translation: X:3.73, Y:0.06, Z:-0.11 [[ 0.99009994 -0.11500283 -0.08047648 3.7276294 ] [ 0.11689645 0.99295826 0.01921256 0.06426567] [ 0.07770028 -0.02842977 0.99657133 -0.11448327] [ 0. 0. 0. 1. ]] SLAMing on 23.702414037 meters Centerline goodness : 0.779784 Centerline is valid? [False, False] Translation: X:3.73, Y:0.06, Z:-0.11 [[ 0.99018808 -0.11441908 -0.08022375 3.72683676] [ 0.11628565 0.99303446 0.01897916 0.0649126 ] [ 0.07749337 -0.02812181 0.99659618 -0.11438002] [ 0. 0. 0. 1. ]] SLAMing on 23.732414037 meters Centerline goodness : 0.778289 Centerline is valid? [False, False] Translation: X:3.73, Y:0.07, Z:-0.11 [[ 0.99023524 -0.11407524 -0.08013116 3.726088 ] [ 0.1159193 0.99308192 0.01873568 0.06642931] [ 0.07743953 -0.02784147 0.99660823 -0.11395244] [ 0. 0. 0. 1. ]] SLAMing on 23.762414037 meters Centerline goodness : 0.782564 Centerline is valid? [False, False] Translation: X:3.73, Y:0.07, Z:-0.11 [[ 0.99024987 -0.11366227 -0.08053623 3.72651622] [ 0.11552254 0.99312668 0.01881315 0.06821921] [ 0.07784433 -0.02793346 0.99657412 -0.11374714] [ 0. 0. 0. 1. ]] SLAMing on 23.792414037 meters Centerline goodness : 0.780302 Centerline is valid? [False, False] Translation: X:3.73, Y:0.07, Z:-0.11 [[ 0.99023864 -0.11368805 -0.08063782 3.72571333] [ 0.11555074 0.99312353 0.01880666 0.06993036] [ 0.07794523 -0.02794084 0.99656603 -0.11247072] [ 0. 0. 0. 1. ]] SLAMing on 23.822414037 meters Centerline goodness : 0.779043 Centerline is valid? [False, False] Translation: X:3.73, Y:0.07, Z:-0.11 [[ 0.99023302 -0.11372534 -0.08065426 3.72624383] [ 0.11560674 0.99311259 0.01903858 0.06914288] [ 0.07793359 -0.02817681 0.9965603 -0.11286493] [ 0. 0. 0. 1. ]] SLAMing on 23.852414037 meters Centerline goodness : 0.779504 Centerline is valid? [False, False] Translation: X:3.73, Y:0.07, Z:-0.11 [[ 0.99019274 -0.11398568 -0.08078115 3.7275625 ] [ 0.11589021 0.99307493 0.01927825 0.06745505] [ 0.07802429 -0.02845093 0.99654541 -0.11377432] [ 0. 0. 0. 1. ]] SLAMing on 23.882414037 meters Centerline goodness : 0.778849 Centerline is valid? [False, False] Translation: X:3.73, Y:0.07, Z:-0.12 [[ 0.98991783 -0.11672715 -0.08023382 3.72877705] [ 0.11839211 0.99283311 0.01630078 0.06562634] [ 0.07775604 -0.02563549 0.99664277 -0.11555022] [ 0. 0. 0. 1. ]] SLAMing on 23.912414037 meters Centerline goodness : 0.777668 Centerline is valid? [False, False] Translation: X:3.73, Y:0.07, Z:-0.12 [[ 0.98976759 -0.11773389 -0.08061548 3.72977752] [ 0.11939702 0.99271582 0.01611358 0.06565601] [ 0.07813115 -0.02557395 0.99661502 -0.11538331] [ 0. 0. 0. 1. ]] SLAMing on 23.942414037 meters Centerline goodness : 0.776977 Centerline is valid? [False, False] Translation: X:3.73, Y:0.07, Z:-0.11 [[ 0.98960569 -0.11836107 -0.08167759 3.73186675] [ 0.12013933 0.99260813 0.01719444 0.06557433] [ 0.07903869 -0.0268284 0.99651047 -0.11488333] [ 0. 0. 0. 1. ]] SLAMing on 23.972414037 meters Centerline goodness : 0.776977 Centerline is valid? [False, False] Translation: X:3.73, Y:0.07, Z:-0.11 [[ 0.98960569 -0.11836107 -0.08167759 3.73186675] [ 0.12013933 0.99260813 0.01719444 0.06557433] [ 0.07903869 -0.0268284 0.99651047 -0.11488333] [ 0. 0. 0. 1. ]] SLAMing on 24.002414037 meters Centerline goodness : 0.776861 Centerline is valid? [False, False] Translation: X:3.73, Y:0.07, Z:-0.11 [[ 0.98913002 -0.12115173 -0.08333105 3.73472572] [ 0.12307982 0.99222647 0.01838439 0.06564819] [ 0.08045597 -0.02844093 0.99635232 -0.11308426] [ 0. 0. 0. 1. ]] SLAMing on 24.032414037 meters Centerline goodness : 0.776376 Centerline is valid? [False, False] Translation: X:3.74, Y:0.06, Z:-0.11 [[ 0.98881282 -0.12303246 -0.08433398 3.73691592] [ 0.12504653 0.99196873 0.01901085 0.06475338] [ 0.08131772 -0.02934385 0.99625618 -0.11221349] [ 0. 0. 0. 1. ]] SLAMing on 24.062414037 meters Centerline goodness : 0.778624 Centerline is valid? [False, False] Translation: X:3.74, Y:0.06, Z:-0.11 [[ 0.98850571 -0.12471829 -0.08545062 3.7398996 ] [ 0.12684148 0.99172408 0.01986407 0.06325061] [ 0.08226603 -0.03047443 0.99614437 -0.11200219] [ 0. 0. 0. 1. ]] SLAMing on 24.092414037 meters Centerline goodness : 0.774584 Centerline is valid? [False, False] Translation: X:3.74, Y:0.06, Z:-0.11 [[ 0.98821105 -0.1267901 -0.08580902 3.74158054] [ 0.12889997 0.99146608 0.01948852 0.0617998 ] [ 0.08260578 -0.03031955 0.99612098 -0.11209667] [ 0. 0. 0. 1. ]] SLAMing on 24.122414037 meters Centerline goodness : 0.776913 Centerline is valid? [False, False] Translation: X:3.74, Y:0.06, Z:-0.11 [[ 0.98796276 -0.12808076 -0.08674621 3.74459021] [ 0.13026094 0.99127935 0.01993335 0.06036971] [ 0.08343665 -0.03099305 0.996031 -0.11270243] [ 0. 0. 0. 1. ]] SLAMing on 24.152414037 meters Centerline goodness : 0.775898 Centerline is valid? [False, False] Translation: X:3.75, Y:0.06, Z:-0.11 [[ 0.98770755 -0.12959688 -0.08739816 3.74668941] [ 0.13183842 0.99106215 0.02035791 0.05909642] [ 0.08397868 -0.03163009 0.99596542 -0.11283343] [ 0. 0. 0. 1. ]] SLAMing on 24.182414037 meters Centerline goodness : 0.777730 Centerline is valid? [False, False] Translation: X:3.75, Y:0.06, Z:-0.11 [[ 0.9876745 -0.12949077 -0.08792735 3.74740838] [ 0.13181294 0.99104972 0.0211138 0.05947622] [ 0.08440633 -0.03244352 0.9959031 -0.11226746] [ 0. 0. 0. 1. ]] SLAMing on 24.212414037000002 meters Centerline goodness : 0.780265 Centerline is valid? [False, False] Translation: X:3.75, Y:0.06, Z:-0.11 [[ 0.98771905 -0.12911642 -0.0879774 3.74647665] [ 0.1314517 0.99109449 0.02126428 0.06077194] [ 0.08444835 -0.03256791 0.99589548 -0.11113053] [ 0. 0. 0. 1. ]] SLAMing on 24.242414037 meters Centerline goodness : 0.776194 Centerline is valid? [False, False] Translation: X:3.75, Y:0.06, Z:-0.11 [[ 0.98797818 -0.12673713 -0.08852578 3.74604241] [ 0.12930889 0.99131573 0.02392356 0.06215139] [ 0.084725 -0.03508312 0.99578655 -0.11008567] [ 0. 0. 0. 1. ]] SLAMing on 24.272414037 meters Centerline goodness : 0.778140 Centerline is valid? [False, False] Translation: X:3.75, Y:0.06, Z:-0.11 [[ 0.98805327 -0.12650154 -0.08802329 3.74599752] [ 0.12894064 0.9913953 0.02257569 0.06314693] [ 0.08441001 -0.03365576 0.99586256 -0.11162118] [ 0. 0. 0. 1. ]] SLAMing on 24.302414037000002 meters Centerline goodness : 0.774959 Centerline is valid? [False, False] Translation: X:3.75, Y:0.06, Z:-0.11 [[ 0.98811022 -0.12622072 -0.08778683 3.74673846] [ 0.12856309 0.99146742 0.02153822 0.06382618] [ 0.08431921 -0.03256828 0.99590641 -0.11344382] [ 0. 0. 0. 1. ]] SLAMing on 24.332414037 meters Centerline goodness : 0.775495 Centerline is valid? [False, False] Translation: X:3.75, Y:0.06, Z:-0.11 [[ 0.98818052 -0.12604118 -0.08725183 3.74648874] [ 0.12824699 0.9915379 0.02013216 0.06476735] [ 0.08397602 -0.031084 0.99598284 -0.11477412] [ 0. 0. 0. 1. ]] SLAMing on 24.362414037 meters Centerline goodness : 0.774684 Centerline is valid? [False, False] Translation: X:3.74, Y:0.07, Z:-0.11 [[ 0.98845079 -0.12443136 -0.08649783 3.74443053] [ 0.12652082 0.99178029 0.01908759 0.06746705] [ 0.08341174 -0.02981092 0.99606917 -0.11494937] [ 0. 0. 0. 1. ]] SLAMing on 24.392414037 meters Centerline goodness : 0.773420 Centerline is valid? [False, False] Translation: X:3.74, Y:0.07, Z:-0.11 [[ 0.98865301 -0.12287232 -0.08641535 3.74336793] [ 0.12500539 0.99196044 0.01970101 0.06891548] [ 0.0832999 -0.03027985 0.99606438 -0.11440779] [ 0. 0. 0. 1. ]] SLAMing on 24.422414037 meters Centerline goodness : 0.774907 Centerline is valid? [False, False] Translation: X:3.74, Y:0.07, Z:-0.11 [[ 0.98892098 -0.12045381 -0.08675351 3.74238099] [ 0.12283128 0.99217044 0.02258954 0.06958877] [ 0.08335328 -0.03299532 0.99597366 -0.11305488] [ 0. 0. 0. 1. ]] SLAMing on 24.452414037 meters Centerline goodness : 0.776302 Centerline is valid? [False, False] Translation: X:3.74, Y:0.07, Z:-0.11 [[ 0.98907531 -0.11963177 -0.08612942 3.74020568] [ 0.12187813 0.99231662 0.02129423 0.07273791] [ 0.08292019 -0.03155889 0.99605636 -0.11255089] [ 0. 0. 0. 1. ]] SLAMing on 24.482414037 meters Centerline goodness : 0.772246 Centerline is valid? [False, False] Translation: X:3.74, Y:0.07, Z:-0.11 [[ 0.98907107 -0.11960702 -0.08621236 3.74111727] [ 0.12180182 0.99233971 0.02064515 0.07397522] [ 0.08308264 -0.03092034 0.99606285 -0.11374583] [ 0. 0. 0. 1. ]] SLAMing on 24.512414037 meters Centerline goodness : 0.774070 Centerline is valid? [False, False] Translation: X:3.74, Y:0.08, Z:-0.11 [[ 0.98899125 -0.1201967 -0.08630799 3.74166506] [ 0.12230393 0.99230037 0.01953802 0.07512455] [ 0.08329505 -0.02987874 0.9960769 -0.11423371] [ 0. 0. 0. 1. ]] SLAMing on 24.542414037 meters Centerline goodness : 0.776540 Centerline is valid? [False, False] Translation: X:3.74, Y:0.08, Z:-0.12 [[ 0.98898792 -0.12004106 -0.0865623 3.74304246] [ 0.12214974 0.99232069 0.01947026 0.07536285] [ 0.08356033 -0.02982941 0.99605616 -0.11533904] [ 0. 0. 0. 1. ]] SLAMing on 24.572414037 meters Centerline goodness : 0.775707 Centerline is valid? [False, False] Translation: X:3.74, Y:0.08, Z:-0.12 [[ 0.98882955 -0.12094939 -0.08710544 3.74452706] [ 0.12302929 0.99222307 0.01889921 0.07706287] [ 0.08414218 -0.02940461 0.99601981 -0.11580449] [ 0. 0. 0. 1. ]] SLAMing on 24.602414037 meters Centerline goodness : 0.776487 Centerline is valid? [False, False] Translation: X:3.75, Y:0.08, Z:-0.12 [[ 0.98870934 -0.12160921 -0.0875502 3.74538816] [ 0.1236908 0.9921439 0.01873691 0.07820163] [ 0.08458382 -0.02935451 0.99598388 -0.11566347] [ 0. 0. 0. 1. ]] SLAMing on 24.632414037 meters Centerline goodness : 0.773689 Centerline is valid? [False, False] Translation: X:3.75, Y:0.08, Z:-0.12 [[ 0.98860797 -0.12185941 -0.08834341 3.74692516] [ 0.12402199 0.99208986 0.01939746 0.07884978] [ 0.08528084 -0.03013301 0.99590119 -0.11550182] [ 0. 0. 0. 1. ]] SLAMing on 24.662414037 meters Centerline goodness : 0.776649 Centerline is valid? [False, False] Translation: X:3.75, Y:0.08, Z:-0.12 [[ 0.98854512 -0.12212884 -0.08867411 3.74757259] [ 0.12432103 0.99204817 0.01961398 0.07960981] [ 0.08557356 -0.03041336 0.99586756 -0.11534568] [ 0. 0. 0. 1. ]] SLAMing on 24.692414037 meters Centerline goodness : 0.771341 Centerline is valid? [False, False] Translation: X:3.75, Y:0.08, Z:-0.12 [[ 0.988543 -0.12191341 -0.08899359 3.7483819 ] [ 0.12414765 0.99206224 0.01999704 0.07998745] [ 0.08584927 -0.03081628 0.99583144 -0.11561399] [ 0. 0. 0. 1. ]] SLAMing on 24.722414037 meters Centerline goodness : 0.775329 Centerline is valid? [False, False] Translation: X:3.75, Y:0.08, Z:-0.12 [[ 0.98848389 -0.12251289 -0.08882675 3.74763925] [ 0.1246492 0.99202095 0.01889486 0.08199873] [ 0.08580314 -0.02974945 0.99586786 -0.11515037] [ 0. 0. 0. 1. ]] SLAMing on 24.752414037 meters Centerline goodness : 0.775999 Centerline is valid? [False, False] Translation: X:3.75, Y:0.08, Z:-0.11 [[ 0.98842671 -0.12257714 -0.08937273 3.74870565] [ 0.12479191 0.99198916 0.01960842 0.08215042] [ 0.08625323 -0.03053448 0.99580521 -0.11496433] [ 0. 0. 0. 1. ]] SLAMing on 24.782414037 meters Centerline goodness : 0.771921 Centerline is valid? [False, False] Translation: X:3.75, Y:0.08, Z:-0.11 [[ 0.98835904 -0.12291776 -0.08965282 3.74882243] [ 0.12514471 0.99194418 0.01963513 0.08258445] [ 0.08651708 -0.03062613 0.99577951 -0.11427107] [ 0. 0. 0. 1. ]] SLAMing on 24.812414037 meters Centerline goodness : 0.771472 Centerline is valid? [False, False] Translation: X:3.75, Y:0.08, Z:-0.11 [[ 0.98829578 -0.12311227 -0.09008227 3.74932378] [ 0.12536242 0.99191459 0.01974085 0.08402222] [ 0.08692357 -0.03080273 0.99573866 -0.11388641] [ 0. 0. 0. 1. ]] SLAMing on 24.842414037 meters Centerline goodness : 0.771952 Centerline is valid? [False, False] Translation: X:3.75, Y:0.09, Z:-0.11 [[ 0.98819308 -0.12385833 -0.09018615 3.74976466] [ 0.1260564 0.99183963 0.01907678 0.08515232] [ 0.08708738 -0.03022009 0.9957422 -0.11409288] [ 0. 0. 0. 1. ]] SLAMing on 24.872414037 meters Centerline goodness : 0.776749 Centerline is valid? [False, False] Translation: X:3.75, Y:0.09, Z:-0.11 [[ 0.98807796 -0.12450682 -0.09055385 3.75101217] [ 0.12667668 0.99176965 0.01860056 0.08617466] [ 0.08749266 -0.02984986 0.99571784 -0.11463906] [ 0. 0. 0. 1. ]] SLAMing on 24.902414037 meters Centerline goodness : 0.778594 Centerline is valid? [False, False] Translation: X:3.75, Y:0.09, Z:-0.12 [[ 0.98797359 -0.12496544 -0.09105945 3.7526711 ] [ 0.1271535 0.99170837 0.01861444 0.08666308] [ 0.08797826 -0.0299691 0.99567147 -0.11530246] [ 0. 0. 0. 1. ]] SLAMing on 24.932414037 meters Centerline goodness : 0.771839 Centerline is valid? [False, False] Translation: X:3.75, Y:0.09, Z:-0.12 [[ 0.98796018 -0.12533165 -0.0907009 3.7528485 ] [ 0.12742894 0.99168992 0.01769099 0.08732228] [ 0.08772992 -0.02903592 0.99572103 -0.11632491] [ 0. 0. 0. 1. ]] SLAMing on 24.962414037000002 meters Centerline goodness : 0.770703 Centerline is valid? [False, False] Translation: X:3.75, Y:0.09, Z:-0.12 [[ 0.9880304 -0.12505473 -0.0903175 3.75205228] [ 0.12710404 0.99173879 0.01728375 0.08758319] [ 0.08740996 -0.02855659 0.99576303 -0.11647919] [ 0. 0. 0. 1. ]] SLAMing on 24.992414037 meters Centerline goodness : 0.770957 Centerline is valid? [False, False] Translation: X:3.75, Y:0.09, Z:-0.12 [[ 0.98809718 -0.12459138 -0.09022722 3.75192574] [ 0.1266452 0.99179573 0.01738462 0.08790307] [ 0.087321 -0.02860454 0.99576946 -0.11664684] [ 0. 0. 0. 1. ]] SLAMing on 25.022414037 meters Centerline goodness : 0.773799 Centerline is valid? [False, False] Translation: X:3.75, Y:0.09, Z:-0.12 [[ 0.98818707 -0.12374668 -0.09040502 3.75191653] [ 0.12585806 0.99188463 0.01801754 0.08826278] [ 0.08744174 -0.0291829 0.99574209 -0.11640808] [ 0. 0. 0. 1. ]] SLAMing on 25.052414037000002 meters Centerline goodness : 0.773102 Centerline is valid? [False, False] Translation: X:3.75, Y:0.09, Z:-0.12 [[ 0.98833894 -0.12241466 -0.09055817 3.75171671] [ 0.12461198 0.99202361 0.01900045 0.08901599] [ 0.08750991 -0.03006352 0.9957099 -0.11625327] [ 0. 0. 0. 1. ]] SLAMing on 25.082414037 meters Centerline goodness : 0.771860 Centerline is valid? [False, False] Translation: X:3.75, Y:0.09, Z:-0.12 [[ 0.98863627 -0.1202867 -0.09016343 3.74997556] [ 0.12245809 0.99229313 0.01893063 0.09177066] [ 0.08719145 -0.02975675 0.99574705 -0.1161715 ] [ 0. 0. 0. 1. ]] SLAMing on 25.112414037 meters Centerline goodness : 0.770564 Centerline is valid? [False, False] Translation: X:3.75, Y:0.09, Z:-0.12 [[ 0.98869213 -0.12011415 -0.08978011 3.74958438] [ 0.12217435 0.99234911 0.01779515 0.09299704] [ 0.08695577 -0.02856275 0.99580262 -0.11692279] [ 0. 0. 0. 1. ]] SLAMing on 25.142414037 meters Centerline goodness : 0.772812 Centerline is valid? [False, False] Translation: X:3.75, Y:0.09, Z:-0.12 [[ 0.98888541 -0.11918848 -0.08888056 3.74890729] [ 0.1210841 0.99250955 0.01623063 0.09363225] [ 0.0862803 -0.02681225 0.99591004 -0.11892993] [ 0. 0. 0. 1. ]] SLAMing on 25.172414037 meters Centerline goodness : 0.769756 Centerline is valid? [False, False] Translation: X:3.75, Y:0.09, Z:-0.12 [[ 0.98904971 -0.11829261 -0.08824703 3.74784259] [ 0.12013081 0.99263234 0.01579962 0.09372003] [ 0.08572788 -0.0262278 0.99597331 -0.11951122] [ 0. 0. 0. 1. ]] SLAMing on 25.202414037 meters Centerline goodness : 0.775420 Centerline is valid? [False, False] Translation: X:3.75, Y:0.09, Z:-0.12 [[ 0.98924704 -0.11704848 -0.08769233 3.74639399] [ 0.11885037 0.99278965 0.01559836 0.09436849] [ 0.08523428 -0.0258529 0.99602547 -0.11955258] [ 0. 0. 0. 1. ]] SLAMing on 25.232414037 meters Centerline goodness : 0.773840 Centerline is valid? [False, False] Translation: X:3.75, Y:0.10, Z:-0.12 [[ 0.98942243 -0.11583443 -0.0873249 3.74557819] [ 0.11761336 0.99293862 0.01549169 0.09562854] [ 0.08491379 -0.0255984 0.99605942 -0.12000035] [ 0. 0. 0. 1. ]] SLAMing on 25.262414037 meters Centerline goodness : 0.771983 Centerline is valid? [False, False] Translation: X:3.74, Y:0.10, Z:-0.12 [[ 0.9895486 -0.114978 -0.0870266 3.74455952] [ 0.11671541 0.99305016 0.01512922 0.09668716] [ 0.08468225 -0.02512844 0.9960911 -0.11989647] [ 0. 0. 0. 1. ]] SLAMing on 25.292414037 meters Centerline goodness : 0.772197 Centerline is valid? [False, False] Translation: X:3.74, Y:0.10, Z:-0.12 [[ 0.98964764 -0.11437551 -0.08669369 3.74355595] [ 0.11605302 0.99313649 0.01454664 0.09787446] [ 0.08443489 -0.02445711 0.99612881 -0.11984007] [ 0. 0. 0. 1. ]] SLAMing on 25.322414037 meters Centerline goodness : 0.770054 Centerline is valid? [False, False] Translation: X:3.74, Y:0.10, Z:-0.12 [[ 0.99034333 -0.11753818 -0.07351781 3.74349995] [ 0.11882025 0.9928267 0.01330015 0.10162523] [ 0.07142717 -0.02190712 0.99720521 -0.12486888] [ 0. 0. 0. 1. ]] SLAMing on 25.352414037 meters Centerline goodness : 0.772228 Centerline is valid? [False, False] Translation: X:3.74, Y:0.10, Z:-0.13 [[ 0.99039264 -0.11711991 -0.07352106 3.74380388] [ 0.11842176 0.99287038 0.01358996 0.10138646] [ 0.07140522 -0.02216589 0.99720107 -0.125256 ] [ 0. 0. 0. 1. ]] SLAMing on 25.382414037 meters Centerline goodness : 0.771580 Centerline is valid? [False, False] Translation: X:3.75, Y:0.10, Z:-0.13 [[ 0.99037281 -0.11701441 -0.07395483 3.74519136] [ 0.1183811 0.99286439 0.01435999 0.10059757] [ 0.07174679 -0.0229766 0.9971582 -0.12571265] [ 0. 0. 0. 1. ]] SLAMing on 25.412414037 meters Centerline goodness : 0.770191 Centerline is valid? [False, False] Translation: X:3.75, Y:0.10, Z:-0.13 [[ 0.99027562 -0.11769996 -0.07416822 3.74637952] [ 0.11907034 0.99278257 0.01431856 0.09994305] [ 0.07194762 -0.02301056 0.99714295 -0.12624993] [ 0. 0. 0. 1. ]] SLAMing on 25.442414037 meters Centerline goodness : 0.770066 Centerline is valid? [False, False] Translation: X:3.75, Y:0.10, Z:-0.13 [[ 0.98988196 -0.12114331 -0.07387835 3.74796289] [ 0.12228099 0.99243391 0.01105898 0.0987068 ] [ 0.07197966 -0.019981 0.99720594 -0.12758747] [ 0. 0. 0. 1. ]] SLAMing on 25.472414037 meters Centerline goodness : 0.769105 Centerline is valid? [False, False] Translation: X:3.75, Y:0.10, Z:-0.13 [[ 0.98972996 -0.12213392 -0.0742826 3.74978141] [ 0.12331486 0.99230087 0.01150774 0.09695198] [ 0.0723052 -0.0205497 0.99717083 -0.12814892] [ 0. 0. 0. 1. ]] SLAMing on 25.502414037 meters Centerline goodness : 0.771001 Centerline is valid? [False, False] Translation: X:3.75, Y:0.10, Z:-0.13 [[ 0.98957161 -0.12302635 -0.07491689 3.75191495] [ 0.12425914 0.99217718 0.01200494 0.09575769] [ 0.0728539 -0.02118885 0.99711752 -0.12851833] [ 0. 0. 0. 1. ]] SLAMing on 25.532414037 meters Centerline goodness : 0.770802 Centerline is valid? [False, False] Translation: X:3.75, Y:0.10, Z:-0.13 [[ 0.98940566 -0.12378049 -0.07586064 3.75442512] [ 0.12510611 0.99205871 0.01296032 0.09549912] [ 0.07365398 -0.02231364 0.9970342 -0.12881836] [ 0. 0. 0. 1. ]] SLAMing on 25.562414037 meters Centerline goodness : 0.771870 Centerline is valid? [False, False] Translation: X:3.76, Y:0.10, Z:-0.13 [[ 0.98921418 -0.12493417 -0.07646415 3.75544221] [ 0.12630232 0.99190254 0.01330716 0.09571279] [ 0.07418247 -0.02282123 0.99698353 -0.12813893] [ 0. 0. 0. 1. ]] SLAMing on 25.592414037 meters Centerline goodness : 0.769331 Centerline is valid? [False, False] Translation: X:3.76, Y:0.10, Z:-0.13 [[ 0.98920328 -0.12493851 -0.07659785 3.75594796] [ 0.12633383 0.99189413 0.01363057 0.09513748] [ 0.07427398 -0.02316031 0.99696889 -0.12821844] [ 0. 0. 0. 1. ]] SLAMing on 25.622414037 meters Centerline goodness : 0.769762 Centerline is valid? [False, False] Translation: X:3.76, Y:0.09, Z:-0.13 [[ 0.98930866 -0.1242162 -0.07641144 3.75607854] [ 0.12566458 0.99196784 0.01442954 0.09354686] [ 0.07400531 -0.02387748 0.99697196 -0.12866944] [ 0. 0. 0. 1. ]] SLAMing on 25.652414037 meters Centerline goodness : 0.768647 Centerline is valid? [False, False] Translation: X:3.75, Y:0.09, Z:-0.13 [[ 0.989418 -0.12371976 -0.07579873 3.75487327] [ 0.12516729 0.9920277 0.0146353 0.09157603] [ 0.07338377 -0.02396795 0.99701573 -0.12846334] [ 0. 0. 0. 1. ]] SLAMing on 25.682414037 meters Centerline goodness : 0.769965 Centerline is valid? [False, False] Translation: X:3.76, Y:0.09, Z:-0.13 [[ 0.98951721 -0.12290336 -0.07583173 3.75515661] [ 0.12441559 0.99210861 0.01553289 0.09010353] [ 0.07332426 -0.02480471 0.99699964 -0.12866891] [ 0. 0. 0. 1. ]] SLAMing on 25.712414037 meters Centerline goodness : 0.774576 Centerline is valid? [False, False] Translation: X:3.76, Y:0.09, Z:-0.13 [[ 0.98961311 -0.12211918 -0.07584718 3.75529333] [ 0.1237002 0.99218259 0.01649132 0.08907243] [ 0.07324035 -0.02570233 0.99698307 -0.12878084] [ 0. 0. 0. 1. ]] SLAMing on 25.742414037 meters Centerline goodness : 0.773445 Centerline is valid? [False, False] Translation: X:3.75, Y:0.09, Z:-0.13 [[ 0.98966172 -0.12170253 -0.07588264 3.75495198] [ 0.12332726 0.99221892 0.01708832 0.08857739] [ 0.0732125 -0.02627006 0.99697032 -0.1280978 ] [ 0. 0. 0. 1. ]] SLAMing on 25.772414037 meters Centerline goodness : 0.770758 Centerline is valid? [False, False] Translation: X:3.75, Y:0.09, Z:-0.13 [[ 0.98975595 -0.12102524 -0.07573675 3.75409107] [ 0.12266465 0.99229624 0.01736513 0.08846042] [ 0.07305167 -0.02647746 0.99697663 -0.1273939 ] [ 0. 0. 0. 1. ]] SLAMing on 25.802414037000002 meters Centerline goodness : 0.771613 Centerline is valid? [False, False] Translation: X:3.75, Y:0.09, Z:-0.13 [[ 0.9898117 -0.12065194 -0.07560362 3.75458827] [ 0.12227841 0.99234593 0.0172496 0.08812736] [ 0.07294375 -0.02631854 0.99698874 -0.12832472] [ 0. 0. 0. 1. ]] SLAMing on 25.832414037 meters Centerline goodness : 0.769794 Centerline is valid? [False, False] Translation: X:3.76, Y:0.09, Z:-0.13 [[ 0.98983036 -0.12058595 -0.07546445 3.7553559 ] [ 0.12218044 0.99236461 0.01686464 0.0876459 ] [ 0.07285461 -0.02591342 0.99700587 -0.12946689] [ 0. 0. 0. 1. ]] SLAMing on 25.862414037 meters Centerline goodness : 0.770504 Centerline is valid? [False, False] Translation: X:3.76, Y:0.09, Z:-0.13 [[ 0.98988101 -0.12016836 -0.07546617 3.75650855] [ 0.1217887 0.99240645 0.01723239 0.0861211 ] [ 0.07282232 -0.02624894 0.99699945 -0.13071868] [ 0. 0. 0. 1. ]] SLAMing on 25.892414037 meters Centerline goodness : 0.772427 Centerline is valid? [False, False] Translation: X:3.76, Y:0.08, Z:-0.13 [[ 0.99000335 -0.11995075 -0.07419696 3.75567409] [ 0.12143648 0.99247294 0.01583157 0.0825037 ] [ 0.07173947 -0.02468353 0.99711793 -0.13211272] [ 0. 0. 0. 1. ]] SLAMing on 25.922414037 meters Centerline goodness : 0.772427 Centerline is valid? [False, False] Translation: X:3.76, Y:0.08, Z:-0.13 [[ 0.99000335 -0.11995075 -0.07419696 3.75567409] [ 0.12143648 0.99247294 0.01583157 0.0825037 ] [ 0.07173947 -0.02468353 0.99711793 -0.13211272] [ 0. 0. 0. 1. ]] SLAMing on 25.952414037 meters Centerline goodness : 0.773479 Centerline is valid? [False, False] Translation: X:3.76, Y:0.08, Z:-0.13 [[ 0.99006544 -0.11947921 -0.0741293 3.75548366] [ 0.12103987 0.99250353 0.01691439 0.080543 ] [ 0.07155267 -0.02571895 0.99710519 -0.13176864] [ 0. 0. 0. 1. ]] SLAMing on 25.982414037 meters Centerline goodness : 0.772663 Centerline is valid? [False, False] Translation: X:3.76, Y:0.08, Z:-0.13 [[ 0.99010471 -0.11891297 -0.07451423 3.75611869] [ 0.12057261 0.99253823 0.01816879 0.07955572] [ 0.07179772 -0.02697338 0.99705442 -0.13135753] [ 0. 0. 0. 1. ]] SLAMing on 26.012414037 meters Centerline goodness : 0.771815 Centerline is valid? [False, False] Translation: X:3.76, Y:0.08, Z:-0.13 [[ 0.99014277 -0.11858444 -0.074532 3.75581882] [ 0.12029182 0.99255985 0.01883652 0.07904565] [ 0.07174376 -0.02761644 0.9970407 -0.13078768] [ 0. 0. 0. 1. ]] SLAMing on 26.042414037 meters Centerline goodness : 0.772228 Centerline is valid? [False, False] Translation: X:3.76, Y:0.08, Z:-0.13 [[ 0.99009421 -0.11905423 -0.07442806 3.75621299] [ 0.12073087 0.99251412 0.01843301 0.07831564] [ 0.07167638 -0.02723618 0.99705601 -0.13120575] [ 0. 0. 0. 1. ]] SLAMing on 26.072414037 meters Centerline goodness : 0.771376 Centerline is valid? [False, False] Translation: X:3.76, Y:0.08, Z:-0.13 [[ 0.99000891 -0.11946963 -0.07489574 3.75838224] [ 0.12119054 0.9924502 0.01885365 0.07674733] [ 0.07207785 -0.02774194 0.99701312 -0.13233133] [ 0. 0. 0. 1. ]] SLAMing on 26.102414037 meters Centerline goodness : 0.775245 Centerline is valid? [False, False] Translation: X:3.76, Y:0.07, Z:-0.13 [[ 0.98995401 -0.11978943 -0.07511033 3.75986341] [ 0.12155935 0.99239385 0.01943642 0.07484104] [ 0.07221075 -0.02837152 0.99698579 -0.13314221] [ 0. 0. 0. 1. ]] SLAMing on 26.132414037 meters Centerline goodness : 0.770487 Centerline is valid? [False, False] Translation: X:3.76, Y:0.07, Z:-0.13 [[ 0.98983877 -0.1202212 -0.07593464 3.76231397] [ 0.12207684 0.99231363 0.02027079 0.0734901 ] [ 0.072914 -0.02933467 0.99690673 -0.13362112] [ 0. 0. 0. 1. ]] SLAMing on 26.162414037 meters Centerline goodness : 0.771989 Centerline is valid? [False, False] Translation: X:3.76, Y:0.07, Z:-0.13 [[ 0.98970834 -0.12123352 -0.0760252 3.76198707] [ 0.12317989 0.99215273 0.02144022 0.0705296 ] [ 0.07282933 -0.03058435 0.99687536 -0.13182233] [ 0. 0. 0. 1. ]] SLAMing on 26.192414037 meters Centerline goodness : 0.772207 Centerline is valid? [False, False] Translation: X:3.76, Y:0.07, Z:-0.13 [[ 0.98964522 -0.12157855 -0.07629548 3.76225333] [ 0.1235912 0.99208442 0.02221971 0.06907635] [ 0.07299012 -0.03141908 0.99683764 -0.13091605] [ 0. 0. 0. 1. ]] SLAMing on 26.222414037 meters Centerline goodness : 0.771791 Centerline is valid? [False, False] Translation: X:3.76, Y:0.07, Z:-0.13 [[ 0.98959008 -0.12164375 -0.07690431 3.76382675] [ 0.1237713 0.99203213 0.02351414 0.06712796] [ 0.0734312 -0.0327879 0.99676116 -0.13082171] [ 0. 0. 0. 1. ]] SLAMing on 26.252414037 meters Centerline goodness : 0.775102 Centerline is valid? [False, False] Translation: X:3.77, Y:0.06, Z:-0.13 [[ 0.98948307 -0.1222698 -0.0772874 3.76532287] [ 0.12445846 0.99193092 0.02414815 0.06478914] [ 0.07371117 -0.03351326 0.99671637 -0.13101151] [ 0. 0. 0. 1. ]] SLAMing on 26.282414037 meters Centerline goodness : 0.774692 Centerline is valid? [False, False] Translation: X:3.77, Y:0.06, Z:-0.13 [[ 0.98899907 -0.12622731 -0.07712014 3.76703829] [ 0.12822955 0.99150998 0.02156728 0.0622447 ] [ 0.07374301 -0.03121911 0.99678851 -0.13172016] [ 0. 0. 0. 1. ]] SLAMing on 26.312414037 meters Centerline goodness : 0.770560 Centerline is valid? [False, False] Translation: X:3.77, Y:0.06, Z:-0.13 [[ 0.98881935 -0.1271786 -0.07785818 3.76914086] [ 0.129259 0.99136075 0.02227027 0.06080646] [ 0.07435324 -0.03208514 0.99671568 -0.13177772] [ 0. 0. 0. 1. ]] SLAMing on 26.342414037 meters Centerline goodness : 0.776199 Centerline is valid? [False, False] Translation: X:3.77, Y:0.06, Z:-0.13 [[ 0.98869133 -0.12766695 -0.07868035 3.77112467] [ 0.12985904 0.99125671 0.02338301 0.05965403] [ 0.07500719 -0.03333593 0.99662563 -0.13167004] [ 0. 0. 0. 1. ]] SLAMing on 26.372414037 meters Centerline goodness : 0.772289 Centerline is valid? [False, False] Translation: X:3.77, Y:0.06, Z:-0.13 [[ 0.98860621 -0.12810485 -0.07903735 3.77216569] [ 0.13037864 0.99116667 0.0242907 0.05807278] [ 0.07522743 -0.03431872 0.99657567 -0.13143082] [ 0. 0. 0. 1. ]] SLAMing on 26.402414037 meters Centerline goodness : 0.775960 Centerline is valid? [False, False] Translation: X:3.77, Y:0.06, Z:-0.13 [[ 0.98858139 -0.12810869 -0.07934102 3.77339746] [ 0.13043403 0.99114595 0.02483263 0.05640519] [ 0.07545726 -0.03489784 0.99653818 -0.13180816] [ 0. 0. 0. 1. ]] SLAMing on 26.432414037 meters Centerline goodness : 0.776564 Centerline is valid? [False, False] Translation: X:3.77, Y:0.05, Z:-0.13 [[ 0.98855042 -0.12823906 -0.07951611 3.77448988] [ 0.13061889 0.99110555 0.02546545 0.05387481] [ 0.07554319 -0.03556019 0.99650825 -0.13218999] [ 0. 0. 0. 1. ]] SLAMing on 26.462414037 meters Centerline goodness : 0.774847 Centerline is valid? [False, False] Translation: X:3.78, Y:0.05, Z:-0.13 [[ 0.9885509 -0.12813919 -0.07967103 3.77593731] [ 0.13058056 0.99109129 0.02620645 0.05134416] [ 0.07560319 -0.0363099 0.99647667 -0.13308068] [ 0. 0. 0. 1. ]] SLAMing on 26.492414037 meters Centerline goodness : 0.774926 Centerline is valid? [False, False] Translation: X:3.78, Y:0.05, Z:-0.13 [[ 0.98853756 -0.128304 -0.07957115 3.77649231] [ 0.13074631 0.99106798 0.02626148 0.0496896 ] [ 0.07549096 -0.03636409 0.9964832 -0.1336172 ] [ 0. 0. 0. 1. ]] SLAMing on 26.522414037 meters Centerline goodness : 0.775812 Centerline is valid? [False, False] Translation: X:3.78, Y:0.05, Z:-0.13 [[ 0.98863787 -0.12767748 -0.07933233 3.7758532 ] [ 0.13014997 0.99113211 0.02679786 0.04860565] [ 0.07520734 -0.03681848 0.99648796 -0.1332449 ] [ 0. 0. 0. 1. ]] SLAMing on 26.552414037000002 meters Centerline goodness : 0.775085 Centerline is valid? [False, False] Translation: X:3.78, Y:0.05, Z:-0.13 [[ 0.98869398 -0.12727711 -0.07927647 3.77514508] [ 0.12977976 0.99116864 0.02723868 0.04855999] [ 0.07510949 -0.0372192 0.99648045 -0.132464 ] [ 0. 0. 0. 1. ]] SLAMing on 26.582414037 meters Centerline goodness : 0.774575 Centerline is valid? [False, False] Translation: X:3.78, Y:0.05, Z:-0.13 [[ 0.9887794 -0.12654655 -0.07938058 3.77528169] [ 0.12911266 0.99123306 0.02805245 0.04796397] [ 0.07513471 -0.03798672 0.99644959 -0.13234697] [ 0. 0. 0. 1. ]] SLAMing on 26.612414037 meters Centerline goodness : 0.772703 Centerline is valid? [False, False] Translation: X:3.78, Y:0.05, Z:-0.13 [[ 0.9888572 -0.12582077 -0.07956487 3.77587896] [ 0.12846235 0.99129081 0.02898188 0.04673606] [ 0.0752254 -0.03888003 0.99640829 -0.13253793] [ 0. 0. 0. 1. ]] SLAMing on 26.642414037 meters Centerline goodness : 0.772278 Centerline is valid? [False, False] Translation: X:3.78, Y:0.04, Z:-0.13 [[ 0.98896229 -0.12535666 -0.07898923 3.77528251] [ 0.12800369 0.99133872 0.02936998 0.04375657] [ 0.07462336 -0.03915671 0.99644273 -0.13270535] [ 0. 0. 0. 1. ]] SLAMing on 26.672414037 meters Centerline goodness : 0.777829 Centerline is valid? [False, False] Translation: X:3.78, Y:0.04, Z:-0.13 [[ 0.98894436 -0.12535251 -0.07922 3.77632283] [ 0.12802601 0.99132895 0.02960155 0.04281936] [ 0.07482245 -0.03941651 0.99641755 -0.13319066] [ 0. 0. 0. 1. ]] SLAMing on 26.702414037 meters Centerline goodness : 0.773232 Centerline is valid? [False, False] Translation: X:3.78, Y:0.04, Z:-0.13 [[ 0.98884427 -0.12608796 -0.07930221 3.77691903] [ 0.12871947 0.99125763 0.02897586 0.04315744] [ 0.07495542 -0.03886035 0.9964294 -0.13355939] [ 0. 0. 0. 1. ]] SLAMing on 26.732414037 meters Centerline goodness : 0.772737 Centerline is valid? [False, False] Translation: X:3.78, Y:0.04, Z:-0.13 [[ 0.98876705 -0.12632036 -0.07989298 3.77905802] [ 0.12898891 0.99121744 0.029152 0.04310139] [ 0.07550883 -0.03912984 0.99637707 -0.13460345] [ 0. 0. 0. 1. ]] SLAMing on 26.762414037 meters Centerline goodness : 0.773078 Centerline is valid? [False, False] Translation: X:3.78, Y:0.04, Z:-0.14 [[ 0.98859797 -0.12802681 -0.07926663 3.77922099] [ 0.13043075 0.99111881 0.02590991 0.04369885] [ 0.07524548 -0.03595329 0.99651667 -0.13580957] [ 0. 0. 0. 1. ]] SLAMing on 26.792414037 meters Centerline goodness : 0.773054 Centerline is valid? [False, False] Translation: X:3.78, Y:0.04, Z:-0.14 [[ 0.98856131 -0.12807018 -0.07965281 3.78065981] [ 0.13052264 0.99109475 0.0263637 0.04279441] [ 0.07556708 -0.03645863 0.99647398 -0.13634651] [ 0. 0. 0. 1. ]] SLAMing on 26.822414037 meters Centerline goodness : 0.774987 Centerline is valid? [False, False] Translation: X:3.78, Y:0.04, Z:-0.14 [[ 0.98850555 -0.12820811 -0.08012153 3.78221067] [ 0.13074799 0.99104024 0.02728009 0.04104598] [ 0.07590613 -0.03744224 0.99641173 -0.1365205 ] [ 0. 0. 0. 1. ]] SLAMing on 26.852414037 meters Centerline goodness : 0.773116 Centerline is valid? [False, False] Translation: X:3.78, Y:0.04, Z:-0.14 [[ 0.98837472 -0.12911343 -0.08028156 3.78280441] [ 0.13167877 0.99091081 0.02750414 0.03959687] [ 0.07600071 -0.03775578 0.99639269 -0.13618746] [ 0. 0. 0. 1. ]] SLAMing on 26.882414037 meters Centerline goodness : 0.776274 Centerline is valid? [False, False] Translation: X:3.79, Y:0.04, Z:-0.13 [[ 0.9880137 -0.13098208 -0.08168617 3.78558199] [ 0.13375254 0.99057867 0.02939651 0.03678732] [ 0.07706616 -0.03996989 0.99622448 -0.13475626] [ 0. 0. 0. 1. ]] SLAMing on 26.912414037 meters Centerline goodness : 0.777363 Centerline is valid? [False, False] Translation: X:3.79, Y:0.04, Z:-0.13 [[ 0.98777755 -0.13212364 -0.08269738 3.78760145] [ 0.13502529 0.99037221 0.03051332 0.03538522] [ 0.07786965 -0.04130661 0.99610746 -0.13384345] [ 0. 0. 0. 1. ]] SLAMing on 26.942414037 meters Centerline goodness : 0.775006 Centerline is valid? [False, False] Translation: X:3.79, Y:0.03, Z:-0.13 [[ 0.98751149 -0.13339791 -0.08382158 3.79003982] [ 0.13642912 0.99014844 0.03151443 0.0339813 ] [ 0.07879185 -0.04255657 0.99598232 -0.13317434] [ 0. 0. 0. 1. ]] SLAMing on 26.972414037 meters Centerline goodness : 0.773726 Centerline is valid? [False, False] Translation: X:3.79, Y:0.03, Z:-0.13 [[ 0.98726682 -0.13455446 -0.08484879 3.79245178] [ 0.13771249 0.98993861 0.03250862 0.0323302 ] [ 0.07962092 -0.04377942 0.99586338 -0.1326554 ] [ 0. 0. 0. 1. ]] SLAMing on 27.002414037 meters Centerline goodness : 0.776158 Centerline is valid? [False, False] Translation: X:3.80, Y:0.03, Z:-0.13 [[ 0.98676697 -0.13729341 -0.08626389 3.79501653] [ 0.14063164 0.98948269 0.03386362 0.02986897] [ 0.08070738 -0.04554694 0.99569664 -0.13063156] [ 0. 0. 0. 1. ]] SLAMing on 27.032414037 meters Centerline goodness : 0.775387 Centerline is valid? [False, False] Translation: X:3.80, Y:0.03, Z:-0.13 [[ 0.98653 -0.13836629 -0.08725439 3.79709928] [ 0.14183785 0.98927455 0.03489842 0.02862502] [ 0.08148978 -0.04680432 0.99557459 -0.12993754] [ 0. 0. 0. 1. ]] SLAMing on 27.062414037 meters Centerline goodness : 0.777794 Centerline is valid? [False, False] Translation: X:3.80, Y:0.03, Z:-0.13 [[ 0.98630592 -0.13940149 -0.08813547 3.799431 ] [ 0.14298932 0.98907775 0.03576662 0.02695844] [ 0.08218692 -0.04787926 0.99546617 -0.12977139] [ 0. 0. 0. 1. ]] SLAMing on 27.092414037 meters Centerline goodness : 0.775564 Centerline is valid? [False, False] Translation: X:3.80, Y:0.03, Z:-0.13 [[ 0.985527 -0.14430638 -0.08895052 3.80344799] [ 0.14770138 0.98848757 0.03281191 0.0265703 ] [ 0.08319151 -0.04547513 0.99549545 -0.13073654] [ 0. 0. 0. 1. ]] SLAMing on 27.122414037 meters Centerline goodness : 0.776119 Centerline is valid? [False, False] Translation: X:3.81, Y:0.03, Z:-0.13 [[ 0.9853084 -0.14523862 -0.08985049 3.80541368] [ 0.14872577 0.98831492 0.03338048 0.02593469] [ 0.08395244 -0.04625315 0.99539572 -0.13031745] [ 0. 0. 0. 1. ]] SLAMing on 27.152414037 meters Centerline goodness : 0.776368 Centerline is valid? [False, False] Translation: X:3.81, Y:0.03, Z:-0.13 [[ 0.98514934 -0.14580078 -0.09068026 3.80674456] [ 0.14940291 0.98818282 0.03425606 0.0257522 ] [ 0.08461411 -0.04729523 0.99529072 -0.1294063 ] [ 0. 0. 0. 1. ]] SLAMing on 27.182414037 meters Centerline goodness : 0.773036 Centerline is valid? [False, False] Translation: X:3.81, Y:0.03, Z:-0.13 [[ 0.9849153 -0.14702113 -0.09125041 3.80721065] [ 0.15064881 0.98799586 0.0341922 0.02687846] [ 0.08512805 -0.04742318 0.9952408 -0.12819119] [ 0. 0. 0. 1. ]] SLAMing on 27.212414037 meters Centerline goodness : 0.774760 Centerline is valid? [False, False] Translation: X:3.81, Y:0.03, Z:-0.13 [[ 0.98472405 -0.14769207 -0.09222575 3.80877289] [ 0.15141203 0.98786167 0.03469462 0.02782765] [ 0.08598217 -0.04812871 0.99513351 -0.12745684] [ 0. 0. 0. 1. ]] SLAMing on 27.242414037 meters Centerline goodness : 0.773373 Centerline is valid? [False, False] Translation: X:3.81, Y:0.03, Z:-0.13 [[ 0.98431574 -0.14957722 -0.09353703 3.81174447] [ 0.15335383 0.98756743 0.03454242 0.02934061] [ 0.08720736 -0.04834491 0.9950164 -0.12740667] [ 0. 0. 0. 1. ]] SLAMing on 27.272414037 meters Centerline goodness : 0.773297 Centerline is valid? [False, False] Translation: X:3.81, Y:0.03, Z:-0.13 [[ 0.98416137 -0.15030046 -0.09400094 3.81330626] [ 0.15412073 0.98744062 0.03475383 0.02852123] [ 0.08759683 -0.04869087 0.99496532 -0.1276429 ] [ 0. 0. 0. 1. ]] SLAMing on 27.302414037000002 meters Centerline goodness : 0.772654 Centerline is valid? [False, False] Translation: X:3.81, Y:0.03, Z:-0.13 [[ 0.98401035 -0.15103805 -0.09439878 3.81450197] [ 0.15489514 0.98731353 0.03492113 0.02755486] [ 0.08792678 -0.04898467 0.9949218 -0.12757244] [ 0. 0. 0. 1. ]] SLAMing on 27.332414037 meters Centerline goodness : 0.773495 Centerline is valid? [False, False] Translation: X:3.82, Y:0.03, Z:-0.13 [[ 0.98372092 -0.15243011 -0.09517463 3.81596698] [ 0.15637679 0.98706135 0.03544266 0.02687391] [ 0.08854067 -0.04974879 0.99482944 -0.12662816] [ 0. 0. 0. 1. ]] SLAMing on 27.362414037 meters Centerline goodness : 0.773892 Centerline is valid? [False, False] Translation: X:3.82, Y:0.03, Z:-0.13 [[ 0.98352892 -0.15316634 -0.09597357 3.8171019 ] [ 0.15717702 0.98692569 0.03568005 0.02785563] [ 0.0892538 -0.0501772 0.99474419 -0.12581186] [ 0. 0. 0. 1. ]] SLAMing on 27.392414037 meters Centerline goodness : 0.774532 Centerline is valid? [False, False] Translation: X:3.82, Y:0.03, Z:-0.12 [[ 0.98336797 -0.15368921 -0.09678358 3.81779578] [ 0.1577471 0.986833 0.03572777 0.03002952] [ 0.09001826 -0.05040087 0.994664 -0.12476204] [ 0. 0. 0. 1. ]] SLAMing on 27.422414037 meters Centerline goodness : 0.775729 Centerline is valid? [False, False] Translation: X:3.82, Y:0.03, Z:-0.12 [[ 0.98339861 -0.15263037 -0.0981384 3.81874732] [ 0.15692972 0.9868919 0.03764879 0.03364836] [ 0.09110564 -0.0524246 0.99446037 -0.12382904] [ 0. 0. 0. 1. ]] SLAMing on 27.452414037 meters Centerline goodness : 0.778031 Centerline is valid? [False, False] Translation: X:3.82, Y:0.03, Z:-0.12 [[ 0.98335147 -0.15269801 -0.0985048 3.81996333] [ 0.15697808 0.98690026 0.03722584 0.03451019] [ 0.0915301 -0.05206917 0.99444006 -0.12455029] [ 0. 0. 0. 1. ]] SLAMing on 27.482414037 meters Centerline goodness : 0.776519 Centerline is valid? [False, False] Translation: X:3.82, Y:0.04, Z:-0.13 [[ 0.98333374 -0.15273284 -0.09862778 3.820997 ] [ 0.15696707 0.98692329 0.0366572 0.03509982] [ 0.09173929 -0.05152757 0.994449 -0.12569002] [ 0. 0. 0. 1. ]] SLAMing on 27.512414037 meters Centerline goodness : 0.776134 Centerline is valid? [False, False] Translation: X:3.82, Y:0.04, Z:-0.13 [[ 0.98328319 -0.15287172 -0.09891614 3.82203743] [ 0.1570812 0.98692119 0.03622225 0.03628951] [ 0.09208508 -0.05115459 0.9944363 -0.12643086] [ 0. 0. 0. 1. ]] SLAMing on 27.542414037 meters Centerline goodness : 0.776569 Centerline is valid? [False, False] Translation: X:3.82, Y:0.04, Z:-0.13 [[ 0.98302539 -0.1540195 -0.09969492 3.8231964 ] [ 0.15811103 0.98681904 0.03448301 0.04251529] [ 0.09306979 -0.04966054 0.99442036 -0.12682324] [ 0. 0. 0. 1. ]] SLAMing on 27.572414037 meters Centerline goodness : 0.775380 Centerline is valid? [False, False] Translation: X:3.82, Y:0.05, Z:-0.13 [[ 0.98286037 -0.15462426 -0.10038345 3.82423367] [ 0.15869223 0.98674795 0.03384162 0.04608331] [ 0.09382042 -0.04919166 0.99437312 -0.12682587] [ 0. 0. 0. 1. ]] SLAMing on 27.602414037 meters Centerline goodness : 0.774049 Centerline is valid? [False, False] Translation: X:3.82, Y:0.05, Z:-0.13 [[ 0.98279371 -0.15481622 -0.10073961 3.82441003] [ 0.15886599 0.98673319 0.03345447 0.04857517] [ 0.09422382 -0.04888294 0.99435021 -0.12649189] [ 0. 0. 0. 1. ]] SLAMing on 27.632414037 meters Centerline goodness : 0.774827 Centerline is valid? [False, False] Translation: X:3.82, Y:0.05, Z:-0.13 [[ 0.98280613 -0.15461483 -0.10092748 3.8242427 ] [ 0.15866767 0.98676703 0.03339769 0.05005119] [ 0.09442813 -0.04883738 0.99433306 -0.12611953] [ 0. 0. 0. 1. ]] SLAMing on 27.662414037 meters Centerline goodness : 0.773674 Centerline is valid? [False, False] Translation: X:3.82, Y:0.05, Z:-0.13 [[ 0.98271435 -0.15498017 -0.10126037 3.82399189] [ 0.15900175 0.98673058 0.03288182 0.05276699] [ 0.09482067 -0.04841401 0.99431641 -0.12538419] [ 0. 0. 0. 1. ]] SLAMing on 27.692414037 meters Centerline goodness : 0.772783 Centerline is valid? [False, False] Translation: X:3.82, Y:0.05, Z:-0.13 [[ 0.98267355 -0.15508039 -0.10150256 3.82415923] [ 0.15910571 0.98671678 0.03279269 0.05390475] [ 0.09506878 -0.04837415 0.99429466 -0.12508923] [ 0. 0. 0. 1. ]] SLAMing on 27.722414037 meters Centerline goodness : 0.774762 Centerline is valid? [False, False] Translation: X:3.82, Y:0.06, Z:-0.12 [[ 0.98257179 -0.15544084 -0.10193538 3.82445915] [ 0.15946576 0.98666661 0.03255259 0.05585102] [ 0.09551623 -0.04824046 0.99425827 -0.12455591] [ 0. 0. 0. 1. ]] SLAMing on 27.752414037 meters Centerline goodness : 0.771647 Centerline is valid? [False, False] Translation: X:3.83, Y:0.06, Z:-0.12 [[ 0.98247074 -0.15567704 -0.10254704 3.8252626 ] [ 0.1597316 0.98662401 0.0325403 0.05771951] [ 0.09610959 -0.04834989 0.99419577 -0.12418893] [ 0. 0. 0. 1. ]] SLAMing on 27.782414037 meters Centerline goodness : 0.771647 Centerline is valid? [False, False] Translation: X:3.83, Y:0.06, Z:-0.12 [[ 0.98247074 -0.15567704 -0.10254704 3.8252626 ] [ 0.1597316 0.98662401 0.0325403 0.05771951] [ 0.09610959 -0.04834989 0.99419577 -0.12418893] [ 0. 0. 0. 1. ]] SLAMing on 27.812414037 meters Centerline goodness : 0.772507 Centerline is valid? [False, False] Translation: X:3.83, Y:0.06, Z:-0.12 [[ 0.98216271 -0.15680855 -0.10376654 3.82691158] [ 0.1608868 0.98644999 0.03212238 0.06181482] [ 0.09732344 -0.04824407 0.99408282 -0.12356936] [ 0. 0. 0. 1. ]] SLAMing on 27.842414037 meters Centerline goodness : 0.766431 Centerline is valid? [False, False] Translation: X:3.83, Y:0.06, Z:-0.12 [[ 0.98202803 -0.15739548 -0.10415188 3.82728364] [ 0.16146989 0.98636304 0.03186574 0.06320143] [ 0.09771605 -0.04811044 0.99405078 -0.12308932] [ 0. 0. 0. 1. ]] SLAMing on 27.872414037 meters Centerline goodness : 0.776061 Centerline is valid? [False, False] Translation: X:3.83, Y:0.06, Z:-0.12 [[ 0.98195406 -0.15749706 -0.10469432 3.82795809] [ 0.16160513 0.98633867 0.03193455 0.06444103] [ 0.09823445 -0.0482774 0.99399159 -0.12273613] [ 0. 0. 0. 1. ]] SLAMing on 27.902414037 meters Centerline goodness : 0.766372 Centerline is valid? [False, False] Translation: X:3.83, Y:0.07, Z:-0.12 [[ 0.98190845 -0.15744055 -0.10520586 3.82901655] [ 0.16157139 0.98634483 0.03191491 0.06548893] [ 0.09874456 -0.04833578 0.99393821 -0.12289032] [ 0. 0. 0. 1. ]] SLAMing on 27.932414037 meters Centerline goodness : 0.768389 Centerline is valid? [False, False] Translation: X:3.83, Y:0.07, Z:-0.12 [[ 0.98193835 -0.15715092 -0.10535968 3.82936769] [ 0.16125788 0.98640587 0.03161268 0.06695263] [ 0.09895945 -0.04803178 0.99393158 -0.12328382] [ 0. 0. 0. 1. ]] SLAMing on 27.962414037 meters Centerline goodness : 0.769156 Centerline is valid? [False, False] Translation: X:3.83, Y:0.07, Z:-0.12 [[ 0.9823757 -0.15389212 -0.10609054 3.82909402] [ 0.15826689 0.98680806 0.03408003 0.06945698] [ 0.09944635 -0.05027002 0.99377228 -0.12283951] [ 0. 0. 0. 1. ]] SLAMing on 27.992414037 meters Centerline goodness : 0.769022 Centerline is valid? [False, False] Translation: X:3.83, Y:0.07, Z:-0.12 [[ 0.98253999 -0.15275256 -0.10621594 3.82880316] [ 0.15710774 0.98700041 0.03387252 0.07194598] [ 0.09966107 -0.04996845 0.99376598 -0.1230422 ] [ 0. 0. 0. 1. ]] SLAMing on 28.022414037 meters Centerline goodness : 0.769343 Centerline is valid? [False, False] Translation: X:3.83, Y:0.07, Z:-0.12 [[ 0.98265157 -0.15223295 -0.10592934 3.82770034] [ 0.156465 0.98713838 0.03281045 0.07482057] [ 0.09957208 -0.04881547 0.9938322 -0.12317504] [ 0. 0. 0. 1. ]] SLAMing on 28.052414037000002 meters Centerline goodness : 0.767658 Centerline is valid? [False, False] Translation: X:3.83, Y:0.08, Z:-0.12 [[ 0.98324177 -0.14826365 -0.1060826 3.82740745] [ 0.15265153 0.98767882 0.03446836 0.07803734] [ 0.09966513 -0.0500844 0.99375974 -0.12464265] [ 0. 0. 0. 1. ]] SLAMing on 28.082414037 meters Centerline goodness : 0.766632 Centerline is valid? [False, False] Translation: X:3.83, Y:0.08, Z:-0.13 [[ 0.98343081 -0.14716681 -0.10585734 3.82732109] [ 0.15145643 0.98789098 0.03365054 0.08019896] [ 0.09962327 -0.04912575 0.99381179 -0.12595085] [ 0. 0. 0. 1. ]] SLAMing on 28.112414037 meters Centerline goodness : 0.769206 Centerline is valid? [False, False] Translation: X:3.83, Y:0.08, Z:-0.13 [[ 0.98359231 -0.14634943 -0.10548939 3.82645489] [ 0.15048327 0.98808436 0.03231226 0.08317804] [ 0.09950353 -0.04765648 0.99389532 -0.12676258] [ 0. 0. 0. 1. ]] SLAMing on 28.142414037 meters Centerline goodness : 0.766538 Centerline is valid? [False, False] Translation: X:3.82, Y:0.09, Z:-0.13 [[ 0.98418297 -0.1421694 -0.10569649 3.82457247] [ 0.14648874 0.98861916 0.03425218 0.08732075] [ 0.09962397 -0.04919376 0.99380835 -0.12630445] [ 0. 0. 0. 1. ]] SLAMing on 28.172414037 meters Centerline goodness : 0.766638 Centerline is valid? [False, False] Translation: X:3.82, Y:0.09, Z:-0.13 [[ 0.98439648 -0.14093489 -0.10536096 3.82296905] [ 0.14518123 0.98882948 0.03374413 0.08960817] [ 0.0994283 -0.04851404 0.99386136 -0.12603346] [ 0. 0. 0. 1. ]] SLAMing on 28.202414037 meters Centerline goodness : 0.774325 Centerline is valid? [False, False] Translation: X:3.82, Y:0.09, Z:-0.13 [[ 0.98457991 -0.14004078 -0.10483791 3.82088443] [ 0.14418845 0.98899815 0.03305081 0.09166124] [ 0.09905603 -0.04765758 0.99393997 -0.1254576 ] [ 0. 0. 0. 1. ]] SLAMing on 28.232414037 meters Centerline goodness : 0.768092 Centerline is valid? [False, False] Translation: X:3.82, Y:0.09, Z:-0.13 [[ 0.98473265 -0.13927256 -0.10442588 3.81929104] [ 0.14333934 0.98914079 0.03247049 0.09363724] [ 0.09876965 -0.04694308 0.99400247 -0.1251523 ] [ 0. 0. 0. 1. ]] SLAMing on 28.262414037 meters Centerline goodness : 0.767066 Centerline is valid? [False, False] Translation: X:3.82, Y:0.10, Z:-0.12 [[ 0.98494309 -0.13817866 -0.10389308 3.8167891 ] [ 0.14211568 0.98934989 0.03146327 0.09776451] [ 0.09843906 -0.04575436 0.99409069 -0.12454124] [ 0. 0. 0. 1. ]] SLAMing on 28.292414037 meters Centerline goodness : 0.766800 Centerline is valid? [False, False] Translation: X:3.82, Y:0.10, Z:-0.13 [[ 0.98537042 -0.14329333 -0.09226131 3.81855554] [ 0.14659181 0.98874231 0.02999143 0.10285172] [ 0.08692509 -0.04307742 0.99528306 -0.13035823] [ 0. 0. 0. 1. ]] SLAMing on 28.322414037 meters Centerline goodness : 0.765045 Centerline is valid? [False, False] Translation: X:3.82, Y:0.10, Z:-0.13 [[ 0.98539757 -0.14321953 -0.09208584 3.8182665 ] [ 0.14645008 0.98878396 0.0293029 0.10390161] [ 0.08685625 -0.04236098 0.99531982 -0.13067694] [ 0. 0. 0. 1. ]] SLAMing on 28.352414037 meters Centerline goodness : 0.766860 Centerline is valid? [False, False] Translation: X:3.82, Y:0.10, Z:-0.13 [[ 0.98541441 -0.14326292 -0.09183778 3.81766631] [ 0.14642696 0.98880626 0.02865885 0.10468672] [ 0.08670402 -0.04168837 0.99536149 -0.13064991] [ 0. 0. 0. 1. ]] SLAMing on 28.382414037 meters Centerline goodness : 0.765345 Centerline is valid? [False, False] Translation: X:3.82, Y:0.11, Z:-0.13 [[ 0.98541568 -0.14299082 -0.09224724 3.81821035] [ 0.14618686 0.98883656 0.02883848 0.10569209] [ 0.08709381 -0.04190323 0.99531844 -0.13057242] [ 0. 0. 0. 1. ]] SLAMing on 28.412414037 meters Centerline goodness : 0.772413 Centerline is valid? [False, False] Translation: X:3.82, Y:0.11, Z:-0.13 [[ 0.98543474 -0.14254628 -0.09273047 3.81886584] [ 0.1457845 0.9888882 0.02910345 0.1070428 ] [ 0.08755148 -0.04219822 0.99526582 -0.13048327] [ 0. 0. 0. 1. ]] SLAMing on 28.442414037 meters Centerline goodness : 0.768398 Centerline is valid? [False, False] Translation: X:3.82, Y:0.11, Z:-0.13 [[ 0.98570053 -0.14011411 -0.09360823 3.81875272] [ 0.14359459 0.98913486 0.03150908 0.1103722 ] [ 0.0881763 -0.04450016 0.99511038 -0.12965676] [ 0. 0. 0. 1. ]] SLAMing on 28.472414037 meters Centerline goodness : 0.766795 Centerline is valid? [False, False] Translation: X:3.82, Y:0.11, Z:-0.13 [[ 0.98573836 -0.13991564 -0.09350669 3.81774425] [ 0.14332848 0.98919564 0.03080464 0.11273819] [ 0.08818636 -0.04376748 0.99514199 -0.12913413] [ 0. 0. 0. 1. ]] SLAMing on 28.502414037 meters Centerline goodness : 0.764708 Centerline is valid? [False, False] Translation: X:3.82, Y:0.11, Z:-0.13 [[ 0.98577112 -0.13980858 -0.09332127 3.81681797] [ 0.14314546 0.98924557 0.0300429 0.11467771] [ 0.0881174 -0.04297394 0.99518268 -0.12879267] [ 0. 0. 0. 1. ]] SLAMing on 28.532414037 meters Centerline goodness : 0.765630 Centerline is valid? [False, False] Translation: X:3.82, Y:0.12, Z:-0.13 [[ 0.98590778 -0.13905494 -0.0930031 3.81679269] [ 0.1423313 0.98937808 0.02954333 0.11574276] [ 0.08790708 -0.04236425 0.99522742 -0.13005385] [ 0. 0. 0. 1. ]] SLAMing on 28.562414037 meters Centerline goodness : 0.764279 Centerline is valid? [False, False] Translation: X:3.82, Y:0.12, Z:-0.13 [[ 0.98592002 -0.13911022 -0.09279037 3.81635998] [ 0.14232311 0.98939755 0.0289243 0.11626706] [ 0.0877829 -0.04172326 0.99526546 -0.13007509] [ 0. 0. 0. 1. ]] SLAMing on 28.592414037 meters Centerline goodness : 0.764583 Centerline is valid? [False, False] Translation: X:3.82, Y:0.12, Z:-0.13 [[ 0.98597825 -0.13883244 -0.09258748 3.8156855 ] [ 0.14202171 0.98944554 0.0287639 0.1166351 ] [ 0.08761691 -0.04151002 0.995289 -0.12985976] [ 0. 0. 0. 1. ]] SLAMing on 28.622414037 meters Centerline goodness : 0.765709 Centerline is valid? [False, False] Translation: X:3.82, Y:0.12, Z:-0.13 [[ 0.98602557 -0.13833538 -0.09282724 3.81539942] [ 0.14155677 0.98950427 0.02903405 0.11771449] [ 0.08783651 -0.04176864 0.99525882 -0.12922372] [ 0. 0. 0. 1. ]] SLAMing on 28.652414037 meters Centerline goodness : 0.764340 Centerline is valid? [False, False] Translation: X:3.81, Y:0.12, Z:-0.13 [[ 0.98629825 -0.13577137 -0.09371181 3.8142872 ] [ 0.13927499 0.98974018 0.03188818 0.12096924] [ 0.08842084 -0.04450297 0.99508856 -0.12716958] [ 0. 0. 0. 1. ]] SLAMing on 28.682414037 meters Centerline goodness : 0.764560 Centerline is valid? [False, False] Translation: X:3.81, Y:0.12, Z:-0.13 [[ 0.98635431 -0.13552084 -0.09348411 3.81353515] [ 0.13894939 0.98980892 0.03116675 0.12271066] [ 0.08830766 -0.04373102 0.99513283 -0.12724182] [ 0. 0. 0. 1. ]] SLAMing on 28.712414037 meters Centerline goodness : 0.764088 Centerline is valid? [False, False] Translation: X:3.81, Y:0.12, Z:-0.13 [[ 0.98642969 -0.13531527 -0.09298519 3.81294875] [ 0.13862611 0.98988754 0.03009084 0.12369993] [ 0.08797313 -0.04257268 0.99521269 -0.12800038] [ 0. 0. 0. 1. ]] SLAMing on 28.742414037 meters Centerline goodness : 0.763630 Centerline is valid? [False, False] Translation: X:3.81, Y:0.12, Z:-0.13 [[ 0.98656505 -0.13475523 -0.09236035 3.81279871] [ 0.13795922 0.99000733 0.02920177 0.12371067] [ 0.08750234 -0.04155141 0.99529735 -0.12955383] [ 0. 0. 0. 1. ]] SLAMing on 28.772414037 meters Centerline goodness : 0.762880 Centerline is valid? [False, False] Translation: X:3.81, Y:0.12, Z:-0.13 [[ 0.98661381 -0.1346957 -0.0919253 3.81177862] [ 0.13782753 0.9900436 0.02858759 0.12409328] [ 0.08715943 -0.04087475 0.99535546 -0.12947936] [ 0. 0. 0. 1. ]] SLAMing on 28.802414037 meters Centerline goodness : 0.763142 Centerline is valid? [False, False] Translation: X:3.81, Y:0.12, Z:-0.13 [[ 0.98662127 -0.13473592 -0.09178615 3.81118985] [ 0.13782978 0.9900539 0.02821741 0.12470264] [ 0.08707134 -0.04049076 0.99537886 -0.12911706] [ 0. 0. 0. 1. ]] SLAMing on 28.832414037 meters Centerline goodness : 0.764479 Centerline is valid? [False, False] Translation: X:3.81, Y:0.13, Z:-0.13 [[ 0.98651014 -0.13536339 -0.09205698 3.81081303] [ 0.1384668 0.98996622 0.02817511 0.12627609] [ 0.08731942 -0.04054186 0.99535505 -0.1278411 ] [ 0. 0. 0. 1. ]] SLAMing on 28.862414037 meters Centerline goodness : 0.762905 Centerline is valid? [False, False] Translation: X:3.81, Y:0.13, Z:-0.13 [[ 0.98639935 -0.13590958 -0.09243872 3.81135358] [ 0.1390674 0.98987002 0.02859388 0.12626714] [ 0.08761614 -0.04106019 0.99530773 -0.12725629] [ 0. 0. 0. 1. ]] SLAMing on 28.892414037 meters Centerline goodness : 0.762343 Centerline is valid? [False, False] Translation: X:3.81, Y:0.13, Z:-0.13 [[ 0.98619947 -0.13710935 -0.09279892 3.81202227] [ 0.14027068 0.98970533 0.02841645 0.12614331] [ 0.08794743 -0.04104126 0.99527929 -0.12669034] [ 0. 0. 0. 1. ]] SLAMing on 28.922414037 meters Centerline goodness : 0.760639 Centerline is valid? [False, False] Translation: X:3.81, Y:0.13, Z:-0.13 [[ 0.98606525 -0.13803501 -0.09285292 3.81320602] [ 0.14115566 0.98959437 0.02789382 0.12513926] [ 0.0880364 -0.04061184 0.99528904 -0.12739241] [ 0. 0. 0. 1. ]] SLAMing on 28.952414037 meters Centerline goodness : 0.761684 Centerline is valid? [False, False] Translation: X:3.81, Y:0.12, Z:-0.13 [[ 0.98581778 -0.14032624 -0.09204271 3.81314622] [ 0.14314147 0.98939397 0.02470017 0.12464064] [ 0.08760042 -0.03752499 0.99544866 -0.12828792] [ 0. 0. 0. 1. ]] SLAMing on 28.982414037 meters Centerline goodness : 0.763362 Centerline is valid? [False, False] Translation: X:3.81, Y:0.12, Z:-0.13 [[ 0.98571646 -0.14114227 -0.09187997 3.81319843] [ 0.14392899 0.98928686 0.02441215 0.12348595] [ 0.08745006 -0.03728765 0.9954708 -0.12820844] [ 0. 0. 0. 1. ]] SLAMing on 29.012414037 meters Centerline goodness : 0.762714 Centerline is valid? [False, False] Translation: X:3.81, Y:0.12, Z:-0.13 [[ 0.98567637 -0.14137248 -0.09195602 3.81286232] [ 0.14416443 0.98925215 0.02442955 0.12376728] [ 0.08751402 -0.03733642 0.99546335 -0.12749652] [ 0. 0. 0. 1. ]] SLAMing on 29.042414037 meters Centerline goodness : 0.761969 Centerline is valid? [False, False] Translation: X:3.81, Y:0.13, Z:-0.13 [[ 0.98569038 -0.14109556 -0.09223076 3.8123899 ] [ 0.14393682 0.98927399 0.02488298 0.12511564] [ 0.08773062 -0.03780232 0.9954267 -0.12641126] [ 0. 0. 0. 1. ]] SLAMing on 29.072414037 meters Centerline goodness : 0.762240 Centerline is valid? [False, False] Translation: X:3.81, Y:0.13, Z:-0.13 [[ 0.98573185 -0.14089115 -0.09210001 3.81221195] [ 0.14367848 0.98932516 0.0243355 0.12632025] [ 0.08768821 -0.03722106 0.99545234 -0.12676513] [ 0. 0. 0. 1. ]] SLAMing on 29.102414037 meters Centerline goodness : 0.760765 Centerline is valid? [False, False] Translation: X:3.81, Y:0.13, Z:-0.13 [[ 0.98587659 -0.14014001 -0.09169587 3.81193582] [ 0.14287493 0.98945114 0.02394163 0.12687203] [ 0.0873734 -0.03670453 0.9954992 -0.12779156] [ 0. 0. 0. 1. ]] SLAMing on 29.132414037 meters Centerline goodness : 0.759078 Centerline is valid? [False, False] Translation: X:3.81, Y:0.13, Z:-0.13 [[ 0.98610368 -0.13901177 -0.09096847 3.81132436] [ 0.14165061 0.98964497 0.02319363 0.12691017] [ 0.0868023 -0.03575706 0.99558364 -0.12922158] [ 0. 0. 0. 1. ]] SLAMing on 29.162414037 meters Centerline goodness : 0.760509 Centerline is valid? [False, False] Translation: X:3.81, Y:0.13, Z:-0.13 [[ 0.98678268 -0.13567514 -0.08861263 3.8081922 ] [ 0.13809647 0.99017966 0.02176269 0.12573732] [ 0.08478977 -0.03371214 0.99582839 -0.13198518] [ 0. 0. 0. 1. ]] SLAMing on 29.192414037 meters Centerline goodness : 0.759427 Centerline is valid? [False, False] Translation: X:3.81, Y:0.13, Z:-0.13 [[ 0.98705127 -0.13417575 -0.08790137 3.80669283] [ 0.13653525 0.99040455 0.0213764 0.12583814] [ 0.08418972 -0.03310123 0.99589979 -0.13239305] [ 0. 0. 0. 1. ]] SLAMing on 29.222414037 meters Centerline goodness : 0.759887 Centerline is valid? [False, False] Translation: X:3.80, Y:0.13, Z:-0.13 [[ 0.98737345 -0.13235861 -0.08703372 3.80464206] [ 0.13464935 0.99067134 0.02097239 0.12650127] [ 0.08344593 -0.03242661 0.99598458 -0.132723 ] [ 0. 0. 0. 1. ]] SLAMing on 29.252414037 meters Centerline goodness : 0.761171 Centerline is valid? [False, False] Translation: X:3.80, Y:0.13, Z:-0.13 [[ 0.98769034 -0.13037439 -0.08643095 3.80285728] [ 0.13263376 0.99094452 0.02091031 0.12766086] [ 0.0829221 -0.03211658 0.99603838 -0.13272456] [ 0. 0. 0. 1. ]] SLAMing on 29.282414037 meters Centerline goodness : 0.761894 Centerline is valid? [False, False] Translation: X:3.80, Y:0.13, Z:-0.13 [[ 0.98847517 -0.12465457 -0.08589576 3.79977022] [ 0.12715507 0.99158611 0.02426065 0.12865304] [ 0.08214884 -0.03490314 0.9960087 -0.13202745] [ 0. 0. 0. 1. ]] SLAMing on 29.312414037 meters Centerline goodness : 0.761277 Centerline is valid? [False, False] Translation: X:3.80, Y:0.13, Z:-0.13 [[ 0.98868921 -0.12342066 -0.08521142 3.79832071] [ 0.12588013 0.99175269 0.02409961 0.12822298] [ 0.08153426 -0.03455345 0.99607139 -0.1321805 ] [ 0. 0. 0. 1. ]] SLAMing on 29.342414037 meters Centerline goodness : 0.762685 Centerline is valid? [False, False] Translation: X:3.80, Y:0.13, Z:-0.13 [[ 0.98884499 -0.12265338 -0.08450872 3.79776567] [ 0.12507759 0.99185677 0.02399462 0.12667844] [ 0.08087752 -0.03429711 0.99613379 -0.1331591 ] [ 0. 0. 0. 1. ]] SLAMing on 29.372414037 meters Centerline goodness : 0.763839 Centerline is valid? [False, False] Translation: X:3.80, Y:0.12, Z:-0.14 [[ 0.98900439 -0.12292476 -0.08221807 3.79549547] [ 0.12502483 0.99193384 0.02088196 0.12317108] [ 0.07898797 -0.03093165 0.99639557 -0.13513306] [ 0. 0. 0. 1. ]] SLAMing on 29.402414037 meters Centerline goodness : 0.762169 Centerline is valid? [False, False] Translation: X:3.80, Y:0.12, Z:-0.14 [[ 0.98891178 -0.12356575 -0.08237106 3.79620452] [ 0.12568178 0.99184834 0.02099907 0.12165881] [ 0.07910484 -0.03111877 0.99638047 -0.13507314] [ 0. 0. 0. 1. ]] SLAMing on 29.432414037 meters Centerline goodness : 0.762331 Centerline is valid? [False, False] Translation: X:3.80, Y:0.12, Z:-0.14 [[ 0.98876608 -0.12459176 -0.08257445 3.79729782] [ 0.1267487 0.99170411 0.02139471 0.11981158] [ 0.07922382 -0.03162056 0.99635522 -0.13507378] [ 0. 0. 0. 1. ]] SLAMing on 29.462414037 meters Centerline goodness : 0.764405 Centerline is valid? [False, False] Translation: X:3.80, Y:0.12, Z:-0.13 [[ 0.98849122 -0.12644665 -0.08304426 3.79839458] [ 0.12864387 0.99145469 0.02164157 0.11834461] [ 0.07959811 -0.03207564 0.99631084 -0.13435176] [ 0. 0. 0. 1. ]] SLAMing on 29.492414037 meters Centerline goodness : 0.763457 Centerline is valid? [False, False] Translation: X:3.80, Y:0.12, Z:-0.13 [[ 0.98772806 -0.13162087 -0.08407869 3.80122142] [ 0.13381306 0.99078474 0.02096809 0.11521696] [ 0.08054404 -0.0319616 0.99623848 -0.13276141] [ 0. 0. 0. 1. ]] SLAMing on 29.522414037 meters Centerline goodness : 0.764256 Centerline is valid? [False, False] Translation: X:3.80, Y:0.11, Z:-0.13 [[ 0.98716247 -0.13568593 -0.084259 3.80284088] [ 0.13771047 0.99029651 0.01867228 0.11372376] [ 0.08090783 -0.03003593 0.99626892 -0.13247805] [ 0. 0. 0. 1. ]] SLAMing on 29.552414037 meters Centerline goodness : 0.762216 Centerline is valid? [False, False] Translation: X:3.81, Y:0.11, Z:-0.13 [[ 0.98656527 -0.13982363 -0.08448856 3.8053728 ] [ 0.14167414 0.98977932 0.01628922 0.11200303] [ 0.08134741 -0.02804022 0.9962913 -0.13312425] [ 0. 0. 0. 1. ]] SLAMing on 29.582414037 meters Centerline goodness : 0.763849 Centerline is valid? [False, False] Translation: X:3.81, Y:0.11, Z:-0.13 [[ 0.98597123 -0.1438489 -0.08466533 3.80787571] [ 0.14551646 0.98925912 0.01383328 0.11013899] [ 0.08176605 -0.02595941 0.99631342 -0.13394044] [ 0. 0. 0. 1. ]] SLAMing on 29.612414037 meters Centerline goodness : 0.764981 Centerline is valid? [False, False] Translation: X:3.81, Y:0.10, Z:-0.13 [[ 0.98504116 -0.14960932 -0.08550415 3.81252262] [ 0.15119645 0.98842645 0.01236106 0.10491759] [ 0.08266524 -0.02510407 0.99626113 -0.13483289] [ 0. 0. 0. 1. ]] SLAMing on 29.642414037 meters Centerline goodness : 0.765128 Centerline is valid? [False, False] Translation: X:3.81, Y:0.10, Z:-0.13 [[ 0.98473041 -0.15133904 -0.08603782 3.81425229] [ 0.15302235 0.98813349 0.01328013 0.10213891] [ 0.08300705 -0.02624305 0.99620336 -0.13426248] [ 0. 0. 0. 1. ]] SLAMing on 29.672414037 meters Centerline goodness : 0.765835 Centerline is valid? [False, False] Translation: X:3.82, Y:0.10, Z:-0.13 [[ 0.98445855 -0.15238264 -0.08729773 3.81667851] [ 0.15425423 0.98791625 0.0150703 0.10020437] [ 0.08394639 -0.02830213 0.99606827 -0.13318818] [ 0. 0. 0. 1. ]] SLAMing on 29.702414037 meters Centerline goodness : 0.765835 Centerline is valid? [False, False] Translation: X:3.82, Y:0.10, Z:-0.13 [[ 0.98445855 -0.15238264 -0.08729773 3.81667851] [ 0.15425423 0.98791625 0.0150703 0.10020437] [ 0.08394639 -0.02830213 0.99606827 -0.13318818] [ 0. 0. 0. 1. ]] SLAMing on 29.732414037 meters Centerline goodness : 0.764267 Centerline is valid? [False, False] Translation: X:3.82, Y:0.10, Z:-0.13 [[ 0.98429042 -0.1528807 -0.08831683 3.81786903] [ 0.15493796 0.98777985 0.01688773 0.09908927] [ 0.08465577 -0.03030606 0.99594927 -0.13145241] [ 0. 0. 0. 1. ]] SLAMing on 29.762414037 meters Centerline goodness : 0.766785 Centerline is valid? [False, False] Translation: X:3.82, Y:0.10, Z:-0.13 [[ 0.98413815 -0.15312116 -0.08958802 3.8180599 ] [ 0.15553357 0.98761672 0.02055528 0.097123 ] [ 0.08533118 -0.03416318 0.99576677 -0.12790136] [ 0. 0. 0. 1. ]] SLAMing on 29.792414037 meters Centerline goodness : 0.763647 Centerline is valid? [False, False] Translation: X:3.82, Y:0.10, Z:-0.13 [[ 0.9840374 -0.15346627 -0.09010272 3.8193915 ] [ 0.15596155 0.98753351 0.0212969 0.09566759] [ 0.0857111 -0.03500951 0.99570475 -0.12777155] [ 0. 0. 0. 1. ]] SLAMing on 29.822414037 meters Centerline goodness : 0.765483 Centerline is valid? [False, False] Translation: X:3.82, Y:0.09, Z:-0.13 [[ 0.9839404 -0.15383597 -0.09053054 3.82149397] [ 0.15637531 0.98746114 0.02161634 0.09373999] [ 0.08607002 -0.03542593 0.99565906 -0.12873164] [ 0. 0. 0. 1. ]] SLAMing on 29.852414037 meters Centerline goodness : 0.765285 Centerline is valid? [False, False] Translation: X:3.82, Y:0.09, Z:-0.13 [[ 0.98382644 -0.15465074 -0.09038082 3.82268004] [ 0.15711105 0.98736337 0.0207292 0.09256807] [ 0.08603293 -0.03459376 0.99569152 -0.12996845] [ 0. 0. 0. 1. ]] SLAMing on 29.882414037 meters Centerline goodness : 0.764747 Centerline is valid? [False, False] Translation: X:3.83, Y:0.09, Z:-0.13 [[ 0.98334099 -0.15784017 -0.09014974 3.82530594] [ 0.15998687 0.98697173 0.01705889 0.09270971] [ 0.08628266 -0.03119748 0.99578211 -0.13251063] [ 0. 0. 0. 1. ]] SLAMing on 29.912414037 meters Centerline goodness : 0.764203 Centerline is valid? [False, False] Translation: X:3.83, Y:0.09, Z:-0.13 [[ 0.98314874 -0.15861097 -0.09089068 3.82733354] [ 0.1608186 0.9868296 0.01745618 0.09243791] [ 0.08692487 -0.03177893 0.99570787 -0.13277482] [ 0. 0. 0. 1. ]] SLAMing on 29.942414037 meters Centerline goodness : 0.766593 Centerline is valid? [False, False] Translation: X:3.83, Y:0.09, Z:-0.13 [[ 0.98307148 -0.15881453 -0.0913696 3.82843625] [ 0.16111295 0.98676616 0.01830744 0.09143543] [ 0.08725294 -0.03271835 0.99564875 -0.13256576] [ 0. 0. 0. 1. ]] SLAMing on 29.972414037 meters Centerline goodness : 0.766726 Centerline is valid? [False, False] Translation: X:3.83, Y:0.09, Z:-0.13 [[ 0.98295305 -0.15921491 -0.09194517 3.82955216] [ 0.16159878 0.98667277 0.0190439 0.09070696] [ 0.08768773 -0.03357749 0.99558195 -0.13212695] [ 0. 0. 0. 1. ]] SLAMing on 30.002414037 meters Centerline goodness : 0.765567 Centerline is valid? [False, False] Translation: X:3.83, Y:0.09, Z:-0.13 [[ 0.98270992 -0.16016984 -0.09288078 3.83121808] [ 0.16268189 0.98647408 0.02008719 0.08990649] [ 0.08840712 -0.03484991 0.99547459 -0.1312423 ] [ 0. 0. 0. 1. ]] SLAMing on 30.032414037 meters Centerline goodness : 0.768266 Centerline is valid? [False, False] Translation: X:3.83, Y:0.09, Z:-0.13 [[ 0.98258587 -0.16051418 -0.09359594 3.83267336] [ 0.16309512 0.98639609 0.02056067 0.08990594] [ 0.08902239 -0.03546766 0.99539794 -0.13101613] [ 0. 0. 0. 1. ]] SLAMing on 30.062414037 meters Centerline goodness : 0.767332 Centerline is valid? [False, False] Translation: X:3.83, Y:0.09, Z:-0.13 [[ 0.9825048 -0.16076583 -0.09401416 3.83366637] [ 0.16339291 0.98633974 0.02089671 0.08982451] [ 0.08937042 -0.03589236 0.99535153 -0.13101285] [ 0. 0. 0. 1. ]] SLAMing on 30.092414037 meters Centerline goodness : 0.766474 Centerline is valid? [False, False] Translation: X:3.83, Y:0.09, Z:-0.13 [[ 0.98242196 -0.16100423 -0.0944708 3.83496133] [ 0.16368141 0.98628418 0.02125827 0.0892022 ] [ 0.08975238 -0.03634771 0.99530064 -0.13123025] [ 0. 0. 0. 1. ]] SLAMing on 30.122414037 meters Centerline goodness : 0.765679 Centerline is valid? [False, False] Translation: X:3.84, Y:0.09, Z:-0.13 [[ 0.98228104 -0.16160293 -0.09491285 3.83716299] [ 0.16436967 0.9861525 0.02204209 0.0861222 ] [ 0.09003648 -0.03725232 0.99524153 -0.13200835] [ 0. 0. 0. 1. ]] SLAMing on 30.152414037 meters Centerline goodness : 0.767483 Centerline is valid? [False, False] Translation: X:3.84, Y:0.09, Z:-0.13 [[ 0.98216251 -0.16193616 -0.09556929 3.83888657] [ 0.16476914 0.98607587 0.02248349 0.08536756] [ 0.09059768 -0.03782932 0.99516883 -0.13219231] [ 0. 0. 0. 1. ]] SLAMing on 30.182414037 meters Centerline goodness : 0.765083 Centerline is valid? [False, False] Translation: X:3.84, Y:0.09, Z:-0.13 [[ 0.98206919 -0.16219637 -0.09608556 3.83980774] [ 0.1650843 0.98601457 0.02285695 0.08560108] [ 0.09103445 -0.03830932 0.99511061 -0.13191292] [ 0. 0. 0. 1. ]] SLAMing on 30.212414037 meters Centerline goodness : 0.764193 Centerline is valid? [False, False] Translation: X:3.84, Y:0.09, Z:-0.13 [[ 0.98195048 -0.16247854 -0.09681934 3.84063925] [ 0.16544211 0.98594288 0.0233569 0.086902 ] [ 0.09166334 -0.03895332 0.99502787 -0.13121445] [ 0. 0. 0. 1. ]] SLAMing on 30.242414037 meters Centerline goodness : 0.766161 Centerline is valid? [False, False] Translation: X:3.84, Y:0.09, Z:-0.13 [[ 0.98211161 -0.16058613 -0.09833052 3.84247496] [ 0.16388254 0.98612746 0.02636568 0.08863263] [ 0.09273246 -0.04200869 0.99480448 -0.13092224] [ 0. 0. 0. 1. ]] SLAMing on 30.272414037 meters Centerline goodness : 0.765806 Centerline is valid? [False, False] Translation: X:3.84, Y:0.09, Z:-0.13 [[ 0.98210112 -0.16054613 -0.09850043 3.8437345 ] [ 0.16378209 0.98616319 0.02564352 0.08986688] [ 0.09302053 -0.04131713 0.99480655 -0.13232475] [ 0. 0. 0. 1. ]] SLAMing on 30.302414037 meters Centerline goodness : 0.763974 Centerline is valid? [False, False] Translation: X:3.85, Y:0.09, Z:-0.13 [[ 0.98213698 -0.16032375 -0.09850508 3.84514727] [ 0.16348249 0.98623382 0.0248261 0.09075924] [ 0.09316883 -0.04048649 0.99482683 -0.13435458] [ 0. 0. 0. 1. ]] SLAMing on 30.332414037 meters Centerline goodness : 0.765699 Centerline is valid? [False, False] Translation: X:3.84, Y:0.09, Z:-0.14 [[ 0.98235748 -0.15918819 -0.09814733 3.8446011 ] [ 0.16229521 0.98643857 0.02447899 0.09182308] [ 0.09291954 -0.03997596 0.99487079 -0.13524101] [ 0. 0. 0. 1. ]] SLAMing on 30.362414037 meters Centerline goodness : 0.764512 Centerline is valid? [False, False] Translation: X:3.84, Y:0.09, Z:-0.13 [[ 0.98265861 -0.15684898 -0.09889616 3.84447725] [ 0.16028842 0.98667868 0.02779938 0.09149341] [ 0.09321843 -0.04316921 0.99470938 -0.13405341] [ 0. 0. 0. 1. ]] SLAMing on 30.392414037 meters Centerline goodness : 0.764567 Centerline is valid? [False, False] Translation: X:3.85, Y:0.09, Z:-0.13 [[ 0.98293598 -0.15437117 -0.100032 3.84500975] [ 0.15818061 0.9869142 0.03129313 0.0920649 ] [ 0.09389224 -0.04658227 0.994492 -0.13298493] [ 0. 0. 0. 1. ]] SLAMing on 30.422414037 meters Centerline goodness : 0.762487 Centerline is valid? [False, False] Translation: X:3.84, Y:0.09, Z:-0.13 [[ 0.9829343 -0.15419639 -0.10031765 3.84498443] [ 0.15799037 0.98695406 0.03099555 0.09449434] [ 0.09422951 -0.04631581 0.99447255 -0.13275642] [ 0. 0. 0. 1. ]] SLAMing on 30.452414037 meters Centerline goodness : 0.762299 Centerline is valid? [False, False] Translation: X:3.85, Y:0.10, Z:-0.13 [[ 0.98283619 -0.15382855 -0.1018322 3.84647989] [ 0.1578638 0.98691658 0.03278245 0.09771172] [ 0.09545701 -0.0482954 0.99426129 -0.13175098] [ 0. 0. 0. 1. ]] SLAMing on 30.482414037 meters Centerline goodness : 0.760111 Centerline is valid? [False, False] Translation: X:3.85, Y:0.10, Z:-0.13 [[ 0.98279533 -0.15405032 -0.1018913 3.84661165] [ 0.15804542 0.9869026 0.03232503 0.09870781] [ 0.09557711 -0.04787234 0.99427021 -0.13191892] [ 0. 0. 0. 1. ]] SLAMing on 30.512414037 meters Centerline goodness : 0.758941 Centerline is valid? [False, False] Translation: X:3.85, Y:0.10, Z:-0.13 [[ 0.98271171 -0.1543943 -0.10217676 3.84772938] [ 0.15836912 0.98686271 0.03195646 0.09947579] [ 0.09590054 -0.04758563 0.99425283 -0.13262169] [ 0. 0. 0. 1. ]] SLAMing on 30.542414037 meters Centerline goodness : 0.758449 Centerline is valid? [False, False] Translation: X:3.85, Y:0.10, Z:-0.13 [[ 0.98258551 -0.15513446 -0.10226932 3.84829922] [ 0.15903177 0.98678428 0.03107544 0.10069054] [ 0.09609689 -0.04679835 0.99427124 -0.13311375] [ 0. 0. 0. 1. ]] SLAMing on 30.572414037 meters Centerline goodness : 0.759486 Centerline is valid? [False, False] Translation: X:3.85, Y:0.10, Z:-0.13 [[ 0.98229058 -0.15629742 -0.10332632 3.85046229] [ 0.16017135 0.98662493 0.03027186 0.10414282] [ 0.09721291 -0.04628568 0.99418675 -0.13342773] [ 0. 0. 0. 1. ]] SLAMing on 30.602414037 meters Centerline goodness : 0.758629 Centerline is valid? [False, False] Translation: X:3.85, Y:0.11, Z:-0.13 [[ 0.98208298 -0.15721981 -0.10389872 3.85110989] [ 0.16106817 0.98649638 0.02969749 0.10594792] [ 0.09782667 -0.04590018 0.99414441 -0.13279808] [ 0. 0. 0. 1. ]] SLAMing on 30.632414037 meters Centerline goodness : 0.759920 Centerline is valid? [False, False] Translation: X:3.85, Y:0.11, Z:-0.13 [[ 0.98171858 -0.15886695 -0.1048328 3.85194034] [ 0.16264711 0.98627266 0.02849835 0.11043452] [ 0.09886628 -0.04502812 0.99408145 -0.13183472] [ 0. 0. 0. 1. ]] SLAMing on 30.662414037 meters Centerline goodness : 0.760290 Centerline is valid? [False, False] Translation: X:3.85, Y:0.11, Z:-0.13 [[ 0.9816185 -0.15920994 -0.10524886 3.85251774] [ 0.16297691 0.98622792 0.02816053 0.11232144] [ 0.09931593 -0.04479603 0.99404711 -0.1317137 ] [ 0. 0. 0. 1. ]] SLAMing on 30.692414037 meters Centerline goodness : 0.761892 Centerline is valid? [False, False] Translation: X:3.85, Y:0.11, Z:-0.13 [[ 0.98157311 -0.15929126 -0.1055487 3.85284071] [ 0.16303856 0.98622726 0.02782493 0.11411514] [ 0.09966273 -0.04452071 0.99402477 -0.13163118] [ 0. 0. 0. 1. ]] SLAMing on 30.722414037 meters Centerline goodness : 0.761521 Centerline is valid? [False, False] Translation: X:3.85, Y:0.12, Z:-0.13 [[ 0.9815869 -0.15903623 -0.10580468 3.85311252] [ 0.16276251 0.98628159 0.02751336 0.11608345] [ 0.09997758 -0.04422779 0.99400623 -0.13174295] [ 0. 0. 0. 1. ]] SLAMing on 30.752414037 meters Centerline goodness : 0.762904 Centerline is valid? [False, False] Translation: X:3.85, Y:0.12, Z:-0.13 [[ 0.98171419 -0.15831779 -0.10570109 3.85226031] [ 0.16195509 0.98643661 0.02670873 0.11946985] [ 0.10003895 -0.04333917 0.9940392 -0.13180245] [ 0. 0. 0. 1. ]] SLAMing on 30.782414037 meters Centerline goodness : 0.760921 Centerline is valid? [False, False] Translation: X:3.85, Y:0.12, Z:-0.13 [[ 0.98183137 -0.15672685 -0.106976 3.85404656] [ 0.16068848 0.98656653 0.02942271 0.12032164] [ 0.10092761 -0.04607795 0.99382616 -0.1317194 ] [ 0. 0. 0. 1. ]] SLAMing on 30.812414037 meters Centerline goodness : 0.762258 Centerline is valid? [False, False] Translation: X:3.85, Y:0.12, Z:-0.13 [[ 0.98169453 -0.15749328 -0.10710607 3.85361938] [ 0.16136782 0.98648358 0.02847059 0.1228937 ] [ 0.10117446 -0.0452329 0.99383988 -0.13110519] [ 0. 0. 0. 1. ]] SLAMing on 30.842414037 meters Centerline goodness : 0.763230 Centerline is valid? [False, False] Translation: X:3.85, Y:0.12, Z:-0.13 [[ 0.98158846 -0.15779554 -0.10763209 3.85413415] [ 0.16169177 0.98643163 0.0284326 0.12474403] [ 0.10168516 -0.04531234 0.99378414 -0.13064204] [ 0. 0. 0. 1. ]] SLAMing on 30.872414037 meters Centerline goodness : 0.760873 Centerline is valid? [False, False] Translation: X:3.85, Y:0.13, Z:-0.13 [[ 0.98126147 -0.15919452 -0.10854965 3.85496147] [ 0.16305868 0.98622896 0.02764594 0.12831845] [ 0.10265373 -0.04482785 0.99370653 -0.12964697] [ 0. 0. 0. 1. ]] SLAMing on 30.902414037 meters Centerline goodness : 0.764133 Centerline is valid? [False, False] Translation: X:3.86, Y:0.13, Z:-0.13 [[ 0.98108083 -0.16012215 -0.10881778 3.85602994] [ 0.16390647 0.98611415 0.02671237 0.13003421] [ 0.10302951 -0.04404293 0.99370274 -0.13032439] [ 0. 0. 0. 1. ]] SLAMing on 30.932414037 meters Centerline goodness : 0.762725 Centerline is valid? [False, False] Translation: X:3.86, Y:0.13, Z:-0.13 [[ 0.98093143 -0.16081376 -0.10914426 3.85732297] [ 0.16453108 0.98603196 0.02589411 0.1314917 ] [ 0.1034556 -0.04335797 0.9936886 -0.13114448] [ 0. 0. 0. 1. ]] SLAMing on 30.962414037 meters Centerline goodness : 0.761689 Centerline is valid? [False, False] Translation: X:3.86, Y:0.13, Z:-0.13 [[ 0.98068238 -0.16216718 -0.10937947 3.85793431] [ 0.16574578 0.98586663 0.02439906 0.13424205] [ 0.10387684 -0.04205692 0.99370057 -0.1314649 ] [ 0. 0. 0. 1. ]] SLAMing on 30.992414037 meters Centerline goodness : 0.763332 Centerline is valid? [False, False] Translation: X:3.86, Y:0.14, Z:-0.13 [[ 0.98051992 -0.16269248 -0.1100538 3.85869688] [ 0.16629722 0.98577504 0.02434761 0.1362151 ] [ 0.10452711 -0.04217495 0.99362737 -0.13090946] [ 0. 0. 0. 1. ]] SLAMing on 31.022414037 meters Centerline goodness : 0.758292 Centerline is valid? [False, False] Translation: X:3.86, Y:0.14, Z:-0.13 [[ 0.98035022 -0.16332131 -0.11063273 3.85858489] [ 0.1669316 0.98567306 0.02413406 0.13865713] [ 0.1051061 -0.04212793 0.99356829 -0.12956194] [ 0. 0. 0. 1. ]] SLAMing on 31.052414037 meters Centerline goodness : 0.762266 Centerline is valid? [False, False] Translation: X:3.86, Y:0.14, Z:-0.13 [[ 0.98019928 -0.1636859 -0.11142841 3.85904412] [ 0.16732258 0.98560897 0.02404398 0.14137122] [ 0.10588918 -0.04221238 0.99348155 -0.12854196] [ 0. 0. 0. 1. ]] SLAMing on 31.082414037 meters Centerline goodness : 0.762292 Centerline is valid? [False, False] Translation: X:3.86, Y:0.15, Z:-0.13 [[ 0.97997146 -0.16505011 -0.1114199 3.85901007] [ 0.16841663 0.98548258 0.02144573 0.14626216] [ 0.10626275 -0.03978117 0.99354199 -0.12908488] [ 0. 0. 0. 1. ]] SLAMing on 31.112414037 meters Centerline goodness : 0.756754 Centerline is valid? [False, False] Translation: X:3.86, Y:0.15, Z:-0.13 [[ 0.97994171 -0.16497469 -0.11179265 3.86107737] [ 0.16830167 0.98551306 0.02094162 0.14720693] [ 0.10671828 -0.03933645 0.99351087 -0.13091419] [ 0. 0. 0. 1. ]] SLAMing on 31.142414037 meters Centerline goodness : 0.757168 Centerline is valid? [False, False] Translation: X:3.86, Y:0.15, Z:-0.13 [[ 0.97991836 -0.1650415 -0.11189862 3.86188466] [ 0.16831922 0.98552058 0.02044081 0.14804934] [ 0.10690481 -0.03886501 0.99350937 -0.13173827] [ 0. 0. 0. 1. ]] SLAMing on 31.172414037 meters Centerline goodness : 0.757425 Centerline is valid? [False, False] Translation: X:3.86, Y:0.15, Z:-0.13 [[ 0.97992656 -0.16491092 -0.11201926 3.86111786] [ 0.16817068 0.98555014 0.02023698 0.14981303] [ 0.1070633 -0.03866911 0.99349995 -0.13081145] [ 0. 0. 0. 1. ]] SLAMing on 31.202414037 meters Centerline goodness : 0.761678 Centerline is valid? [False, False] Translation: X:3.86, Y:0.16, Z:-0.13 [[ 0.9800144 -0.16230656 -0.11501458 3.86146614] [ 0.16628072 0.98574137 0.02578114 0.15503437] [ 0.10919018 -0.0443906 0.99302919 -0.12683803] [ 0. 0. 0. 1. ]] SLAMing on 31.232414037 meters Centerline goodness : 0.758908 Centerline is valid? [False, False] Translation: X:3.86, Y:0.16, Z:-0.13 [[ 0.98019866 -0.16010958 -0.11651403 3.86320348] [ 0.16446419 0.98596514 0.02871001 0.15667403] [ 0.11028203 -0.0473039 0.992774 -0.12657386] [ 0. 0. 0. 1. ]] SLAMing on 31.262414037 meters Centerline goodness : 0.757896 Centerline is valid? [False, False] Translation: X:3.86, Y:0.16, Z:-0.13 [[ 0.98018568 -0.16022907 -0.1164589 3.8639346 ] [ 0.1644302 0.98600958 0.0273464 0.15915345] [ 0.1104479 -0.04595391 0.99281897 -0.12790164] [ 0. 0. 0. 1. ]] SLAMing on 31.292414037 meters Centerline goodness : 0.755777 Centerline is valid? [False, False] Translation: X:3.87, Y:0.16, Z:-0.13 [[ 0.98031717 -0.15965726 -0.11613698 3.86568715] [ 0.16364177 0.98618861 0.02556177 0.16177182] [ 0.11045185 -0.0440635 0.99290422 -0.13135655] [ 0. 0. 0. 1. ]] SLAMing on 31.322414037 meters Centerline goodness : 0.757184 Centerline is valid? [False, False] Translation: X:3.87, Y:0.16, Z:-0.13 [[ 0.98043554 -0.15918604 -0.1157841 3.8653374 ] [ 0.16306806 0.98630295 0.02480535 0.16338727] [ 0.11024954 -0.04320073 0.99296462 -0.1320928 ] [ 0. 0. 0. 1. ]] SLAMing on 31.352414037 meters Centerline goodness : 0.755703 Centerline is valid? [False, False] Translation: X:3.87, Y:0.16, Z:-0.13 [[ 0.98083895 -0.15615118 -0.11649794 3.86577663] [ 0.16041476 0.98664939 0.0281084 0.16366802] [ 0.11055346 -0.0462578 0.9927931 -0.13223604] [ 0. 0. 0. 1. ]] SLAMing on 31.382414037 meters Centerline goodness : 0.756600 Centerline is valid? [False, False] Translation: X:3.87, Y:0.17, Z:-0.13 [[ 0.98085947 -0.15576648 -0.11683966 3.8652625 ] [ 0.16004056 0.98671098 0.02807951 0.16668537] [ 0.11091313 -0.04624114 0.99275376 -0.13155413] [ 0. 0. 0. 1. ]] SLAMing on 31.412414037 meters Centerline goodness : 0.756290 Centerline is valid? [False, False] Translation: X:3.86, Y:0.17, Z:-0.13 [[ 0.98129593 -0.15320135 -0.11656609 3.86164324] [ 0.15765776 0.98703899 0.02996768 0.17112787] [ 0.11046418 -0.04778471 0.99273072 -0.13002579] [ 0. 0. 0. 1. ]] SLAMing on 31.442414037 meters Centerline goodness : 0.757764 Centerline is valid? [False, False] Translation: X:3.86, Y:0.17, Z:-0.13 [[ 0.9812385 -0.15363946 -0.11647285 3.86101323] [ 0.15800317 0.98700819 0.02915171 0.17327262] [ 0.1104808 -0.04700786 0.99276596 -0.12956806] [ 0. 0. 0. 1. ]] SLAMing on 31.472414037 meters Centerline goodness : 0.757010 Centerline is valid? [False, False] Translation: X:3.86, Y:0.17, Z:-0.13 [[ 0.98121353 -0.15388183 -0.11636317 3.86108877] [ 0.15819241 0.98699088 0.02870814 0.17448477] [ 0.11043173 -0.04657658 0.99279175 -0.12991899] [ 0. 0. 0. 1. ]] SLAMing on 31.502414037 meters Centerline goodness : 0.757439 Centerline is valid? [False, False] Translation: X:3.86, Y:0.18, Z:-0.13 [[ 0.98115579 -0.15431003 -0.11628294 3.86116975] [ 0.1585531 0.98695016 0.02811233 0.17574467] [ 0.11042745 -0.04601959 0.9928182 -0.13022161] [ 0. 0. 0. 1. ]] SLAMing on 31.532414037 meters Centerline goodness : 0.758464 Centerline is valid? [False, False] Translation: X:3.86, Y:0.18, Z:-0.13 [[ 0.98110143 -0.15475273 -0.11615324 3.86108905] [ 0.15892823 0.98690609 0.02753522 0.17744379] [ 0.11037119 -0.04547487 0.99284955 -0.13054232] [ 0. 0. 0. 1. ]] SLAMing on 31.562414037 meters Centerline goodness : 0.756968 Centerline is valid? [False, False] Translation: X:3.86, Y:0.18, Z:-0.13 [[ 0.98091963 -0.15628605 -0.11563458 3.85941002] [ 0.16026378 0.98673481 0.02588323 0.1815932 ] [ 0.11005548 -0.0439214 0.99295453 -0.13033195] [ 0. 0. 0. 1. ]] SLAMing on 31.592414037 meters Centerline goodness : 0.756968 Centerline is valid? [False, False] Translation: X:3.86, Y:0.18, Z:-0.13 [[ 0.98091963 -0.15628605 -0.11563458 3.85941002] [ 0.16026378 0.98673481 0.02588323 0.1815932 ] [ 0.11005548 -0.0439214 0.99295453 -0.13033195] [ 0. 0. 0. 1. ]] SLAMing on 31.622414037 meters Centerline goodness : 0.757272 Centerline is valid? [False, False] Translation: X:3.86, Y:0.18, Z:-0.13 [[ 0.98079402 -0.15726827 -0.11536804 3.85857383] [ 0.1611396 0.98661554 0.02497602 0.18317681] [ 0.10989597 -0.04308669 0.99300877 -0.13016996] [ 0. 0. 0. 1. ]] SLAMing on 31.652414037 meters Centerline goodness : 0.756110 Centerline is valid? [False, False] Translation: X:3.86, Y:0.18, Z:-0.13 [[ 0.98070239 -0.15809961 -0.1150102 3.8576924 ] [ 0.16188464 0.98651068 0.02429089 0.18411506] [ 0.10961841 -0.04244051 0.99306727 -0.13014007] [ 0. 0. 0. 1. ]] SLAMing on 31.682414037 meters Centerline goodness : 0.762751 Centerline is valid? [False, False] Translation: X:3.86, Y:0.18, Z:-0.13 [[ 0.98062087 -0.15879567 -0.114746 3.85691287] [ 0.16251112 0.98642144 0.02372491 0.18466513] [ 0.1094205 -0.04191265 0.99311152 -0.12995563] [ 0. 0. 0. 1. ]] SLAMing on 31.712414037 meters Centerline goodness : 0.755348 Centerline is valid? [False, False] Translation: X:3.85, Y:0.19, Z:-0.13 [[ 0.98044761 -0.16028274 -0.11415748 3.85486593] [ 0.16382877 0.98623608 0.02232795 0.18714269] [ 0.10900744 -0.04059366 0.99321173 -0.12929065] [ 0. 0. 0. 1. ]] SLAMing on 31.742414037 meters Centerline goodness : 0.757096 Centerline is valid? [False, False] Translation: X:3.85, Y:0.19, Z:-0.13 [[ 0.98035872 -0.16097069 -0.11395265 3.85389921] [ 0.16442054 0.9861562 0.02149019 0.18929479] [ 0.10891582 -0.03980426 0.99325373 -0.12887549] [ 0. 0. 0. 1. ]] SLAMing on 31.772414037 meters Centerline goodness : 0.759206 Centerline is valid? [False, False] Translation: X:3.85, Y:0.19, Z:-0.13 [[ 0.98027904 -0.16153122 -0.11384497 3.85327777] [ 0.1648902 0.98609531 0.02067052 0.19164826] [ 0.10892306 -0.0390348 0.99328347 -0.12854958] [ 0. 0. 0. 1. ]] SLAMing on 31.802414037 meters Centerline goodness : 0.758655 Centerline is valid? [False, False] Translation: X:3.85, Y:0.19, Z:-0.13 [[ 0.98020843 -0.16204536 -0.11372215 3.85263136] [ 0.16531394 0.98604097 0.01986211 0.19400595] [ 0.10891614 -0.03826886 0.99331403 -0.12823449] [ 0. 0. 0. 1. ]] SLAMing on 31.832414037 meters Centerline goodness : 0.759095 Centerline is valid? [False, False] Translation: X:3.85, Y:0.20, Z:-0.13 [[ 0.9801039 -0.16292949 -0.11335931 3.85086379] [ 0.16602486 0.98595065 0.01835911 0.19774066] [ 0.10877544 -0.03681429 0.99338442 -0.12706411] [ 0. 0. 0. 1. ]] SLAMing on 31.862414037 meters Centerline goodness : 0.759324 Centerline is valid? [False, False] Translation: X:3.85, Y:0.20, Z:-0.13 [[ 0.98006471 -0.16325726 -0.11322647 3.85037536] [ 0.16627997 0.98591931 0.01772235 0.19928233] [ 0.10873886 -0.03619634 0.99341114 -0.12681059] [ 0. 0. 0. 1. ]] SLAMing on 31.892414037 meters Centerline goodness : 0.757156 Centerline is valid? [False, False] Translation: X:3.85, Y:0.20, Z:-0.13 [[ 0.98002853 -0.16353629 -0.11313695 3.85007419] [ 0.16650526 0.98588974 0.01724587 0.20046497] [ 0.10872023 -0.03573935 0.99342972 -0.12668989] [ 0. 0. 0. 1. ]] SLAMing on 31.922414037 meters Centerline goodness : 0.759244 Centerline is valid? [False, False] Translation: X:3.85, Y:0.20, Z:-0.13 [[ 0.97992959 -0.1642119 -0.11301529 3.84879999] [ 0.16703664 0.98582198 0.01593096 0.20355359] [ 0.1087969 -0.03448891 0.99346552 -0.1254219 ] [ 0. 0. 0. 1. ]] SLAMing on 31.952414037 meters Centerline goodness : 0.761199 Centerline is valid? [False, False] Translation: X:3.85, Y:0.21, Z:-0.12 [[ 0.97986908 -0.16453954 -0.1130634 3.84839407] [ 0.16728954 0.98579039 0.01521579 0.20554129] [ 0.10895321 -0.03382381 0.99347126 -0.12483823] [ 0. 0. 0. 1. ]] SLAMing on 31.982414037 meters Centerline goodness : 0.762534 Centerline is valid? [False, False] Translation: X:3.85, Y:0.21, Z:-0.12 [[ 0.97985285 -0.16452814 -0.11322049 3.84870748] [ 0.1672317 0.98580736 0.01474471 0.20725929] [ 0.10918768 -0.0333817 0.99346047 -0.12471511] [ 0. 0. 0. 1. ]] SLAMing on 32.012414037 meters Centerline goodness : 0.763109 Centerline is valid? [False, False] Translation: X:3.85, Y:0.21, Z:-0.13 [[ 0.97985371 -0.16434423 -0.11347985 3.84969044] [ 0.16704668 0.98583992 0.01466521 0.20827639] [ 0.10946283 -0.03332619 0.99343206 -0.12522801] [ 0. 0. 0. 1. ]] SLAMing on 32.042414037 meters Centerline goodness : 0.760029 Centerline is valid? [False, False] Translation: X:3.85, Y:0.21, Z:-0.13 [[ 0.97989309 -0.16384854 -0.11385598 3.85130413] [ 0.16657729 0.98591709 0.01481567 0.20870146] [ 0.10982503 -0.03348359 0.99338679 -0.12603366] [ 0. 0. 0. 1. ]] SLAMing on 32.072414037 meters Centerline goodness : 0.758682 Centerline is valid? [False, False] Translation: X:3.85, Y:0.21, Z:-0.13 [[ 0.97987582 -0.16390002 -0.11393048 3.85121787] [ 0.16660651 0.98591553 0.01458878 0.2088706 ] [ 0.10993473 -0.03327675 0.9933816 -0.12560956] [ 0. 0. 0. 1. ]] SLAMing on 32.102414037 meters Centerline goodness : 0.761121 Centerline is valid? [False, False] Translation: X:3.85, Y:0.21, Z:-0.12 [[ 0.97985971 -0.16403331 -0.1138772 3.85067179] [ 0.16670445 0.98590353 0.01427812 0.20935025] [ 0.10992985 -0.03297439 0.99339223 -0.1249928 ] [ 0. 0. 0. 1. ]] SLAMing on 32.132414037 meters Centerline goodness : 0.760151 Centerline is valid? [False, False] Translation: X:3.85, Y:0.21, Z:-0.12 [[ 0.97984409 -0.16410078 -0.11391444 3.85032289] [ 0.16672058 0.98590761 0.01379959 0.21070106] [ 0.1100446 -0.03251333 0.99339472 -0.1243346 ] [ 0. 0. 0. 1. ]] SLAMing on 32.162414037 meters Centerline goodness : 0.761084 Centerline is valid? [False, False] Translation: X:3.85, Y:0.21, Z:-0.12 [[ 0.98042567 -0.1602828 -0.11434566 3.84877997] [ 0.16328107 0.986428 0.01729415 0.21111128] [ 0.1100218 -0.03562611 0.99329048 -0.12326791] [ 0. 0. 0. 1. ]] SLAMing on 32.192414037 meters Centerline goodness : 0.761640 Centerline is valid? [False, False] Translation: X:3.85, Y:0.21, Z:-0.12 [[ 0.98044186 -0.15994749 -0.1146759 3.84951662] [ 0.16293952 0.98648701 0.01714922 0.21192007] [ 0.11038331 -0.03549905 0.99325492 -0.12308792] [ 0. 0. 0. 1. ]] SLAMing on 32.222414037 meters Centerline goodness : 0.762948 Centerline is valid? [False, False] Translation: X:3.85, Y:0.21, Z:-0.12 [[ 0.98049025 -0.15934782 -0.11509622 3.85106514] [ 0.16236817 0.98657856 0.0173008 0.21230902] [ 0.11079462 -0.03565123 0.99320368 -0.12358619] [ 0. 0. 0. 1. ]] SLAMing on 32.252414037 meters Centerline goodness : 0.761902 Centerline is valid? [False, False] Translation: X:3.85, Y:0.21, Z:-0.12 [[ 0.98056844 -0.15846254 -0.11565102 3.85318444] [ 0.16153386 0.98670975 0.01762603 0.21255156] [ 0.11132092 -0.03596509 0.99313351 -0.12428713] [ 0. 0. 0. 1. ]] SLAMing on 32.282414037 meters Centerline goodness : 0.761231 Centerline is valid? [False, False] Translation: X:3.85, Y:0.21, Z:-0.13 [[ 0.9812566 -0.15346861 -0.11654558 3.85495665] [ 0.15703699 0.98734712 0.02202399 0.21207448] [ 0.11169095 -0.03991315 0.99294112 -0.12556362] [ 0. 0. 0. 1. ]] SLAMing on 32.312414037 meters Centerline goodness : 0.762171 Centerline is valid? [False, False] Translation: X:3.86, Y:0.21, Z:-0.13 [[ 0.9813129 -0.15284375 -0.11689217 3.85581752] [ 0.15640462 0.98745096 0.02186774 0.21347019] [ 0.11208294 -0.03974157 0.99290383 -0.12536157] [ 0. 0. 0. 1. ]] SLAMing on 32.342414037 meters Centerline goodness : 0.762252 Centerline is valid? [False, False] Translation: X:3.86, Y:0.21, Z:-0.13 [[ 0.98139164 -0.15216197 -0.11712036 3.85649339] [ 0.15570464 0.98756608 0.02166342 0.21488605] [ 0.11236775 -0.03949649 0.99288142 -0.1250914 ] [ 0. 0. 0. 1. ]] SLAMing on 32.372414037 meters Centerline goodness : 0.763669 Centerline is valid? [False, False] Translation: X:3.86, Y:0.22, Z:-0.12 [[ 0.98147538 -0.15133683 -0.11748717 3.8573957 ] [ 0.15486734 0.98770189 0.02147306 0.21635679] [ 0.11279263 -0.0392702 0.99284222 -0.12466074] [ 0. 0. 0. 1. ]] SLAMing on 32.402414037 meters Centerline goodness : 0.763663 Centerline is valid? [False, False] Translation: X:3.86, Y:0.22, Z:-0.13 [[ 0.98248796 -0.1452932 -0.1166503 3.85616585] [ 0.14930769 0.98843827 0.02640069 0.21516099] [ 0.11146578 -0.04335515 0.99282209 -0.12568208] [ 0. 0. 0. 1. ]] SLAMing on 32.432414037 meters Centerline goodness : 0.762692 Centerline is valid? [False, False] Translation: X:3.86, Y:0.21, Z:-0.13 [[ 0.98307414 -0.14079304 -0.11722863 3.85602292] [ 0.14526236 0.98892439 0.03045332 0.21397955] [ 0.11164264 -0.04696678 0.99263792 -0.12532049] [ 0. 0. 0. 1. ]] SLAMing on 32.462414037 meters Centerline goodness : 0.762070 Centerline is valid? [False, False] Translation: X:3.86, Y:0.21, Z:-0.13 [[ 0.98365239 -0.13619577 -0.11780786 3.85611286] [ 0.14112208 0.98939092 0.03449868 0.2134062 ] [ 0.11185945 -0.05056 0.99243697 -0.1252053 ] [ 0. 0. 0. 1. ]] SLAMing on 32.492414037 meters Centerline goodness : 0.763603 Centerline is valid? [False, False] Translation: X:3.86, Y:0.21, Z:-0.13 [[ 0.98420652 -0.13156849 -0.11843672 3.85641221] [ 0.13695285 0.98982919 0.03849782 0.21313968] [ 0.11216702 -0.05411005 0.99221503 -0.12516461] [ 0. 0. 0. 1. ]] SLAMing on 32.522414037 meters Centerline goodness : 0.761907 Centerline is valid? [False, False] Translation: X:3.86, Y:0.21, Z:-0.13 [[ 0.98539148 -0.12244553 -0.1183669 3.85754305] [ 0.1286145 0.99063016 0.04593683 0.21220695] [ 0.11163307 -0.06048946 0.99190679 -0.12711266] [ 0. 0. 0. 1. ]] SLAMing on 32.552414037 meters Centerline goodness : 0.762244 Centerline is valid? [False, False] Translation: X:3.86, Y:0.21, Z:-0.13 [[ 0.98590002 -0.11770359 -0.11894123 3.85807419] [ 0.12435732 0.99097009 0.05013517 0.21136594] [ 0.11196611 -0.06421947 0.99163474 -0.12731116] [ 0. 0. 0. 1. ]] SLAMing on 32.582414037 meters Centerline goodness : 0.761428 Centerline is valid? [False, False] Translation: X:3.86, Y:0.21, Z:-0.13 [[ 0.9860083 -0.11621814 -0.119503 3.85996842] [ 0.12293974 0.99112951 0.05047889 0.21185454] [ 0.11257639 -0.06446427 0.99154975 -0.12729597] [ 0. 0. 0. 1. ]] SLAMing on 32.612414037 meters Centerline goodness : 0.761287 Centerline is valid? [False, False] Translation: X:3.86, Y:0.21, Z:-0.13 [[ 0.98608745 -0.11512905 -0.1199035 3.86125485] [ 0.12189052 0.99125041 0.05064905 0.21199015] [ 0.11302322 -0.06455949 0.99149273 -0.12705283] [ 0. 0. 0. 1. ]] SLAMing on 32.642414037 meters Centerline goodness : 0.764197 Centerline is valid? [False, False] Translation: X:3.86, Y:0.21, Z:-0.13 [[ 0.9873133 -0.1089079 -0.11554876 3.85809694] [ 0.11560715 0.99188352 0.05293459 0.20799253] [ 0.10884592 -0.06562129 0.99189032 -0.13103799] [ 0. 0. 0. 1. ]] SLAMing on 32.672414037 meters Centerline goodness : 0.764427 Centerline is valid? [False, False] Translation: X:3.86, Y:0.21, Z:-0.13 [[ 0.98735772 -0.10817259 -0.11585947 3.85915476] [ 0.11490812 0.9919555 0.05310758 0.20810165] [ 0.10918265 -0.06574938 0.99184483 -0.13100199] [ 0. 0. 0. 1. ]] SLAMing on 32.702414037 meters Centerline goodness : 0.762754 Centerline is valid? [False, False] Translation: X:3.86, Y:0.21, Z:-0.13 [[ 0.98737001 -0.10782979 -0.1160741 3.8594797 ] [ 0.11457483 0.99199559 0.05307881 0.20821034] [ 0.10942151 -0.0657076 0.99182128 -0.13053946] [ 0. 0. 0. 1. ]] SLAMing on 32.732414037 meters Centerline goodness : 0.762686 Centerline is valid? [False, False] Translation: X:3.86, Y:0.21, Z:-0.13 [[ 0.98740551 -0.10727329 -0.11628759 3.85965827] [ 0.11410748 0.99201167 0.05378047 0.20536377] [ 0.10958944 -0.06637242 0.99175847 -0.12970286] [ 0. 0. 0. 1. ]] SLAMing on 32.762414037 meters Centerline goodness : 0.763980 Centerline is valid? [False, False] Translation: X:3.86, Y:0.20, Z:-0.13 [[ 0.98740331 -0.10725521 -0.11632291 3.85949596] [ 0.11414073 0.99198368 0.0542242 0.20263592] [ 0.1095746 -0.06681834 0.99173016 -0.12918156] [ 0. 0. 0. 1. ]] SLAMing on 32.792414037 meters Centerline goodness : 0.761702 Centerline is valid? [False, False] Translation: X:3.86, Y:0.20, Z:-0.13 [[ 0.98702289 -0.11059897 -0.11642027 3.86092518] [ 0.11711708 0.99182307 0.05070103 0.20182067] [ 0.10986082 -0.06367788 0.9919051 -0.12874956] [ 0. 0. 0. 1. ]] SLAMing on 32.822414037 meters Centerline goodness : 0.762024 Centerline is valid? [False, False] Translation: X:3.86, Y:0.20, Z:-0.13 [[ 0.98661301 -0.11431161 -0.11630834 3.86187222] [ 0.12042778 0.99161027 0.04697037 0.20114008] [ 0.10996329 -0.06034833 0.99210189 -0.1282912 ] [ 0. 0. 0. 1. ]] SLAMing on 32.852414037 meters Centerline goodness : 0.765495 Centerline is valid? [False, False] Translation: X:3.86, Y:0.20, Z:-0.13 [[ 0.98611445 -0.11889135 -0.11594453 3.86128138] [ 0.12462079 0.99125214 0.04346092 0.19759756] [ 0.10976314 -0.05730654 0.9923044 -0.12693466] [ 0. 0. 0. 1. ]] SLAMing on 32.882414037 meters Centerline goodness : 0.761414 Centerline is valid? [False, False] Translation: X:3.86, Y:0.20, Z:-0.13 [[ 0.98562507 -0.12311092 -0.11570191 3.86162754] [ 0.12842262 0.99092837 0.03960563 0.19685341] [ 0.10977642 -0.05389504 0.99249406 -0.12634539] [ 0. 0. 0. 1. ]] SLAMing on 32.912414037 meters Centerline goodness : 0.760230 Centerline is valid? [False, False] Translation: X:3.86, Y:0.20, Z:-0.13 [[ 0.98512961 -0.12712595 -0.11557959 3.8625821 ] [ 0.13206391 0.99058403 0.03608882 0.19531193] [ 0.10990347 -0.05081606 0.99264241 -0.12614798] [ 0. 0. 0. 1. ]] SLAMing on 32.942414037 meters Centerline goodness : 0.761314 Centerline is valid? [False, False] Translation: X:3.86, Y:0.19, Z:-0.13 [[ 0.98460811 -0.13127503 -0.11538518 3.86353894] [ 0.13584771 0.99019099 0.03266799 0.19290841] [ 0.10996487 -0.04783998 0.99278349 -0.12607629] [ 0. 0. 0. 1. ]] SLAMing on 32.972414037 meters Centerline goodness : 0.757928 Centerline is valid? [False, False] Translation: X:3.87, Y:0.19, Z:-0.13 [[ 0.98354389 -0.13940894 -0.11491977 3.86543726] [ 0.1432887 0.9893346 0.0261803 0.18681001] [ 0.11004434 -0.04221618 0.99302973 -0.12597434] [ 0. 0. 0. 1. ]] SLAMing on 33.002414037 meters Centerline goodness : 0.758917 Centerline is valid? [False, False] Translation: X:3.87, Y:0.18, Z:-0.13 [[ 0.98301634 -0.1433374 -0.1146005 3.86594648] [ 0.14692718 0.98886878 0.02347228 0.18453272] [ 0.1099604 -0.03991156 0.99313432 -0.12544736] [ 0. 0. 0. 1. ]] SLAMing on 33.032414037 meters Centerline goodness : 0.761212 Centerline is valid? [False, False] Translation: X:3.87, Y:0.18, Z:-0.12 [[ 0.98243125 -0.14754239 -0.11428072 3.86528675] [ 0.15099001 0.98828877 0.02207557 0.17989666] [ 0.10968527 -0.03894297 0.99320319 -0.122984 ] [ 0. 0. 0. 1. ]] SLAMing on 33.062414037 meters Centerline goodness : 0.760482 Centerline is valid? [False, False] Translation: X:3.87, Y:0.18, Z:-0.12 [[ 0.98232506 -0.14806068 -0.11452301 3.8651095 ] [ 0.15163492 0.98816647 0.02310605 0.17738103] [ 0.1097467 -0.04006334 0.99315185 -0.12148336] [ 0. 0. 0. 1. ]] SLAMing on 33.092414037 meters Centerline goodness : 0.762753 Centerline is valid? [False, False] Translation: X:3.86, Y:0.17, Z:-0.12 [[ 0.9822506 -0.14843235 -0.11468041 3.86491172] [ 0.15214134 0.98806128 0.02424703 0.17470325] [ 0.10971223 -0.04126429 0.99310648 -0.12015715] [ 0. 0. 0. 1. ]] SLAMing on 33.122414037 meters Centerline goodness : 0.763279 Centerline is valid? [False, False] Translation: X:3.86, Y:0.17, Z:-0.12 [[ 0.98210833 -0.1502089 -0.11358044 3.862922 ] [ 0.153598 0.9878962 0.02165053 0.17303492] [ 0.10895359 -0.03870889 0.99329288 -0.11918366] [ 0. 0. 0. 1. ]] SLAMing on 33.152414037 meters Centerline goodness : 0.764176 Centerline is valid? [False, False] Translation: X:3.86, Y:0.17, Z:-0.12 [[ 0.98220015 -0.15097959 -0.11174987 3.86102921] [ 0.15413376 0.98784561 0.02009563 0.16741175] [ 0.10735759 -0.03696236 0.99353316 -0.11960398] [ 0. 0. 0. 1. ]] SLAMing on 33.182414037 meters Centerline goodness : 0.763937 Centerline is valid? [False, False] Translation: X:3.86, Y:0.17, Z:-0.12 [[ 0.98217394 -0.15216237 -0.11036737 3.85923726] [ 0.15497082 0.9877679 0.01728041 0.16599378] [ 0.10638791 -0.03407609 0.99374063 -0.11990275] [ 0. 0. 0. 1. ]] SLAMing on 33.212414037 meters Centerline goodness : 0.763617 Centerline is valid? [False, False] Translation: X:3.86, Y:0.16, Z:-0.12 [[ 0.98227349 -0.1517563 -0.11004008 3.85904564] [ 0.15456191 0.9878302 0.01738107 0.16429869] [ 0.10606323 -0.03408097 0.99377517 -0.12021933] [ 0. 0. 0. 1. ]] SLAMing on 33.242414037 meters Centerline goodness : 0.765608 Centerline is valid? [False, False] Translation: X:3.86, Y:0.16, Z:-0.12 [[ 0.98239101 -0.15132388 -0.10958552 3.85862638] [ 0.15409819 0.98790483 0.0172567 0.16330457] [ 0.10564871 -0.03383975 0.99382756 -0.12072874] [ 0. 0. 0. 1. ]] SLAMing on 33.272414037 meters Centerline goodness : 0.762363 Centerline is valid? [False, False] Translation: X:3.86, Y:0.16, Z:-0.13 [[ 0.98348875 -0.15447951 -0.09426541 3.85533589] [ 0.15639404 0.98760617 0.01322717 0.16398293] [ 0.09105377 -0.02775132 0.99545923 -0.12673914] [ 0. 0. 0. 1. ]] SLAMing on 33.302414037 meters Centerline goodness : 0.762675 Centerline is valid? [False, False] Translation: X:3.85, Y:0.16, Z:-0.13 [[ 0.98377941 -0.1531607 -0.09338031 3.85469009] [ 0.15503802 0.98782099 0.01314901 0.16181439] [ 0.09022912 -0.02741322 0.99554368 -0.12803542] [ 0. 0. 0. 1. ]] SLAMing on 33.332414037 meters Centerline goodness : 0.763247 Centerline is valid? [False, False] Translation: X:3.85, Y:0.16, Z:-0.13 [[ 0.98406356 -0.15184474 -0.0925315 3.85468342] [ 0.15370041 0.98802896 0.01322754 0.15933023] [ 0.08941527 -0.02723887 0.99562189 -0.12996981] [ 0. 0. 0. 1. ]] SLAMing on 33.362414037 meters Centerline goodness : 0.761679 Centerline is valid? [False, False] Translation: X:3.85, Y:0.16, Z:-0.13 [[ 0.98428509 -0.15079327 -0.09189258 3.85427765] [ 0.15266001 0.98818526 0.01359499 0.15688058] [ 0.08875686 -0.02740967 0.99567612 -0.13078967] [ 0. 0. 0. 1. ]] SLAMing on 33.392414037 meters Centerline goodness : 0.763463 Centerline is valid? [False, False] Translation: X:3.85, Y:0.15, Z:-0.13 [[ 0.98451537 -0.14967646 -0.09124937 3.85306901] [ 0.15158879 0.98833933 0.01436026 0.15442802] [ 0.08803594 -0.02797028 0.99572453 -0.1306508 ] [ 0. 0. 0. 1. ]] SLAMing on 33.422414037 meters Centerline goodness : 0.765159 Centerline is valid? [False, False] Translation: X:3.85, Y:0.15, Z:-0.13 [[ 0.98500924 -0.14703332 -0.09021087 3.84984679] [ 0.14916069 0.98866206 0.017275 0.14862056] [ 0.08664807 -0.03047195 0.99577285 -0.1285954 ] [ 0. 0. 0. 1. ]] SLAMing on 33.452414037 meters Centerline goodness : 0.764765 Centerline is valid? [False, False] Translation: X:3.85, Y:0.15, Z:-0.13 [[ 0.98511647 -0.14659333 -0.0897549 3.84889364] [ 0.14876593 0.988709 0.01797817 0.14619533] [ 0.08610599 -0.03106306 0.99580161 -0.12815467] [ 0. 0. 0. 1. ]] SLAMing on 33.482414037 meters Centerline goodness : 0.767250 Centerline is valid? [False, False] Translation: X:3.85, Y:0.14, Z:-0.13 [[ 0.98516972 -0.14637401 -0.08952811 3.84910552] [ 0.14859695 0.98872189 0.01865373 0.14330234] [ 0.08578798 -0.0316807 0.9958096 -0.12836594] [ 0. 0. 0. 1. ]] SLAMing on 33.512414037 meters Centerline goodness : 0.767250 Centerline is valid? [False, False] Translation: X:3.85, Y:0.14, Z:-0.13 [[ 0.98516972 -0.14637401 -0.08952811 3.84910552] [ 0.14859695 0.98872189 0.01865373 0.14330234] [ 0.08578798 -0.0316807 0.9958096 -0.12836594] [ 0. 0. 0. 1. ]] SLAMing on 33.542414037 meters Centerline goodness : 0.765681 Centerline is valid? [False, False] Translation: X:3.85, Y:0.14, Z:-0.13 [[ 0.98483774 -0.14916004 -0.0885771 3.84900803] [ 0.15116627 0.98837308 0.01635269 0.13938092] [ 0.08510805 -0.02949462 0.99593508 -0.12852418] [ 0. 0. 0. 1. ]] SLAMing on 33.572414037 meters Centerline goodness : 0.765872 Centerline is valid? [False, False] Translation: X:3.85, Y:0.14, Z:-0.13 [[ 0.98479881 -0.14975932 -0.0879969 3.84933396] [ 0.15168981 0.98830443 0.01563855 0.1364062 ] [ 0.08462571 -0.02874905 0.99599798 -0.12929551] [ 0. 0. 0. 1. ]] SLAMing on 33.602414037 meters Centerline goodness : 0.766026 Centerline is valid? [False, False] Translation: X:3.85, Y:0.13, Z:-0.13 [[ 0.98457152 -0.15170949 -0.08719601 3.8495445 ] [ 0.15343157 0.98806896 0.01335983 0.13403102] [ 0.08412886 -0.02653233 0.99610159 -0.1300902 ] [ 0. 0. 0. 1. ]] SLAMing on 33.632414037 meters Centerline goodness : 0.764161 Centerline is valid? [False, False] Translation: X:3.85, Y:0.13, Z:-0.13 [[ 0.98423314 -0.15452413 -0.08606639 3.85126185] [ 0.15602517 0.98769233 0.01095485 0.12815095] [ 0.08331432 -0.02421065 0.99622917 -0.13259108] [ 0. 0. 0. 1. ]] SLAMing on 33.662414037 meters Centerline goodness : 0.764029 Centerline is valid? [False, False] Translation: X:3.85, Y:0.12, Z:-0.13 [[ 0.98424502 -0.15475484 -0.08551422 3.85189018] [ 0.15619855 0.98767074 0.01041715 0.12442222] [ 0.08284779 -0.02361023 0.99628249 -0.13361008] [ 0. 0. 0. 1. ]] SLAMing on 33.692414037 meters Centerline goodness : 0.764575 Centerline is valid? [False, False] Translation: X:3.85, Y:0.12, Z:-0.13 [[ 0.98415051 -0.15519535 -0.08580309 3.85283726] [ 0.15687065 0.98753229 0.0130988 0.11772838] [ 0.08270045 -0.02635117 0.996226 -0.13242328] [ 0. 0. 0. 1. ]] SLAMing on 33.722414037 meters Centerline goodness : 0.766572 Centerline is valid? [False, False] Translation: X:3.85, Y:0.11, Z:-0.13 [[ 0.98399735 -0.15604896 -0.0860112 3.85303502] [ 0.15789593 0.98734085 0.01506391 0.11275482] [ 0.08257167 -0.02840367 0.99618028 -0.1306033 ] [ 0. 0. 0. 1. ]] SLAMing on 33.752414037 meters Centerline goodness : 0.766880 Centerline is valid? [False, False] Translation: X:3.85, Y:0.11, Z:-0.13 [[ 0.98398201 -0.15596634 -0.08633605 3.85393184] [ 0.15794816 0.98730823 0.01657816 0.10988657] [ 0.08265465 -0.02994923 0.99612813 -0.13020449] [ 0. 0. 0. 1. ]] SLAMing on 33.782414037 meters Centerline goodness : 0.767800 Centerline is valid? [False, False] Translation: X:3.85, Y:0.11, Z:-0.13 [[ 0.98394901 -0.15616971 -0.08634445 3.85413802] [ 0.15822989 0.98724699 0.01751209 0.10705208] [ 0.08250844 -0.03089328 0.99611142 -0.12963275] [ 0. 0. 0. 1. ]] SLAMing on 33.812414037 meters Centerline goodness : 0.767800 Centerline is valid? [False, False] Translation: X:3.85, Y:0.11, Z:-0.13 [[ 0.98394901 -0.15616971 -0.08634445 3.85413802] [ 0.15822989 0.98724699 0.01751209 0.10705208] [ 0.08250844 -0.03089328 0.99611142 -0.12963275] [ 0. 0. 0. 1. ]] SLAMing on 33.842414037 meters Centerline goodness : 0.769609 Centerline is valid? [False, False] Translation: X:3.86, Y:0.10, Z:-0.13 [[ 0.98390524 -0.15622977 -0.08673371 3.85601659] [ 0.15842683 0.98718768 0.01901089 0.10338725] [ 0.08265238 -0.03244586 0.99605012 -0.1300875 ] [ 0. 0. 0. 1. ]] SLAMing on 33.872414037 meters Centerline goodness : 0.775392 Centerline is valid? [False, False] Translation: X:3.86, Y:0.10, Z:-0.13 [[ 0.98383568 -0.15643242 -0.08715645 3.85814599] [ 0.15875769 0.9871073 0.02037587 0.09947574] [ 0.08284532 -0.03388327 0.99598623 -0.13068241] [ 0. 0. 0. 1. ]] SLAMing on 33.902414037 meters Centerline goodness : 0.774477 Centerline is valid? [False, False] Translation: X:3.86, Y:0.09, Z:-0.13 [[ 0.98339238 -0.15945098 -0.08668802 3.85988337] [ 0.16164937 0.98666696 0.01891545 0.09394824] [ 0.08251612 -0.03261437 0.99605592 -0.13144575] [ 0. 0. 0. 1. ]] SLAMing on 33.932414037 meters Centerline goodness : 0.773011 Centerline is valid? [False, False] Translation: X:3.86, Y:0.09, Z:-0.13 [[ 0.98332965 -0.15967018 -0.08699555 3.86077117] [ 0.16201288 0.9865752 0.02052323 0.09056116] [ 0.0825507 -0.0342755 0.99599727 -0.13085918] [ 0. 0. 0. 1. ]] SLAMing on 33.962414037 meters Centerline goodness : 0.772000 Centerline is valid? [False, False] Translation: X:3.86, Y:0.09, Z:-0.13 [[ 0.98323512 -0.15983799 -0.08775256 3.86231047] [ 0.16234926 0.9864831 0.0222218 0.08804342] [ 0.08301453 -0.03609582 0.99589441 -0.13011534] [ 0. 0. 0. 1. ]] SLAMing on 33.992414037 meters Centerline goodness : 0.776051 Centerline is valid? [False, False] Translation: X:3.86, Y:0.08, Z:-0.13 [[ 0.98313739 -0.16072512 -0.08722566 3.86252311] [ 0.16319634 0.98634976 0.02193433 0.08367739] [ 0.08250961 -0.03579937 0.99594707 -0.13008637] [ 0. 0. 0. 1. ]] SLAMing on 34.022414037 meters Centerline goodness : 0.776959 Centerline is valid? [False, False] Translation: X:3.86, Y:0.08, Z:-0.13 [[ 0.98310902 -0.16071445 -0.08756439 3.86462481] [ 0.16326244 0.98632123 0.02271137 0.08103761] [ 0.08271657 -0.03662373 0.99589993 -0.13116177] [ 0. 0. 0. 1. ]] SLAMing on 34.052414037 meters Centerline goodness : 0.777246 Centerline is valid? [False, False] Translation: X:3.87, Y:0.08, Z:-0.13 [[ 0.98305894 -0.16082006 -0.08793197 3.86681522] [ 0.16343479 0.98627789 0.02334492 0.07866936] [ 0.08297103 -0.03732057 0.99585289 -0.13231709] [ 0. 0. 0. 1. ]] SLAMing on 34.082414037 meters Centerline goodness : 0.777811 Centerline is valid? [False, False] Translation: X:3.87, Y:0.07, Z:-0.13 [[ 0.98306589 -0.1608149 -0.08786369 3.86783608] [ 0.16351724 0.98623796 0.02442941 0.074381 ] [ 0.08272589 -0.03838295 0.99583291 -0.13265605] [ 0. 0. 0. 1. ]] SLAMing on 34.112414037 meters Centerline goodness : 0.776660 Centerline is valid? [False, False] Translation: X:3.87, Y:0.07, Z:-0.13 [[ 0.98310029 -0.16051671 -0.08802392 3.86878734] [ 0.16331089 0.9862458 0.02547099 0.0716714 ] [ 0.08272471 -0.0394158 0.99579266 -0.13281324] [ 0. 0. 0. 1. ]] SLAMing on 34.142414037 meters Centerline goodness : 0.779319 Centerline is valid? [False, False] Translation: X:3.87, Y:0.07, Z:-0.13 [[ 0.98313448 -0.16014363 -0.08832106 3.87012989] [ 0.16305854 0.98625252 0.02679329 0.06875055] [ 0.08281609 -0.04074291 0.99573165 -0.13309322] [ 0. 0. 0. 1. ]] SLAMing on 34.172414037 meters Centerline goodness : 0.778969 Centerline is valid? [False, False] Translation: X:3.87, Y:0.06, Z:-0.13 [[ 0.98307908 -0.16029532 -0.08866189 3.87162852] [ 0.16339343 0.98614001 0.02881779 0.06360721] [ 0.08281368 -0.04281694 0.99564482 -0.13282322] [ 0. 0. 0. 1. ]] SLAMing on 34.202414037 meters Centerline goodness : 0.780414 Centerline is valid? [False, False] Translation: X:3.87, Y:0.06, Z:-0.13 [[ 0.98302365 -0.16041535 -0.08905847 3.87258584] [ 0.16362156 0.98606987 0.02990305 0.06128986] [ 0.08302096 -0.04396729 0.99557742 -0.13234144] [ 0. 0. 0. 1. ]] SLAMing on 34.232414037 meters Centerline goodness : 0.780186 Centerline is valid? [False, False] Translation: X:3.87, Y:0.06, Z:-0.13 [[ 0.98294711 -0.16052493 -0.08970358 3.8742578 ] [ 0.16384994 0.98599891 0.03097339 0.0592637 ] [ 0.08347563 -0.04514313 0.99548677 -0.13219472] [ 0. 0. 0. 1. ]] SLAMing on 34.262414037 meters Centerline goodness : 0.781749 Centerline is valid? [False, False] Translation: X:3.88, Y:0.06, Z:-0.13 [[ 0.98280955 -0.1609828 -0.09038768 3.8765989 ] [ 0.16448002 0.98584063 0.0326278 0.05547006] [ 0.08385533 -0.04693388 0.99537204 -0.13233048] [ 0. 0. 0. 1. ]] SLAMing on 34.292414037 meters Centerline goodness : 0.782011 Centerline is valid? [False, False] Translation: X:3.88, Y:0.05, Z:-0.13 [[ 0.98267427 -0.16151167 -0.09091345 3.87802161] [ 0.16506108 0.98573344 0.03293053 0.05469212] [ 0.08429776 -0.04736626 0.99531418 -0.13233348] [ 0. 0. 0. 1. ]] SLAMing on 34.322414037 meters Centerline goodness : 0.783004 Centerline is valid? [False, False] Translation: X:3.88, Y:0.05, Z:-0.13 [[ 0.98261026 -0.16160429 -0.09143921 3.87967063] [ 0.16524088 0.98567882 0.03365576 0.0535282 ] [ 0.08469078 -0.04817999 0.99524176 -0.13265339] [ 0. 0. 0. 1. ]] SLAMing on 34.352414037 meters Centerline goodness : 0.780606 Centerline is valid? [False, False] Translation: X:3.88, Y:0.05, Z:-0.13 [[ 0.9825557 -0.16173293 -0.09179735 3.88079638] [ 0.16541952 0.98563592 0.03403267 0.05295077] [ 0.08497456 -0.04862407 0.99519597 -0.13294448] [ 0. 0. 0. 1. ]] SLAMing on 34.382414037 meters Centerline goodness : 0.780388 Centerline is valid? [False, False] Translation: X:3.88, Y:0.05, Z:-0.13 [[ 0.9825353 -0.16182352 -0.09185602 3.88128754] [ 0.16552233 0.98561499 0.0341386 0.05198468] [ 0.08501024 -0.0487466 0.99518693 -0.13309911] [ 0. 0. 0. 1. ]] SLAMing on 34.412414037 meters Centerline goodness : 0.780125 Centerline is valid? [False, False] Translation: X:3.88, Y:0.05, Z:-0.13 [[ 0.98253093 -0.16164788 -0.09221138 3.88201712] [ 0.16539385 0.98562428 0.03449128 0.05201467] [ 0.08531033 -0.04913994 0.99514191 -0.13307727] [ 0. 0. 0. 1. ]] SLAMing on 34.442414037 meters Centerline goodness : 0.780116 Centerline is valid? [False, False] Translation: X:3.88, Y:0.05, Z:-0.13 [[ 0.98257098 -0.16136205 -0.09228517 3.88229846] [ 0.16511105 0.98567158 0.03449455 0.05213998] [ 0.08539676 -0.04913064 0.99513495 -0.1332881 ] [ 0. 0. 0. 1. ]] SLAMing on 34.472414037 meters Centerline goodness : 0.781410 Centerline is valid? [False, False] Translation: X:3.88, Y:0.05, Z:-0.13 [[ 0.98265992 -0.16087275 -0.09219244 3.88194266] [ 0.16461467 0.98575499 0.03448359 0.05236514] [ 0.08533169 -0.04906187 0.99514393 -0.13322275] [ 0. 0. 0. 1. ]] SLAMing on 34.502414037 meters Centerline goodness : 0.779602 Centerline is valid? [False, False] Translation: X:3.88, Y:0.05, Z:-0.13 [[ 0.98273788 -0.16035406 -0.09226507 3.88210083] [ 0.16410129 0.98583921 0.03452271 0.05281252] [ 0.08542267 -0.0490676 0.99513584 -0.1335013 ] [ 0. 0. 0. 1. ]] SLAMing on 34.532414037 meters Centerline goodness : 0.779523 Centerline is valid? [False, False] Translation: X:3.88, Y:0.05, Z:-0.14 [[ 0.98295896 -0.15937383 -0.09160602 3.88198997] [ 0.16304271 0.98603226 0.03402129 0.05206649] [ 0.08490439 -0.04837723 0.99521399 -0.13524406] [ 0. 0. 0. 1. ]] SLAMing on 34.562414037 meters Centerline goodness : 0.779577 Centerline is valid? [False, False] Translation: X:3.88, Y:0.05, Z:-0.14 [[ 0.98299664 -0.15902974 -0.09179954 3.88323664] [ 0.16272818 0.98607563 0.03426933 0.05129916] [ 0.08507145 -0.04862501 0.99518765 -0.13617444] [ 0. 0. 0. 1. ]] SLAMing on 34.592414037 meters Centerline goodness : 0.776028 Centerline is valid? [False, False] Translation: X:3.88, Y:0.05, Z:-0.14 [[ 0.98301762 -0.15891136 -0.09177984 3.88363585] [ 0.16260908 0.98609503 0.03427649 0.05073031] [ 0.08505672 -0.04861863 0.99518922 -0.1366435 ] [ 0. 0. 0. 1. ]] SLAMing on 34.622414037 meters Centerline goodness : 0.777829 Centerline is valid? [False, False] Translation: X:3.88, Y:0.05, Z:-0.14 [[ 0.98308195 -0.15856483 -0.09169015 3.88297983] [ 0.16231233 0.9861212 0.03492396 0.04978219] [ 0.08487989 -0.04921556 0.99517498 -0.13581181] [ 0. 0. 0. 1. ]] SLAMing on 34.652414037 meters Centerline goodness : 0.777941 Centerline is valid? [False, False] Translation: X:3.88, Y:0.05, Z:-0.14 [[ 0.98313541 -0.15800677 -0.09207945 3.88343396] [ 0.16186701 0.98615441 0.03603543 0.04889837] [ 0.08511072 -0.05033233 0.9950994 -0.13527993] [ 0. 0. 0. 1. ]] SLAMing on 34.682414037 meters Centerline goodness : 0.779864 Centerline is valid? [False, False] Translation: X:3.88, Y:0.05, Z:-0.13 [[ 0.98317529 -0.15789235 -0.09184967 3.88264891] [ 0.16174925 0.98617002 0.03613682 0.04846806] [ 0.08487366 -0.05038545 0.99511696 -0.13479497] [ 0. 0. 0. 1. ]] SLAMing on 34.712414037 meters Centerline goodness : 0.777607 Centerline is valid? [False, False] Translation: X:3.88, Y:0.05, Z:-0.13 [[ 0.98320232 -0.15763705 -0.09199872 3.88306311] [ 0.16155454 0.98617865 0.0367668 0.04755309] [ 0.08493137 -0.05101201 0.99508012 -0.13476796] [ 0. 0. 0. 1. ]] SLAMing on 34.742414037 meters Centerline goodness : 0.777981 Centerline is valid? [False, False] Translation: X:3.88, Y:0.05, Z:-0.14 [[ 0.98301656 -0.15905146 -0.0915482 3.88477102] [ 0.16273321 0.98607661 0.0342172 0.04681125] [ 0.08483124 -0.048534 0.9952126 -0.13712139] [ 0. 0. 0. 1. ]] SLAMing on 34.772414037 meters Centerline goodness : 0.779288 Centerline is valid? [False, False] Translation: X:3.89, Y:0.05, Z:-0.14 [[ 0.98289729 -0.15940642 -0.09220901 3.88696674] [ 0.16316066 0.98599011 0.03467142 0.04606566] [ 0.08539032 -0.04912333 0.99513587 -0.13784866] [ 0. 0. 0. 1. ]] SLAMing on 34.802414037 meters Centerline goodness : 0.779704 Centerline is valid? [False, False] Translation: X:3.89, Y:0.04, Z:-0.14 [[ 0.98287609 -0.15926243 -0.09268261 3.88833955] [ 0.16312488 0.98596078 0.03565962 0.04469627] [ 0.08570218 -0.05016782 0.99505695 -0.13802033] [ 0. 0. 0. 1. ]] SLAMing on 34.832414037 meters Centerline goodness : 0.779447 Centerline is valid? [False, False] Translation: X:3.89, Y:0.04, Z:-0.14 [[ 0.9827647 -0.15949391 -0.09346247 3.88921474] [ 0.16350431 0.98585226 0.03690071 0.04359608] [ 0.08625475 -0.05154623 0.99493874 -0.1366671 ] [ 0. 0. 0. 1. ]] SLAMing on 34.862414037 meters Centerline goodness : 0.780412 Centerline is valid? [False, False] Translation: X:3.89, Y:0.04, Z:-0.14 [[ 0.98266065 -0.15975517 -0.09410815 3.88966958] [ 0.16392156 0.9857298 0.03829466 0.04216816] [ 0.08664743 -0.05305701 0.9948252 -0.13506342] [ 0. 0. 0. 1. ]] SLAMing on 34.892414037 meters Centerline goodness : 0.781247 Centerline is valid? [False, False] Translation: X:3.89, Y:0.04, Z:-0.13 [[ 0.98225218 -0.16144473 -0.09547913 3.89193751] [ 0.16584865 0.98533593 0.04009159 0.03953023] [ 0.08760644 -0.05521513 0.99462375 -0.13304606] [ 0. 0. 0. 1. ]] SLAMing on 34.922414037 meters Centerline goodness : 0.781147 Centerline is valid? [False, False] Translation: X:3.89, Y:0.04, Z:-0.13 [[ 0.98199797 -0.16264909 -0.09604823 3.89343245] [ 0.16713225 0.98509882 0.04058482 0.03767123] [ 0.08801591 -0.05590697 0.99454895 -0.13253388] [ 0. 0. 0. 1. ]] SLAMing on 34.952414037 meters Centerline goodness : 0.780663 Centerline is valid? [False, False] Translation: X:3.90, Y:0.04, Z:-0.13 [[ 0.98119561 -0.16714995 -0.09651979 3.89662055] [ 0.17144707 0.98445897 0.03803202 0.03579952] [ 0.08866273 -0.05386489 0.99460419 -0.13292966] [ 0. 0. 0. 1. ]] SLAMing on 34.982414037 meters Centerline goodness : 0.782381 Centerline is valid? [False, False] Translation: X:3.90, Y:0.03, Z:-0.13 [[ 0.98105062 -0.16770679 -0.09702633 3.89819805] [ 0.17207686 0.98433019 0.03851795 0.03433452] [ 0.08904623 -0.05448404 0.9945362 -0.13299922] [ 0. 0. 0. 1. ]] SLAMing on 35.012414037 meters Centerline goodness : 0.782068 Centerline is valid? [False, False] Translation: X:3.90, Y:0.03, Z:-0.13 [[ 0.98089533 -0.16815336 -0.09782028 3.90019662] [ 0.17262244 0.98421116 0.03911381 0.03389364] [ 0.08969869 -0.05525253 0.99443517 -0.13308753] [ 0. 0. 0. 1. ]] SLAMing on 35.042414037 meters Centerline goodness : 0.782017 Centerline is valid? [False, False] Translation: X:3.90, Y:0.03, Z:-0.13 [[ 0.98078119 -0.16842264 -0.09849904 3.90168512] [ 0.17296743 0.98413435 0.03952013 0.03396984] [ 0.09028021 -0.05579773 0.9943521 -0.1330972 ] [ 0. 0. 0. 1. ]] SLAMing on 35.072414037 meters Centerline goodness : 0.780598 Centerline is valid? [False, False] Translation: X:3.90, Y:0.04, Z:-0.13 [[ 0.98069339 -0.16861009 -0.0990511 3.90280765] [ 0.1731736 0.98410382 0.03937732 0.03589476] [ 0.09083715 -0.05577011 0.99430292 -0.13340141] [ 0. 0. 0. 1. ]] SLAMing on 35.102414037 meters Centerline goodness : 0.781449 Centerline is valid? [False, False] Translation: X:3.90, Y:0.04, Z:-0.13 [[ 0.9808034 -0.1679227 -0.09912949 3.90301194] [ 0.17252989 0.98419854 0.039833 0.03591788] [ 0.09087424 -0.05617114 0.99427696 -0.13369748] [ 0. 0. 0. 1. ]] SLAMing on 35.132414037 meters Centerline goodness : 0.781779 Centerline is valid? [False, False] Translation: X:3.90, Y:0.04, Z:-0.13 [[ 0.98095785 -0.16725038 -0.09873708 3.90226731] [ 0.17181343 0.98433255 0.03961777 0.03573588] [ 0.09056403 -0.05582772 0.99432461 -0.13396237] [ 0. 0. 0. 1. ]] SLAMing on 35.162414037 meters Centerline goodness : 0.781871 Centerline is valid? [False, False] Translation: X:3.90, Y:0.04, Z:-0.14 [[ 0.98111813 -0.16637559 -0.09862244 3.90283033] [ 0.17091761 0.98449361 0.03949057 0.03560664] [ 0.09052289 -0.05560123 0.99434104 -0.13523476] [ 0. 0. 0. 1. ]] SLAMing on 35.192414037 meters Centerline goodness : 0.780867 Centerline is valid? [False, False] Translation: X:3.90, Y:0.04, Z:-0.14 [[ 0.98151608 -0.16428526 -0.09816582 3.90339232] [ 0.1687804 0.98486851 0.03933444 0.03569919] [ 0.09021836 -0.05517586 0.99439241 -0.13786813] [ 0. 0. 0. 1. ]] SLAMing on 35.222414037 meters Centerline goodness : 0.782524 Centerline is valid? [False, False] Translation: X:3.90, Y:0.04, Z:-0.14 [[ 0.98175082 -0.16306263 -0.0978566 3.90282218] [ 0.16753405 0.98508233 0.03930835 0.03581133] [ 0.08998709 -0.05498532 0.99442392 -0.13843825] [ 0. 0. 0. 1. ]] SLAMing on 35.252414037 meters Centerline goodness : 0.783247 Centerline is valid? [False, False] Translation: X:3.90, Y:0.04, Z:-0.14 [[ 0.98196887 -0.16188648 -0.0976212 3.90220952] [ 0.16636573 0.9852693 0.03958352 0.03608842] [ 0.08977513 -0.0551106 0.99443615 -0.13874062] [ 0. 0. 0. 1. ]] SLAMing on 35.282414037 meters Centerline goodness : 0.781820 Centerline is valid? [False, False] Translation: X:3.90, Y:0.04, Z:-0.14 [[ 0.98230001 -0.16039636 -0.09674554 3.89990004] [ 0.16476311 0.9855648 0.03892486 0.03787436] [ 0.08910559 -0.05417599 0.99454771 -0.13886758] [ 0. 0. 0. 1. ]] SLAMing on 35.312414036999996 meters Centerline goodness : 0.781034 Centerline is valid? [False, False] Translation: X:3.90, Y:0.04, Z:-0.14 [[ 0.98237276 -0.15982021 -0.09696009 3.90013973] [ 0.16419368 0.98566119 0.03889038 0.03923219] [ 0.08935433 -0.05412508 0.99452817 -0.13908052] [ 0. 0. 0. 1. ]] SLAMing on 35.342414037 meters Centerline goodness : 0.783416 Centerline is valid? [False, False] Translation: X:3.90, Y:0.04, Z:-0.14 [[ 0.98244057 -0.15944115 -0.09689714 3.89972455] [ 0.16377622 0.98574536 0.0385154 0.04037085] [ 0.08937496 -0.05370854 0.9945489 -0.13907847] [ 0. 0. 0. 1. ]] SLAMing on 35.372414037 meters Centerline goodness : 0.782721 Centerline is valid? [False, False] Translation: X:3.90, Y:0.04, Z:-0.14 [[ 0.98270638 -0.15823484 -0.09617646 3.89858235] [ 0.16248809 0.98597541 0.03808024 0.04055898] [ 0.088802 -0.05304923 0.9946356 -0.13989998] [ 0. 0. 0. 1. ]] SLAMing on 35.402414037 meters Centerline goodness : 0.782721 Centerline is valid? [False, False] Translation: X:3.90, Y:0.04, Z:-0.14 [[ 0.98270638 -0.15823484 -0.09617646 3.89858235] [ 0.16248809 0.98597541 0.03808024 0.04055898] [ 0.088802 -0.05304923 0.9946356 -0.13989998] [ 0. 0. 0. 1. ]] SLAMing on 35.432414037 meters Centerline goodness : 0.783083 Centerline is valid? [False, False] Translation: X:3.90, Y:0.04, Z:-0.14 [[ 0.98280929 -0.15765788 -0.0960723 3.89896622] [ 0.16189654 0.98607579 0.03800064 0.04036002] [ 0.08874347 -0.05290116 0.99464871 -0.14081979] [ 0. 0. 0. 1. ]] SLAMing on 35.462414037 meters Centerline goodness : 0.783230 Centerline is valid? [False, False] Translation: X:3.90, Y:0.04, Z:-0.14 [[ 0.98291447 -0.15708434 -0.09593567 3.89956124] [ 0.16130024 0.98617937 0.03784829 0.0398208 ] [ 0.0886644 -0.05267608 0.99466771 -0.14197246] [ 0. 0. 0. 1. ]] SLAMing on 35.492414037 meters Centerline goodness : 0.783387 Centerline is valid? [False, False] Translation: X:3.90, Y:0.04, Z:-0.14 [[ 0.98300374 -0.15647766 -0.09601239 3.90048627] [ 0.16072207 0.98626233 0.0381448 0.03909452] [ 0.0887246 -0.05292779 0.99464898 -0.14295828] [ 0. 0. 0. 1. ]] SLAMing on 35.522414037 meters Centerline goodness : 0.783206 Centerline is valid? [False, False] Translation: X:3.90, Y:0.04, Z:-0.14 [[ 0.98310448 -0.15595653 -0.09582872 3.89993004] [ 0.16023552 0.98632133 0.03866281 0.03844609] [ 0.08848819 -0.05336475 0.99464669 -0.14266497] [ 0. 0. 0. 1. ]] SLAMing on 35.552414037 meters Centerline goodness : 0.779484 Centerline is valid? [False, False] Translation: X:3.90, Y:0.04, Z:-0.14 [[ 0.98302273 -0.1560778 -0.09646783 3.90086253] [ 0.16043811 0.98626791 0.03918181 0.03887885] [ 0.08902772 -0.05399373 0.9945646 -0.14221306] [ 0. 0. 0. 1. ]] SLAMing on 35.582414037 meters Centerline goodness : 0.782774 Centerline is valid? [False, False] Translation: X:3.90, Y:0.04, Z:-0.14 [[ 0.98289233 -0.15646455 -0.09716743 3.9024318 ] [ 0.16088931 0.98618336 0.03945898 0.03933795] [ 0.08965097 -0.05441713 0.99448553 -0.14224217] [ 0. 0. 0. 1. ]] SLAMing on 35.612414037 meters Centerline goodness : 0.783375 Centerline is valid? [False, False] Translation: X:3.90, Y:0.04, Z:-0.14 [[ 0.9826902 -0.15743544 -0.09764245 3.90415973] [ 0.16184592 0.98604598 0.03897709 0.039718 ] [ 0.09014357 -0.05410544 0.99445801 -0.14284751] [ 0. 0. 0. 1. ]] SLAMing on 35.642414037 meters Centerline goodness : 0.782017 Centerline is valid? [False, False] Translation: X:3.91, Y:0.04, Z:-0.14 [[ 0.98201704 -0.16148701 -0.09779816 3.90724145] [ 0.16562139 0.98554333 0.03569164 0.03936547] [ 0.09062059 -0.05124727 0.99456605 -0.14449881] [ 0. 0. 0. 1. ]] SLAMing on 35.672414037 meters Centerline goodness : 0.781811 Centerline is valid? [False, False] Translation: X:3.91, Y:0.04, Z:-0.14 [[ 0.98186003 -0.16205411 -0.09843449 3.90878341] [ 0.16631786 0.98538821 0.03672129 0.0373389 ] [ 0.09104535 -0.05242658 0.99446579 -0.1439864 ] [ 0. 0. 0. 1. ]] SLAMing on 35.702414037 meters Centerline goodness : 0.782922 Centerline is valid? [False, False] Translation: X:3.91, Y:0.04, Z:-0.14 [[ 0.98170078 -0.16266008 -0.09902158 3.90964016] [ 0.16703831 0.98523306 0.03760347 0.03602026] [ 0.09144275 -0.05345575 0.99437453 -0.1428837 ] [ 0. 0. 0. 1. ]] SLAMing on 35.732414037 meters Centerline goodness : 0.784868 Centerline is valid? [False, False] Translation: X:3.91, Y:0.04, Z:-0.14 [[ 0.98149021 -0.16327429 -0.10009236 3.91070381] [ 0.1678468 0.98503946 0.03904766 0.03529597] [ 0.09221944 -0.05512508 0.99421165 -0.14094809] [ 0. 0. 0. 1. ]] SLAMing on 35.762414037 meters Centerline goodness : 0.783977 Centerline is valid? [False, False] Translation: X:3.91, Y:0.04, Z:-0.14 [[ 0.9812609 -0.16400639 -0.10113831 3.91187266] [ 0.16874031 0.98484371 0.04011941 0.03539874] [ 0.09302559 -0.05643372 0.99406311 -0.13931917] [ 0. 0. 0. 1. ]] SLAMing on 35.792414037 meters Centerline goodness : 0.783327 Centerline is valid? [False, False] Translation: X:3.92, Y:0.04, Z:-0.14 [[ 0.9805203 -0.16707353 -0.10327816 3.91561028] [ 0.17200617 0.98425078 0.04079554 0.03649884] [ 0.09483576 -0.05776533 0.99381555 -0.13743522] [ 0. 0. 0. 1. ]] SLAMing on 35.822414037 meters Centerline goodness : 0.782122 Centerline is valid? [False, False] Translation: X:3.92, Y:0.04, Z:-0.14 [[ 0.98014276 -0.16869986 -0.10421389 3.91855839] [ 0.17369892 0.98395113 0.04085175 0.03582189] [ 0.09564969 -0.05814239 0.99371555 -0.1378356 ] [ 0. 0. 0. 1. ]] SLAMing on 35.852414037 meters Centerline goodness : 0.781258 Centerline is valid? [False, False] Translation: X:3.92, Y:0.03, Z:-0.14 [[ 0.97904741 -0.17456586 -0.10484722 3.92293357] [ 0.17929422 0.98308306 0.03743359 0.03462743] [ 0.0965389 -0.05544776 0.99378357 -0.13885038] [ 0. 0. 0. 1. ]] SLAMing on 35.882414037 meters Centerline goodness : 0.782118 Centerline is valid? [False, False] Translation: X:3.93, Y:0.03, Z:-0.14 [[ 0.97875267 -0.17566304 -0.10576255 3.92507223] [ 0.18050391 0.98283952 0.03801068 0.0336056 ] [ 0.09727054 -0.05629361 0.99366467 -0.13840497] [ 0. 0. 0. 1. ]] SLAMing on 35.912414037 meters Centerline goodness : 0.782736 Centerline is valid? [False, False] Translation: X:3.93, Y:0.03, Z:-0.14 [[ 0.97850477 -0.17655134 -0.10657409 3.92654348] [ 0.18146804 0.98265181 0.03827242 0.03404577] [ 0.09796817 -0.05678954 0.99356791 -0.13783911] [ 0. 0. 0. 1. ]] SLAMing on 35.942414037 meters Centerline goodness : 0.783869 Centerline is valid? [False, False] Translation: X:3.93, Y:0.04, Z:-0.14 [[ 0.97822975 -0.1774789 -0.10755373 3.92813406] [ 0.18246446 0.98246394 0.03835797 0.03570516] [ 0.09885993 -0.05714764 0.99345904 -0.13723108] [ 0. 0. 0. 1. ]] SLAMing on 35.972414037 meters Centerline goodness : 0.781697 Centerline is valid? [False, False] Translation: X:3.93, Y:0.04, Z:-0.14 [[ 0.9779964 -0.17821269 -0.10845865 3.92973538] [ 0.18325264 0.9823177 0.03834589 0.03767213] [ 0.09970713 -0.05737748 0.99336112 -0.13702279] [ 0. 0. 0. 1. ]] SLAMing on 36.002414037 meters Centerline goodness : 0.782426 Centerline is valid? [False, False] Translation: X:3.93, Y:0.04, Z:-0.14 [[ 0.97768154 -0.17932595 -0.1094578 3.93133825] [ 0.1844335 0.98209494 0.03839031 0.03903233] [ 0.10061358 -0.05772119 0.9932498 -0.13631011] [ 0. 0. 0. 1. ]] SLAMing on 36.032414037 meters Centerline goodness : 0.783472 Centerline is valid? [False, False] Translation: X:3.93, Y:0.04, Z:-0.14 [[ 0.97753011 -0.17980203 -0.11002775 3.93262001] [ 0.18496339 0.98198823 0.03857033 0.03912446] [ 0.10111093 -0.05805476 0.99317985 -0.13622957] [ 0. 0. 0. 1. ]] SLAMing on 36.062414036999996 meters Centerline goodness : 0.783061 Centerline is valid? [False, False] Translation: X:3.93, Y:0.04, Z:-0.14 [[ 0.97749018 -0.17982447 -0.11034541 3.93350543] [ 0.18503716 0.98196175 0.0388893 0.03873022] [ 0.10136172 -0.05843191 0.99313217 -0.13633278] [ 0. 0. 0. 1. ]] SLAMing on 36.092414037 meters Centerline goodness : 0.783075 Centerline is valid? [False, False] Translation: X:3.93, Y:0.04, Z:-0.14 [[ 0.97742212 -0.18009567 -0.11050587 3.93341462] [ 0.1853327 0.98190073 0.03902245 0.03861019] [ 0.10147802 -0.05862176 0.99310911 -0.1356086 ] [ 0. 0. 0. 1. ]] SLAMing on 36.122414037 meters Centerline goodness : 0.784710 Centerline is valid? [False, False] Translation: X:3.93, Y:0.04, Z:-0.14 [[ 0.9773537 -0.18022619 -0.11089759 3.93384174] [ 0.18549876 0.98186483 0.03913654 0.03934309] [ 0.10183302 -0.05882161 0.99306095 -0.13522304] [ 0. 0. 0. 1. ]] SLAMing on 36.152414037 meters Centerline goodness : 0.783292 Centerline is valid? [False, False] Translation: X:3.93, Y:0.04, Z:-0.13 [[ 0.97688708 -0.18187705 -0.11230479 3.93495151] [ 0.18724766 0.98153041 0.03919661 0.04274977] [ 0.1031016 -0.05931947 0.99290043 -0.13338666] [ 0. 0. 0. 1. ]] SLAMing on 36.182414037 meters Centerline goodness : 0.778968 Centerline is valid? [False, False] Translation: X:3.94, Y:0.05, Z:-0.13 [[ 0.97651767 -0.18320185 -0.11335922 3.936375 ] [ 0.18860124 0.98128679 0.03880485 0.04510338] [ 0.10412879 -0.05927331 0.99279599 -0.13249256] [ 0. 0. 0. 1. ]] SLAMing on 36.212414037 meters Centerline goodness : 0.779779 Centerline is valid? [False, False] Translation: X:3.94, Y:0.05, Z:-0.13 [[ 0.97573527 -0.18605893 -0.11542424 3.93969231] [ 0.19149393 0.98076416 0.03783821 0.05086749] [ 0.10616382 -0.05902311 0.99259534 -0.13171056] [ 0. 0. 0. 1. ]] SLAMing on 36.242414037 meters Centerline goodness : 0.777665 Centerline is valid? [False, False] Translation: X:3.94, Y:0.05, Z:-0.13 [[ 0.97543458 -0.18713729 -0.11621971 3.9412646 ] [ 0.19255552 0.98058116 0.03718831 0.05296361] [ 0.10700354 -0.05865351 0.99252708 -0.13167648] [ 0. 0. 0. 1. ]] SLAMing on 36.272414037 meters Centerline goodness : 0.774929 Centerline is valid? [False, False] Translation: X:3.94, Y:0.05, Z:-0.13 [[ 0.97519892 -0.18800805 -0.11679058 3.94296774] [ 0.1933726 0.98045227 0.03633715 0.0547944 ] [ 0.10767591 -0.05802005 0.9924916 -0.13241521] [ 0. 0. 0. 1. ]] SLAMing on 36.302414037 meters Centerline goodness : 0.774446 Centerline is valid? [False, False] Translation: X:3.94, Y:0.06, Z:-0.13 [[ 0.9749958 -0.1887472 -0.11729319 3.9449544 ] [ 0.19404865 0.98035116 0.0354503 0.05640456] [ 0.10829737 -0.05732448 0.9924644 -0.13358745] [ 0. 0. 0. 1. ]] SLAMing on 36.332414037 meters Centerline goodness : 0.775597 Centerline is valid? [False, False] Translation: X:3.95, Y:0.06, Z:-0.13 [[ 0.97458821 -0.19018616 -0.11835139 3.94735698] [ 0.19535566 0.98015596 0.03362216 0.06186868] [ 0.10960836 -0.05588838 0.99240239 -0.13461889] [ 0. 0. 0. 1. ]] SLAMing on 36.362414037 meters Centerline goodness : 0.774787 Centerline is valid? [False, False] Translation: X:3.95, Y:0.06, Z:-0.13 [[ 0.9745764 -0.18928252 -0.11988729 3.94861015] [ 0.19476509 0.98020042 0.03568894 0.06486299] [ 0.11075827 -0.05813146 0.99214583 -0.13368442] [ 0. 0. 0. 1. ]] SLAMing on 36.392414037 meters Centerline goodness : 0.773864 Centerline is valid? [False, False] Translation: X:3.95, Y:0.07, Z:-0.13 [[ 0.97475102 -0.18727125 -0.12161388 3.95020872] [ 0.1931766 0.98040331 0.03862828 0.06722355] [ 0.11199669 -0.06114591 0.99182555 -0.13288615] [ 0. 0. 0. 1. ]] SLAMing on 36.422414037 meters Centerline goodness : 0.774146 Centerline is valid? [False, False] Translation: X:3.95, Y:0.07, Z:-0.13 [[ 0.97466088 -0.18748154 -0.12201165 3.95062405] [ 0.19330341 0.98041585 0.03766359 0.07103274] [ 0.11256092 -0.0602945 0.9918138 -0.1331896 ] [ 0. 0. 0. 1. ]] SLAMing on 36.452414037 meters Centerline goodness : 0.771875 Centerline is valid? [False, False] Translation: X:3.95, Y:0.08, Z:-0.13 [[ 0.97483327 -0.18562283 -0.12346762 3.95254755] [ 0.19165375 0.98069521 0.03880397 0.07648039] [ 0.1138812 -0.06149043 0.99158963 -0.13432831] [ 0. 0. 0. 1. ]] SLAMing on 36.482414037 meters Centerline goodness : 0.769163 Centerline is valid? [False, False] Translation: X:3.95, Y:0.08, Z:-0.14 [[ 0.97483449 -0.1854304 -0.12374689 3.95325907] [ 0.19138353 0.98077994 0.0379876 0.07916858] [ 0.11432441 -0.06071474 0.99158643 -0.13512103] [ 0. 0. 0. 1. ]] SLAMing on 36.512414037 meters Centerline goodness : 0.770257 Centerline is valid? [False, False] Translation: X:3.95, Y:0.08, Z:-0.14 [[ 0.97484057 -0.18531714 -0.12386855 3.95302775] [ 0.19117694 0.98085342 0.03712069 0.08198201] [ 0.11461779 -0.05986756 0.99160407 -0.13514949] [ 0. 0. 0. 1. ]] SLAMing on 36.542414037 meters Centerline goodness : 0.771233 Centerline is valid? [False, False] Translation: X:3.95, Y:0.09, Z:-0.13 [[ 0.97514013 -0.18308855 -0.12482115 3.95124394] [ 0.1892627 0.981134 0.03944243 0.08628675] [ 0.11524481 -0.06208588 0.99139496 -0.13276999] [ 0. 0. 0. 1. ]] SLAMing on 36.572414037 meters Centerline goodness : 0.769608 Centerline is valid? [False, False] Translation: X:3.95, Y:0.09, Z:-0.13 [[ 0.97502728 -0.18288669 -0.12599307 3.9511176 ] [ 0.18929966 0.98106892 0.04085851 0.08956289] [ 0.11613541 -0.06368861 0.99118935 -0.13092485] [ 0. 0. 0. 1. ]] SLAMing on 36.602414037 meters Centerline goodness : 0.766841 Centerline is valid? [False, False] Translation: X:3.95, Y:0.09, Z:-0.13 [[ 0.97501412 -0.18183801 -0.12760249 3.95218817] [ 0.18860842 0.98110841 0.04304826 0.09232405] [ 0.11736407 -0.06603957 0.99089074 -0.12959509] [ 0. 0. 0. 1. ]] SLAMing on 36.632414037 meters Centerline goodness : 0.766118 Centerline is valid? [False, False] Translation: X:3.95, Y:0.10, Z:-0.13 [[ 0.97485882 -0.18251037 -0.12782896 3.95181896] [ 0.189172 0.98104668 0.04196861 0.09567747] [ 0.11774647 -0.06509513 0.99090786 -0.12908405] [ 0. 0. 0. 1. ]] SLAMing on 36.662414037 meters Centerline goodness : 0.765644 Centerline is valid? [False, False] Translation: X:3.95, Y:0.10, Z:-0.13 [[ 0.9745538 -0.18345519 -0.12879861 3.95339727] [ 0.19004029 0.98093051 0.04074345 0.10041773] [ 0.11886788 -0.06418361 0.99083343 -0.12936892] [ 0. 0. 0. 1. ]] SLAMing on 36.692414037 meters Centerline goodness : 0.764949 Centerline is valid? [False, False] Translation: X:3.95, Y:0.10, Z:-0.13 [[ 0.97440046 -0.18418439 -0.12891804 3.95403069] [ 0.1906393 0.9808629 0.0395553 0.1025675 ] [ 0.11916545 -0.06311954 0.99086604 -0.12999403] [ 0. 0. 0. 1. ]] SLAMing on 36.722414037 meters Centerline goodness : 0.764426 Centerline is valid? [False, False] Translation: X:3.96, Y:0.10, Z:-0.13 [[ 0.97432153 -0.18432935 -0.1293068 3.95607353] [ 0.19070474 0.98088502 0.0386819 0.1048101 ] [ 0.11970489 -0.06234803 0.99084987 -0.13181549] [ 0. 0. 0. 1. ]] SLAMing on 36.752414037 meters Centerline goodness : 0.762052 Centerline is valid? [False, False] Translation: X:3.96, Y:0.11, Z:-0.13 [[ 0.97406957 -0.18555326 -0.12945444 3.95685149] [ 0.19162499 0.98080667 0.03602959 0.11031012] [ 0.12028438 -0.05990203 0.99093058 -0.13312425] [ 0. 0. 0. 1. ]] SLAMing on 36.782414037 meters Centerline goodness : 0.761805 Centerline is valid? [False, False] Translation: X:3.96, Y:0.11, Z:-0.13 [[ 0.97437469 -0.18322242 -0.13047415 3.95784154] [ 0.18967386 0.98108178 0.03876047 0.11114734] [ 0.12090402 -0.06251475 0.99069376 -0.13308105] [ 0. 0. 0. 1. ]] SLAMing on 36.812414036999996 meters Centerline goodness : 0.763565 Centerline is valid? [False, False] Translation: X:3.96, Y:0.11, Z:-0.13 [[ 0.97437715 -0.18286169 -0.13096097 3.95827989] [ 0.18928408 0.98117547 0.03829141 0.11453969] [ 0.12149366 -0.0620991 0.99064776 -0.13322307] [ 0. 0. 0. 1. ]] SLAMing on 36.842414037 meters Centerline goodness : 0.762226 Centerline is valid? [False, False] Translation: X:3.96, Y:0.12, Z:-0.13 [[ 0.97439339 -0.18228891 -0.13163693 3.9588357 ] [ 0.18876391 0.98127126 0.0384044 0.11801319] [ 0.12217084 -0.06226929 0.9905538 -0.13327927] [ 0. 0. 0. 1. ]] SLAMing on 36.872414037 meters Centerline goodness : 0.762197 Centerline is valid? [False, False] Translation: X:3.96, Y:0.12, Z:-0.13 [[ 0.97456795 -0.18156332 -0.13134716 3.95796825] [ 0.18774204 0.98155137 0.03619151 0.12447019] [ 0.12235294 -0.05993047 0.99067558 -0.13442945] [ 0. 0. 0. 1. ]] SLAMing on 36.902414037 meters Centerline goodness : 0.762922 Centerline is valid? [False, False] Translation: X:3.96, Y:0.13, Z:-0.14 [[ 0.97467422 -0.18099469 -0.13134337 3.95807761] [ 0.18707545 0.98170628 0.03543375 0.12702315] [ 0.12252729 -0.05910748 0.99070347 -0.13529954] [ 0. 0. 0. 1. ]] SLAMing on 36.932414037 meters Centerline goodness : 0.760751 Centerline is valid? [False, False] Translation: X:3.96, Y:0.13, Z:-0.14 [[ 0.97475374 -0.18048641 -0.13145269 3.95829002] [ 0.18646717 0.98185162 0.03460332 0.12988333] [ 0.12282161 -0.05824133 0.99071833 -0.13597681] [ 0. 0. 0. 1. ]] SLAMing on 36.962414037 meters Centerline goodness : 0.760249 Centerline is valid? [False, False] Translation: X:3.96, Y:0.13, Z:-0.14 [[ 0.97483562 -0.1797492 -0.13185496 3.95872767] [ 0.18569256 0.98201412 0.03415466 0.13317193] [ 0.12334415 -0.05777967 0.99068044 -0.13643288] [ 0. 0. 0. 1. ]] SLAMing on 36.992414037 meters Centerline goodness : 0.760335 Centerline is valid? [False, False] Translation: X:3.96, Y:0.14, Z:-0.13 [[ 0.97523554 -0.17706097 -0.13253324 3.95656422] [ 0.18319879 0.98243293 0.03554913 0.13965431] [ 0.12391066 -0.05894871 0.99054086 -0.13489187] [ 0. 0. 0. 1. ]] SLAMing on 37.022414037 meters Centerline goodness : 0.760559 Centerline is valid? [False, False] Translation: X:3.96, Y:0.14, Z:-0.13 [[ 0.97527603 -0.17672491 -0.13268374 3.95593893] [ 0.18276043 0.9825456 0.03468083 0.1436945 ] [ 0.12423886 -0.05807272 0.99055149 -0.13467419] [ 0. 0. 0. 1. ]] SLAMing on 37.052414037 meters Centerline goodness : 0.760416 Centerline is valid? [False, False] Translation: X:3.96, Y:0.15, Z:-0.13 [[ 0.97557103 -0.17427928 -0.13374567 3.95638026] [ 0.18058996 0.98288074 0.03650644 0.14839997] [ 0.12509372 -0.05976775 0.99034306 -0.13488796] [ 0. 0. 0. 1. ]] SLAMing on 37.082414037 meters Centerline goodness : 0.758666 Centerline is valid? [False, False] Translation: X:3.96, Y:0.15, Z:-0.14 [[ 0.97541352 -0.17511873 -0.133798 3.95673523] [ 0.18124266 0.982817 0.03495481 0.1511446 ] [ 0.1253777 -0.05834529 0.99039197 -0.13544404] [ 0. 0. 0. 1. ]] SLAMing on 37.112414037 meters Centerline goodness : 0.759746 Centerline is valid? [False, False] Translation: X:3.96, Y:0.15, Z:-0.14 [[ 0.97527651 -0.17571301 -0.13401745 3.95790614] [ 0.18175239 0.98275117 0.03414985 0.15283015] [ 0.12570523 -0.05766354 0.99039038 -0.13641809] [ 0. 0. 0. 1. ]] SLAMing on 37.142414037 meters Centerline goodness : 0.756584 Centerline is valid? [False, False] Translation: X:3.96, Y:0.15, Z:-0.14 [[ 0.9750772 -0.17669581 -0.13417545 3.95813531] [ 0.18260867 0.98263096 0.03302223 0.15451683] [ 0.12601006 -0.05670082 0.99040723 -0.13626138] [ 0. 0. 0. 1. ]] SLAMing on 37.172414037 meters Centerline goodness : 0.759167 Centerline is valid? [False, False] Translation: X:3.96, Y:0.16, Z:-0.14 [[ 0.9749975 -0.17681564 -0.13459606 3.95873741] [ 0.18276302 0.98259981 0.03309512 0.15591322] [ 0.12640233 -0.05686684 0.99034772 -0.1362053 ] [ 0. 0. 0. 1. ]] SLAMing on 37.202414037 meters Centerline goodness : 0.759402 Centerline is valid? [False, False] Translation: X:3.96, Y:0.16, Z:-0.14 [[ 0.97498119 -0.17691928 -0.13457803 3.95787436] [ 0.18278895 0.98261524 0.03248828 0.15821657] [ 0.12649062 -0.05627484 0.99037027 -0.13559736] [ 0. 0. 0. 1. ]] SLAMing on 37.232414037 meters Centerline goodness : 0.758747 Centerline is valid? [False, False] Translation: X:3.96, Y:0.16, Z:-0.13 [[ 0.97546291 -0.17369177 -0.13528964 3.95633416] [ 0.17987871 0.98307161 0.03484056 0.16251129] [ 0.12694788 -0.0583214 0.99019334 -0.13437962] [ 0. 0. 0. 1. ]] SLAMing on 37.262414037 meters Centerline goodness : 0.760199 Centerline is valid? [False, False] Translation: X:3.96, Y:0.17, Z:-0.13 [[ 0.9755979 -0.17296261 -0.13525042 3.9558858 ] [ 0.17908618 0.98323149 0.03440891 0.1653784 ] [ 0.12703101 -0.05779074 0.99021379 -0.1347446 ] [ 0. 0. 0. 1. ]] SLAMing on 37.292414037 meters Centerline goodness : 0.760298 Centerline is valid? [False, False] Translation: X:3.95, Y:0.17, Z:-0.13 [[ 0.97571248 -0.17272813 -0.13472251 3.95448448] [ 0.17863124 0.98336448 0.03294193 0.16835199] [ 0.12679133 -0.0562075 0.99033564 -0.13495679] [ 0. 0. 0. 1. ]] SLAMing on 37.322414037 meters Centerline goodness : 0.763389 Centerline is valid? [False, False] Translation: X:3.95, Y:0.17, Z:-0.14 [[ 0.97588627 -0.17229331 -0.13401866 3.95314597] [ 0.17800203 0.9835175 0.03175865 0.17067949] [ 0.1263379 -0.05484842 0.99046978 -0.13556147] [ 0. 0. 0. 1. ]] SLAMing on 37.352414037 meters Centerline goodness : 0.763389 Centerline is valid? [False, False] Translation: X:3.95, Y:0.17, Z:-0.14 [[ 0.97588627 -0.17229331 -0.13401866 3.95314597] [ 0.17800203 0.9835175 0.03175865 0.17067949] [ 0.1263379 -0.05484842 0.99046978 -0.13556147] [ 0. 0. 0. 1. ]] SLAMing on 37.382414037 meters Centerline goodness : 0.759555 Centerline is valid? [False, False] Translation: X:3.95, Y:0.18, Z:-0.14 [[ 0.97611369 -0.17122805 -0.13372737 3.95310587] [ 0.17671421 0.98379863 0.03020502 0.17517823] [ 0.12638886 -0.05311506 0.99055775 -0.1373125 ] [ 0. 0. 0. 1. ]] SLAMing on 37.412414037 meters Centerline goodness : 0.762712 Centerline is valid? [False, False] Translation: X:3.95, Y:0.18, Z:-0.14 [[ 0.976224 -0.17088664 -0.13335835 3.95264088] [ 0.17624962 0.9839059 0.029415 0.17682775] [ 0.12618543 -0.05221999 0.99063127 -0.13806765] [ 0. 0. 0. 1. ]] SLAMing on 37.442414037 meters Centerline goodness : 0.760017 Centerline is valid? [False, False] Translation: X:3.95, Y:0.18, Z:-0.14 [[ 0.97625341 -0.17070633 -0.13337405 3.9524933 ] [ 0.17597794 0.98397557 0.02870274 0.17905939] [ 0.12633707 -0.05149204 0.99065005 -0.1383247 ] [ 0. 0. 0. 1. ]] SLAMing on 37.472414037 meters Centerline goodness : 0.761033 Centerline is valid? [False, False] Translation: X:3.95, Y:0.18, Z:-0.14 [[ 0.97627683 -0.17064196 -0.13328491 3.95153069] [ 0.17579254 0.98403479 0.02779424 0.18194203] [ 0.12641412 -0.05056536 0.99068795 -0.1379205 ] [ 0. 0. 0. 1. ]] SLAMing on 37.502414037 meters Centerline goodness : 0.761054 Centerline is valid? [False, False] Translation: X:3.95, Y:0.19, Z:-0.14 [[ 0.97661354 -0.16734713 -0.13498492 3.95280566] [ 0.17294859 0.98444876 0.03081278 0.18564729] [ 0.12772931 -0.05343763 0.99036844 -0.13744874] [ 0. 0. 0. 1. ]] SLAMing on 37.532414037 meters Centerline goodness : 0.760523 Centerline is valid? [False, False] Translation: X:3.95, Y:0.19, Z:-0.14 [[ 0.97659944 -0.16761103 -0.13475931 3.95194373] [ 0.17303984 0.98447139 0.02955154 0.18842689] [ 0.12771352 -0.05217875 0.9904376 -0.13735253] [ 0. 0. 0. 1. ]] SLAMing on 37.562414036999996 meters Centerline goodness : 0.762225 Centerline is valid? [False, False] Translation: X:3.95, Y:0.19, Z:-0.14 [[ 0.97661434 -0.16765481 -0.1345968 3.95137618] [ 0.17298284 0.9845027 0.02883357 0.18986147] [ 0.12767683 -0.05144222 0.99048086 -0.13729957] [ 0. 0. 0. 1. ]] SLAMing on 37.592414037 meters Centerline goodness : 0.759913 Centerline is valid? [False, False] Translation: X:3.95, Y:0.19, Z:-0.14 [[ 0.97654296 -0.16830749 -0.13429979 3.94986785] [ 0.17346298 0.98445433 0.02757274 0.19255361] [ 0.12757132 -0.05022201 0.99055707 -0.13618332] [ 0. 0. 0. 1. ]] SLAMing on 37.622414037 meters Centerline goodness : 0.762169 Centerline is valid? [False, False] Translation: X:3.95, Y:0.19, Z:-0.14 [[ 0.9764887 -0.16869477 -0.13420841 3.94926942] [ 0.17376056 0.9844208 0.02688792 0.1935814 ] [ 0.1275817 -0.04957588 0.99058828 -0.13553886] [ 0. 0. 0. 1. ]] SLAMing on 37.652414037 meters Centerline goodness : 0.759529 Centerline is valid? [False, False] Translation: X:3.95, Y:0.19, Z:-0.14 [[ 0.97644663 -0.16898086 -0.13415458 3.9490022 ] [ 0.17397464 0.98439802 0.02633179 0.19439538] [ 0.12761194 -0.04905108 0.99061051 -0.13519684] [ 0. 0. 0. 1. ]] SLAMing on 37.682414037 meters Centerline goodness : 0.759951 Centerline is valid? [False, False] Translation: X:3.95, Y:0.19, Z:-0.14 [[ 0.97642939 -0.16895798 -0.13430881 3.94956168] [ 0.17393147 0.98441139 0.02611626 0.19499843] [ 0.12780257 -0.04886121 0.99059532 -0.13532796] [ 0. 0. 0. 1. ]] SLAMing on 37.712414037 meters Centerline goodness : 0.760290 Centerline is valid? [False, False] Translation: X:3.95, Y:0.20, Z:-0.14 [[ 0.97654292 -0.16813166 -0.13452015 3.95078247] [ 0.17311396 0.98455444 0.02615551 0.19736906] [ 0.12804484 -0.0488293 0.99056561 -0.13612673] [ 0. 0. 0. 1. ]] SLAMing on 37.742414037 meters Centerline goodness : 0.759068 Centerline is valid? [False, False] Translation: X:3.95, Y:0.20, Z:-0.14 [[ 0.97655421 -0.16801046 -0.13458958 3.95092955] [ 0.17294674 0.98459371 0.02578077 0.19933826] [ 0.12818461 -0.04845315 0.990566 -0.13612478] [ 0. 0. 0. 1. ]] SLAMing on 37.772414037 meters Centerline goodness : 0.757440 Centerline is valid? [False, False] Translation: X:3.95, Y:0.20, Z:-0.14 [[ 0.97654895 -0.16805167 -0.13457629 3.95060689] [ 0.1729265 0.98460952 0.02530848 0.20124197] [ 0.12825197 -0.04798678 0.99057998 -0.13582306] [ 0. 0. 0. 1. ]] SLAMing on 37.802414037 meters Centerline goodness : 0.759096 Centerline is valid? [False, False] Translation: X:3.95, Y:0.20, Z:-0.14 [[ 0.97651832 -0.16830188 -0.13448588 3.94996947] [ 0.17310441 0.984592 0.024768 0.20267745] [ 0.12824522 -0.0474665 0.99060592 -0.13528698] [ 0. 0. 0. 1. ]] SLAMing on 37.832414037 meters Centerline goodness : 0.758723 Centerline is valid? [False, False] Translation: X:3.95, Y:0.20, Z:-0.13 [[ 0.97647719 -0.16871816 -0.13426275 3.94865734] [ 0.17340946 0.98455821 0.02396445 0.20313512] [ 0.12814626 -0.04668317 0.99065595 -0.13388454] [ 0. 0. 0. 1. ]] SLAMing on 37.862414037 meters Centerline goodness : 0.757460 Centerline is valid? [False, False] Translation: X:3.95, Y:0.20, Z:-0.13 [[ 0.97644317 -0.16897848 -0.13418271 3.94814708] [ 0.17361536 0.98453177 0.02355627 0.20301436] [ 0.12812664 -0.04629754 0.99067659 -0.13322104] [ 0. 0. 0. 1. ]] SLAMing on 37.892414037 meters Centerline goodness : 0.758696 Centerline is valid? [False, False] Translation: X:3.95, Y:0.20, Z:-0.13 [[ 0.97641443 -0.1691366 -0.1341927 3.94831631] [ 0.17373598 0.98451771 0.02325267 0.2032766 ] [ 0.12818221 -0.04601835 0.99068241 -0.13317347] [ 0. 0. 0. 1. ]] SLAMing on 37.922414037 meters Centerline goodness : 0.758390 Centerline is valid? [False, False] Translation: X:3.95, Y:0.20, Z:-0.13 [[ 0.97637633 -0.16919149 -0.1344005 3.94911056] [ 0.1737726 0.98451641 0.02303302 0.20382561] [ 0.12842251 -0.04584402 0.99065937 -0.13347059] [ 0. 0. 0. 1. ]] SLAMing on 37.952414037 meters Centerline goodness : 0.760363 Centerline is valid? [False, False] Translation: X:3.95, Y:0.21, Z:-0.13 [[ 0.97635879 -0.16918857 -0.13453159 3.95013722] [ 0.1737574 0.98452239 0.02289155 0.20532956] [ 0.12857637 -0.04572623 0.99064485 -0.13444021] [ 0. 0. 0. 1. ]] SLAMing on 37.982414037 meters Centerline goodness : 0.761194 Centerline is valid? [False, False] Translation: X:3.95, Y:0.21, Z:-0.13 [[ 0.97632347 -0.16935764 -0.13457512 3.95027996] [ 0.17387959 0.98450975 0.02250402 0.20620113] [ 0.12867929 -0.04537107 0.99064782 -0.13436771] [ 0. 0. 0. 1. ]] SLAMing on 38.012414037 meters Centerline goodness : 0.761414 Centerline is valid? [False, False] Translation: X:3.95, Y:0.21, Z:-0.13 [[ 0.97631291 -0.16941833 -0.13457535 3.95034304] [ 0.17391381 0.98450844 0.02229626 0.20670835] [ 0.12871317 -0.04517264 0.99065249 -0.13433889] [ 0. 0. 0. 1. ]] SLAMing on 38.042414037 meters Centerline goodness : 0.756635 Centerline is valid? [False, False] Translation: X:3.95, Y:0.21, Z:-0.13 [[ 0.97627296 -0.16982125 -0.13435715 3.94932644] [ 0.17422526 0.98446796 0.02164254 0.20727364] [ 0.12859495 -0.04453743 0.9906966 -0.13345333] [ 0. 0. 0. 1. ]] SLAMing on 38.072414037 meters Centerline goodness : 0.757652 Centerline is valid? [False, False] Translation: X:3.95, Y:0.21, Z:-0.13 [[ 0.97622858 -0.17018234 -0.13422272 3.94863672] [ 0.17452917 0.98442321 0.02122535 0.20769808] [ 0.12851978 -0.04414657 0.99072385 -0.13292448] [ 0. 0. 0. 1. ]] SLAMing on 38.102414037 meters Centerline goodness : 0.756179 Centerline is valid? [False, False] Translation: X:3.95, Y:0.21, Z:-0.13 [[ 0.97618364 -0.17052928 -0.13410917 3.94805884] [ 0.17482492 0.98437881 0.02084738 0.20814582] [ 0.12845913 -0.0437965 0.99074725 -0.13247898] [ 0. 0. 0. 1. ]] SLAMing on 38.132414037 meters Centerline goodness : 0.758461 Centerline is valid? [False, False] Translation: X:3.95, Y:0.21, Z:-0.13 [[ 0.97612879 -0.17092702 -0.13400199 3.94766618] [ 0.17518113 0.98432198 0.02053794 0.20858015] [ 0.12839062 -0.04352229 0.99076822 -0.13235061] [ 0. 0. 0. 1. ]] SLAMing on 38.162414037 meters Centerline goodness : 0.756118 Centerline is valid? [False, False] Translation: X:3.95, Y:0.21, Z:-0.13 [[ 0.97609064 -0.17122495 -0.13389948 3.94751443] [ 0.17544597 0.98427979 0.02029814 0.20840725] [ 0.128319 -0.04330495 0.99078702 -0.13225863] [ 0. 0. 0. 1. ]] SLAMing on 38.192414037 meters Centerline goodness : 0.758128 Centerline is valid? [False, False] Translation: X:3.95, Y:0.21, Z:-0.13 [[ 0.97539792 -0.17553862 -0.13336072 3.94729354] [ 0.17922531 0.98367685 0.01606707 0.2088466 ] [ 0.12836346 -0.03957341 0.99093732 -0.13124611] [ 0. 0. 0. 1. ]] SLAMing on 38.222414037 meters Centerline goodness : 0.758681 Centerline is valid? [False, False] Translation: X:3.95, Y:0.21, Z:-0.13 [[ 0.97527834 -0.17646977 -0.13300598 3.9454581 ] [ 0.18006672 0.98353349 0.01542222 0.20836604] [ 0.12809428 -0.03899091 0.99099524 -0.12990097] [ 0. 0. 0. 1. ]] SLAMing on 38.252414037 meters Centerline goodness : 0.761175 Centerline is valid? [False, False] Translation: X:3.94, Y:0.21, Z:-0.13 [[ 0.97517011 -0.17723757 -0.13277842 3.94417867] [ 0.18077247 0.98341115 0.01496106 0.20784181] [ 0.12792411 -0.03859226 0.99103282 -0.128944 ] [ 0. 0. 0. 1. ]] SLAMing on 38.282414037 meters Centerline goodness : 0.760965 Centerline is valid? [False, False] Translation: X:3.95, Y:0.21, Z:-0.13 [[ 0.9744397 -0.18143689 -0.13246859 3.94531904] [ 0.18449398 0.98277122 0.0110766 0.20847249] [ 0.12817661 -0.03523313 0.99112531 -0.12910583] [ 0. 0. 0. 1. ]] SLAMing on 38.312414036999996 meters Centerline goodness : 0.758950 Centerline is valid? [False, False] Translation: X:3.95, Y:0.21, Z:-0.13 [[ 0.97437567 -0.18183667 -0.13239141 3.94548219] [ 0.18489775 0.98269505 0.01110251 0.20739104] [ 0.12808153 -0.03529689 0.99113533 -0.12939448] [ 0. 0. 0. 1. ]] SLAMing on 38.342414037 meters Centerline goodness : 0.757777 Centerline is valid? [False, False] Translation: X:3.95, Y:0.21, Z:-0.13 [[ 0.97432679 -0.18205256 -0.1324544 3.94624238] [ 0.18514693 0.98264555 0.0113283 0.20630504] [ 0.12809338 -0.03556099 0.99112436 -0.13012314] [ 0. 0. 0. 1. ]] SLAMing on 38.372414037 meters Centerline goodness : 0.757638 Centerline is valid? [False, False] Translation: X:3.95, Y:0.21, Z:-0.13 [[ 0.97362619 -0.18615932 -0.13189676 3.94769289] [ 0.18883466 0.98197661 0.00796285 0.20505356] [ 0.12803717 -0.03265952 0.99123148 -0.13120817] [ 0. 0. 0. 1. ]] SLAMing on 38.402414037 meters Centerline goodness : 0.758528 Centerline is valid? [False, False] Translation: X:3.95, Y:0.20, Z:-0.13 [[ 0.97351308 -0.18699541 -0.13154849 3.94655203] [ 0.18963755 0.98182366 0.00773953 0.20329251] [ 0.12771016 -0.03248106 0.99127952 -0.13064123] [ 0. 0. 0. 1. ]] SLAMing on 38.432414037 meters Centerline goodness : 0.760725 Centerline is valid? [False, False] Translation: X:3.95, Y:0.20, Z:-0.13 [[ 0.9733781 -0.18792435 -0.13122318 3.94515325] [ 0.19051285 0.98165723 0.00734426 0.20204838] [ 0.12743602 -0.03214844 0.99132565 -0.1297565 ] [ 0. 0. 0. 1. ]] SLAMing on 38.462414037 meters Centerline goodness : 0.761002 Centerline is valid? [False, False] Translation: X:3.94, Y:0.20, Z:-0.13 [[ 0.97320598 -0.18907484 -0.13084659 3.9432623 ] [ 0.19158897 0.9814518 0.00678415 0.2013452 ] [ 0.12713691 -0.03167114 0.99137942 -0.12854853] [ 0. 0. 0. 1. ]] SLAMing on 38.492414037 meters Centerline goodness : 0.761752 Centerline is valid? [False, False] Translation: X:3.94, Y:0.20, Z:-0.13 [[ 0.97312213 -0.18965814 -0.13062584 3.94206135] [ 0.19211131 0.98135276 0.00632514 0.20172893] [ 0.12699042 -0.03124983 0.99141156 -0.12775009] [ 0. 0. 0. 1. ]] SLAMing on 38.522414037 meters Centerline goodness : 0.760570 Centerline is valid? [False, False] Translation: X:3.94, Y:0.20, Z:-0.13 [[ 0.97295475 -0.19085512 -0.13012827 3.93969106] [ 0.19320616 0.98114237 0.00556989 0.20131097] [ 0.12661132 -0.03056083 0.99148152 -0.12621799] [ 0. 0. 0. 1. ]] SLAMing on 38.552414037 meters Centerline goodness : 0.758048 Centerline is valid? [False, False] Translation: X:3.94, Y:0.20, Z:-0.13 [[ 0.97290901 -0.19111772 -0.13008489 3.93966593] [ 0.19347343 0.98108954 0.00559977 0.19976227] [ 0.12655471 -0.03061603 0.99148705 -0.12603664] [ 0. 0. 0. 1. ]] SLAMing on 38.582414037 meters Centerline goodness : 0.757914 Centerline is valid? [False, False] Translation: X:3.94, Y:0.20, Z:-0.13 [[ 0.97289242 -0.19119735 -0.13009193 3.94014515] [ 0.19358557 0.98106597 0.00584756 0.19751645] [ 0.12651073 -0.03087297 0.99148469 -0.12620271] [ 0. 0. 0. 1. ]] SLAMing on 38.612414037 meters Centerline goodness : 0.758577 Centerline is valid? [False, False] Translation: X:3.94, Y:0.20, Z:-0.13 [[ 0.97286514 -0.1913768 -0.1300321 3.94034279] [ 0.19378151 0.98102649 0.00597979 0.19577776] [ 0.12642054 -0.03101535 0.99149175 -0.12629273] [ 0. 0. 0. 1. ]] SLAMing on 38.642414037 meters Centerline goodness : 0.757831 Centerline is valid? [False, False] Translation: X:3.94, Y:0.20, Z:-0.13 [[ 0.97285638 -0.19143931 -0.13000556 3.94052514] [ 0.19384901 0.9810129 0.00602139 0.19510677] [ 0.1263844 -0.0310594 0.99149498 -0.12639631] [ 0. 0. 0. 1. ]] SLAMing on 38.672414037 meters Centerline goodness : 0.758949 Centerline is valid? [False, False] Translation: X:3.94, Y:0.20, Z:-0.13 [[ 0.9728494 -0.19140763 -0.13010441 3.94073225] [ 0.1938155 0.98101974 0.00598466 0.19545095] [ 0.12648948 -0.03103843 0.99148224 -0.12638023] [ 0. 0. 0. 1. ]] SLAMing on 38.702414037 meters Centerline goodness : 0.758275 Centerline is valid? [False, False] Translation: X:3.94, Y:0.20, Z:-0.13 [[ 0.97284636 -0.19128409 -0.13030868 3.94094151] [ 0.19368159 0.98104694 0.00586109 0.19620822] [ 0.12671779 -0.03094034 0.99145615 -0.12607342] [ 0. 0. 0. 1. ]] SLAMing on 38.732414037 meters Centerline goodness : 0.756503 Centerline is valid? [False, False] Translation: X:3.94, Y:0.20, Z:-0.13 [[ 0.97286177 -0.19110526 -0.13045598 3.94121234] [ 0.19350269 0.98108239 0.00583617 0.19658764] [ 0.12687275 -0.03092137 0.99143692 -0.12595245] [ 0. 0. 0. 1. ]] SLAMing on 38.762414037 meters Centerline goodness : 0.759756 Centerline is valid? [False, False] Translation: X:3.94, Y:0.20, Z:-0.13 [[ 0.97291118 -0.19060802 -0.13081444 3.94181819] [ 0.19304573 0.98117083 0.00609503 0.1954564 ] [ 0.12718955 -0.03118309 0.99138813 -0.12537277] [ 0. 0. 0. 1. ]] SLAMing on 38.792414037 meters Centerline goodness : 0.758693 Centerline is valid? [False, False] Translation: X:3.94, Y:0.19, Z:-0.13 [[ 0.97294925 -0.19026657 -0.13102819 3.94260598] [ 0.19273611 0.98123032 0.00631264 0.19448236] [ 0.12736775 -0.03139574 0.99135855 -0.12544078] [ 0. 0. 0. 1. ]] SLAMing on 38.822414037 meters Centerline goodness : 0.760118 Centerline is valid? [False, False] Translation: X:3.94, Y:0.19, Z:-0.13 [[ 0.97309203 -0.18927311 -0.13140621 3.94460783] [ 0.19183833 0.98140138 0.00702745 0.19382029] [ 0.12763213 -0.03204711 0.9913037 -0.12654721] [ 0. 0. 0. 1. ]] SLAMing on 38.852414037 meters Centerline goodness : 0.760330 Centerline is valid? [False, False] Translation: X:3.95, Y:0.19, Z:-0.13 [[ 0.97312637 -0.18900908 -0.13153189 3.9451453 ] [ 0.19158792 0.98144964 0.00711893 0.19452189] [ 0.12774638 -0.03212754 0.99128638 -0.12689001] [ 0. 0. 0. 1. ]] SLAMing on 38.882414037 meters Centerline goodness : 0.763528 Centerline is valid? [False, False] Translation: X:3.94, Y:0.20, Z:-0.13 [[ 0.97311166 -0.18906154 -0.13156529 3.9449893 ] [ 0.19161174 0.98144666 0.00688482 0.1957006 ] [ 0.12782266 -0.03190915 0.9912836 -0.12671884] [ 0. 0. 0. 1. ]] SLAMing on 38.912414037 meters Centerline goodness : 0.763660 Centerline is valid? [False, False] Translation: X:3.94, Y:0.20, Z:-0.13 [[ 0.97307871 -0.18923285 -0.1315627 3.94447687] [ 0.19173103 0.98142618 0.00647078 0.19677542] [ 0.12789459 -0.03152123 0.99128673 -0.12612875] [ 0. 0. 0. 1. ]] SLAMing on 38.942414037 meters Centerline goodness : 0.762713 Centerline is valid? [False, False] Translation: X:3.94, Y:0.20, Z:-0.13 [[ 0.97304854 -0.18942476 -0.13150973 3.94404583] [ 0.1918719 0.98140117 0.00607551 0.19742223] [ 0.12791295 -0.03114478 0.99129626 -0.12560249] [ 0. 0. 0. 1. ]] SLAMing on 38.972414037 meters Centerline goodness : 0.761288 Centerline is valid? [False, False] Translation: X:3.94, Y:0.20, Z:-0.12 [[ 0.97301137 -0.18978745 -0.13126159 3.94315112] [ 0.19217683 0.98134397 0.00566409 0.19711505] [ 0.12773779 -0.03073666 0.99133159 -0.12492878] [ 0. 0. 0. 1. ]] SLAMing on 39.002414037 meters Centerline goodness : 0.760456 Centerline is valid? [False, False] Translation: X:3.94, Y:0.20, Z:-0.12 [[ 0.97294959 -0.19019754 -0.13112589 3.94249414] [ 0.19252441 0.98127849 0.00518428 0.19699787] [ 0.12768498 -0.03028898 0.99135217 -0.12423782] [ 0. 0. 0. 1. ]] SLAMing on 39.032414037 meters Centerline goodness : 0.761621 Centerline is valid? [False, False] Translation: X:3.94, Y:0.20, Z:-0.12 [[ 0.97289598 -0.19058058 -0.13096737 3.94176269] [ 0.1928529 0.98121607 0.00477283 0.19707609] [ 0.12759768 -0.0299009 0.99137519 -0.12362863] [ 0. 0. 0. 1. ]] SLAMing on 39.062414036999996 meters Centerline goodness : 0.763345 Centerline is valid? [False, False] Translation: X:3.94, Y:0.20, Z:-0.12 [[ 9.72777233e-01 -1.91474573e-01 -1.30544796e-01 3.93982085e+00] [ 1.93612954e-01 9.81070747e-01 3.77013462e-03 1.99290596e-01] [ 1.27351795e-01 -2.89426647e-02 9.91435244e-01 -1.22603885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.092414037 meters Centerline goodness : 0.762502 Centerline is valid? [False, False] Translation: X:3.94, Y:0.20, Z:-0.12 [[ 9.72729496e-01 -1.91743678e-01 -1.30505516e-01 3.93948041e+00] [ 1.93834602e-01 9.81028360e-01 3.39180156e-03 2.00535660e-01] [ 1.27379256e-01 -2.85957902e-02 9.91441781e-01 -1.22390511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.122414037 meters Centerline goodness : 0.760030 Centerline is valid? [False, False] Translation: X:3.94, Y:0.20, Z:-0.12 [[ 9.72688787e-01 -1.91935695e-01 -1.30526675e-01 3.93950165e+00] [ 1.94002294e-01 9.80995905e-01 3.18498676e-03 2.01385257e-01] [ 1.27434821e-01 -2.84204752e-02 9.91439682e-01 -1.22444846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.152414037 meters Centerline goodness : 0.763257 Centerline is valid? [False, False] Translation: X:3.94, Y:0.20, Z:-0.12 [[ 9.72568243e-01 -1.92747446e-01 -1.30228393e-01 3.93867851e+00] [ 1.94768778e-01 9.80845058e-01 2.84537360e-03 2.00710713e-01] [ 1.27185437e-01 -2.81317450e-02 9.91479939e-01 -1.22227631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.182414037 meters Centerline goodness : 0.764847 Centerline is valid? [False, False] Translation: X:3.94, Y:0.20, Z:-0.12 [[ 9.72456240e-01 -1.93470396e-01 -1.29992563e-01 3.93781684e+00] [ 1.95449635e-01 9.80710499e-01 2.52144631e-03 1.99649215e-01] [ 1.26997246e-01 -2.78589952e-02 9.91511763e-01 -1.21695359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.212414037 meters Centerline goodness : 0.762520 Centerline is valid? [False, False] Translation: X:3.94, Y:0.20, Z:-0.12 [[ 9.72388867e-01 -1.93971927e-01 -1.29748920e-01 3.93745492e+00] [ 1.95944045e-01 9.80611925e-01 2.48652490e-03 1.98383390e-01] [ 1.26751022e-01 -2.78413974e-02 9.91543763e-01 -1.21780275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.242414037 meters Centerline goodness : 0.762520 Centerline is valid? [False, False] Translation: X:3.94, Y:0.20, Z:-0.12 [[ 9.72388867e-01 -1.93971927e-01 -1.29748920e-01 3.93745492e+00] [ 1.95944045e-01 9.80611925e-01 2.48652490e-03 1.98383390e-01] [ 1.26751022e-01 -2.78413974e-02 9.91543763e-01 -1.21780275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.272414037 meters Centerline goodness : 0.763930 Centerline is valid? [False, False] Translation: X:3.94, Y:0.20, Z:-0.12 [[ 9.72096528e-01 -1.94786831e-01 -1.30715077e-01 3.93986643e+00] [ 1.96855920e-01 9.80427923e-01 2.97217078e-03 1.97045439e-01] [ 1.27577772e-01 -2.86212736e-02 9.91415521e-01 -1.21767048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.302414037 meters Centerline goodness : 0.765906 Centerline is valid? [False, False] Translation: X:3.94, Y:0.20, Z:-0.12 [[ 9.71293185e-01 -1.99132385e-01 -1.30137778e-01 3.94063318e+00] [ 2.00720059e-01 9.79648194e-01 -9.34824129e-04 1.97699334e-01] [ 1.27675393e-01 -2.52132742e-02 9.91495479e-01 -1.22090061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.332414037 meters Centerline goodness : 0.767342 Centerline is valid? [False, False] Translation: X:3.94, Y:0.20, Z:-0.12 [[ 9.71192842e-01 -1.99781819e-01 -1.29891062e-01 3.93994156e+00] [ 2.01327894e-01 9.79523103e-01 -1.25256908e-03 1.97208711e-01] [ 1.27481537e-01 -2.49342079e-02 9.91527480e-01 -1.21796530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.362414037 meters Centerline goodness : 0.767334 Centerline is valid? [False, False] Translation: X:3.94, Y:0.20, Z:-0.12 [[ 9.71116103e-01 -2.00308586e-01 -1.29653328e-01 3.93944342e+00] [ 2.01846467e-01 9.79416307e-01 -1.30457015e-03 1.96181937e-01] [ 1.27245900e-01 -2.49031771e-02 9.91558527e-01 -1.21796383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.392414037 meters Centerline goodness : 0.770806 Centerline is valid? [False, False] Translation: X:3.94, Y:0.19, Z:-0.12 [[ 9.71038614e-01 -2.00871021e-01 -1.29363224e-01 3.93878279e+00] [ 2.02397340e-01 9.79302520e-01 -1.37492143e-03 1.94693612e-01] [ 1.26961913e-01 -2.48476706e-02 9.91596322e-01 -1.21584879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.422414037 meters Centerline goodness : 0.769628 Centerline is valid? [False, False] Translation: X:3.94, Y:0.19, Z:-0.12 [[ 9.70896212e-01 -2.01843913e-01 -1.28916954e-01 3.93708997e+00] [ 2.03312696e-01 9.79112200e-01 -1.80202679e-03 1.92728368e-01] [ 1.26587890e-01 -2.44608724e-02 9.91653756e-01 -1.20408143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.452414037 meters Centerline goodness : 0.769329 Centerline is valid? [False, False] Translation: X:3.94, Y:0.19, Z:-0.12 [[ 9.70867999e-01 -2.02010592e-01 -1.28868343e-01 3.93659619e+00] [ 2.03457735e-01 9.79081742e-01 -1.97315805e-03 1.92476400e-01] [ 1.26571240e-01 -2.43035852e-02 9.91659749e-01 -1.19827539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.482414037 meters Centerline goodness : 0.769686 Centerline is valid? [False, False] Translation: X:3.94, Y:0.19, Z:-0.12 [[ 9.70872799e-01 -2.01932307e-01 -1.28954843e-01 3.93664651e+00] [ 2.03373483e-01 9.79099127e-01 -2.03143547e-03 1.92434253e-01] [ 1.26669787e-01 -2.42537300e-02 9.91648386e-01 -1.19508239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.512414037 meters Centerline goodness : 0.771166 Centerline is valid? [False, False] Translation: X:3.94, Y:0.19, Z:-0.12 [[ 9.71428335e-01 -1.98223924e-01 -1.30515389e-01 3.93811489e+00] [ 2.00228805e-01 9.79746491e-01 2.28892997e-03 1.91265755e-01] [ 1.27418274e-01 -2.83564718e-02 9.91443641e-01 -1.19119750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.542414037 meters Centerline goodness : 0.770226 Centerline is valid? [False, False] Translation: X:3.94, Y:0.19, Z:-0.12 [[ 9.71440968e-01 -1.98003182e-01 -1.30756204e-01 3.93842904e+00] [ 1.99989751e-01 9.79795722e-01 2.10748394e-03 1.92343839e-01] [ 1.27697081e-01 -2.81971971e-02 9.91412313e-01 -1.18817113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.572414037 meters Centerline goodness : 0.770807 Centerline is valid? [False, False] Translation: X:3.94, Y:0.19, Z:-0.12 [[ 9.71469980e-01 -1.97730534e-01 -1.30953099e-01 3.93872325e+00] [ 1.99702796e-01 9.79854534e-01 1.97102532e-03 1.93074429e-01] [ 1.27925256e-01 -2.80664919e-02 9.91386605e-01 -1.18516608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.602414037 meters Centerline goodness : 0.772300 Centerline is valid? [False, False] Translation: X:3.94, Y:0.19, Z:-0.12 [[ 9.71878164e-01 -1.96031960e-01 -1.30477223e-01 3.93861278e+00] [ 1.98058917e-01 9.80186628e-01 2.61525312e-03 1.91482160e-01] [ 1.27379356e-01 -2.83838849e-02 9.91447858e-01 -1.19609881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.632414037 meters Centerline goodness : 0.772590 Centerline is valid? [False, False] Translation: X:3.94, Y:0.19, Z:-0.12 [[ 9.72072618e-01 -1.95101836e-01 -1.30422768e-01 3.93917227e+00] [ 1.97196435e-01 9.80358721e-01 3.21621713e-03 1.90021114e-01] [ 1.27233608e-01 -2.88453014e-02 9.91453255e-01 -1.20294902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.662414037 meters Centerline goodness : 0.772913 Centerline is valid? [False, False] Translation: X:3.94, Y:0.19, Z:-0.12 [[ 9.72236479e-01 -1.94292785e-01 -1.30409138e-01 3.93951600e+00] [ 1.96444687e-01 9.80507852e-01 3.71974758e-03 1.89060352e-01] [ 1.27144464e-01 -2.92346566e-02 9.91453287e-01 -1.20661963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.692414037 meters Centerline goodness : 0.774502 Centerline is valid? [False, False] Translation: X:3.94, Y:0.19, Z:-0.12 [[ 9.72250662e-01 -1.94195380e-01 -1.30448478e-01 3.93956758e+00] [ 1.96334387e-01 9.80530330e-01 3.61658171e-03 1.89685530e-01] [ 1.27206366e-01 -2.91277459e-02 9.91448493e-01 -1.20543532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.722414037 meters Centerline goodness : 0.773153 Centerline is valid? [False, False] Translation: X:3.94, Y:0.19, Z:-0.12 [[ 9.72293634e-01 -1.93889858e-01 -1.30582590e-01 3.93975103e+00] [ 1.96015446e-01 9.80594557e-01 3.50146708e-03 1.91386687e-01] [ 1.27369678e-01 -2.90006587e-02 9.91431252e-01 -1.20457111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.752414037 meters Centerline goodness : 0.771306 Centerline is valid? [False, False] Translation: X:3.94, Y:0.19, Z:-0.12 [[ 9.72302709e-01 -1.93740922e-01 -1.30735980e-01 3.93997293e+00] [ 1.95873284e-01 9.80622865e-01 3.52884462e-03 1.91296387e-01] [ 1.27519010e-01 -2.90387909e-02 9.91410939e-01 -1.20217629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.782414037 meters Centerline goodness : 0.772593 Centerline is valid? [False, False] Translation: X:3.94, Y:0.19, Z:-0.12 [[ 9.72291161e-01 -1.93781093e-01 -1.30762324e-01 3.94007178e+00] [ 1.95909129e-01 9.80615856e-01 3.48649311e-03 1.90972881e-01] [ 1.27551992e-01 -2.90074194e-02 9.91407615e-01 -1.20131689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.812414036999996 meters Centerline goodness : 0.770219 Centerline is valid? [False, False] Translation: X:3.94, Y:0.19, Z:-0.12 [[ 9.72280715e-01 -1.93830019e-01 -1.30767487e-01 3.94066394e+00] [ 1.95982828e-01 9.80600443e-01 3.67462867e-03 1.89385803e-01] [ 1.27518403e-01 -2.92009526e-02 9.91406254e-01 -1.20533484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.842414037 meters Centerline goodness : 0.768506 Centerline is valid? [False, False] Translation: X:3.94, Y:0.19, Z:-0.12 [[ 9.72261431e-01 -1.94003663e-01 -1.30653311e-01 3.94078350e+00] [ 1.96157811e-01 9.80565359e-01 3.69988501e-03 1.88512869e-01] [ 1.27396319e-01 -2.92259229e-02 9.91421214e-01 -1.20793593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.872414037 meters Centerline goodness : 0.767177 Centerline is valid? [False, False] Translation: X:3.94, Y:0.19, Z:-0.12 [[ 9.72121070e-01 -1.95001857e-01 -1.30210984e-01 3.93923505e+00] [ 1.97087431e-01 9.80380691e-01 3.20088102e-03 1.87611765e-01] [ 1.27032156e-01 -2.87745922e-02 9.91481142e-01 -1.20057288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.902414037 meters Centerline goodness : 0.771344 Centerline is valid? [False, False] Translation: X:3.94, Y:0.19, Z:-0.12 [[ 9.72039271e-01 -1.95553019e-01 -1.29994892e-01 3.93808162e+00] [ 1.97581268e-01 9.80282609e-01 2.76570978e-03 1.87697212e-01] [ 1.26890889e-01 -2.83729341e-02 9.91510806e-01 -1.19218827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.932414037 meters Centerline goodness : 0.770622 Centerline is valid? [False, False] Translation: X:3.94, Y:0.19, Z:-0.12 [[ 9.71965343e-01 -1.96055782e-01 -1.29790227e-01 3.93736276e+00] [ 1.98070657e-01 9.80184097e-01 2.67396399e-03 1.86336211e-01] [ 1.26694071e-01 -2.83066360e-02 9.91537870e-01 -1.18760129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.962414037 meters Centerline goodness : 0.770790 Centerline is valid? [False, False] Translation: X:3.94, Y:0.19, Z:-0.12 [[ 9.71916525e-01 -1.96420649e-01 -1.29604000e-01 3.93691824e+00] [ 1.98434601e-01 9.80110454e-01 2.68460961e-03 1.85058856e-01] [ 1.26498922e-01 -2.83271345e-02 9.91562200e-01 -1.18570861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.992414037 meters Centerline goodness : 0.770790 Centerline is valid? [False, False] Translation: X:3.94, Y:0.19, Z:-0.12 [[ 9.71916525e-01 -1.96420649e-01 -1.29604000e-01 3.93691824e+00] [ 1.98434601e-01 9.80110454e-01 2.68460961e-03 1.85058856e-01] [ 1.26498922e-01 -2.83271345e-02 9.91562200e-01 -1.18570861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.022414037 meters Centerline goodness : 0.771321 Centerline is valid? [False, False] Translation: X:3.94, Y:0.18, Z:-0.12 [[ 9.71795533e-01 -1.96574654e-01 -1.30276040e-01 3.93856682e+00] [ 1.98681304e-01 9.80058775e-01 3.24609630e-03 1.83758492e-01] [ 1.27040076e-01 -2.90379554e-02 9.91472449e-01 -1.18515274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.052414037 meters Centerline goodness : 0.770778 Centerline is valid? [False, False] Translation: X:3.94, Y:0.18, Z:-0.12 [[ 0.97150708 -0.19714459 -0.1315599 3.94131061] [ 0.19948147 0.97989035 0.00469429 0.18116209] [ 0.12798882 -0.0308043 0.99129711 -0.11820163] [ 0. 0. 0. 1. ]] SLAMing on 40.082414037 meters Centerline goodness : 0.768740 Centerline is valid? [False, False] Translation: X:3.94, Y:0.18, Z:-0.12 [[ 0.97138054 -0.19722821 -0.13236648 3.94339612] [ 0.19971354 0.97983811 0.00563689 0.17904049] [ 0.12858597 -0.03191094 0.99118482 -0.11825478] [ 0. 0. 0. 1. ]] SLAMing on 40.112414037 meters Centerline goodness : 0.768809 Centerline is valid? [False, False] Translation: X:3.95, Y:0.18, Z:-0.12 [[ 0.9712596 -0.19733286 -0.13309593 3.94567005] [ 0.19996532 0.97978091 0.00657624 0.17668237] [ 0.12910714 -0.03300181 0.99108134 -0.11860042] [ 0. 0. 0. 1. ]] SLAMing on 40.142414037 meters Centerline goodness : 0.768211 Centerline is valid? [False, False] Translation: X:3.95, Y:0.17, Z:-0.12 [[ 9.70792737e-01 -2.00142486e-01 -1.32304370e-01 3.94665001e+00] [ 2.02429775e-01 9.79288893e-01 3.93064440e-03 1.74672135e-01] [ 1.28777511e-01 -3.05981849e-02 9.91201344e-01 -1.19568175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.172414037 meters Centerline goodness : 0.770030 Centerline is valid? [False, False] Translation: X:3.95, Y:0.17, Z:-0.12 [[ 0.97083956 -0.1996086 -0.13276657 3.94783836] [ 0.20205711 0.9793605 0.00509356 0.17259632] [ 0.12900961 -0.03177146 0.99113425 -0.11963282] [ 0. 0. 0. 1. ]] SLAMing on 40.202414037 meters Centerline goodness : 0.769272 Centerline is valid? [False, False] Translation: X:3.95, Y:0.17, Z:-0.12 [[ 0.97094744 -0.19888467 -0.13306372 3.94831612] [ 0.20147845 0.97947343 0.00618296 0.17110974] [ 0.12910268 -0.0328128 0.9910882 -0.11937254] [ 0. 0. 0. 1. ]] SLAMing on 40.232414037 meters Centerline goodness : 0.768451 Centerline is valid? [False, False] Translation: X:3.95, Y:0.17, Z:-0.12 [[ 0.97152028 -0.19529013 -0.13420178 3.9490667 ] [ 0.19857604 0.98001895 0.0114203 0.16652411] [ 0.12929001 -0.03774431 0.99088822 -0.11851691] [ 0. 0. 0. 1. ]] SLAMing on 40.262414037 meters Centerline goodness : 0.769759 Centerline is valid? [False, False] Translation: X:3.95, Y:0.17, Z:-0.12 [[ 0.97149551 -0.19494412 -0.1348824 3.95080115] [ 0.19836937 0.98005007 0.0123066 0.16550265] [ 0.12979241 -0.03871235 0.99078519 -0.1188046 ] [ 0. 0. 0. 1. ]] SLAMing on 40.292414037 meters Centerline goodness : 0.769585 Centerline is valid? [False, False] Translation: X:3.95, Y:0.16, Z:-0.12 [[ 0.97153484 -0.19461272 -0.13507754 3.95236848] [ 0.19809213 0.98010134 0.0126832 0.1644764 ] [ 0.12992136 -0.03907997 0.99075385 -0.11993012] [ 0. 0. 0. 1. ]] SLAMing on 40.322414037 meters Centerline goodness : 0.768009 Centerline is valid? [False, False] Translation: X:3.95, Y:0.16, Z:-0.12 [[ 0.97152431 -0.19430046 -0.1356018 3.9547066 ] [ 0.19788724 0.98013372 0.01336139 0.16311183] [ 0.13031177 -0.03981478 0.99067332 -0.1211175 ] [ 0. 0. 0. 1. ]] SLAMing on 40.352414037 meters Centerline goodness : 0.768738 Centerline is valid? [False, False] Translation: X:3.96, Y:0.16, Z:-0.12 [[ 0.97169498 -0.19339323 -0.13567578 3.95644433] [ 0.1970847 0.98028369 0.01419552 0.16013897] [ 0.13025544 -0.04053333 0.99065159 -0.12254132] [ 0. 0. 0. 1. ]] SLAMing on 40.382414037 meters Centerline goodness : 0.770481 Centerline is valid? [False, False] Translation: X:3.96, Y:0.16, Z:-0.12 [[ 0.97177668 -0.19272262 -0.13604439 3.95721907] [ 0.196533 0.98038205 0.01502739 0.15939371] [ 0.13047936 -0.04134048 0.99058877 -0.12250758] [ 0. 0. 0. 1. ]] SLAMing on 40.412414037 meters Centerline goodness : 0.769007 Centerline is valid? [False, False] Translation: X:3.96, Y:0.16, Z:-0.12 [[ 0.97190978 -0.19181434 -0.13637683 3.95770918] [ 0.19575285 0.98052349 0.0159532 0.15913745] [ 0.13066064 -0.04220122 0.99052857 -0.12245063] [ 0. 0. 0. 1. ]] SLAMing on 40.442414037 meters Centerline goodness : 0.768934 Centerline is valid? [False, False] Translation: X:3.96, Y:0.16, Z:-0.12 [[ 0.97236664 -0.18854995 -0.13766636 3.95870047] [ 0.19308459 0.98097331 0.02024133 0.15717601] [ 0.13123053 -0.04626325 0.99027181 -0.12161415] [ 0. 0. 0. 1. ]] SLAMing on 40.472414037 meters Centerline goodness : 0.767467 Centerline is valid? [False, False] Translation: X:3.96, Y:0.16, Z:-0.12 [[ 0.97270305 -0.18731371 -0.13697572 3.95824762] [ 0.19179839 0.98122663 0.02019103 0.15685677] [ 0.13062217 -0.0459116 0.99036861 -0.12293907] [ 0. 0. 0. 1. ]] SLAMing on 40.502414037 meters Centerline goodness : 0.768084 Centerline is valid? [False, False] Translation: X:3.96, Y:0.16, Z:-0.12 [[ 0.97285211 -0.18640703 -0.1371539 3.95993213] [ 0.19092471 0.98139189 0.02043808 0.1562878 ] [ 0.13079192 -0.0460693 0.99033888 -0.12446995] [ 0. 0. 0. 1. ]] SLAMing on 40.532414037 meters Centerline goodness : 0.767354 Centerline is valid? [False, False] Translation: X:3.96, Y:0.16, Z:-0.13 [[ 0.97297734 -0.18566661 -0.13726981 3.96105028] [ 0.19021095 0.98152609 0.02064776 0.15590196] [ 0.1309003 -0.04620002 0.99031847 -0.12553833] [ 0. 0. 0. 1. ]] SLAMing on 40.562414036999996 meters Centerline goodness : 0.768076 Centerline is valid? [False, False] Translation: X:3.96, Y:0.16, Z:-0.13 [[ 0.97319058 -0.1846638 -0.13711084 3.96079217] [ 0.18921495 0.98171489 0.02082261 0.15619957] [ 0.13075857 -0.04620779 0.99033683 -0.12591645] [ 0. 0. 0. 1. ]] SLAMing on 40.592414037 meters Centerline goodness : 0.768948 Centerline is valid? [False, False] Translation: X:3.96, Y:0.16, Z:-0.13 [[ 0.97328295 -0.18415537 -0.13713898 3.96082531] [ 0.18875973 0.98179338 0.02124925 0.15606233] [ 0.13072897 -0.04656785 0.99032387 -0.12597289] [ 0. 0. 0. 1. ]] SLAMing on 40.622414037 meters Centerline goodness : 0.766272 Centerline is valid? [False, False] Translation: X:3.96, Y:0.16, Z:-0.13 [[ 0.97324982 -0.18433585 -0.13713161 3.96050676] [ 0.18893497 0.98176073 0.02120029 0.15609675] [ 0.13072245 -0.04654214 0.99032594 -0.12550733] [ 0. 0. 0. 1. ]] SLAMing on 40.652414037 meters Centerline goodness : 0.767398 Centerline is valid? [False, False] Translation: X:3.96, Y:0.16, Z:-0.13 [[ 0.97316665 -0.18425098 -0.13783411 3.96175215] [ 0.18900128 0.98172825 0.0220943 0.15591044] [ 0.13124475 -0.04755226 0.99020887 -0.12526431] [ 0. 0. 0. 1. ]] SLAMing on 40.682414037 meters Centerline goodness : 0.767940 Centerline is valid? [False, False] Translation: X:3.96, Y:0.15, Z:-0.12 [[ 0.97317215 -0.18446014 -0.13751515 3.96090989] [ 0.18922075 0.98168189 0.02227522 0.15435791] [ 0.13088724 -0.04769834 0.99024916 -0.12450203] [ 0. 0. 0. 1. ]] SLAMing on 40.712414037 meters Centerline goodness : 0.770536 Centerline is valid? [False, False] Translation: X:3.96, Y:0.15, Z:-0.12 [[ 0.97313031 -0.18464421 -0.13756421 3.96105151] [ 0.18944897 0.98163093 0.02257903 0.15324235] [ 0.1308682 -0.04803374 0.99023546 -0.12416681] [ 0. 0. 0. 1. ]] SLAMing on 40.742414037 meters Centerline goodness : 0.762128 Centerline is valid? [False, False] Translation: X:3.96, Y:0.15, Z:-0.12 [[ 0.97305286 -0.18459295 -0.13817951 3.96248704] [ 0.18955935 0.98158624 0.02357342 0.15215997] [ 0.13128362 -0.0491314 0.99012662 -0.12414977] [ 0. 0. 0. 1. ]] SLAMing on 40.772414037 meters Centerline goodness : 0.768726 Centerline is valid? [False, False] Translation: X:3.96, Y:0.15, Z:-0.12 [[ 0.97293239 -0.18503655 -0.13843428 3.96285284] [ 0.19007121 0.98147784 0.02396201 0.15114119] [ 0.13143633 -0.04962579 0.9900817 -0.12358727] [ 0. 0. 0. 1. ]] SLAMing on 40.802414037 meters Centerline goodness : 0.769144 Centerline is valid? [False, False] Translation: X:3.96, Y:0.15, Z:-0.12 [[ 0.97267815 -0.18612326 -0.13876365 3.96328111] [ 0.19122447 0.98124636 0.0242649 0.14956009] [ 0.13164506 -0.05013694 0.99002821 -0.12261893] [ 0. 0. 0. 1. ]] SLAMing on 40.832414037 meters Centerline goodness : 0.767313 Centerline is valid? [False, False] Translation: X:3.97, Y:0.15, Z:-0.12 [[ 0.97251583 -0.18641992 -0.13950116 3.96548028] [ 0.19165889 0.98114331 0.0249937 0.14833999] [ 0.13221131 -0.05104341 0.98990643 -0.12301529] [ 0. 0. 0. 1. ]] SLAMing on 40.862414037 meters Centerline goodness : 0.767177 Centerline is valid? [False, False] Translation: X:3.97, Y:0.15, Z:-0.12 [[ 0.97237158 -0.18709622 -0.13960129 3.96673116] [ 0.19232379 0.98101748 0.02482448 0.14704345] [ 0.13230674 -0.05098727 0.98989657 -0.12361714] [ 0. 0. 0. 1. ]] SLAMing on 40.892414037 meters Centerline goodness : 0.768098 Centerline is valid? [False, False] Translation: X:3.97, Y:0.14, Z:-0.12 [[ 0.97229828 -0.18719612 -0.13997737 3.96894955] [ 0.19250853 0.98096897 0.02530502 0.14477499] [ 0.13257646 -0.05155086 0.98983129 -0.12457763] [ 0. 0. 0. 1. ]] SLAMing on 40.922414037 meters Centerline goodness : 0.766725 Centerline is valid? [False, False] Translation: X:3.97, Y:0.14, Z:-0.13 [[ 0.97160483 -0.19089453 -0.13979746 3.97156546] [ 0.19581382 0.98038992 0.0221934 0.14390249] [ 0.13281942 -0.04893749 0.98993137 -0.12609645] [ 0. 0. 0. 1. ]] SLAMing on 40.952414037 meters Centerline goodness : 0.767202 Centerline is valid? [False, False] Translation: X:3.97, Y:0.14, Z:-0.13 [[ 0.97145485 -0.19122826 -0.1403824 3.97310571] [ 0.1962512 0.98029032 0.02272345 0.14281186] [ 0.13327014 -0.04962502 0.98983657 -0.12607521] [ 0. 0. 0. 1. ]] SLAMing on 40.982414037 meters Centerline goodness : 0.765081 Centerline is valid? [False, False] Translation: X:3.97, Y:0.14, Z:-0.13 [[ 0.97138104 -0.1914821 -0.1405471 3.97362054] [ 0.19654226 0.98022742 0.02292058 0.14235087] [ 0.13337924 -0.04988806 0.98980865 -0.1260385 ] [ 0. 0. 0. 1. ]] SLAMing on 41.012414037 meters Centerline goodness : 0.765848 Centerline is valid? [False, False] Translation: X:3.97, Y:0.14, Z:-0.13 [[ 0.97130615 -0.19142297 -0.14114395 3.97497144] [ 0.19659308 0.9802032 0.0235126 0.14188999] [ 0.1338489 -0.05058586 0.98970983 -0.12608452] [ 0. 0. 0. 1. ]] SLAMing on 41.042414037 meters Centerline goodness : 0.764985 Centerline is valid? [False, False] Translation: X:3.98, Y:0.14, Z:-0.13 [[ 0.97128458 -0.19134713 -0.14139501 3.97574759] [ 0.1966207 0.98018128 0.02418597 0.14037948] [ 0.13396483 -0.05129265 0.98965776 -0.12596911] [ 0. 0. 0. 1. ]] SLAMing on 41.072414037 meters Centerline goodness : 0.763576 Centerline is valid? [False, False] Translation: X:3.98, Y:0.14, Z:-0.13 [[ 0.97125916 -0.19107258 -0.14193981 3.97638473] [ 0.19649775 0.98018268 0.02511072 0.13955205] [ 0.13432897 -0.05227987 0.98955674 -0.12538526] [ 0. 0. 0. 1. ]] SLAMing on 41.102414037 meters Centerline goodness : 0.768793 Centerline is valid? [False, False] Translation: X:3.98, Y:0.14, Z:-0.12 [[ 0.97125475 -0.19123652 -0.14174907 3.97527364] [ 0.19664761 0.98015365 0.02507069 0.13924815] [ 0.13414144 -0.05222464 0.9895851 -0.12440421] [ 0. 0. 0. 1. ]] SLAMing on 41.132414037 meters Centerline goodness : 0.768793 Centerline is valid? [False, False] Translation: X:3.98, Y:0.14, Z:-0.12 [[ 0.97125475 -0.19123652 -0.14174907 3.97527364] [ 0.19664761 0.98015365 0.02507069 0.13924815] [ 0.13414144 -0.05222464 0.9895851 -0.12440421] [ 0. 0. 0. 1. ]] SLAMing on 41.162414037 meters Centerline goodness : 0.769316 Centerline is valid? [False, False] Translation: X:3.98, Y:0.14, Z:-0.12 [[ 0.97120939 -0.19106682 -0.14228769 3.97535021] [ 0.19660663 0.98014249 0.0258174 0.13909708] [ 0.13452936 -0.05304881 0.98948859 -0.12322308] [ 0. 0. 0. 1. ]] SLAMing on 41.192414037 meters Centerline goodness : 0.769161 Centerline is valid? [False, False] Translation: X:3.98, Y:0.14, Z:-0.12 [[ 0.97112372 -0.19103915 -0.14290825 3.97694808] [ 0.1966557 0.98012422 0.02613504 0.13929701] [ 0.13507502 -0.05348408 0.98939082 -0.12362905] [ 0. 0. 0. 1. ]] SLAMing on 41.222414037 meters Centerline goodness : 0.770325 Centerline is valid? [False, False] Translation: X:3.98, Y:0.14, Z:-0.12 [[ 0.97105688 -0.19108485 -0.14330082 3.97871326] [ 0.19672911 0.98010835 0.02617777 0.13937457] [ 0.13544815 -0.05361154 0.98933291 -0.12465843] [ 0. 0. 0. 1. ]] SLAMing on 41.252414037 meters Centerline goodness : 0.763930 Centerline is valid? [False, False] Translation: X:3.98, Y:0.14, Z:-0.13 [[ 0.97104482 -0.19095972 -0.1435491 3.98088594] [ 0.19659098 0.980141 0.02599254 0.1390499 ] [ 0.13573483 -0.05346038 0.9893018 -0.12639862] [ 0. 0. 0. 1. ]] SLAMing on 41.282414037 meters Centerline goodness : 0.764459 Centerline is valid? [False, False] Translation: X:3.98, Y:0.14, Z:-0.13 [[ 0.97112171 -0.19076045 -0.14329366 3.98084291] [ 0.19636657 0.98018779 0.02592418 0.13857859] [ 0.13550938 -0.05331362 0.98934062 -0.12677123] [ 0. 0. 0. 1. ]] SLAMing on 41.312414036999996 meters Centerline goodness : 0.764387 Centerline is valid? [False, False] Translation: X:3.98, Y:0.14, Z:-0.13 [[ 0.97124047 -0.18997131 -0.14353692 3.98150356] [ 0.19568113 0.98030574 0.02663754 0.138033 ] [ 0.1356497 -0.05395892 0.98928641 -0.12701633] [ 0. 0. 0. 1. ]] SLAMing on 41.342414037 meters Centerline goodness : 0.767817 Centerline is valid? [False, False] Translation: X:3.98, Y:0.14, Z:-0.13 [[ 0.97138118 -0.18918056 -0.14362907 3.98162935] [ 0.19495612 0.98043658 0.02713353 0.13797305] [ 0.13568605 -0.05435836 0.98925955 -0.12709956] [ 0. 0. 0. 1. ]] SLAMing on 41.372414037 meters Centerline goodness : 0.764234 Centerline is valid? [False, False] Translation: X:3.98, Y:0.14, Z:-0.13 [[ 0.97200011 -0.18498347 -0.14490304 3.98274844] [ 0.19140617 0.9810024 0.03159074 0.13784135] [ 0.13630647 -0.05844154 0.98894142 -0.12721245] [ 0. 0. 0. 1. ]] SLAMing on 41.402414037 meters Centerline goodness : 0.768805 Centerline is valid? [False, False] Translation: X:3.98, Y:0.14, Z:-0.13 [[ 0.97215519 -0.18440985 -0.14459357 3.98236811] [ 0.19076002 0.9811396 0.03123606 0.13892862] [ 0.13610624 -0.05794897 0.98899798 -0.12775437] [ 0. 0. 0. 1. ]] SLAMing on 41.432414037 meters Centerline goodness : 0.764194 Centerline is valid? [False, False] Translation: X:3.98, Y:0.14, Z:-0.13 [[ 0.9722786 -0.183934 -0.14436968 3.98223707] [ 0.19025734 0.98123934 0.03116899 0.13918035] [ 0.13592817 -0.05777234 0.9890328 -0.12828477] [ 0. 0. 0. 1. ]] SLAMing on 41.462414037 meters Centerline goodness : 0.766239 Centerline is valid? [False, False] Translation: X:3.98, Y:0.14, Z:-0.13 [[ 0.97240268 -0.18321398 -0.1444495 3.98288748] [ 0.18961417 0.98134546 0.03174199 0.13831359] [ 0.13593928 -0.05825567 0.98900293 -0.12886166] [ 0. 0. 0. 1. ]] SLAMing on 41.492414037 meters Centerline goodness : 0.765253 Centerline is valid? [False, False] Translation: X:3.98, Y:0.14, Z:-0.13 [[ 0.97243538 -0.18321662 -0.14422587 3.98254318] [ 0.18964236 0.98133082 0.03202489 0.13656593] [ 0.1356658 -0.05849347 0.98902644 -0.12847193] [ 0. 0. 0. 1. ]] SLAMing on 41.522414037 meters Centerline goodness : 0.766654 Centerline is valid? [False, False] Translation: X:3.98, Y:0.14, Z:-0.13 [[ 0.97234857 -0.18365718 -0.1442508 3.98242135] [ 0.19008624 0.98124546 0.03200891 0.13604272] [ 0.13566678 -0.05854391 0.98902332 -0.12797331] [ 0. 0. 0. 1. ]] SLAMing on 41.552414037 meters Centerline goodness : 0.767796 Centerline is valid? [False, False] Translation: X:3.98, Y:0.13, Z:-0.13 [[ 0.97225785 -0.1838288 -0.14464314 3.98358305] [ 0.19035008 0.98117825 0.03249748 0.13491063] [ 0.13594673 -0.05912876 0.98895009 -0.12800985] [ 0. 0. 0. 1. ]] SLAMing on 41.582414037 meters Centerline goodness : 0.761687 Centerline is valid? [False, False] Translation: X:3.99, Y:0.13, Z:-0.13 [[ 0.97147378 -0.18792989 -0.14464111 3.9861254 ] [ 0.1940359 0.98055959 0.02920564 0.13466354] [ 0.13634062 -0.05643808 0.98905307 -0.12896577] [ 0. 0. 0. 1. ]] SLAMing on 41.612414037 meters Centerline goodness : 0.761416 Centerline is valid? [False, False] Translation: X:3.99, Y:0.13, Z:-0.13 [[ 0.97121905 -0.18873261 -0.14530504 3.98804272] [ 0.19493489 0.98037035 0.02956969 0.13332174] [ 0.13687199 -0.05704367 0.98894493 -0.12890015] [ 0. 0. 0. 1. ]] SLAMing on 41.642414037 meters Centerline goodness : 0.767569 Centerline is valid? [False, False] Translation: X:3.99, Y:0.13, Z:-0.13 [[ 0.97099576 -0.18949906 -0.145799 3.98957875] [ 0.19579611 0.98018586 0.02999263 0.13184428] [ 0.13722654 -0.05766959 0.98885949 -0.12887127] [ 0. 0. 0. 1. ]] SLAMing on 41.672414037 meters Centerline goodness : 0.765293 Centerline is valid? [False, False] Translation: X:3.99, Y:0.13, Z:-0.13 [[ 0.97018226 -0.19367964 -0.14572092 3.99175754] [ 0.19963143 0.97949202 0.02725217 0.13019806] [ 0.13745429 -0.05553005 0.98895032 -0.12925128] [ 0. 0. 0. 1. ]] SLAMing on 41.702414037 meters Centerline goodness : 0.763872 Centerline is valid? [False, False] Translation: X:3.99, Y:0.13, Z:-0.13 [[ 0.96999138 -0.19424204 -0.14624211 3.99378017] [ 0.20031235 0.97933614 0.0278511 0.12781038] [ 0.13781033 -0.05630943 0.98885669 -0.12955034] [ 0. 0. 0. 1. ]] SLAMing on 41.732414037 meters Centerline goodness : 0.765314 Centerline is valid? [False, False] Translation: X:3.99, Y:0.13, Z:-0.13 [[ 0.96983286 -0.19492885 -0.14637953 3.99466017] [ 0.20105838 0.97917409 0.02817155 0.12567519] [ 0.13783959 -0.05675253 0.98882728 -0.12944003] [ 0. 0. 0. 1. ]] SLAMing on 41.762414037 meters Centerline goodness : 0.763040 Centerline is valid? [False, False] Translation: X:4.00, Y:0.12, Z:-0.13 [[ 0.96972265 -0.19511983 -0.14685445 3.99612782] [ 0.20139685 0.97907985 0.02901645 0.12328419] [ 0.13812055 -0.05771394 0.98873243 -0.12931326] [ 0. 0. 0. 1. ]] SLAMing on 41.792414037 meters Centerline goodness : 0.763746 Centerline is valid? [False, False] Translation: X:4.00, Y:0.12, Z:-0.13 [[ 0.96962703 -0.19572162 -0.14668491 3.99599982] [ 0.2020883 0.97891718 0.02968962 0.11931584] [ 0.13778148 -0.05843116 0.98873761 -0.12835172] [ 0. 0. 0. 1. ]] SLAMing on 41.822414037 meters Centerline goodness : 0.765554 Centerline is valid? [False, False] Translation: X:4.00, Y:0.12, Z:-0.13 [[ 0.96968906 -0.1951735 -0.14700488 3.99638671] [ 0.20172038 0.97895619 0.03088153 0.11730591] [ 0.13788408 -0.05959936 0.98865358 -0.12776484] [ 0. 0. 0. 1. ]] SLAMing on 41.852414037 meters Centerline goodness : 0.766654 Centerline is valid? [False, False] Translation: X:4.00, Y:0.12, Z:-0.13 [[ 0.96978702 -0.19457068 -0.14715768 3.99624987] [ 0.20124046 0.97902761 0.03173683 0.11639157] [ 0.13789637 -0.06039205 0.98860376 -0.12721688] [ 0. 0. 0. 1. ]] SLAMing on 41.882414037 meters Centerline goodness : 0.765842 Centerline is valid? [False, False] Translation: X:4.00, Y:0.12, Z:-0.13 [[ 0.96992877 -0.19361998 -0.14747706 3.99627916] [ 0.20042948 0.97916357 0.03266063 0.11593687] [ 0.13808041 -0.06123724 0.98852607 -0.12667463] [ 0. 0. 0. 1. ]] SLAMing on 41.912414037 meters Centerline goodness : 0.762619 Centerline is valid? [False, False] Translation: X:4.00, Y:0.12, Z:-0.13 [[ 0.97010747 -0.19249651 -0.14777205 3.9976129 ] [ 0.19944001 0.97933509 0.03356289 0.11500771] [ 0.13825762 -0.06203128 0.9884518 -0.12754986] [ 0. 0. 0. 1. ]] SLAMing on 41.942414037 meters Centerline goodness : 0.761775 Centerline is valid? [False, False] Translation: X:4.00, Y:0.11, Z:-0.13 [[ 0.97013573 -0.19250587 -0.14757422 3.99857351] [ 0.19938743 0.97935787 0.03320856 0.11403204] [ 0.13813514 -0.06164126 0.98849332 -0.12874246] [ 0. 0. 0. 1. ]] SLAMing on 41.972414037 meters Centerline goodness : 0.765027 Centerline is valid? [False, False] Translation: X:4.00, Y:0.11, Z:-0.13 [[ 0.97028296 -0.1914832 -0.14793635 4.0007258 ] [ 0.19854974 0.97948565 0.03443635 0.11191526] [ 0.13830755 -0.06278573 0.98839717 -0.13011898] [ 0. 0. 0. 1. ]] SLAMing on 42.002414037 meters Centerline goodness : 0.763526 Centerline is valid? [False, False] Translation: X:4.00, Y:0.11, Z:-0.13 [[ 0.97038291 -0.19110524 -0.1477694 4.00016037] [ 0.19814708 0.97956981 0.03436174 0.11202489] [ 0.13818373 -0.06262412 0.98842474 -0.12990021] [ 0. 0. 0. 1. ]] SLAMing on 42.032414037 meters Centerline goodness : 0.767023 Centerline is valid? [False, False] Translation: X:4.00, Y:0.11, Z:-0.13 [[ 0.9705115 -0.19039786 -0.14783801 4.000137 ] [ 0.19751579 0.97967747 0.03492237 0.11197158] [ 0.13818442 -0.06309291 0.98839484 -0.12985652] [ 0. 0. 0. 1. ]] SLAMing on 42.062414036999996 meters Centerline goodness : 0.765339 Centerline is valid? [False, False] Translation: X:4.00, Y:0.11, Z:-0.13 [[ 0.97063438 -0.18998866 -0.1475575 3.99927824] [ 0.19709354 0.97976024 0.03498592 0.11195095] [ 0.13792404 -0.06304117 0.9884345 -0.12962112] [ 0. 0. 0. 1. ]] SLAMing on 42.092414037 meters Centerline goodness : 0.763464 Centerline is valid? [False, False] Translation: X:4.00, Y:0.11, Z:-0.13 [[ 0.97082548 -0.18950489 -0.146921 3.99909405] [ 0.19660427 0.97984823 0.03527337 0.10943922] [ 0.1372758 -0.06312958 0.9885191 -0.13043669] [ 0. 0. 0. 1. ]] SLAMing on 42.122414037 meters Centerline goodness : 0.764543 Centerline is valid? [False, False] Translation: X:4.00, Y:0.11, Z:-0.13 [[ 0.97075864 -0.19064866 -0.14587921 3.99948181] [ 0.19734395 0.97978695 0.03275502 0.10828237] [ 0.13668585 -0.0605856 0.98876001 -0.13206701] [ 0. 0. 0. 1. ]] SLAMing on 42.152414037 meters Centerline goodness : 0.766662 Centerline is valid? [False, False] Translation: X:4.00, Y:0.11, Z:-0.13 [[ 0.97069882 -0.19064195 -0.1462855 4.00131588] [ 0.19745923 0.9797401 0.03345428 0.10640928] [ 0.13694398 -0.06135945 0.98867657 -0.13273207] [ 0. 0. 0. 1. ]] SLAMing on 42.182414037 meters Centerline goodness : 0.766880 Centerline is valid? [False, False] Translation: X:4.00, Y:0.11, Z:-0.13 [[ 0.97062462 -0.19087445 -0.14647453 4.00216348] [ 0.19773913 0.97967539 0.03369507 0.10539483] [ 0.13706596 -0.06166901 0.98864041 -0.13287965] [ 0. 0. 0. 1. ]] SLAMing on 42.212414037 meters Centerline goodness : 0.766772 Centerline is valid? [False, False] Translation: X:4.00, Y:0.11, Z:-0.13 [[ 0.97041369 -0.19128915 -0.14732862 4.00315103] [ 0.19824825 0.97956342 0.03395782 0.10716608] [ 0.13782197 -0.06216077 0.9885045 -0.13210029] [ 0. 0. 0. 1. ]] SLAMing on 42.242414036999996 meters Centerline goodness : 0.764118 Centerline is valid? [False, False] Translation: X:4.00, Y:0.11, Z:-0.13 [[ 0.97034814 -0.19118876 -0.14788961 4.00365826] [ 0.19824857 0.97954689 0.03442954 0.10815711] [ 0.13828227 -0.06272754 0.98840441 -0.13157937] [ 0. 0. 0. 1. ]] SLAMing on 42.272414037 meters Centerline goodness : 0.763391 Centerline is valid? [False, False] Translation: X:4.00, Y:0.11, Z:-0.13 [[ 0.97025819 -0.19146499 -0.14812224 4.00382934] [ 0.19851853 0.97949817 0.0342597 0.10884275] [ 0.13852593 -0.06264576 0.98837547 -0.13117996] [ 0. 0. 0. 1. ]] SLAMing on 42.302414037 meters Centerline goodness : 0.763795 Centerline is valid? [False, False] Translation: X:4.01, Y:0.11, Z:-0.13 [[ 0.9701438 -0.19179832 -0.14843994 4.00620552] [ 0.19891331 0.97940859 0.03452978 0.10661017] [ 0.1387606 -0.06302553 0.98831841 -0.13246662] [ 0. 0. 0. 1. ]] SLAMing on 42.332414037 meters Centerline goodness : 0.764706 Centerline is valid? [False, False] Translation: X:4.01, Y:0.11, Z:-0.13 [[ 0.97003392 -0.19205523 -0.14882535 4.00818782] [ 0.19922244 0.9793395 0.03470682 0.10520312] [ 0.13908492 -0.06331615 0.98825424 -0.13333497] [ 0. 0. 0. 1. ]] SLAMing on 42.362414037 meters Centerline goodness : 0.763970 Centerline is valid? [False, False] Translation: X:4.01, Y:0.10, Z:-0.13 [[ 0.96994443 -0.19242767 -0.14892747 4.00869042] [ 0.19959114 0.97926793 0.03460788 0.10476091] [ 0.13918038 -0.06329232 0.98824233 -0.13329754] [ 0. 0. 0. 1. ]] SLAMing on 42.392414037 meters Centerline goodness : 0.764663 Centerline is valid? [False, False] Translation: X:4.01, Y:0.11, Z:-0.13 [[ 0.96982162 -0.19268376 -0.14939544 4.0091668 ] [ 0.19992128 0.97919021 0.03490015 0.10573781] [ 0.13956186 -0.06371425 0.98816141 -0.13282534] [ 0. 0. 0. 1. ]] SLAMing on 42.422414037 meters Centerline goodness : 0.764081 Centerline is valid? [False, False] Translation: X:4.01, Y:0.11, Z:-0.13 [[ 0.96960545 -0.19341536 -0.14985248 4.00782337] [ 0.20062073 0.97906439 0.03441297 0.10989592] [ 0.14005923 -0.06343051 0.9881093 -0.13079605] [ 0. 0. 0. 1. ]] SLAMing on 42.452414037 meters Centerline goodness : 0.763970 Centerline is valid? [False, False] Translation: X:4.01, Y:0.11, Z:-0.13 [[ 0.96955634 -0.19332724 -0.15028333 4.00884686] [ 0.20056868 0.97907283 0.03447616 0.11086275] [ 0.14047314 -0.0635687 0.98804166 -0.13110976] [ 0. 0. 0. 1. ]] SLAMing on 42.482414037 meters Centerline goodness : 0.763486 Centerline is valid? [False, False] Translation: X:4.01, Y:0.11, Z:-0.13 [[ 0.96948139 -0.19380541 -0.15015094 4.00907047] [ 0.2009168 0.9790323 0.03358852 0.11160718] [ 0.14049298 -0.06273129 0.98809236 -0.13158442] [ 0. 0. 0. 1. ]] SLAMing on 42.512414037 meters Centerline goodness : 0.762713 Centerline is valid? [False, False] Translation: X:4.01, Y:0.11, Z:-0.13 [[ 0.96947558 -0.1934027 -0.15070668 4.01082972] [ 0.20065748 0.97905831 0.03437147 0.11100446] [ 0.14090309 -0.06356273 0.98798082 -0.13216716] [ 0. 0. 0. 1. ]] SLAMing on 42.542414037 meters Centerline goodness : 0.763903 Centerline is valid? [False, False] Translation: X:4.01, Y:0.11, Z:-0.13 [[ 0.96957631 -0.1929134 -0.15068575 4.01111268] [ 0.20016233 0.97915958 0.03437387 0.11129764] [ 0.14091421 -0.0634897 0.98798393 -0.13270451] [ 0. 0. 0. 1. ]] SLAMing on 42.572414037 meters Centerline goodness : 0.762502 Centerline is valid? [False, False] Translation: X:4.01, Y:0.11, Z:-0.13 [[ 0.96967786 -0.19236868 -0.1507287 4.01066223] [ 0.19962225 0.97926805 0.03442461 0.11253162] [ 0.14098158 -0.06346958 0.98797561 -0.13247066] [ 0. 0. 0. 1. ]] SLAMing on 42.602414037 meters Centerline goodness : 0.762731 Centerline is valid? [False, False] Translation: X:4.01, Y:0.12, Z:-0.13 [[ 0.96965546 -0.19246661 -0.15074778 4.00969729] [ 0.19959081 0.97930641 0.03350328 0.11570601] [ 0.14118 -0.06257451 0.98800437 -0.13179323] [ 0. 0. 0. 1. ]] SLAMing on 42.632414037 meters Centerline goodness : 0.762189 Centerline is valid? [False, False] Translation: X:4.01, Y:0.12, Z:-0.13 [[ 0.97006591 -0.18936817 -0.15202575 4.01005641] [ 0.1970479 0.97969507 0.03700943 0.11678326] [ 0.14193047 -0.06585795 0.98768339 -0.13086192] [ 0. 0. 0. 1. ]] SLAMing on 42.662414037 meters Centerline goodness : 0.764637 Centerline is valid? [False, False] Translation: X:4.01, Y:0.12, Z:-0.13 [[ 0.97063456 -0.18601112 -0.1525399 4.00901794] [ 0.19410645 0.98016931 0.03988489 0.11835292] [ 0.1420959 -0.06832263 0.98749216 -0.13034396] [ 0. 0. 0. 1. ]] SLAMing on 42.692414037 meters Centerline goodness : 0.764231 Centerline is valid? [False, False] Translation: X:4.01, Y:0.12, Z:-0.13 [[ 0.97069029 -0.18601457 -0.15218062 4.00867584] [ 0.19398822 0.98021987 0.03921197 0.11896674] [ 0.14187647 -0.06758393 0.98757454 -0.13084671] [ 0. 0. 0. 1. ]] SLAMing on 42.722414037 meters Centerline goodness : 0.762884 Centerline is valid? [False, False] Translation: X:4.01, Y:0.12, Z:-0.13 [[ 0.97066679 -0.18632831 -0.15194655 4.00947776] [ 0.19412019 0.98024005 0.03803676 0.12042326] [ 0.14185677 -0.06641691 0.98765655 -0.13245097] [ 0. 0. 0. 1. ]] SLAMing on 42.752414037 meters Centerline goodness : 0.762047 Centerline is valid? [False, False] Translation: X:4.01, Y:0.12, Z:-0.13 [[ 0.97052175 -0.18692347 -0.15214185 4.01054678] [ 0.19461848 0.98017221 0.03723019 0.12174459] [ 0.14216602 -0.06574233 0.98765721 -0.13310936] [ 0. 0. 0. 1. ]] SLAMing on 42.782414037 meters Centerline goodness : 0.762932 Centerline is valid? [False, False] Translation: X:4.01, Y:0.12, Z:-0.13 [[ 0.97034859 -0.1877457 -0.15223391 4.01091683] [ 0.19530747 0.98007354 0.0362057 0.12349407] [ 0.14240296 -0.06486457 0.98768111 -0.13334167] [ 0. 0. 0. 1. ]] SLAMing on 42.812414036999996 meters Centerline goodness : 0.762328 Centerline is valid? [False, False] Translation: X:4.01, Y:0.12, Z:-0.13 [[ 0.97022142 -0.18794004 -0.15280356 4.01222388] [ 0.19555526 0.98002063 0.03630012 0.12414376] [ 0.1429284 -0.0651007 0.98758968 -0.13354897] [ 0. 0. 0. 1. ]] SLAMing on 42.842414037 meters Centerline goodness : 0.761910 Centerline is valid? [False, False] Translation: X:4.01, Y:0.12, Z:-0.13 [[ 0.97009303 -0.18850841 -0.15291855 4.01263554] [ 0.19606907 0.97993524 0.03583083 0.12479073] [ 0.14309586 -0.06474183 0.98758902 -0.13362707] [ 0. 0. 0. 1. ]] SLAMing on 42.872414037 meters Centerline goodness : 0.763107 Centerline is valid? [False, False] Translation: X:4.01, Y:0.13, Z:-0.13 [[ 0.96990574 -0.18946557 -0.15292366 4.01230935] [ 0.1969048 0.97980041 0.03492363 0.12689566] [ 0.14321784 -0.06398403 0.98762072 -0.13331103] [ 0. 0. 0. 1. ]] SLAMing on 42.902414037 meters Centerline goodness : 0.762079 Centerline is valid? [False, False] Translation: X:4.01, Y:0.13, Z:-0.13 [[ 0.96979751 -0.18962653 -0.15340982 4.0128947 ] [ 0.19710062 0.9797607 0.03493298 0.12827938] [ 0.1436807 -0.06411509 0.98754499 -0.13311116] [ 0. 0. 0. 1. ]] SLAMing on 42.932414037 meters Centerline goodness : 0.761612 Centerline is valid? [False, False] Translation: X:4.01, Y:0.13, Z:-0.13 [[ 0.96975939 -0.18948777 -0.15382168 4.01397507] [ 0.19697195 0.97979036 0.03482676 0.12979475] [ 0.14411376 -0.06407213 0.98748468 -0.13369055] [ 0. 0. 0. 1. ]] SLAMing on 42.962414037 meters Centerline goodness : 0.765824 Centerline is valid? [False, False] Translation: X:4.01, Y:0.13, Z:-0.14 [[ 0.96983597 -0.18933411 -0.15352779 4.01436089] [ 0.19662519 0.97990129 0.033645 0.13221959] [ 0.14407193 -0.06281756 0.98757138 -0.13522314] [ 0. 0. 0. 1. ]] SLAMing on 42.992414036999996 meters Centerline goodness : 0.761237 Centerline is valid? [False, False] Translation: X:4.01, Y:0.13, Z:-0.14 [[ 0.96987359 -0.18912701 -0.15354542 4.01492677] [ 0.19636896 0.97996394 0.03331533 0.13321196] [ 0.14416815 -0.06246321 0.98757982 -0.13602326] [ 0. 0. 0. 1. ]] SLAMing on 43.022414037 meters Centerline goodness : 0.761237 Centerline is valid? [False, False] Translation: X:4.01, Y:0.13, Z:-0.14 [[ 0.96987359 -0.18912701 -0.15354542 4.01492677] [ 0.19636896 0.97996394 0.03331533 0.13321196] [ 0.14416815 -0.06246321 0.98757982 -0.13602326] [ 0. 0. 0. 1. ]] SLAMing on 43.052414037 meters Centerline goodness : 0.760682 Centerline is valid? [False, False] Translation: X:4.01, Y:0.13, Z:-0.14 [[ 0.96990288 -0.18928106 -0.15317011 4.01419206] [ 0.19635993 0.97999811 0.03234951 0.13469424] [ 0.14398326 -0.06145236 0.9876702 -0.13622074] [ 0. 0. 0. 1. ]] SLAMing on 43.082414037 meters Centerline goodness : 0.765067 Centerline is valid? [False, False] Translation: X:4.01, Y:0.14, Z:-0.14 [[ 0.9703545 -0.18629457 -0.15396911 4.01385747] [ 0.19382713 0.98039975 0.03531802 0.13598342] [ 0.14437172 -0.06411439 0.98744425 -0.13560466] [ 0. 0. 0. 1. ]] SLAMing on 43.112414037 meters Centerline goodness : 0.763531 Centerline is valid? [False, False] Translation: X:4.01, Y:0.14, Z:-0.14 [[ 0.97028794 -0.18619787 -0.1545046 4.01452964] [ 0.19374676 0.98042001 0.03519656 0.13828988] [ 0.14492588 -0.06408556 0.98736494 -0.13554746] [ 0. 0. 0. 1. ]] SLAMing on 43.142414037 meters Centerline goodness : 0.765684 Centerline is valid? [False, False] Translation: X:4.01, Y:0.14, Z:-0.14 [[ 0.97017608 -0.18677988 -0.15450454 4.01388816] [ 0.19418668 0.98036868 0.03418747 0.14088801] [ 0.14508588 -0.06317059 0.98740041 -0.13514226] [ 0. 0. 0. 1. ]] SLAMing on 43.172414037 meters Centerline goodness : 0.765111 Centerline is valid? [False, False] Translation: X:4.01, Y:0.14, Z:-0.13 [[ 0.97003078 -0.1874699 -0.15458114 4.01335653] [ 0.1947493 0.98028972 0.03323818 0.14320862] [ 0.14530315 -0.06234663 0.98742083 -0.13460084] [ 0. 0. 0. 1. ]] SLAMing on 43.202414037 meters Centerline goodness : 0.764339 Centerline is valid? [False, False] Translation: X:4.01, Y:0.15, Z:-0.13 [[ 0.96985772 -0.18824227 -0.1547283 4.01346007] [ 0.19537427 0.98020268 0.03211866 0.14562319] [ 0.14561901 -0.06138046 0.98743483 -0.13450054] [ 0. 0. 0. 1. ]] SLAMing on 43.232414037 meters Centerline goodness : 0.765020 Centerline is valid? [False, False] Translation: X:4.01, Y:0.15, Z:-0.14 [[ 0.96977061 -0.18878737 -0.15461012 4.01346568] [ 0.19574396 0.98016684 0.03093986 0.14809237] [ 0.14570266 -0.06026856 0.98749098 -0.13508049] [ 0. 0. 0. 1. ]] SLAMing on 43.262414037 meters Centerline goodness : 0.766008 Centerline is valid? [False, False] Translation: X:4.01, Y:0.15, Z:-0.14 [[ 0.96975444 -0.18885644 -0.15462719 4.01346205] [ 0.19577481 0.9801692 0.03066875 0.14866491] [ 0.14576882 -0.06001326 0.98749676 -0.13502112] [ 0. 0. 0. 1. ]] SLAMing on 43.292414037 meters Centerline goodness : 0.763674 Centerline is valid? [False, False] Translation: X:4.01, Y:0.15, Z:-0.13 [[ 0.96977236 -0.18869386 -0.15471326 4.01333666] [ 0.19562032 0.98019907 0.03069959 0.1492842 ] [ 0.14585697 -0.06003667 0.98748232 -0.13483171] [ 0. 0. 0. 1. ]] SLAMing on 43.322414037 meters Centerline goodness : 0.765240 Centerline is valid? [False, False] Translation: X:4.01, Y:0.15, Z:-0.13 [[ 0.96965306 -0.18890131 -0.15520708 4.01316256] [ 0.19578296 0.98018282 0.03017726 0.15261943] [ 0.14643079 -0.05964837 0.98742093 -0.13404717] [ 0. 0. 0. 1. ]] SLAMing on 43.352414037 meters Centerline goodness : 0.767160 Centerline is valid? [False, False] Translation: X:4.01, Y:0.15, Z:-0.13 [[ 0.9699963 -0.1858851 -0.15669687 4.014862 ] [ 0.19341526 0.98052331 0.03412583 0.15293071] [ 0.14730145 -0.06340949 0.987057 -0.13400519] [ 0. 0. 0. 1. ]] SLAMing on 43.382414037 meters Centerline goodness : 0.766015 Centerline is valid? [False, False] Translation: X:4.02, Y:0.16, Z:-0.13 [[ 0.96992105 -0.18514544 -0.15803269 4.01689453] [ 0.19278815 0.98063897 0.03435016 0.15845919] [ 0.14861324 -0.06378377 0.98683623 -0.13479308] [ 0. 0. 0. 1. ]] SLAMing on 43.412414037 meters Centerline goodness : 0.765269 Centerline is valid? [False, False] Translation: X:4.02, Y:0.16, Z:-0.14 [[ 0.96986801 -0.18555203 -0.15788125 4.0170413 ] [ 0.192989 0.98064518 0.03301945 0.16082113] [ 0.14869866 -0.06249385 0.98690589 -0.13557224] [ 0. 0. 0. 1. ]] SLAMing on 43.442414037 meters Centerline goodness : 0.765055 Centerline is valid? [False, False] Translation: X:4.02, Y:0.16, Z:-0.14 [[ 0.96986278 -0.18581815 -0.1576001 4.01715822] [ 0.19306117 0.98067028 0.0318306 0.16254121] [ 0.14863904 -0.06129777 0.98698988 -0.13651607] [ 0. 0. 0. 1. ]] SLAMing on 43.472414037 meters Centerline goodness : 0.764018 Centerline is valid? [False, False] Translation: X:4.02, Y:0.16, Z:-0.14 [[ 0.96994871 -0.18551738 -0.15742551 4.01749273] [ 0.1926846 0.98075752 0.03142193 0.16330478] [ 0.14856694 -0.06081113 0.98703084 -0.13751323] [ 0. 0. 0. 1. ]] SLAMing on 43.502414037 meters Centerline goodness : 0.763278 Centerline is valid? [False, False] Translation: X:4.02, Y:0.17, Z:-0.14 [[ 0.96990133 -0.18586852 -0.15730324 4.01661099] [ 0.19282252 0.98077402 0.03002991 0.16662863] [ 0.14869731 -0.05945766 0.98709366 -0.13723869] [ 0. 0. 0. 1. ]] SLAMing on 43.532414037 meters Centerline goodness : 0.765083 Centerline is valid? [False, False] Translation: X:4.02, Y:0.17, Z:-0.14 [[ 0.9705706 -0.19102005 -0.14664257 4.01991352] [ 0.1973866 0.97986568 0.03002974 0.17200778] [ 0.13795374 -0.05809126 0.98873362 -0.14168845] [ 0. 0. 0. 1. ]] SLAMing on 43.562414036999996 meters Centerline goodness : 0.764338 Centerline is valid? [False, False] Translation: X:4.02, Y:0.17, Z:-0.14 [[ 0.97047951 -0.19126838 -0.14692147 4.01975633] [ 0.19762101 0.9798256 0.02979467 0.17396287] [ 0.13825864 -0.05794988 0.98869933 -0.14118728] [ 0. 0. 0. 1. ]] SLAMing on 43.592414037 meters Centerline goodness : 0.764595 Centerline is valid? [False, False] Translation: X:4.02, Y:0.18, Z:-0.14 [[ 0.97040848 -0.19130394 -0.14734377 4.01979742] [ 0.19768297 0.97981288 0.02980217 0.17524686] [ 0.13866805 -0.05804763 0.98863626 -0.1403559 ] [ 0. 0. 0. 1. ]] SLAMing on 43.622414037 meters Centerline goodness : 0.764873 Centerline is valid? [False, False] Translation: X:4.02, Y:0.18, Z:-0.14 [[ 0.97037623 -0.19115905 -0.14774368 4.02026675] [ 0.19756383 0.97983616 0.02982658 0.17643735] [ 0.13906298 -0.05813181 0.98857583 -0.14014253] [ 0. 0. 0. 1. ]] SLAMing on 43.652414037 meters Centerline goodness : 0.765908 Centerline is valid? [False, False] Translation: X:4.02, Y:0.18, Z:-0.14 [[ 0.97028823 -0.19123265 -0.14822562 4.02108879] [ 0.19766367 0.9798167 0.02980448 0.17754929] [ 0.13953435 -0.05821776 0.98850435 -0.14010948] [ 0. 0. 0. 1. ]] SLAMing on 43.682414037 meters Centerline goodness : 0.766393 Centerline is valid? [False, False] Translation: X:4.02, Y:0.18, Z:-0.14 [[ 0.97021289 -0.19151004 -0.14836057 4.02208749] [ 0.19787465 0.97979057 0.02925848 0.17818567] [ 0.139759 -0.05774375 0.98850042 -0.14077468] [ 0. 0. 0. 1. ]] SLAMing on 43.712414037 meters Centerline goodness : 0.765919 Centerline is valid? [False, False] Translation: X:4.02, Y:0.18, Z:-0.14 [[ 0.97003797 -0.19180544 -0.14912079 4.02376496] [ 0.19818681 0.97973398 0.02903976 0.18031692] [ 0.14052872 -0.05772344 0.98839247 -0.1412682 ] [ 0. 0. 0. 1. ]] SLAMing on 43.742414036999996 meters Centerline goodness : 0.765507 Centerline is valid? [False, False] Translation: X:4.02, Y:0.18, Z:-0.14 [[ 0.96996238 -0.19185858 -0.14954354 4.02477032] [ 0.19820731 0.97974183 0.02863222 0.18235496] [ 0.14102073 -0.0574128 0.98834049 -0.14172126] [ 0. 0. 0. 1. ]] SLAMing on 43.772414037 meters Centerline goodness : 0.764767 Centerline is valid? [False, False] Translation: X:4.03, Y:0.18, Z:-0.14 [[ 0.96992777 -0.1918082 -0.14983233 4.02533855] [ 0.1981117 0.97977368 0.02820093 0.18489218] [ 0.1413926 -0.05703641 0.98830915 -0.14216486] [ 0. 0. 0. 1. ]] SLAMing on 43.802414037 meters Centerline goodness : 0.764801 Centerline is valid? [False, False] Translation: X:4.03, Y:0.19, Z:-0.14 [[ 0.96997071 -0.19155769 -0.14987487 4.02522115] [ 0.1977817 0.97985616 0.02764621 0.18706965] [ 0.14155997 -0.05645852 0.98831837 -0.14228178] [ 0. 0. 0. 1. ]] SLAMing on 43.832414037 meters Centerline goodness : 0.767842 Centerline is valid? [False, False] Translation: X:4.02, Y:0.19, Z:-0.14 [[ 0.96998894 -0.19145425 -0.14988907 4.02494733] [ 0.19753671 0.97993289 0.02666048 0.19117967] [ 0.14177696 -0.05546896 0.9883433 -0.14193399] [ 0. 0. 0. 1. ]] SLAMing on 43.862414037 meters Centerline goodness : 0.766294 Centerline is valid? [False, False] Translation: X:4.02, Y:0.19, Z:-0.14 [[ 0.96996019 -0.19169065 -0.1497729 4.02462268] [ 0.19768483 0.97991881 0.02607373 0.19300389] [ 0.14176719 -0.05489831 0.98837657 -0.14187261] [ 0. 0. 0. 1. ]] SLAMing on 43.892414037 meters Centerline goodness : 0.765616 Centerline is valid? [False, False] Translation: X:4.02, Y:0.19, Z:-0.14 [[ 0.96990113 -0.19207362 -0.14966472 4.02431148] [ 0.19795082 0.97988609 0.02527288 0.19488923] [ 0.14180012 -0.05413844 0.98841376 -0.1416667 ] [ 0. 0. 0. 1. ]] SLAMing on 43.922414037 meters Centerline goodness : 0.764881 Centerline is valid? [False, False] Translation: X:4.02, Y:0.20, Z:-0.14 [[ 0.9698689 -0.19232618 -0.14954915 4.02374674] [ 0.1980683 0.97988554 0.02435745 0.19772903] [ 0.14185647 -0.05324448 0.98845423 -0.14131595] [ 0. 0. 0. 1. ]] SLAMing on 43.952414037 meters Centerline goodness : 0.765598 Centerline is valid? [False, False] Translation: X:4.02, Y:0.20, Z:-0.14 [[ 0.96982701 -0.19255862 -0.14952171 4.02353268] [ 0.19821951 0.97986902 0.02378524 0.19888575] [ 0.14193164 -0.05270569 0.98847232 -0.141021 ] [ 0. 0. 0. 1. ]] SLAMing on 43.982414037 meters Centerline goodness : 0.765115 Centerline is valid? [False, False] Translation: X:4.02, Y:0.20, Z:-0.14 [[ 0.96981001 -0.19263868 -0.14952887 4.02368445] [ 0.19825006 0.97987134 0.02343206 0.20009884] [ 0.14200513 -0.05236876 0.98847967 -0.14117675] [ 0. 0. 0. 1. ]] SLAMing on 44.012414037 meters Centerline goodness : 0.766409 Centerline is valid? [False, False] Translation: X:4.02, Y:0.20, Z:-0.14 [[ 0.96977973 -0.19262404 -0.14974397 4.02414737] [ 0.19818951 0.97989303 0.02303408 0.20185159] [ 0.14229616 -0.05201566 0.98845646 -0.14121456] [ 0. 0. 0. 1. ]] SLAMing on 44.042414037 meters Centerline goodness : 0.768613 Centerline is valid? [False, False] Translation: X:4.02, Y:0.21, Z:-0.14 [[ 0.96987199 -0.19206623 -0.14986291 4.02459952] [ 0.19758256 0.98002363 0.02268969 0.20570928] [ 0.14251127 -0.05161639 0.9884464 -0.14165607] [ 0. 0. 0. 1. ]] SLAMing on 44.072414037 meters Centerline goodness : 0.765613 Centerline is valid? [False, False] Translation: X:4.02, Y:0.21, Z:-0.14 [[ 0.96985576 -0.19206881 -0.14996458 4.02457452] [ 0.19752938 0.98004407 0.02226599 0.20726203] [ 0.14269529 -0.05121721 0.98844062 -0.14135987] [ 0. 0. 0. 1. ]] SLAMing on 44.102414037 meters Centerline goodness : 0.764655 Centerline is valid? [False, False] Translation: X:4.02, Y:0.21, Z:-0.14 [[ 0.96984364 -0.19211075 -0.14998927 4.0246593 ] [ 0.19753455 0.98004904 0.02199937 0.20847394] [ 0.14277052 -0.05096401 0.98844284 -0.14145013] [ 0. 0. 0. 1. ]] SLAMing on 44.132414037 meters Centerline goodness : 0.764574 Centerline is valid? [False, False] Translation: X:4.02, Y:0.21, Z:-0.14 [[ 0.96981224 -0.1922679 -0.14999089 4.02474582] [ 0.19765058 0.98003226 0.02170273 0.20915122] [ 0.14282317 -0.05069336 0.98844915 -0.14148818] [ 0. 0. 0. 1. ]] SLAMing on 44.162414037 meters Centerline goodness : 0.761881 Centerline is valid? [False, False] Translation: X:4.03, Y:0.21, Z:-0.14 [[ 0.96981523 -0.19221427 -0.15004034 4.02575462] [ 0.19763573 0.98002959 0.02195727 0.20806616] [ 0.14282348 -0.05094782 0.98843602 -0.14239865] [ 0. 0. 0. 1. ]] SLAMing on 44.192414037 meters Centerline goodness : 0.764367 Centerline is valid? [False, False] Translation: X:4.03, Y:0.21, Z:-0.14 [[ 0.96976749 -0.19259212 -0.14986424 4.02553664] [ 0.19796801 0.97996875 0.02167748 0.20786009] [ 0.14268736 -0.05069044 0.98846892 -0.14240733] [ 0. 0. 0. 1. ]] SLAMing on 44.222414037 meters Centerline goodness : 0.765267 Centerline is valid? [False, False] Translation: X:4.02, Y:0.21, Z:-0.14 [[ 0.96969798 -0.19309018 -0.14967303 4.02464739] [ 0.19839054 0.97989405 0.0211861 0.20856548] [ 0.14257288 -0.05023783 0.98850854 -0.14190837] [ 0. 0. 0. 1. ]] SLAMing on 44.252414037 meters Centerline goodness : 0.765632 Centerline is valid? [False, False] Translation: X:4.02, Y:0.21, Z:-0.14 [[ 0.96954514 -0.19426673 -0.14913971 4.02170802] [ 0.19935032 0.97972857 0.0197833 0.21134472] [ 0.14227319 -0.04891186 0.98861821 -0.14002425] [ 0. 0. 0. 1. ]] SLAMing on 44.282414037 meters Centerline goodness : 0.766172 Centerline is valid? [False, False] Translation: X:4.02, Y:0.21, Z:-0.14 [[ 0.96949445 -0.19458783 -0.14905063 4.02092153] [ 0.19959547 0.97968903 0.01926282 0.21253588] [ 0.14227495 -0.04842503 0.98864192 -0.13935855] [ 0. 0. 0. 1. ]] SLAMing on 44.312414036999996 meters Centerline goodness : 0.765465 Centerline is valid? [False, False] Translation: X:4.02, Y:0.21, Z:-0.14 [[ 0.96952738 -0.19421142 -0.14932713 4.02204113] [ 0.19921634 0.97976789 0.01917654 0.21379146] [ 0.14258162 -0.04834058 0.98860188 -0.13984459] [ 0. 0. 0. 1. ]] SLAMing on 44.342414037 meters Centerline goodness : 0.764602 Centerline is valid? [False, False] Translation: X:4.02, Y:0.21, Z:-0.14 [[ 0.9695355 -0.19401279 -0.14953245 4.02321782] [ 0.1990358 0.97980321 0.01924608 0.21379458] [ 0.14277839 -0.04842207 0.98856949 -0.1404983 ] [ 0. 0. 0. 1. ]] SLAMing on 44.372414037 meters Centerline goodness : 0.763539 Centerline is valid? [False, False] Translation: X:4.02, Y:0.21, Z:-0.14 [[ 0.96953618 -0.19392888 -0.14963686 4.02405056] [ 0.1989499 0.97982151 0.01920275 0.21382275] [ 0.14289344 -0.048388 0.98855453 -0.14096221] [ 0. 0. 0. 1. ]] SLAMing on 44.402414037 meters Centerline goodness : 0.764152 Centerline is valid? [False, False] Translation: X:4.02, Y:0.21, Z:-0.14 [[ 0.9695282 -0.19396968 -0.14963567 4.0244894 ] [ 0.19897539 0.97981846 0.01909421 0.21429737] [ 0.1429121 -0.04828619 0.98855682 -0.141434 ] [ 0. 0. 0. 1. ]] SLAMing on 44.432414037 meters Centerline goodness : 0.764167 Centerline is valid? [False, False] Translation: X:4.02, Y:0.22, Z:-0.14 [[ 0.9695067 -0.19407563 -0.14963759 4.02459389] [ 0.19904858 0.97980814 0.01885922 0.21520131] [ 0.14295602 -0.04806929 0.98856104 -0.14157786] [ 0. 0. 0. 1. ]] SLAMing on 44.462414037 meters Centerline goodness : 0.764178 Centerline is valid? [False, False] Translation: X:4.02, Y:0.22, Z:-0.14 [[ 0.96942929 -0.19477747 -0.14922664 4.02244536] [ 0.19957653 0.9797216 0.0177424 0.2177897 ] [ 0.14274475 -0.04698214 0.98864383 -0.14025674] [ 0. 0. 0. 1. ]] SLAMing on 44.492414036999996 meters Centerline goodness : 0.764807 Centerline is valid? [False, False] Translation: X:4.02, Y:0.22, Z:-0.14 [[ 0.96933965 -0.19544892 -0.14893071 4.02068715] [ 0.20009592 0.97963335 0.01673686 0.21939405] [ 0.14262629 -0.04602413 0.98870598 -0.1388535 ] [ 0. 0. 0. 1. ]] SLAMing on 44.522414037 meters Centerline goodness : 0.764801 Centerline is valid? [False, False] Translation: X:4.02, Y:0.22, Z:-0.14 [[ 0.96929032 -0.19576049 -0.14884257 4.01964607] [ 0.20031298 0.97959987 0.01608733 0.2205571 ] [ 0.1426569 -0.0454084 0.98873004 -0.13779855] [ 0. 0. 0. 1. ]] SLAMing on 44.552414037 meters Centerline goodness : 0.764786 Centerline is valid? [False, False] Translation: X:4.02, Y:0.22, Z:-0.14 [[ 0.96924324 -0.19585117 -0.14902975 4.01959994] [ 0.20034424 0.97960121 0.01560932 0.22156224] [ 0.14293262 -0.04498648 0.9887095 -0.13717777] [ 0. 0. 0. 1. ]] SLAMing on 44.582414037 meters Centerline goodness : 0.764015 Centerline is valid? [False, False] Translation: X:4.02, Y:0.22, Z:-0.14 [[ 0.96922532 -0.19589626 -0.14908698 4.01998115] [ 0.20037972 0.97959535 0.01552138 0.22174224] [ 0.14300434 -0.04491772 0.98870226 -0.13739104] [ 0. 0. 0. 1. ]] SLAMing on 44.612414037 meters Centerline goodness : 0.765532 Centerline is valid? [False, False] Translation: X:4.02, Y:0.22, Z:-0.14 [[ 0.96915469 -0.19634503 -0.14895573 4.01972139] [ 0.20078116 0.97951815 0.01520237 0.22206287] [ 0.14291993 -0.04464095 0.988727 -0.13741009] [ 0. 0. 0. 1. ]] SLAMing on 44.642414037 meters Centerline goodness : 0.766896 Centerline is valid? [False, False] Translation: X:4.02, Y:0.22, Z:-0.14 [[ 0.9691117 -0.1965961 -0.14890431 4.01972456] [ 0.20101315 0.97947265 0.01506798 0.22162009] [ 0.14288539 -0.04453428 0.9887368 -0.13736225] [ 0. 0. 0. 1. ]] SLAMing on 44.672414037 meters Centerline goodness : 0.766090 Centerline is valid? [False, False] Translation: X:4.02, Y:0.22, Z:-0.14 [[ 0.96906974 -0.19685271 -0.14883833 4.01972844] [ 0.20127006 0.97941983 0.01507186 0.22070949] [ 0.14280827 -0.04456239 0.98874668 -0.13740991] [ 0. 0. 0. 1. ]] SLAMing on 44.702414037 meters Centerline goodness : 0.764749 Centerline is valid? [False, False] Translation: X:4.02, Y:0.22, Z:-0.14 [[ 0.96903381 -0.19705103 -0.14880984 4.01974455] [ 0.20145889 0.9793821 0.01500053 0.2199068 ] [ 0.14278583 -0.04451509 0.98875205 -0.13728193] [ 0. 0. 0. 1. ]] SLAMing on 44.732414037 meters Centerline goodness : 0.765877 Centerline is valid? [False, False] Translation: X:4.02, Y:0.22, Z:-0.14 [[ 0.96897539 -0.19744291 -0.14867072 4.01887489] [ 0.20181694 0.97931172 0.01478095 0.21880101] [ 0.14267658 -0.04432665 0.98877628 -0.13641212] [ 0. 0. 0. 1. ]] SLAMing on 44.762414037 meters Centerline goodness : 0.765225 Centerline is valid? [False, False] Translation: X:4.02, Y:0.22, Z:-0.14 [[ 0.96895706 -0.19754104 -0.14865983 4.01866675] [ 0.20189132 0.97929892 0.01461251 0.21890666] [ 0.14269584 -0.04417203 0.98878043 -0.13609631] [ 0. 0. 0. 1. ]] SLAMing on 44.792414037 meters Centerline goodness : 0.765197 Centerline is valid? [False, False] Translation: X:4.02, Y:0.22, Z:-0.14 [[ 0.96897117 -0.1973239 -0.14885613 4.01922437] [ 0.20168851 0.9793399 0.01466637 0.21923662] [ 0.14288672 -0.04423386 0.9887501 -0.13617209] [ 0. 0. 0. 1. ]] SLAMing on 44.822414037 meters Centerline goodness : 0.765659 Centerline is valid? [False, False] Translation: X:4.02, Y:0.22, Z:-0.14 [[ 0.96897827 -0.1971982 -0.14897643 4.0190985 ] [ 0.20152221 0.97937871 0.01435747 0.22068615] [ 0.14307308 -0.04393414 0.98873651 -0.13567767] [ 0. 0. 0. 1. ]] SLAMing on 44.852414037 meters Centerline goodness : 0.767335 Centerline is valid? [False, False] Translation: X:4.02, Y:0.22, Z:-0.14 [[ 0.96894864 -0.19738189 -0.14892588 4.01864124] [ 0.20166931 0.97935208 0.01410663 0.22054436] [ 0.14306648 -0.04370238 0.98874774 -0.13512986] [ 0. 0. 0. 1. ]] SLAMing on 44.882414037 meters Centerline goodness : 0.765356 Centerline is valid? [False, False] Translation: X:4.02, Y:0.22, Z:-0.13 [[ 0.96894876 -0.19731881 -0.14900865 4.01887325] [ 0.20160717 0.97936508 0.01409222 0.21950624] [ 0.14315321 -0.04369585 0.98873547 -0.13481932] [ 0. 0. 0. 1. ]] SLAMing on 44.912414037 meters Centerline goodness : 0.765738 Centerline is valid? [False, False] Translation: X:4.02, Y:0.22, Z:-0.14 [[ 0.96896386 -0.19717802 -0.14909684 4.01951045] [ 0.20150111 0.97938367 0.01431524 0.21829829] [ 0.14320036 -0.04391413 0.98871897 -0.13505588] [ 0. 0. 0. 1. ]] SLAMing on 44.942414037 meters Centerline goodness : 0.765738 Centerline is valid? [False, False] Translation: X:4.02, Y:0.22, Z:-0.14 [[ 0.96896386 -0.19717802 -0.14909684 4.01951045] [ 0.20150111 0.97938367 0.01431524 0.21829829] [ 0.14320036 -0.04391413 0.98871897 -0.13505588] [ 0. 0. 0. 1. ]] SLAMing on 44.972414037 meters Centerline goodness : 0.764466 Centerline is valid? [False, False] Translation: X:4.02, Y:0.22, Z:-0.14 [[ 0.96897938 -0.19698671 -0.14924881 4.02061848] [ 0.20137253 0.97940419 0.01471516 0.2165894 ] [ 0.14327622 -0.04431329 0.98869017 -0.13561467] [ 0. 0. 0. 1. ]] SLAMing on 45.002414037 meters Centerline goodness : 0.764904 Centerline is valid? [False, False] Translation: X:4.02, Y:0.22, Z:-0.14 [[ 0.96896543 -0.19705811 -0.14924509 4.02051136] [ 0.20143661 0.97939183 0.01466054 0.21649038] [ 0.14328045 -0.04426898 0.98869154 -0.13541586] [ 0. 0. 0. 1. ]] SLAMing on 45.032414037 meters Centerline goodness : 0.764560 Centerline is valid? [False, False] Translation: X:4.02, Y:0.22, Z:-0.13 [[ 0.96893141 -0.19724269 -0.1492221 4.02007088] [ 0.20159469 0.97936212 0.01447113 0.21671871] [ 0.14328815 -0.04410392 0.98869781 -0.13495847] [ 0. 0. 0. 1. ]] SLAMing on 45.062414036999996 meters Centerline goodness : 0.764849 Centerline is valid? [False, False] Translation: X:4.02, Y:0.22, Z:-0.13 [[ 0.96890874 -0.19734572 -0.14923311 4.01926825] [ 0.20166373 0.97935151 0.01422555 0.21681068] [ 0.14334432 -0.04387816 0.98869971 -0.13381725] [ 0. 0. 0. 1. ]] SLAMing on 45.092414037 meters Centerline goodness : 0.767117 Centerline is valid? [False, False] Translation: X:4.02, Y:0.22, Z:-0.13 [[ 0.96884781 -0.19768154 -0.14918423 4.01845994] [ 0.20194752 0.97929831 0.0138568 0.21658588] [ 0.14335663 -0.04355252 0.98871232 -0.13283415] [ 0. 0. 0. 1. ]] SLAMing on 45.122414037 meters Centerline goodness : 0.766969 Centerline is valid? [False, False] Translation: X:4.02, Y:0.22, Z:-0.13 [[ 0.96880604 -0.19792679 -0.14913029 4.01804331] [ 0.20216202 0.97925706 0.013643 0.21602947] [ 0.14333657 -0.04336591 0.98872343 -0.13226274] [ 0. 0. 0. 1. ]] SLAMing on 45.152414037 meters Centerline goodness : 0.767698 Centerline is valid? [False, False] Translation: X:4.02, Y:0.22, Z:-0.13 [[ 0.96878323 -0.19800842 -0.14917013 4.01827774] [ 0.20223361 0.97924349 0.01355551 0.21521854] [ 0.14338978 -0.04329956 0.98871863 -0.13209105] [ 0. 0. 0. 1. ]] SLAMing on 45.182414037 meters Centerline goodness : 0.765703 Centerline is valid? [False, False] Translation: X:4.02, Y:0.21, Z:-0.13 [[ 0.96878417 -0.19793541 -0.14926086 4.01906122] [ 0.20218134 0.97925261 0.01367617 0.21431274] [ 0.14345709 -0.04342702 0.98870327 -0.13247587] [ 0. 0. 0. 1. ]] SLAMing on 45.212414037 meters Centerline goodness : 0.768391 Centerline is valid? [False, False] Translation: X:4.02, Y:0.21, Z:-0.13 [[ 0.96878213 -0.19780241 -0.14945031 4.02003931] [ 0.20207684 0.9792721 0.01382431 0.21377292] [ 0.14361804 -0.04359319 0.98867259 -0.13295277] [ 0. 0. 0. 1. ]] SLAMing on 45.242414036999996 meters Centerline goodness : 0.766178 Centerline is valid? [False, False] Translation: X:4.02, Y:0.21, Z:-0.13 [[ 0.968804 -0.19762531 -0.14954275 4.02085737] [ 0.20192821 0.97930019 0.01400504 0.21370897] [ 0.1436795 -0.04376504 0.98865607 -0.13358478] [ 0. 0. 0. 1. ]] SLAMing on 45.272414037 meters Centerline goodness : 0.770817 Centerline is valid? [False, False] Translation: X:4.02, Y:0.21, Z:-0.13 [[ 0.96881438 -0.19747711 -0.14967127 4.02125012] [ 0.20178022 0.97933108 0.013978 0.21389708] [ 0.1438174 -0.04374279 0.988637 -0.13358261] [ 0. 0. 0. 1. ]] SLAMing on 45.302414037 meters Centerline goodness : 0.766968 Centerline is valid? [False, False] Translation: X:4.02, Y:0.21, Z:-0.13 [[ 0.96881913 -0.19732437 -0.14984188 4.02159579] [ 0.20162617 0.97936352 0.01392803 0.21401285] [ 0.14400133 -0.04370579 0.98861187 -0.13337433] [ 0. 0. 0. 1. ]] SLAMing on 45.332414037 meters Centerline goodness : 0.768162 Centerline is valid? [False, False] Translation: X:4.02, Y:0.21, Z:-0.13 [[ 0.96884585 -0.19714273 -0.14990815 4.02166283] [ 0.20144109 0.97940203 0.01389767 0.21403642] [ 0.14408052 -0.04366236 0.98860225 -0.13312753] [ 0. 0. 0. 1. ]] SLAMing on 45.362414037 meters Centerline goodness : 0.765740 Centerline is valid? [False, False] Translation: X:4.02, Y:0.21, Z:-0.13 [[ 0.96948305 -0.19387954 -0.15004445 4.01888808] [ 0.19859043 0.97993631 0.01693134 0.2131493 ] [ 0.14375137 -0.04621203 0.98853426 -0.13136699] [ 0. 0. 0. 1. ]] SLAMing on 45.392414037 meters Centerline goodness : 0.768789 Centerline is valid? [False, False] Translation: X:4.02, Y:0.21, Z:-0.13 [[ 0.96945276 -0.19405011 -0.15001966 4.01803503] [ 0.19868787 0.97992519 0.01642395 0.21400386] [ 0.14382098 -0.04572933 0.98854659 -0.13030456] [ 0. 0. 0. 1. ]] SLAMing on 45.422414037 meters Centerline goodness : 0.768971 Centerline is valid? [False, False] Translation: X:4.02, Y:0.21, Z:-0.13 [[ 0.96944432 -0.19399165 -0.15014975 4.01784331] [ 0.1986083 0.97994436 0.01624154 0.21416881] [ 0.14398767 -0.04556625 0.98852985 -0.12959329] [ 0. 0. 0. 1. ]] SLAMing on 45.452414037 meters Centerline goodness : 0.766885 Centerline is valid? [False, False] Translation: X:4.02, Y:0.21, Z:-0.13 [[ 0.96940748 -0.19418965 -0.15013168 4.01736544] [ 0.19878894 0.97990985 0.01611344 0.21319195] [ 0.14398645 -0.04546501 0.98853469 -0.12882095] [ 0. 0. 0. 1. ]] SLAMing on 45.482414037 meters Centerline goodness : 0.766236 Centerline is valid? [False, False] Translation: X:4.02, Y:0.21, Z:-0.13 [[ 0.9693657 -0.19438542 -0.1501481 4.01739868] [ 0.19897024 0.979875 0.01599429 0.21251307] [ 0.14401731 -0.04537932 0.98853413 -0.12858338] [ 0. 0. 0. 1. ]] SLAMing on 45.512414037 meters Centerline goodness : 0.775406 Centerline is valid? [False, False] Translation: X:3.52, Y:0.11, Z:-0.17 [[ 0.95312665 -0.11281234 -0.28075429 3.52436807] [ 0.16716934 0.9697537 0.17785433 0.10531704] [ 0.25219835 -0.21645121 0.94315686 -0.17114734] [ 0. 0. 0. 1. ]] SLAMing on 45.542414037 meters Centerline goodness : 0.763832 Centerline is valid? [False, False] Translation: X:3.96, Y:0.33, Z:-0.05 [[ 0.90324609 -0.33582312 -0.26715039 3.9600431 ] [ 0.34598427 0.93819147 -0.00957307 0.33050681] [ 0.25385307 -0.08378299 0.9636073 -0.04551822] [ 0. 0. 0. 1. ]] SLAMing on 45.572414037 meters Centerline goodness : 0.765542 Centerline is valid? [False, False] Translation: X:3.93, Y:0.32, Z:-0.06 [[ 0.90506059 -0.33621872 -0.26042715 3.92876441] [ 0.34486996 0.93855793 -0.01318038 0.32038047] [ 0.24885746 -0.07788446 0.96540353 -0.06150703] [ 0. 0. 0. 1. ]] SLAMing on 45.602414037 meters Centerline goodness : 0.764351 Centerline is valid? [False, False] Translation: X:3.93, Y:0.32, Z:-0.06 [[ 0.90496685 -0.33661129 -0.26024575 3.92847932] [ 0.3452318 0.93842325 -0.01329716 0.32042372] [ 0.24869663 -0.07781162 0.96545085 -0.06170703] [ 0. 0. 0. 1. ]] SLAMing on 45.632414037 meters Centerline goodness : 0.764066 Centerline is valid? [False, False] Translation: X:3.92, Y:0.32, Z:-0.07 [[ 0.9074757 -0.3347811 -0.2537902 3.92145661] [ 0.34268237 0.93935005 -0.01379376 0.31727131] [ 0.24301573 -0.07445192 0.96716093 -0.06680609] [ 0. 0. 0. 1. ]] SLAMing on 45.662414037 meters Centerline goodness : 0.765009 Centerline is valid? [False, False] Translation: X:3.91, Y:0.31, Z:-0.07 [[ 0.91037529 -0.33214316 -0.2467747 3.91011265] [ 0.3385375 0.94079292 -0.01735087 0.31302342] [ 0.23792686 -0.06774668 0.96891754 -0.07102033] [ 0. 0. 0. 1. ]] SLAMing on 45.692414037 meters Centerline goodness : 0.764418 Centerline is valid? [False, False] Translation: X:3.89, Y:0.31, Z:-0.07 [[ 0.91158172 -0.33219508 -0.24220901 3.89322827] [ 0.33683458 0.94127636 -0.02326555 0.30724303] [ 0.23571431 -0.06037592 0.96994511 -0.07330447] [ 0. 0. 0. 1. ]] SLAMing on 45.722414037 meters Centerline goodness : 0.765012 Centerline is valid? [False, False] Translation: X:3.88, Y:0.30, Z:-0.08 [[ 0.91321738 -0.33093354 -0.23773305 3.87729911] [ 0.33408064 0.94212404 -0.02815002 0.30141822] [ 0.23328981 -0.05371492 0.97092254 -0.07550937] [ 0. 0. 0. 1. ]] SLAMing on 45.752414037 meters Centerline goodness : 0.764193 Centerline is valid? [False, False] Translation: X:3.86, Y:0.29, Z:-0.08 [[ 0.91465029 -0.32976057 -0.23382218 3.8570433 ] [ 0.33190579 0.94279316 -0.03129852 0.29497869] [ 0.23076697 -0.04897973 0.97177548 -0.07826983] [ 0. 0. 0. 1. ]] SLAMing on 45.782414037 meters Centerline goodness : 0.767568 Centerline is valid? [False, False] Translation: X:3.83, Y:0.29, Z:-0.09 [[ 0.91598939 -0.32972538 -0.22857082 3.82910466] [ 0.33190961 0.9428349 -0.02997282 0.28793743] [ 0.22538734 -0.04841007 0.97306578 -0.08614394] [ 0. 0. 0. 1. ]] SLAMing on 45.812414036999996 meters Centerline goodness : 0.768693 Centerline is valid? [False, False] Translation: X:3.80, Y:0.28, Z:-0.10 [[ 0.91693068 -0.32901334 -0.22580603 3.8001686 ] [ 0.33171452 0.94299319 -0.02700598 0.28012282] [ 0.22181887 -0.05014053 0.97379788 -0.09548776] [ 0. 0. 0. 1. ]] SLAMing on 45.842414037 meters Centerline goodness : 0.766137 Centerline is valid? [False, False] Translation: X:3.80, Y:0.28, Z:-0.10 [[ 0.91689539 -0.32909791 -0.22582605 3.80040245] [ 0.3317841 0.94296639 -0.02708704 0.28067111] [ 0.22186067 -0.05008951 0.97379099 -0.09573315] [ 0. 0. 0. 1. ]] SLAMing on 45.872414037 meters Centerline goodness : 0.766729 Centerline is valid? [False, False] Translation: X:3.79, Y:0.28, Z:-0.10 [[ 0.91685011 -0.32802355 -0.22756631 3.78910255] [ 0.32866786 0.94375225 -0.036182 0.27908864] [ 0.22663476 -0.04162026 0.97309015 -0.09530428] [ 0. 0. 0. 1. ]] SLAMing on 45.902414037 meters Centerline goodness : 0.767581 Centerline is valid? [False, False] Translation: X:3.78, Y:0.28, Z:-0.10 [[ 0.91626116 -0.32784166 -0.23018543 3.77853308] [ 0.32620228 0.94416689 -0.04627036 0.2775407 ] [ 0.23250281 -0.03269128 0.97204615 -0.09501063] [ 0. 0. 0. 1. ]] SLAMing on 45.932414037 meters Centerline goodness : 0.767062 Centerline is valid? [False, False] Translation: X:3.76, Y:0.27, Z:-0.10 [[ 0.91750481 -0.32519325 -0.22898531 3.75987111] [ 0.32285232 0.94519536 -0.04870439 0.27170074] [ 0.23227419 -0.02924192 0.97221068 -0.09889949] [ 0. 0. 0. 1. ]] SLAMing on 45.962414037 meters Centerline goodness : 0.765958 Centerline is valid? [False, False] Translation: X:3.76, Y:0.27, Z:-0.10 [[ 0.91749037 -0.32529357 -0.22890066 3.75958519] [ 0.32290613 0.94516683 -0.04890084 0.27221039] [ 0.23225644 -0.02904737 0.97222076 -0.09880145] [ 0. 0. 0. 1. ]] SLAMing on 45.992414036999996 meters Centerline goodness : 0.766912 Centerline is valid? [False, False] Translation: X:3.74, Y:0.27, Z:-0.10 [[ 0.91936081 -0.32158131 -0.22663001 3.74074021] [ 0.31854582 0.94654087 -0.05088166 0.26714335] [ 0.23087716 -0.02541343 0.97265096 -0.10168272] [ 0. 0. 0. 1. ]] SLAMing on 46.022414037 meters Centerline goodness : 0.766967 Centerline is valid? [False, False] Translation: X:3.71, Y:0.26, Z:-0.11 [[ 0.92176258 -0.3172233 -0.22298682 3.71263066] [ 0.31509632 0.9479425 -0.04603613 0.26020897] [ 0.22598241 -0.02782794 0.97373382 -0.11039311] [ 0. 0. 0. 1. ]] SLAMing on 46.052414037 meters Centerline goodness : 0.768243 Centerline is valid? [False, False] Translation: X:3.71, Y:0.26, Z:-0.11 [[ 0.92179701 -0.31696607 -0.22321019 3.7128499 ] [ 0.31480399 0.94803243 -0.04618401 0.26118255] [ 0.22624927 -0.02769518 0.97367564 -0.11010564] [ 0. 0. 0. 1. ]] SLAMing on 46.082414037 meters Centerline goodness : 0.770376 Centerline is valid? [False, False] Translation: X:3.71, Y:0.26, Z:-0.11 [[ 0.9247679 -0.31178656 -0.21815929 3.70725088] [ 0.30977013 0.94977924 -0.04429299 0.25812396] [ 0.22101312 -0.02661849 0.97490751 -0.11474636] [ 0. 0. 0. 1. ]] SLAMing on 46.112414037 meters Centerline goodness : 0.768563 Centerline is valid? [False, False] Translation: X:3.71, Y:0.26, Z:-0.11 [[ 0.92484281 -0.3114091 -0.21838075 3.70772576] [ 0.30937722 0.94990494 -0.04434343 0.25882605] [ 0.2212499 -0.02655133 0.97485563 -0.11458603] [ 0. 0. 0. 1. ]] SLAMing on 46.142414037 meters Centerline goodness : 0.768030 Centerline is valid? [False, False] Translation: X:3.68, Y:0.25, Z:-0.12 [[ 0.92602979 -0.30939237 -0.21620637 3.68041594] [ 0.30806783 0.95049419 -0.0406818 0.25100089] [ 0.21808954 -0.02893366 0.97549977 -0.1241163 ] [ 0. 0. 0. 1. ]] SLAMing on 46.172414037 meters Centerline goodness : 0.770075 Centerline is valid? [False, False] Translation: X:3.68, Y:0.25, Z:-0.12 [[ 0.9260597 -0.30912929 -0.2164544 3.68109216] [ 0.30781078 0.9505785 -0.0406575 0.25161214] [ 0.21832533 -0.02897573 0.97544577 -0.12423291] [ 0. 0. 0. 1. ]] SLAMing on 46.202414037 meters Centerline goodness : 0.768859 Centerline is valid? [False, False] Translation: X:3.67, Y:0.25, Z:-0.13 [[ 0.92840634 -0.30631079 -0.21032204 3.67480381] [ 0.30466375 0.95157646 -0.04101511 0.24886984] [ 0.21270087 -0.02599881 0.97677142 -0.12926855] [ 0. 0. 0. 1. ]] SLAMing on 46.232414037 meters Centerline goodness : 0.772307 Centerline is valid? [False, False] Translation: X:3.68, Y:0.25, Z:-0.13 [[ 0.92844026 -0.30610879 -0.21046636 3.67563801] [ 0.30450898 0.95163553 -0.04079325 0.24862179] [ 0.21277444 -0.0262148 0.97674962 -0.12975601] [ 0. 0. 0. 1. ]] SLAMing on 46.262414037 meters Centerline goodness : 0.770673 Centerline is valid? [False, False] Translation: X:3.66, Y:0.24, Z:-0.13 [[ 0.92938383 -0.30351234 -0.2100618 3.66099752] [ 0.30063135 0.9526153 -0.04631296 0.24483404] [ 0.21416464 -0.02010864 0.97659057 -0.13088964] [ 0. 0. 0. 1. ]] SLAMing on 46.292414037 meters Centerline goodness : 0.769459 Centerline is valid? [False, False] Translation: X:3.66, Y:0.25, Z:-0.13 [[ 0.92938221 -0.30342724 -0.21019184 3.66145727] [ 0.30055501 0.95264119 -0.04627585 0.24521038] [ 0.21427876 -0.02016626 0.97656435 -0.1311664 ] [ 0. 0. 0. 1. ]] SLAMing on 46.322414037 meters Centerline goodness : 0.768916 Centerline is valid? [False, False] Translation: X:3.66, Y:0.25, Z:-0.13 [[ 0.92942039 -0.30323039 -0.21030709 3.66224759] [ 0.30039115 0.95270071 -0.04611423 0.24522913] [ 0.21434295 -0.02031488 0.97654719 -0.1316533 ] [ 0. 0. 0. 1. ]] SLAMing on 46.352414037 meters Centerline goodness : 0.771352 Centerline is valid? [False, False] Translation: X:3.66, Y:0.25, Z:-0.13 [[ 0.92942168 -0.30321223 -0.21032759 3.66263008] [ 0.30038427 0.95270537 -0.04606275 0.24508506] [ 0.21434701 -0.02036738 0.9765452 -0.13195138] [ 0. 0. 0. 1. ]] SLAMing on 46.382414037 meters Centerline goodness : 0.768624 Centerline is valid? [False, False] Translation: X:3.66, Y:0.24, Z:-0.13 [[ 0.92938207 -0.30336361 -0.21028429 3.6624422 ] [ 0.30051612 0.95265884 -0.04616482 0.24478497] [ 0.21433391 -0.02028906 0.97654971 -0.13175181] [ 0. 0. 0. 1. ]] SLAMing on 46.412414037 meters Centerline goodness : 0.768740 Centerline is valid? [False, False] Translation: X:3.66, Y:0.24, Z:-0.13 [[ 0.92930203 -0.30387449 -0.20990004 3.66096577] [ 0.30097499 0.95250142 -0.0464231 0.24375194] [ 0.21403688 -0.02003359 0.97662012 -0.13089707] [ 0. 0. 0. 1. ]] SLAMing on 46.442414037 meters Centerline goodness : 0.767813 Centerline is valid? [False, False] Translation: X:3.66, Y:0.24, Z:-0.13 [[ 0.9307389 -0.30225977 -0.20582547 3.656022 ] [ 0.29939325 0.95303453 -0.04570401 0.24107327] [ 0.20997327 -0.01908425 0.97752085 -0.13367502] [ 0. 0. 0. 1. ]] SLAMing on 46.472414037 meters Centerline goodness : 0.769826 Centerline is valid? [False, False] Translation: X:3.64, Y:0.24, Z:-0.14 [[ 0.93199366 -0.29909031 -0.20477502 3.6395259 ] [ 0.29532744 0.95411615 -0.04943763 0.2363762 ] [ 0.21016547 -0.01440012 0.97755977 -0.1350219 ] [ 0. 0. 0. 1. ]] SLAMing on 46.502414037 meters Centerline goodness : 0.765996 Centerline is valid? [False, False] Translation: X:3.64, Y:0.24, Z:-0.13 [[ 0.9319613 -0.29915599 -0.20482634 3.63940204] [ 0.29536697 0.95409704 -0.04957009 0.23686705] [ 0.21025339 -0.01430153 0.97754232 -0.13479185] [ 0. 0. 0. 1. ]] SLAMing on 46.532414037 meters Centerline goodness : 0.768186 Centerline is valid? [False, False] Translation: X:3.64, Y:0.24, Z:-0.13 [[ 0.93278116 -0.29614217 -0.20547295 3.63764586] [ 0.29295579 0.95499546 -0.04648196 0.23551974] [ 0.209991 -0.01683699 0.97755833 -0.13408369] [ 0. 0. 0. 1. ]] SLAMing on 46.562414036999996 meters Centerline goodness : 0.765128 Centerline is valid? [False, False] Translation: X:3.64, Y:0.24, Z:-0.13 [[ 0.93280033 -0.29604031 -0.20553266 3.6377491 ] [ 0.2928418 0.95502798 -0.04653204 0.23555841] [ 0.2100648 -0.01678345 0.9775434 -0.13391663] [ 0. 0. 0. 1. ]] SLAMing on 46.592414037 meters Centerline goodness : 0.765823 Centerline is valid? [False, False] Translation: X:3.64, Y:0.24, Z:-0.13 [[ 0.93285269 -0.2957017 -0.20578234 3.63846515] [ 0.29251761 0.95513143 -0.04644786 0.23568644] [ 0.21028389 -0.01686594 0.97749487 -0.13397682] [ 0. 0. 0. 1. ]] SLAMing on 46.622414037 meters Centerline goodness : 0.766773 Centerline is valid? [False, False] Translation: X:3.64, Y:0.24, Z:-0.13 [[ 0.93397924 -0.29158876 -0.20654 3.63758353] [ 0.28908239 0.95634225 -0.04290548 0.23521522] [ 0.21003368 -0.01963424 0.97749698 -0.13389029] [ 0. 0. 0. 1. ]] SLAMing on 46.652414037 meters Centerline goodness : 0.766773 Centerline is valid? [False, False] Translation: X:3.64, Y:0.24, Z:-0.13 [[ 0.93397924 -0.29158876 -0.20654 3.63758353] [ 0.28908239 0.95634225 -0.04290548 0.23521522] [ 0.21003368 -0.01963424 0.97749698 -0.13389029] [ 0. 0. 0. 1. ]] SLAMing on 46.682414037 meters Centerline goodness : 0.765310 Centerline is valid? [False, False] Translation: X:3.64, Y:0.24, Z:-0.13 [[ 0.9351596 -0.2870314 -0.20758012 3.63704761] [ 0.28520143 0.95765927 -0.03935554 0.23661953] [ 0.2100873 -0.02239844 0.97742603 -0.13381143] [ 0. 0. 0. 1. ]] SLAMing on 46.712414037 meters Centerline goodness : 0.767615 Centerline is valid? [False, False] Translation: X:3.64, Y:0.24, Z:-0.13 [[ 0.93526749 -0.28644167 -0.20790836 3.63790361] [ 0.28459846 0.95783735 -0.03938681 0.23811852] [ 0.21042442 -0.0223332 0.977355 -0.13392642] [ 0. 0. 0. 1. ]] SLAMing on 46.742414036999996 meters Centerline goodness : 0.764411 Centerline is valid? [False, False] Translation: X:3.64, Y:0.24, Z:-0.13 [[ 0.93539324 -0.28577222 -0.2082636 3.63907846] [ 0.28395335 0.95803493 -0.03923739 0.23891116] [ 0.21073676 -0.02243476 0.97728537 -0.13418953] [ 0. 0. 0. 1. ]] SLAMing on 46.772414037 meters Centerline goodness : 0.764838 Centerline is valid? [False, False] Translation: X:3.64, Y:0.24, Z:-0.14 [[ 0.93581594 -0.28394464 -0.20886353 3.64165316] [ 0.28226939 0.95856503 -0.03843278 0.23929909] [ 0.21112205 -0.02298978 0.97718931 -0.13506508] [ 0. 0. 0. 1. ]] SLAMing on 46.802414037 meters Centerline goodness : 0.762116 Centerline is valid? [False, False] Translation: X:3.64, Y:0.24, Z:-0.14 [[ 0.93594325 -0.28329135 -0.20917993 3.6427314 ] [ 0.28164707 0.95875532 -0.03825134 0.23989352] [ 0.21138864 -0.02311383 0.97712875 -0.13532421] [ 0. 0. 0. 1. ]] SLAMing on 46.832414037 meters Centerline goodness : 0.762116 Centerline is valid? [False, False] Translation: X:3.64, Y:0.24, Z:-0.14 [[ 0.93594325 -0.28329135 -0.20917993 3.6427314 ] [ 0.28164707 0.95875532 -0.03825134 0.23989352] [ 0.21138864 -0.02311383 0.97712875 -0.13532421] [ 0. 0. 0. 1. ]] SLAMing on 46.862414037 meters Centerline goodness : 0.763892 Centerline is valid? [False, False] Translation: X:3.64, Y:0.24, Z:-0.14 [[ 0.9360415 -0.28279652 -0.20940972 3.64328049] [ 0.28114959 0.95890203 -0.03823353 0.24093177] [ 0.21161572 -0.02308729 0.97708022 -0.13529274] [ 0. 0. 0. 1. ]] SLAMing on 46.892414037 meters Centerline goodness : 0.764418 Centerline is valid? [False, False] Translation: X:3.64, Y:0.24, Z:-0.13 [[ 0.93698528 -0.2792265 -0.20997893 3.64164127] [ 0.27824633 0.95987852 -0.03481685 0.23996288] [ 0.21127605 -0.02580299 0.97708579 -0.13488854] [ 0. 0. 0. 1. ]] SLAMing on 46.922414037 meters Centerline goodness : 0.765003 Centerline is valid? [False, False] Translation: X:3.64, Y:0.24, Z:-0.13 [[ 0.93796595 -0.27549006 -0.21053529 3.63963111] [ 0.27519488 0.9608789 -0.03129718 0.23967784] [ 0.21092098 -0.02858254 0.97708514 -0.13437485] [ 0. 0. 0. 1. ]] SLAMing on 46.952414037 meters Centerline goodness : 0.763406 Centerline is valid? [False, False] Translation: X:3.64, Y:0.24, Z:-0.13 [[ 0.93796248 -0.27547943 -0.21056466 3.63952581] [ 0.27516065 0.96088505 -0.03140938 0.23992398] [ 0.21098107 -0.02847829 0.97707521 -0.13411754] [ 0. 0. 0. 1. ]] SLAMing on 46.982414037 meters Centerline goodness : 0.765080 Centerline is valid? [False, False] Translation: X:3.64, Y:0.24, Z:-0.13 [[ 0.93801152 -0.27525903 -0.21063439 3.64009077] [ 0.27500285 0.96094014 -0.03110417 0.23803288] [ 0.21096875 -0.02874899 0.97706995 -0.13410186] [ 0. 0. 0. 1. ]] SLAMing on 47.012414037 meters Centerline goodness : 0.764251 Centerline is valid? [False, False] Translation: X:3.64, Y:0.24, Z:-0.13 [[ 0.93802028 -0.2751689 -0.21071312 3.64080436] [ 0.27495888 0.9609596 -0.03089127 0.23665619] [ 0.21098711 -0.02896081 0.97705973 -0.13433913] [ 0. 0. 0. 1. ]] SLAMing on 47.042414037 meters Centerline goodness : 0.765893 Centerline is valid? [False, False] Translation: X:3.64, Y:0.24, Z:-0.13 [[ 0.93806437 -0.27488991 -0.21088096 3.64197558] [ 0.27475876 0.96102875 -0.03051816 0.23551705] [ 0.2110518 -0.02931339 0.97703524 -0.13491542] [ 0. 0. 0. 1. ]] SLAMing on 47.072414037 meters Centerline goodness : 0.764794 Centerline is valid? [False, False] Translation: X:3.64, Y:0.24, Z:-0.14 [[ 0.93808542 -0.27467851 -0.21106271 3.64260211] [ 0.2745937 0.96108265 -0.03030572 0.23576035] [ 0.21117304 -0.02952714 0.97700261 -0.13530413] [ 0. 0. 0. 1. ]] SLAMing on 47.102414037 meters Centerline goodness : 0.762979 Centerline is valid? [False, False] Translation: X:3.64, Y:0.24, Z:-0.14 [[ 0.93808434 -0.27459636 -0.21117438 3.64255695] [ 0.27448242 0.96110997 -0.03044704 0.23687485] [ 0.21132245 -0.02940176 0.97697408 -0.13511265] [ 0. 0. 0. 1. ]] SLAMing on 47.132414037 meters Centerline goodness : 0.767036 Centerline is valid? [False, False] Translation: X:3.64, Y:0.24, Z:-0.13 [[ 0.93806858 -0.27456941 -0.2112794 3.64250533] [ 0.2744261 0.96112137 -0.03059466 0.23747241] [ 0.2114655 -0.02928069 0.97694677 -0.13481022] [ 0. 0. 0. 1. ]] SLAMing on 47.162414037 meters Centerline goodness : 0.764037 Centerline is valid? [False, False] Translation: X:3.64, Y:0.24, Z:-0.13 [[ 0.93808268 -0.27450123 -0.21130536 3.64245777] [ 0.27435817 0.96114093 -0.03058946 0.23692933] [ 0.21149107 -0.02927791 0.97694131 -0.13444672] [ 0. 0. 0. 1. ]] SLAMing on 47.192414037 meters Centerline goodness : 0.763562 Centerline is valid? [False, False] Translation: X:3.64, Y:0.23, Z:-0.13 [[ 0.93805059 -0.27466832 -0.21123068 3.64207459] [ 0.27454981 0.96108954 -0.03048439 0.23357054] [ 0.2113847 -0.02939745 0.97696075 -0.1334 ] [ 0. 0. 0. 1. ]] SLAMing on 47.222414037 meters Centerline goodness : 0.763935 Centerline is valid? [False, False] Translation: X:3.64, Y:0.23, Z:-0.13 [[ 0.93805466 -0.27467111 -0.21120896 3.64214519] [ 0.2745985 0.96108242 -0.03026941 0.2319458 ] [ 0.21130335 -0.02960331 0.97697213 -0.13319372] [ 0. 0. 0. 1. ]] SLAMing on 47.252414037 meters Centerline goodness : 0.762304 Centerline is valid? [False, False] Translation: X:3.64, Y:0.23, Z:-0.13 [[ 0.93796569 -0.27501397 -0.21115796 3.64240367] [ 0.2749271 0.9609854 -0.03036694 0.23113955] [ 0.21127105 -0.0295699 0.97698013 -0.13314958] [ 0. 0. 0. 1. ]] SLAMing on 47.282414037 meters Centerline goodness : 0.761627 Centerline is valid? [False, False] Translation: X:3.64, Y:0.23, Z:-0.13 [[ 0.93801868 -0.27465883 -0.21138469 3.64312253] [ 0.27470235 0.96106876 -0.02975658 0.22937075] [ 0.21132813 -0.03015564 0.97694988 -0.13325513] [ 0. 0. 0. 1. ]] SLAMing on 47.312414036999996 meters Centerline goodness : 0.761133 Centerline is valid? [False, False] Translation: X:3.64, Y:0.23, Z:-0.13 [[ 0.93793596 -0.27458404 -0.21184841 3.6445894 ] [ 0.27478538 0.96106551 -0.0290876 0.22869204] [ 0.21158719 -0.03093054 0.97686957 -0.13364208] [ 0. 0. 0. 1. ]] SLAMing on 47.342414037 meters Centerline goodness : 0.761518 Centerline is valid? [False, False] Translation: X:3.65, Y:0.23, Z:-0.14 [[ 0.9382152 -0.28083857 -0.20219281 3.64821876] [ 0.28116071 0.95925982 -0.02773544 0.23189214] [ 0.20174462 -0.03082686 0.97895292 -0.13931031] [ 0. 0. 0. 1. ]] SLAMing on 47.372414037 meters Centerline goodness : 0.762699 Centerline is valid? [False, False] Translation: X:3.65, Y:0.23, Z:-0.14 [[ 0.93853015 -0.28039948 -0.20133872 3.64907968] [ 0.280745 0.95939005 -0.02744045 0.2281854 ] [ 0.20085666 -0.03077115 0.97913724 -0.14111063] [ 0. 0. 0. 1. ]] SLAMing on 47.402414037 meters Centerline goodness : 0.763124 Centerline is valid? [False, False] Translation: X:3.65, Y:0.23, Z:-0.14 [[ 0.93869065 -0.27988773 -0.20130257 3.65022109] [ 0.28034376 0.95952435 -0.02684032 0.22661152] [ 0.200667 -0.03123916 0.97916131 -0.142053 ] [ 0. 0. 0. 1. ]] SLAMing on 47.432414037 meters Centerline goodness : 0.761285 Centerline is valid? [False, False] Translation: X:3.65, Y:0.23, Z:-0.14 [[ 0.93880487 -0.2795808 -0.20119639 3.65133573] [ 0.28010165 0.95960524 -0.02647369 0.2253169 ] [ 0.20047064 -0.03150181 0.97919311 -0.14315428] [ 0. 0. 0. 1. ]] SLAMing on 47.462414037 meters Centerline goodness : 0.762039 Centerline is valid? [False, False] Translation: X:3.65, Y:0.22, Z:-0.14 [[ 0.93915739 -0.27839358 -0.20119744 3.6518518 ] [ 0.27914131 0.95991836 -0.02523635 0.22361514] [ 0.20015875 -0.03246161 0.97922557 -0.14375425] [ 0. 0. 0. 1. ]] SLAMing on 47.492414036999996 meters Centerline goodness : 0.761895 Centerline is valid? [False, False] Translation: X:3.65, Y:0.23, Z:-0.15 [[ 0.94036421 -0.28287791 -0.18893186 3.65313141] [ 0.28375431 0.95862176 -0.02297402 0.22621357] [ 0.18761304 -0.03200628 0.98172142 -0.14972895] [ 0. 0. 0. 1. ]] SLAMing on 47.522414037 meters Centerline goodness : 0.763707 Centerline is valid? [False, False] Translation: X:3.65, Y:0.23, Z:-0.15 [[ 0.94070359 -0.28196383 -0.18860847 3.65327543] [ 0.28288987 0.95888693 -0.02256484 0.22521397] [ 0.18721666 -0.0321286 0.98179309 -0.1505565 ] [ 0. 0. 0. 1. ]] SLAMing on 47.552414037 meters Centerline goodness : 0.762428 Centerline is valid? [False, False] Translation: X:3.65, Y:0.22, Z:-0.15 [[ 0.9410444 -0.28104171 -0.18828436 3.65392312] [ 0.28196463 0.95916255 -0.02243122 0.22399521] [ 0.18689942 -0.03198076 0.98185836 -0.15176821] [ 0. 0. 0. 1. ]] SLAMing on 47.582414037 meters Centerline goodness : 0.762325 Centerline is valid? [False, False] Translation: X:3.65, Y:0.22, Z:-0.15 [[ 0.94141598 -0.28028656 -0.18755105 3.65425729] [ 0.28112053 0.95940405 -0.02269628 0.22298238] [ 0.1862987 -0.03135781 0.98199261 -0.15360014] [ 0. 0. 0. 1. ]] SLAMing on 47.612414037 meters Centerline goodness : 0.761414 Centerline is valid? [False, False] Translation: X:3.66, Y:0.23, Z:-0.16 [[ 0.94262339 -0.28477924 -0.17424673 3.6550382 ] [ 0.28536432 0.9581613 -0.02222918 0.22565403] [ 0.17328688 -0.02877006 0.98445109 -0.16093702] [ 0. 0. 0. 1. ]] SLAMing on 47.642414037 meters Centerline goodness : 0.763309 Centerline is valid? [False, False] Translation: X:3.65, Y:0.22, Z:-0.16 [[ 0.94361866 -0.28234526 -0.17281486 3.65358297] [ 0.28280088 0.95891464 -0.0225028 0.22363711] [ 0.17206826 -0.02763813 0.98469724 -0.16262942] [ 0. 0. 0. 1. ]] SLAMing on 47.672414037 meters Centerline goodness : 0.763032 Centerline is valid? [False, False] Translation: X:3.65, Y:0.22, Z:-0.16 [[ 0.94423249 -0.28059354 -0.17231445 3.65266883] [ 0.28113682 0.95942106 -0.02175579 0.22233065] [ 0.17142665 -0.02790141 0.98480171 -0.16309608] [ 0. 0. 0. 1. ]] SLAMing on 47.702414037 meters Centerline goodness : 0.764853 Centerline is valid? [False, False] Translation: X:3.65, Y:0.22, Z:-0.16 [[ 0.94515139 -0.27810757 -0.17130391 3.64933483] [ 0.2788804 0.96011689 -0.02003206 0.21833906] [ 0.17004284 -0.02883997 0.98501456 -0.161783 ] [ 0. 0. 0. 1. ]] SLAMing on 47.732414037 meters Centerline goodness : 0.764798 Centerline is valid? [False, False] Translation: X:3.65, Y:0.22, Z:-0.16 [[ 0.94541648 -0.27707579 -0.17151292 3.64998927] [ 0.2780996 0.9603737 -0.01851962 0.21572654] [ 0.16984783 -0.03018892 0.98500779 -0.16188234] [ 0. 0. 0. 1. ]] SLAMing on 47.762414037 meters Centerline goodness : 0.764543 Centerline is valid? [False, False] Translation: X:3.65, Y:0.21, Z:-0.16 [[ 0.94538385 -0.27732915 -0.17128316 3.65021773] [ 0.27841258 0.96028997 -0.01815501 0.21338414] [ 0.16951642 -0.03052394 0.98505455 -0.16186366] [ 0. 0. 0. 1. ]] SLAMing on 47.792414037 meters Centerline goodness : 0.764117 Centerline is valid? [False, False] Translation: X:3.65, Y:0.21, Z:-0.16 [[ 0.94530141 -0.27766901 -0.17118753 3.65132946] [ 0.27880314 0.96018193 -0.01787377 0.21159095] [ 0.16933416 -0.03083152 0.98507632 -0.16254498] [ 0. 0. 0. 1. ]] SLAMing on 47.822414037 meters Centerline goodness : 0.764231 Centerline is valid? [False, False] Translation: X:3.65, Y:0.21, Z:-0.16 [[ 0.94504581 -0.27816781 -0.17178792 3.65367259] [ 0.27942397 0.96001154 -0.01732285 0.21032699] [ 0.16973705 -0.03163077 0.98498164 -0.16309327] [ 0. 0. 0. 1. ]] SLAMing on 47.852414037 meters Centerline goodness : 0.764403 Centerline is valid? [False, False] Translation: X:3.66, Y:0.21, Z:-0.16 [[ 0.94439468 -0.27969652 -0.17288302 3.65788874] [ 0.2812362 0.95950461 -0.01603472 0.20684837] [ 0.17036691 -0.03347786 0.98481184 -0.1637065 ] [ 0. 0. 0. 1. ]] SLAMing on 47.882414037 meters Centerline goodness : 0.765465 Centerline is valid? [False, False] Translation: X:3.66, Y:0.20, Z:-0.16 [[ 0.94403596 -0.28066715 -0.17326876 3.66037083] [ 0.2822753 0.95920321 -0.01580668 0.20491633] [ 0.17063637 -0.03398742 0.98474773 -0.16437658] [ 0. 0. 0. 1. ]] SLAMing on 47.912414037 meters Centerline goodness : 0.765937 Centerline is valid? [False, False] Translation: X:3.66, Y:0.20, Z:-0.17 [[ 0.94350668 -0.28179873 -0.17431184 3.66435754] [ 0.28357309 0.95883064 -0.01516912 0.20328453] [ 0.17141018 -0.03511798 0.98457365 -0.16527927] [ 0. 0. 0. 1. ]] SLAMing on 47.942414037 meters Centerline goodness : 0.765073 Centerline is valid? [False, False] Translation: X:3.67, Y:0.20, Z:-0.17 [[ 0.94273936 -0.28387991 -0.17508482 3.66775268] [ 0.28590014 0.95815542 -0.01411747 0.19933501] [ 0.17176614 -0.03674768 0.98445213 -0.16533772] [ 0. 0. 0. 1. ]] SLAMing on 47.972414037 meters Centerline goodness : 0.761356 Centerline is valid? [False, False] Translation: X:3.67, Y:0.20, Z:-0.16 [[ 0.94238843 -0.2847813 -0.17550974 3.66844428] [ 0.28692762 0.9578561 -0.01357323 0.19770764] [ 0.17197848 -0.03756734 0.98438412 -0.16430261] [ 0. 0. 0. 1. ]] SLAMing on 48.002414037 meters Centerline goodness : 0.764593 Centerline is valid? [False, False] Translation: X:3.67, Y:0.20, Z:-0.16 [[ 0.94205933 -0.28527973 -0.1764644 3.67124097] [ 0.28763413 0.95765687 -0.01264662 0.19613382] [ 0.17260017 -0.03884332 0.98422578 -0.16439525] [ 0. 0. 0. 1. ]] SLAMing on 48.032414037 meters Centerline goodness : 0.765832 Centerline is valid? [False, False] Translation: X:3.67, Y:0.19, Z:-0.17 [[ 0.94122289 -0.2884401 -0.17578903 3.67382183] [ 0.29046937 0.95677216 -0.01464847 0.19269415] [ 0.17241526 -0.03727386 0.98431887 -0.16556153] [ 0. 0. 0. 1. ]] SLAMing on 48.062414036999996 meters Centerline goodness : 0.767088 Centerline is valid? [False, False] Translation: X:3.68, Y:0.19, Z:-0.17 [[ 0.94090051 -0.28905535 -0.17650276 3.67643585] [ 0.29128789 0.95653724 -0.01370674 0.19039201] [ 0.17279347 -0.03851644 0.9842047 -0.16579475] [ 0. 0. 0. 1. ]] SLAMing on 48.092414037 meters Centerline goodness : 0.766241 Centerline is valid? [False, False] Translation: X:3.68, Y:0.19, Z:-0.17 [[ 0.94058811 -0.2896437 -0.17720193 3.6788876 ] [ 0.29207893 0.95630896 -0.01277013 0.18805199] [ 0.17315858 -0.03974552 0.98409166 -0.16588902] [ 0. 0. 0. 1. ]] SLAMing on 48.122414037 meters Centerline goodness : 0.767407 Centerline is valid? [False, False] Translation: X:3.68, Y:0.18, Z:-0.17 [[ 0.9396903 -0.29152897 -0.17886587 3.68353764] [ 0.29433001 0.95563732 -0.01127606 0.18484549] [ 0.1742182 -0.04204959 0.98380885 -0.16565226] [ 0. 0. 0. 1. ]] SLAMing on 48.152414037 meters Centerline goodness : 0.764953 Centerline is valid? [False, False] Translation: X:3.69, Y:0.18, Z:-0.17 [[ 0.93932078 -0.29202066 -0.18000111 3.68610269] [ 0.29508539 0.95541728 -0.01012075 0.18360799] [ 0.17493164 -0.04360907 0.98361434 -0.16526807] [ 0. 0. 0. 1. ]] SLAMing on 48.182414037 meters Centerline goodness : 0.766182 Centerline is valid? [False, False] Translation: X:3.69, Y:0.18, Z:-0.16 [[ 0.93908861 -0.29211813 -0.1810513 3.68828071] [ 0.29546947 0.95531172 -0.00879233 0.18235347] [ 0.17552883 -0.04523835 0.98343435 -0.16490396] [ 0. 0. 0. 1. ]] SLAMing on 48.212414037 meters Centerline goodness : 0.764645 Centerline is valid? [False, False] Translation: X:3.69, Y:0.18, Z:-0.16 [[ 0.93895279 -0.29216633 -0.18167688 3.68985466] [ 0.29574551 0.95523583 -0.00768767 0.18068832] [ 0.17579035 -0.04651176 0.98332823 -0.16463497] [ 0. 0. 0. 1. ]] SLAMing on 48.242414036999996 meters Centerline goodness : 0.765564 Centerline is valid? [False, False] Translation: X:3.69, Y:0.18, Z:-0.16 [[ 0.9388439 -0.29211846 -0.1823155 3.69178781] [ 0.29590302 0.95519443 -0.00670913 0.17910584] [ 0.17610661 -0.04764888 0.98321719 -0.16482565] [ 0. 0. 0. 1. ]] SLAMing on 48.272414037 meters Centerline goodness : 0.767461 Centerline is valid? [False, False] Translation: X:3.69, Y:0.18, Z:-0.17 [[ 0.9386491 -0.29247109 -0.18275266 3.69494237] [ 0.29643653 0.95503461 -0.00585565 0.17532652] [ 0.17624773 -0.04867817 0.98314148 -0.16579397] [ 0. 0. 0. 1. ]] SLAMing on 48.302414037 meters Centerline goodness : 0.767257 Centerline is valid? [False, False] Translation: X:3.70, Y:0.17, Z:-0.17 [[ 0.93856425 -0.29227268 -0.18350428 3.69759258] [ 0.29647582 0.95502867 -0.00472565 0.17327755] [ 0.17663303 -0.04996925 0.98300755 -0.16636887] [ 0. 0. 0. 1. ]] SLAMing on 48.332414037 meters Centerline goodness : 0.767954 Centerline is valid? [False, False] Translation: X:3.70, Y:0.17, Z:-0.17 [[ 9.38227502e-01 -2.92817582e-01 -1.84355683e-01 3.70043925e+00] [ 2.97291813e-01 9.54780175e-01 -3.52073437e-03 1.70447015e-01] [ 1.77050084e-01 -5.15041854e-02 9.82853288e-01 -1.66458554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.362414037 meters Centerline goodness : 0.767580 Centerline is valid? [False, False] Translation: X:3.70, Y:0.17, Z:-0.17 [[ 9.38094487e-01 -2.92769842e-01 -1.85106870e-01 3.70213446e+00] [ 2.97443137e-01 9.54735894e-01 -2.63690820e-03 1.69678060e-01] [ 1.77500181e-01 -5.25850992e-02 9.82714859e-01 -1.66313418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.392414037 meters Centerline goodness : 0.768813 Centerline is valid? [False, False] Translation: X:3.70, Y:0.17, Z:-0.17 [[ 9.38004908e-01 -2.92491113e-01 -1.85999305e-01 3.70333908e+00] [ 2.97423401e-01 9.54744583e-01 -1.44998694e-03 1.68965319e-01] [ 1.78005937e-01 -5.39604510e-02 9.82548806e-01 -1.65587698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.422414037 meters Centerline goodness : 0.768477 Centerline is valid? [False, False] Translation: X:3.70, Y:0.17, Z:-0.17 [[ 9.38062030e-01 -2.91908380e-01 -1.86625628e-01 3.70409104e+00] [ 2.97063212e-01 9.54857748e-01 -3.60396380e-04 1.68400876e-01] [ 1.78306130e-01 -5.51015343e-02 9.82431038e-01 -1.65083859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.452414037 meters Centerline goodness : 0.767983 Centerline is valid? [False, False] Translation: X:3.71, Y:0.17, Z:-0.16 [[ 9.38041469e-01 -2.91534267e-01 -1.87312501e-01 3.70507904e+00] [ 2.96915850e-01 9.54903387e-01 7.06421716e-04 1.67524489e-01] [ 1.78659396e-01 -5.62787035e-02 9.82300121e-01 -1.64570131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.482414037 meters Centerline goodness : 0.766142 Centerline is valid? [False, False] Translation: X:3.71, Y:0.17, Z:-0.17 [[ 9.38047251e-01 -2.91305816e-01 -1.87638685e-01 3.70656331e+00] [ 2.96769211e-01 9.54948628e-01 1.07362222e-03 1.66677745e-01] [ 1.78872553e-01 -5.66924929e-02 9.82237533e-01 -1.65149858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.512414037 meters Centerline goodness : 0.763826 Centerline is valid? [False, False] Translation: X:3.71, Y:0.17, Z:-0.17 [[ 9.37750734e-01 -2.93101533e-01 -1.86319760e-01 3.70834443e+00] [ 2.97960362e-01 9.54576119e-01 -2.01361294e-03 1.65354775e-01] [ 1.78446587e-01 -5.36276362e-02 9.82487095e-01 -1.67901555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.542414037 meters Centerline goodness : 0.767927 Centerline is valid? [False, False] Translation: X:3.71, Y:0.16, Z:-0.17 [[ 9.37792388e-01 -2.92707861e-01 -1.86728534e-01 3.71010431e+00] [ 2.97671454e-01 9.54667158e-01 -1.52391399e-03 1.64601375e-01] [ 1.78709661e-01 -5.41546393e-02 9.82410369e-01 -1.68692773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.572414037 meters Centerline goodness : 0.768121 Centerline is valid? [False, False] Translation: X:3.71, Y:0.16, Z:-0.17 [[ 9.37874380e-01 -2.92140341e-01 -1.87204882e-01 3.71110668e+00] [ 2.97241106e-01 9.54802064e-01 -8.62063207e-04 1.64475927e-01] [ 1.78995451e-01 -5.48364792e-02 9.82320512e-01 -1.68851999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.602414037 meters Centerline goodness : 0.768138 Centerline is valid? [False, False] Translation: X:3.71, Y:0.16, Z:-0.17 [[ 9.38532464e-01 -2.89369582e-01 -1.88207491e-01 3.71071768e+00] [ 2.95028039e-01 9.55486175e-01 2.15059149e-03 1.64200949e-01] [ 1.79207340e-01 -5.75448868e-02 9.82126934e-01 -1.67952625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.632414037 meters Centerline goodness : 0.767558 Centerline is valid? [False, False] Translation: X:3.71, Y:0.16, Z:-0.17 [[ 9.38701963e-01 -2.88685056e-01 -1.88413276e-01 3.71137213e+00] [ 2.94397701e-01 9.55679864e-01 2.44783921e-03 1.64514390e-01] [ 1.79356119e-01 -5.77662267e-02 9.82086781e-01 -1.68519264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.662414037 meters Centerline goodness : 0.770538 Centerline is valid? [False, False] Translation: X:3.71, Y:0.16, Z:-0.17 [[ 9.39258731e-01 -2.87111217e-01 -1.88043043e-01 3.71267532e+00] [ 2.92738059e-01 9.56190016e-01 2.25426589e-03 1.63841218e-01] [ 1.79157655e-01 -5.71646943e-02 9.82158201e-01 -1.70945090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.692414037 meters Centerline goodness : 0.766383 Centerline is valid? [False, False] Translation: X:3.71, Y:0.16, Z:-0.17 [[ 9.39466481e-01 -2.86423290e-01 -1.88054327e-01 3.71388088e+00] [ 2.92012806e-01 9.56412072e-01 2.11402083e-03 1.63966910e-01] [ 1.79251923e-01 -5.69003233e-02 9.82156353e-01 -1.72336227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.722414037 meters Centerline goodness : 0.769571 Centerline is valid? [False, False] Translation: X:3.72, Y:0.16, Z:-0.17 [[ 9.39668369e-01 -2.85662052e-01 -1.88203475e-01 3.71504012e+00] [ 2.91247979e-01 9.56645239e-01 2.12148863e-03 1.64238818e-01] [ 1.79437930e-01 -5.68073775e-02 9.82127767e-01 -1.73527807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.752414037 meters Centerline goodness : 0.768498 Centerline is valid? [False, False] Translation: X:3.72, Y:0.16, Z:-0.17 [[ 9.39947516e-01 -2.84733169e-01 -1.88217133e-01 3.71572638e+00] [ 2.90301254e-01 9.56932978e-01 2.11130336e-03 1.64856519e-01] [ 1.79510024e-01 -5.66241842e-02 9.82125172e-01 -1.74678578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.782414037 meters Centerline goodness : 0.768498 Centerline is valid? [False, False] Translation: X:3.72, Y:0.16, Z:-0.17 [[ 9.39947516e-01 -2.84733169e-01 -1.88217133e-01 3.71572638e+00] [ 2.90301254e-01 9.56932978e-01 2.11130336e-03 1.64856519e-01] [ 1.79510024e-01 -5.66241842e-02 9.82125172e-01 -1.74678578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.812414036999996 meters Centerline goodness : 0.768674 Centerline is valid? [False, False] Translation: X:3.72, Y:0.17, Z:-0.18 [[ 9.40498577e-01 -2.83002590e-01 -1.88074350e-01 3.71505546e+00] [ 2.88615393e-01 9.57441661e-01 2.57289709e-03 1.65689576e-01] [ 1.79342081e-01 -5.67009584e-02 9.82151424e-01 -1.75293515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.842414037 meters Centerline goodness : 0.766816 Centerline is valid? [False, False] Translation: X:3.72, Y:0.17, Z:-0.18 [[ 9.40716470e-01 -2.82199578e-01 -1.88191182e-01 3.71502368e+00] [ 2.87903109e-01 9.57654489e-01 3.11122132e-03 1.65888660e-01] [ 1.79344145e-01 -5.71076037e-02 9.82127486e-01 -1.75390773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.872414037 meters Centerline goodness : 0.767686 Centerline is valid? [False, False] Translation: X:3.72, Y:0.17, Z:-0.17 [[ 0.94088417 -0.28130827 -0.18868659 3.7153127 ] [ 0.28718022 0.95786839 0.00395909 0.16543832] [ 0.1796232 -0.0579121 0.98202938 -0.17484363] [ 0. 0. 0. 1. ]] SLAMing on 48.902414037 meters Centerline goodness : 0.770398 Centerline is valid? [False, False] Translation: X:3.72, Y:0.16, Z:-0.17 [[ 0.94099411 -0.28068768 -0.18906218 3.71549902] [ 0.28675218 0.95799202 0.0049484 0.16479182] [ 0.1797311 -0.05887041 0.98195265 -0.17437043] [ 0. 0. 0. 1. ]] SLAMing on 48.932414037 meters Centerline goodness : 0.769936 Centerline is valid? [False, False] Translation: X:3.72, Y:0.16, Z:-0.17 [[ 0.9408429 -0.28060584 -0.18993418 3.71664619] [ 0.28693343 0.95793112 0.00609797 0.16379563] [ 0.18023273 -0.0602357 0.98177789 -0.17350418] [ 0. 0. 0. 1. ]] SLAMing on 48.962414037 meters Centerline goodness : 0.769040 Centerline is valid? [False, False] Translation: X:3.72, Y:0.16, Z:-0.17 [[ 0.94053166 -0.2812269 -0.19055608 3.71888854] [ 0.28761645 0.95772586 0.00616142 0.16340251] [ 0.18076772 -0.06060208 0.98165698 -0.17393325] [ 0. 0. 0. 1. ]] SLAMing on 48.992414036999996 meters Centerline goodness : 0.769481 Centerline is valid? [False, False] Translation: X:3.72, Y:0.16, Z:-0.17 [[ 0.9401342 -0.28210802 -0.19121388 3.72171417] [ 0.28856408 0.95744045 0.00620945 0.16283616] [ 0.18132417 -0.06101518 0.98152875 -0.17471353] [ 0. 0. 0. 1. ]] SLAMing on 49.022414037 meters Centerline goodness : 0.768165 Centerline is valid? [False, False] Translation: X:3.73, Y:0.16, Z:-0.17 [[ 0.93921315 -0.28422746 -0.19259651 3.72580812] [ 0.29089478 0.95673187 0.00666022 0.1617462 ] [ 0.1823702 -0.06228069 0.98125543 -0.17469454] [ 0. 0. 0. 1. ]] SLAMing on 49.052414037 meters Centerline goodness : 0.764239 Centerline is valid? [False, False] Translation: X:3.73, Y:0.16, Z:-0.17 [[ 0.93892348 -0.28470318 -0.19330492 3.72654064] [ 0.29155238 0.95652669 0.00734165 0.16167745] [ 0.18281112 -0.06325176 0.98111126 -0.173672 ] [ 0. 0. 0. 1. ]] SLAMing on 49.082414037 meters Centerline goodness : 0.768386 Centerline is valid? [False, False] Translation: X:3.73, Y:0.16, Z:-0.17 [[ 0.93904989 -0.28271086 -0.19560131 3.72876427] [ 0.29046594 0.95681558 0.01155338 0.16063524] [ 0.18388811 -0.06766472 0.98061544 -0.17210714] [ 0. 0. 0. 1. ]] SLAMing on 49.112414037 meters Centerline goodness : 0.766324 Centerline is valid? [False, False] Translation: X:3.73, Y:0.16, Z:-0.17 [[ 0.9387535 -0.28301541 -0.19658115 3.73005535] [ 0.29101609 0.95663702 0.01245977 0.16023475] [ 0.1845305 -0.06890493 0.98040839 -0.17109832] [ 0. 0. 0. 1. ]] SLAMing on 49.142414037 meters Centerline goodness : 0.767385 Centerline is valid? [False, False] Translation: X:3.73, Y:0.16, Z:-0.17 [[ 0.93864159 -0.28298646 -0.19715633 3.73198357] [ 0.29112209 0.95659813 0.01295917 0.1592891 ] [ 0.18493211 -0.06956058 0.98028641 -0.17143518] [ 0. 0. 0. 1. ]] SLAMing on 49.172414037 meters Centerline goodness : 0.765794 Centerline is valid? [False, False] Translation: X:3.73, Y:0.16, Z:-0.17 [[ 0.9384346 -0.28334654 -0.197624 3.7339018 ] [ 0.29156877 0.95645877 0.0132015 0.15847178] [ 0.1852786 -0.07000973 0.980189 -0.17181667] [ 0. 0. 0. 1. ]] SLAMing on 49.202414037 meters Centerline goodness : 0.767975 Centerline is valid? [False, False] Translation: X:3.74, Y:0.16, Z:-0.17 [[ 0.93830582 -0.28338928 -0.19817344 3.73542803] [ 0.2917587 0.95639294 0.0137626 0.1578187 ] [ 0.1856315 -0.07073235 0.98007034 -0.17190759] [ 0. 0. 0. 1. ]] SLAMing on 49.232414037 meters Centerline goodness : 0.766188 Centerline is valid? [False, False] Translation: X:3.74, Y:0.16, Z:-0.17 [[ 0.93774057 -0.28424483 -0.19961837 3.73752983] [ 0.29291767 0.95602455 0.0147068 0.15841753] [ 0.18665973 -0.07226291 0.97976335 -0.17068615] [ 0. 0. 0. 1. ]] SLAMing on 49.262414037 meters Centerline goodness : 0.765327 Centerline is valid? [False, False] Translation: X:3.74, Y:0.16, Z:-0.17 [[ 0.937458 -0.28476133 -0.2002086 3.73813193] [ 0.29353057 0.95583316 0.01492571 0.15907344] [ 0.18711575 -0.07275957 0.9796396 -0.16992277] [ 0. 0. 0. 1. ]] SLAMing on 49.292414037 meters Centerline goodness : 0.766421 Centerline is valid? [False, False] Translation: X:3.74, Y:0.16, Z:-0.17 [[ 0.93728383 -0.2849192 -0.20079857 3.73871179] [ 0.2938565 0.955723 0.01555349 0.15914678] [ 0.18747633 -0.073584 0.97950907 -0.16921385] [ 0. 0. 0. 1. ]] SLAMing on 49.322414037 meters Centerline goodness : 0.766926 Centerline is valid? [False, False] Translation: X:3.74, Y:0.16, Z:-0.17 [[ 0.93720032 -0.28492935 -0.20117363 3.7396188 ] [ 0.29398303 0.95567655 0.01600952 0.15860074] [ 0.18769534 -0.07414576 0.97942476 -0.16907284] [ 0. 0. 0. 1. ]] SLAMing on 49.352414037 meters Centerline goodness : 0.766829 Centerline is valid? [False, False] Translation: X:3.74, Y:0.16, Z:-0.17 [[ 0.9372716 -0.28469486 -0.20117349 3.74110984] [ 0.29376478 0.95574183 0.01611843 0.157324 ] [ 0.18768109 -0.07420504 0.979423 -0.17017544] [ 0. 0. 0. 1. ]] SLAMing on 49.382414037 meters Centerline goodness : 0.766802 Centerline is valid? [False, False] Translation: X:3.74, Y:0.16, Z:-0.17 [[ 0.93734522 -0.28428745 -0.20140653 3.74202443] [ 0.29342125 0.95584257 0.01639948 0.15708823] [ 0.18785077 -0.07446893 0.97937044 -0.17061562] [ 0. 0. 0. 1. ]] SLAMing on 49.412414037 meters Centerline goodness : 0.767344 Centerline is valid? [False, False] Translation: X:3.74, Y:0.16, Z:-0.17 [[ 0.93743741 -0.28402847 -0.20134282 3.74194095] [ 0.2931768 0.95591537 0.01652764 0.15737983] [ 0.18777238 -0.07452267 0.97938139 -0.17085858] [ 0. 0. 0. 1. ]] SLAMing on 49.442414037 meters Centerline goodness : 0.769585 Centerline is valid? [False, False] Translation: X:3.74, Y:0.16, Z:-0.17 [[ 0.93772298 -0.28325319 -0.20110505 3.74102907] [ 0.29242299 0.95614122 0.01681564 0.15753761] [ 0.18752174 -0.07457615 0.97942534 -0.1708085 ] [ 0. 0. 0. 1. ]] SLAMing on 49.472414037 meters Centerline goodness : 0.766441 Centerline is valid? [False, False] Translation: X:3.74, Y:0.16, Z:-0.18 [[ 0.93822804 -0.28842529 -0.19115177 3.7449678 ] [ 0.29723026 0.95462711 0.01847309 0.16133023] [ 0.17715056 -0.07414806 0.98138664 -0.17604343] [ 0. 0. 0. 1. ]] SLAMing on 49.502414037 meters Centerline goodness : 0.767062 Centerline is valid? [False, False] Translation: X:3.75, Y:0.16, Z:-0.18 [[ 0.93830396 -0.28827573 -0.19100469 3.74501482] [ 0.2970486 0.9546856 0.01837229 0.16140682] [ 0.17705314 -0.07397647 0.98141717 -0.17645752] [ 0. 0. 0. 1. ]] SLAMing on 49.532414037 meters Centerline goodness : 0.765932 Centerline is valid? [False, False] Translation: X:3.75, Y:0.16, Z:-0.18 [[ 0.93840089 -0.28768054 -0.19142538 3.74608069] [ 0.29656979 0.95482424 0.01889512 0.16138197] [ 0.17734184 -0.07450218 0.98132528 -0.17681774] [ 0. 0. 0. 1. ]] SLAMing on 49.562414036999996 meters Centerline goodness : 0.769592 Centerline is valid? [False, False] Translation: X:3.75, Y:0.16, Z:-0.18 [[ 0.93849957 -0.2872278 -0.19162139 3.74662328] [ 0.29614853 0.95495232 0.01902924 0.16146791] [ 0.17752356 -0.07460733 0.98128443 -0.17713298] [ 0. 0. 0. 1. ]] SLAMing on 49.592414037 meters Centerline goodness : 0.769914 Centerline is valid? [False, False] Translation: X:3.75, Y:0.16, Z:-0.18 [[ 0.93837996 -0.28758649 -0.19166915 3.74740567] [ 0.29647668 0.95485493 0.01880528 0.16128901] [ 0.17760809 -0.07447193 0.98127942 -0.17749612] [ 0. 0. 0. 1. ]] SLAMing on 49.622414037 meters Centerline goodness : 0.771334 Centerline is valid? [False, False] Translation: X:3.75, Y:0.16, Z:-0.18 [[ 0.93830931 -0.28745343 -0.19221386 3.74920915] [ 0.29643574 0.95486192 0.01909369 0.16098391] [ 0.17804915 -0.07489485 0.9811673 -0.17803493] [ 0. 0. 0. 1. ]] SLAMing on 49.652414037 meters Centerline goodness : 0.771617 Centerline is valid? [False, False] Translation: X:3.75, Y:0.16, Z:-0.18 [[ 0.93836765 -0.28717973 -0.19233813 3.75011237] [ 0.2962326 0.95491765 0.01945579 0.15999661] [ 0.17807976 -0.0752335 0.98113583 -0.178426 ] [ 0. 0. 0. 1. ]] SLAMing on 49.682414037 meters Centerline goodness : 0.774689 Centerline is valid? [False, False] Translation: X:3.75, Y:0.16, Z:-0.18 [[ 0.93857412 -0.28618701 -0.19280981 3.75065087] [ 0.29549188 0.95512019 0.02073568 0.15846654] [ 0.17822226 -0.07643571 0.98101703 -0.17792385] [ 0. 0. 0. 1. ]] SLAMing on 49.712414037 meters Centerline goodness : 0.774701 Centerline is valid? [False, False] Translation: X:3.75, Y:0.16, Z:-0.18 [[ 0.93868282 -0.28562899 -0.19310786 3.75137243] [ 0.2950493 0.95524471 0.02129447 0.15835006] [ 0.17838294 -0.07696509 0.98094643 -0.17816666] [ 0. 0. 0. 1. ]] SLAMing on 49.742414036999996 meters Centerline goodness : 0.776723 Centerline is valid? [False, False] Translation: X:3.75, Y:0.16, Z:-0.18 [[ 0.93899822 -0.2849684 -0.1925496 3.74980344] [ 0.29424909 0.95550166 0.02083404 0.15963747] [ 0.17804442 -0.07622067 0.98106605 -0.17831003] [ 0. 0. 0. 1. ]] SLAMing on 49.772414037 meters Centerline goodness : 0.773123 Centerline is valid? [False, False] Translation: X:3.75, Y:0.16, Z:-0.18 [[ 0.93938056 -0.28372154 -0.192526 3.74984912] [ 0.29303709 0.95586696 0.02115716 0.1597576 ] [ 0.1780265 -0.07629188 0.98106377 -0.17892554] [ 0. 0. 0. 1. ]] SLAMing on 49.802414037 meters Centerline goodness : 0.772312 Centerline is valid? [False, False] Translation: X:3.75, Y:0.16, Z:-0.18 [[ 0.93987234 -0.28243548 -0.1920161 3.74922167] [ 0.29169525 0.95627644 0.0211956 0.15942987] [ 0.17763409 -0.07593134 0.98116286 -0.17975252] [ 0. 0. 0. 1. ]] SLAMing on 49.832414037 meters Centerline goodness : 0.772188 Centerline is valid? [False, False] Translation: X:3.75, Y:0.16, Z:-0.18 [[ 0.94098647 -0.27954388 -0.190787 3.74826417] [ 0.28866018 0.95719662 0.02121146 0.15824817] [ 0.17669114 -0.07503231 0.98140226 -0.1821844 ] [ 0. 0. 0. 1. ]] SLAMing on 49.862414037 meters Centerline goodness : 0.776856 Centerline is valid? [False, False] Translation: X:3.75, Y:0.16, Z:-0.18 [[ 0.94163522 -0.27754703 -0.19050133 3.74794948] [ 0.28670898 0.95777013 0.02177946 0.15797099] [ 0.17641166 -0.07512675 0.98144531 -0.18322846] [ 0. 0. 0. 1. ]] SLAMing on 49.892414037 meters Centerline goodness : 0.775810 Centerline is valid? [False, False] Translation: X:3.75, Y:0.16, Z:-0.18 [[ 0.94215732 -0.27605773 -0.19008343 3.74634809] [ 0.28522038 0.958207 0.02210621 0.15809836] [ 0.17603668 -0.07504319 0.98151903 -0.18319886] [ 0. 0. 0. 1. ]] SLAMing on 49.922414037 meters Centerline goodness : 0.773494 Centerline is valid? [False, False] Translation: X:3.75, Y:0.16, Z:-0.18 [[ 0.94266908 -0.27450197 -0.18979904 3.74521912] [ 0.28370812 0.95864386 0.02261993 0.15829613] [ 0.17574047 -0.07517063 0.98156236 -0.18335709] [ 0. 0. 0. 1. ]] SLAMing on 49.952414037 meters Centerline goodness : 0.774551 Centerline is valid? [False, False] Translation: X:3.74, Y:0.16, Z:-0.18 [[ 0.94315097 -0.27326476 -0.18918936 3.74332783] [ 0.28244204 0.95901241 0.02284052 0.15805722] [ 0.17519344 -0.07497709 0.98167494 -0.18317409] [ 0. 0. 0. 1. ]] SLAMing on 49.982414037 meters Centerline goodness : 0.773151 Centerline is valid? [False, False] Translation: X:3.74, Y:0.16, Z:-0.18 [[ 0.94325759 -0.27286723 -0.18923156 3.74458282] [ 0.28207444 0.95911613 0.02302731 0.15732213] [ 0.17521165 -0.07509807 0.98166245 -0.18421189] [ 0. 0. 0. 1. ]] SLAMing on 50.012414037 meters Centerline goodness : 0.773995 Centerline is valid? [False, False] Translation: X:3.75, Y:0.16, Z:-0.18 [[ 0.94325563 -0.27289478 -0.18920165 3.74572586] [ 0.28210575 0.95910617 0.02305882 0.15593469] [ 0.17517183 -0.07512523 0.98166747 -0.18488826] [ 0. 0. 0. 1. ]] SLAMing on 50.042414037 meters Centerline goodness : 0.772772 Centerline is valid? [False, False] Translation: X:3.75, Y:0.15, Z:-0.18 [[ 0.94280657 -0.27380759 -0.19011884 3.74858993] [ 0.28330145 0.95872674 0.02415233 0.15324929] [ 0.17565892 -0.07663192 0.98146395 -0.18462018] [ 0. 0. 0. 1. ]] SLAMing on 50.072414037 meters Centerline goodness : 0.771991 Centerline is valid? [False, False] Translation: X:3.75, Y:0.15, Z:-0.18 [[ 0.94243887 -0.2742256 -0.19133554 3.750763 ] [ 0.28409088 0.95845451 0.02563833 0.15165584] [ 0.17635573 -0.07851924 0.98118978 -0.18354845] [ 0. 0. 0. 1. ]] SLAMing on 50.102414037 meters Centerline goodness : 0.773314 Centerline is valid? [False, False] Translation: X:3.75, Y:0.15, Z:-0.18 [[ 0.94195163 -0.27513058 -0.19243257 3.75286724] [ 0.28528824 0.95807048 0.0266755 0.15066279] [ 0.17702471 -0.08002578 0.98094756 -0.18254901] [ 0. 0. 0. 1. ]] SLAMing on 50.132414037 meters Centerline goodness : 0.777274 Centerline is valid? [False, False] Translation: X:3.76, Y:0.15, Z:-0.18 [[ 0.94130979 -0.276403 -0.19374534 3.75538429] [ 0.28692118 0.9575467 0.02793836 0.14925951] [ 0.17779797 -0.08188829 0.98065396 -0.18133032] [ 0. 0. 0. 1. ]] SLAMing on 50.162414037 meters Centerline goodness : 0.778515 Centerline is valid? [False, False] Translation: X:3.76, Y:0.15, Z:-0.18 [[ 0.94044234 -0.2786231 -0.19477518 3.75804292] [ 0.28929866 0.9568261 0.0281086 0.14849021] [ 0.17853427 -0.08278272 0.98044507 -0.18044539] [ 0. 0. 0. 1. ]] SLAMing on 50.192414037 meters Centerline goodness : 0.773960 Centerline is valid? [False, False] Translation: X:3.76, Y:0.15, Z:-0.18 [[ 0.93837257 -0.28482899 -0.19577888 3.76369494] [ 0.2953071 0.95504965 0.02595912 0.14588352] [ 0.17958464 -0.08217422 0.98030442 -0.18017824] [ 0. 0. 0. 1. ]] SLAMing on 50.222414037 meters Centerline goodness : 0.775697 Centerline is valid? [False, False] Translation: X:3.77, Y:0.14, Z:-0.18 [[ 0.93775842 -0.2862545 -0.19664057 3.7670236 ] [ 0.29695603 0.95451962 0.0266348 0.14332658] [ 0.18007295 -0.08337061 0.98011381 -0.18018307] [ 0. 0. 0. 1. ]] SLAMing on 50.252414037 meters Centerline goodness : 0.778279 Centerline is valid? [False, False] Translation: X:3.77, Y:0.14, Z:-0.18 [[ 0.93717026 -0.28753858 -0.19756889 3.76923318] [ 0.29849275 0.9540173 0.0274423 0.14127206] [ 0.18059342 -0.08469099 0.97990482 -0.17912904] [ 0. 0. 0. 1. ]] SLAMing on 50.282414037 meters Centerline goodness : 0.779809 Centerline is valid? [False, False] Translation: X:3.77, Y:0.14, Z:-0.18 [[ 0.9367453 -0.28809762 -0.19876619 3.77126731] [ 0.29943794 0.95367793 0.028902 0.1396463 ] [ 0.18123233 -0.08659195 0.97962068 -0.1778773 ] [ 0. 0. 0. 1. ]] SLAMing on 50.312414036999996 meters Centerline goodness : 0.777258 Centerline is valid? [False, False] Translation: X:3.77, Y:0.14, Z:-0.18 [[ 0.93595488 -0.28950046 -0.2004444 3.77366983] [ 0.30135482 0.95301742 0.03070944 0.13771205] [ 0.18213661 -0.08914753 0.97922366 -0.17555544] [ 0. 0. 0. 1. ]] SLAMing on 50.342414037 meters Centerline goodness : 0.777172 Centerline is valid? [False, False] Translation: X:3.78, Y:0.14, Z:-0.17 [[ 0.93551151 -0.29018916 -0.20151542 3.77608507] [ 0.3022981 0.95269377 0.03147127 0.13673741] [ 0.18284986 -0.09035947 0.97897962 -0.1749433 ] [ 0. 0. 0. 1. ]] SLAMing on 50.372414037 meters Centerline goodness : 0.779415 Centerline is valid? [False, False] Translation: X:3.78, Y:0.14, Z:-0.17 [[ 0.93516901 -0.29066819 -0.20241276 3.77837532] [ 0.30304915 0.95242317 0.03242409 0.13524108] [ 0.18335796 -0.09166302 0.97876338 -0.17454936] [ 0. 0. 0. 1. ]] SLAMing on 50.402414037 meters Centerline goodness : 0.781384 Centerline is valid? [False, False] Translation: X:3.78, Y:0.13, Z:-0.17 [[ 0.9344349 -0.29199423 -0.20388916 3.78123612] [ 0.30484139 0.95179545 0.03401679 0.13254378] [ 0.18412807 -0.09394033 0.97840282 -0.17289509] [ 0. 0. 0. 1. ]] SLAMing on 50.432414037 meters Centerline goodness : 0.780030 Centerline is valid? [False, False] Translation: X:3.78, Y:0.13, Z:-0.17 [[ 0.93407276 -0.29256557 -0.20472778 3.78311488] [ 0.30565858 0.95150403 0.03482689 0.1311978 ] [ 0.18461016 -0.09510765 0.97819917 -0.1722309 ] [ 0. 0. 0. 1. ]] SLAMing on 50.462414037 meters Centerline goodness : 0.780043 Centerline is valid? [False, False] Translation: X:3.79, Y:0.13, Z:-0.17 [[ 0.93386693 -0.2926788 -0.20550348 3.78526319] [ 0.30604887 0.95133971 0.03587269 0.1293638 ] [ 0.18500444 -0.09639443 0.97799871 -0.17195072] [ 0. 0. 0. 1. ]] SLAMing on 50.492414036999996 meters Centerline goodness : 0.779385 Centerline is valid? [False, False] Translation: X:3.79, Y:0.13, Z:-0.17 [[ 0.93266916 -0.29671774 -0.20515071 3.78708697] [ 0.30955691 0.95031328 0.03285087 0.1293085 ] [ 0.18521001 -0.09414482 0.97817892 -0.17204753] [ 0. 0. 0. 1. ]] SLAMing on 50.522414037 meters Centerline goodness : 0.779221 Centerline is valid? [False, False] Translation: X:3.79, Y:0.13, Z:-0.17 [[ 0.93233027 -0.29725278 -0.20591515 3.78947698] [ 0.3102166 0.95009095 0.03305807 0.12943231] [ 0.18581152 -0.09469934 0.97801131 -0.17245644] [ 0. 0. 0. 1. ]] SLAMing on 50.552414037 meters Centerline goodness : 0.777425 Centerline is valid? [False, False] Translation: X:3.79, Y:0.13, Z:-0.17 [[ 0.93205527 -0.29754641 -0.20673437 3.79170455] [ 0.31064818 0.94994053 0.03332722 0.12962806] [ 0.18646896 -0.09528447 0.97782933 -0.17271598] [ 0. 0. 0. 1. ]] SLAMing on 50.582414037 meters Centerline goodness : 0.778181 Centerline is valid? [False, False] Translation: X:3.79, Y:0.13, Z:-0.17 [[ 0.93177022 -0.29776535 -0.20770182 3.79325291] [ 0.31106268 0.94978734 0.03382339 0.1300189 ] [ 0.18720112 -0.09612391 0.97760725 -0.17213705] [ 0. 0. 0. 1. ]] SLAMing on 50.612414037 meters Centerline goodness : 0.781043 Centerline is valid? [False, False] Translation: X:3.79, Y:0.13, Z:-0.17 [[ 0.93162821 -0.29783857 -0.20823319 3.79404045] [ 0.31120719 0.94973693 0.0339096 0.13112363] [ 0.18766716 -0.0963948 0.97749122 -0.17204205] [ 0. 0. 0. 1. ]] SLAMing on 50.642414037 meters Centerline goodness : 0.778059 Centerline is valid? [False, False] Translation: X:3.80, Y:0.13, Z:-0.17 [[ 0.93161353 -0.29764661 -0.20857308 3.7953077 ] [ 0.31108191 0.94977122 0.03409805 0.13113353] [ 0.18794754 -0.09664952 0.97741219 -0.17259733] [ 0. 0. 0. 1. ]] SLAMing on 50.672414036999996 meters Centerline goodness : 0.778059 Centerline is valid? [False, False] Translation: X:3.80, Y:0.13, Z:-0.17 [[ 0.93161353 -0.29764661 -0.20857308 3.7953077 ] [ 0.31108191 0.94977122 0.03409805 0.13113353] [ 0.18794754 -0.09664952 0.97741219 -0.17259733] [ 0. 0. 0. 1. ]] SLAMing on 50.702414037 meters Centerline goodness : 0.780581 Centerline is valid? [False, False] Translation: X:3.80, Y:0.13, Z:-0.17 [[ 0.93166486 -0.29728671 -0.20885687 3.79688557] [ 0.31078395 0.94986121 0.03430759 0.13048986] [ 0.18818585 -0.09687254 0.97734426 -0.17339378] [ 0. 0. 0. 1. ]] SLAMing on 50.732414037 meters Centerline goodness : 0.778544 Centerline is valid? [False, False] Translation: X:3.80, Y:0.13, Z:-0.17 [[ 0.93168569 -0.29701192 -0.20915472 3.79814088] [ 0.31060002 0.94990893 0.03465053 0.12969527] [ 0.18838632 -0.09724686 0.97726846 -0.1737483 ] [ 0. 0. 0. 1. ]] SLAMing on 50.762414037 meters Centerline goodness : 0.780844 Centerline is valid? [False, False] Translation: X:3.80, Y:0.13, Z:-0.17 [[ 0.93208792 -0.29436525 -0.21109526 3.80017589] [ 0.3088227 0.95034504 0.03837769 0.12913889] [ 0.18931627 -0.10096239 0.9767118 -0.17312913] [ 0. 0. 0. 1. ]] SLAMing on 50.792414037 meters Centerline goodness : 0.777109 Centerline is valid? [False, False] Translation: X:3.80, Y:0.13, Z:-0.17 [[ 0.93210644 -0.29400197 -0.21151934 3.80032181] [ 0.30851027 0.95044375 0.03844601 0.13073363] [ 0.18973403 -0.10109166 0.97661736 -0.17291446] [ 0. 0. 0. 1. ]] SLAMing on 50.822414037 meters Centerline goodness : 0.776182 Centerline is valid? [False, False] Translation: X:3.80, Y:0.13, Z:-0.17 [[ 0.9322271 -0.29337966 -0.21185137 3.80026076] [ 0.30793936 0.95062292 0.03859305 0.13220552] [ 0.19006835 -0.10121486 0.97653959 -0.17281473] [ 0. 0. 0. 1. ]] SLAMing on 50.852414037 meters Centerline goodness : 0.777391 Centerline is valid? [False, False] Translation: X:3.80, Y:0.13, Z:-0.17 [[ 0.9330483 -0.28987942 -0.21305117 3.80012953] [ 0.30516835 0.95137056 0.04202776 0.1319035 ] [ 0.19050763 -0.1042304 0.97613671 -0.17208734] [ 0. 0. 0. 1. ]] SLAMing on 50.882414037 meters Centerline goodness : 0.777670 Centerline is valid? [False, False] Translation: X:3.80, Y:0.13, Z:-0.17 [[ 0.93315551 -0.28969379 -0.21283396 3.80014729] [ 0.30488179 0.95147904 0.04165009 0.13245818] [ 0.19044128 -0.10375521 0.97620027 -0.17273595] [ 0. 0. 0. 1. ]] SLAMing on 50.912414037 meters Centerline goodness : 0.774780 Centerline is valid? [False, False] Translation: X:3.80, Y:0.13, Z:-0.17 [[ 0.93325596 -0.28932472 -0.21289554 3.80098168] [ 0.30446581 0.95162259 0.04141276 0.13296036] [ 0.19061447 -0.10346812 0.97619694 -0.17363649] [ 0. 0. 0. 1. ]] SLAMing on 50.942414037 meters Centerline goodness : 0.775281 Centerline is valid? [False, False] Translation: X:3.80, Y:0.13, Z:-0.17 [[ 0.93332815 -0.28903769 -0.21296893 3.80178947] [ 0.30414111 0.95173529 0.0412083 0.13380627] [ 0.1907793 -0.10323348 0.97618959 -0.17455612] [ 0. 0. 0. 1. ]] SLAMing on 50.972414037 meters Centerline goodness : 0.779159 Centerline is valid? [False, False] Translation: X:3.80, Y:0.14, Z:-0.17 [[ 0.93317679 -0.28957332 -0.21290463 3.80108983] [ 0.30448009 0.95167071 0.04018376 0.13679441] [ 0.19097896 -0.10232377 0.97624632 -0.17459209] [ 0. 0. 0. 1. ]] SLAMing on 51.002414037 meters Centerline goodness : 0.778869 Centerline is valid? [False, False] Translation: X:3.80, Y:0.14, Z:-0.17 [[ 0.93296943 -0.28968179 -0.21366448 3.80174161] [ 0.30471947 0.95158386 0.04042523 0.13839334] [ 0.19160922 -0.10282324 0.97607033 -0.17395599] [ 0. 0. 0. 1. ]] SLAMing on 51.032414037 meters Centerline goodness : 0.779410 Centerline is valid? [False, False] Translation: X:3.80, Y:0.14, Z:-0.17 [[ 0.93269377 -0.29033717 -0.21397819 3.80193653] [ 0.30535506 0.95139444 0.04008627 0.13977186] [ 0.19193912 -0.10272754 0.97601559 -0.17356027] [ 0. 0. 0. 1. ]] SLAMing on 51.062414036999996 meters Centerline goodness : 0.779256 Centerline is valid? [False, False] Translation: X:3.80, Y:0.14, Z:-0.17 [[ 0.93233599 -0.29095583 -0.21469585 3.80343079] [ 0.30604721 0.95117546 0.04000445 0.14075723] [ 0.1925739 -0.10300466 0.97586133 -0.17334741] [ 0. 0. 0. 1. ]] SLAMing on 51.092414037 meters Centerline goodness : 0.775931 Centerline is valid? [False, False] Translation: X:3.80, Y:0.14, Z:-0.17 [[ 0.93173835 -0.29251111 -0.21517645 3.80446255] [ 0.30761294 0.9506857 0.03963558 0.14106869] [ 0.19297133 -0.10312105 0.97577052 -0.17272822] [ 0. 0. 0. 1. ]] SLAMing on 51.122414037 meters Centerline goodness : 0.778271 Centerline is valid? [False, False] Translation: X:3.81, Y:0.14, Z:-0.17 [[ 0.93151855 -0.29263494 -0.2159583 3.80534857] [ 0.30796419 0.9505422 0.0403434 0.14088571] [ 0.19347159 -0.10408804 0.97556877 -0.17179524] [ 0. 0. 0. 1. ]] SLAMing on 51.152414037 meters Centerline goodness : 0.774441 Centerline is valid? [False, False] Translation: X:3.81, Y:0.14, Z:-0.17 [[ 0.93132328 -0.29299822 -0.21630761 3.80536974] [ 0.3083953 0.95039763 0.04045584 0.14142847] [ 0.19372475 -0.10438572 0.97548672 -0.171067 ] [ 0. 0. 0. 1. ]] SLAMing on 51.182414037 meters Centerline goodness : 0.772473 Centerline is valid? [False, False] Translation: X:3.81, Y:0.15, Z:-0.17 [[ 0.9307642 -0.29427004 -0.21698652 3.80589977] [ 0.30955479 0.95006547 0.0393882 0.14563961] [ 0.19456063 -0.10383034 0.97537963 -0.17083871] [ 0. 0. 0. 1. ]] SLAMing on 51.212414037 meters Centerline goodness : 0.771908 Centerline is valid? [False, False] Translation: X:3.81, Y:0.15, Z:-0.17 [[ 0.93043318 -0.29471777 -0.21779702 3.80813791] [ 0.30998347 0.94994965 0.03880615 0.14857412] [ 0.19545934 -0.10362 0.9752223 -0.17180795] [ 0. 0. 0. 1. ]] SLAMing on 51.242414036999996 meters Centerline goodness : 0.771365 Centerline is valid? [False, False] Translation: X:3.81, Y:0.15, Z:-0.17 [[ 0.93017671 -0.29510018 -0.21837395 3.80950592] [ 0.31033786 0.94985387 0.03831503 0.1507731 ] [ 0.19611657 -0.10340945 0.9751127 -0.1722716 ] [ 0. 0. 0. 1. ]] SLAMing on 51.272414037 meters Centerline goodness : 0.771947 Centerline is valid? [False, False] Translation: X:3.81, Y:0.15, Z:-0.17 [[ 0.9301413 -0.29507334 -0.21856093 3.80963453] [ 0.31022145 0.94991362 0.0377725 0.15282769] [ 0.19646835 -0.10293605 0.97509197 -0.17259026] [ 0. 0. 0. 1. ]] SLAMing on 51.302414037 meters Centerline goodness : 0.769681 Centerline is valid? [False, False] Translation: X:3.81, Y:0.15, Z:-0.17 [[ 0.93012957 -0.29542656 -0.21813329 3.80863726] [ 0.31040108 0.9498814 0.03710126 0.15338516] [ 0.19624006 -0.10221779 0.9752135 -0.17249642] [ 0. 0. 0. 1. ]] SLAMing on 51.332414037 meters Centerline goodness : 0.772766 Centerline is valid? [False, False] Translation: X:3.81, Y:0.15, Z:-0.17 [[ 0.93009878 -0.29520009 -0.21857072 3.80908792] [ 0.31026284 0.94991758 0.03733044 0.15422097] [ 0.19660422 -0.10253537 0.9751068 -0.17229884] [ 0. 0. 0. 1. ]] SLAMing on 51.362414037 meters Centerline goodness : 0.769465 Centerline is valid? [False, False] Translation: X:3.81, Y:0.16, Z:-0.17 [[ 0.93003798 -0.29531207 -0.21867818 3.8081954 ] [ 0.31033332 0.94990531 0.03705572 0.15589073] [ 0.19678057 -0.10232635 0.97509319 -0.17159828] [ 0. 0. 0. 1. ]] SLAMing on 51.392414037 meters Centerline goodness : 0.769252 Centerline is valid? [False, False] Translation: X:3.81, Y:0.16, Z:-0.17 [[ 0.93045298 -0.29268961 -0.22043151 3.80870542] [ 0.30852202 0.95035896 0.04039821 0.15671875] [ 0.19766492 -0.10559661 0.97456551 -0.17030055] [ 0. 0. 0. 1. ]] SLAMing on 51.422414036999996 meters Centerline goodness : 0.766750 Centerline is valid? [False, False] Translation: X:3.81, Y:0.16, Z:-0.17 [[ 0.93006621 -0.2934467 -0.22105627 3.8073501 ] [ 0.30929711 0.95012104 0.04006634 0.16037914] [ 0.19827288 -0.10563642 0.97443769 -0.16853979] [ 0. 0. 0. 1. ]] SLAMing on 51.452414037 meters Centerline goodness : 0.767927 Centerline is valid? [False, False] Translation: X:3.81, Y:0.16, Z:-0.17 [[ 0.92973617 -0.29430732 -0.22130038 3.80797182] [ 0.31006554 0.94989884 0.03938973 0.16168045] [ 0.19862029 -0.10523968 0.97440987 -0.16851552] [ 0. 0. 0. 1. ]] SLAMing on 51.482414037 meters Centerline goodness : 0.776141 Centerline is valid? [False, False] Translation: X:3.81, Y:0.16, Z:-0.17 [[ 0.92901093 -0.29589044 -0.22223308 3.81046255] [ 0.31161956 0.94942363 0.0385748 0.16343094] [ 0.19957943 -0.10508859 0.97423018 -0.16870859] [ 0. 0. 0. 1. ]] SLAMing on 51.512414037 meters Centerline goodness : 0.774971 Centerline is valid? [False, False] Translation: X:3.81, Y:0.16, Z:-0.17 [[ 0.92864108 -0.29668289 -0.22272182 3.81209321] [ 0.31237201 0.94919823 0.03803224 0.16489057] [ 0.20012364 -0.10489036 0.9741399 -0.16925227] [ 0. 0. 0. 1. ]] SLAMing on 51.542414037 meters Centerline goodness : 0.769077 Centerline is valid? [False, False] Translation: X:3.81, Y:0.17, Z:-0.17 [[ 0.92836294 -0.29740246 -0.22292156 3.81276589] [ 0.31298347 0.94902498 0.03732207 0.16667959] [ 0.20045845 -0.10441919 0.97412168 -0.16956605] [ 0. 0. 0. 1. ]] SLAMing on 51.572414037 meters Centerline goodness : 0.774179 Centerline is valid? [False, False] Translation: X:3.81, Y:0.17, Z:-0.17 [[ 0.9281687 -0.29799395 -0.22294049 3.81254484] [ 0.31345782 0.94889349 0.03667895 0.16847906] [ 0.20061668 -0.1039267 0.97414177 -0.16957732] [ 0. 0. 0. 1. ]] SLAMing on 51.602414037 meters Centerline goodness : 0.769873 Centerline is valid? [False, False] Translation: X:3.81, Y:0.17, Z:-0.17 [[ 0.92818617 -0.29689721 -0.22432671 3.81262694] [ 0.312798 0.94905217 0.03817572 0.17180384] [ 0.20156348 -0.10560312 0.97376596 -0.1686854 ] [ 0. 0. 0. 1. ]] SLAMing on 51.632414037 meters Centerline goodness : 0.767031 Centerline is valid? [False, False] Translation: X:3.81, Y:0.17, Z:-0.17 [[ 0.92806096 -0.29748288 -0.22406872 3.81145725] [ 0.31316941 0.94896786 0.03721451 0.17401711] [ 0.20156333 -0.1047088 0.97386256 -0.16843801] [ 0. 0. 0. 1. ]] SLAMing on 51.662414037 meters Centerline goodness : 0.767481 Centerline is valid? [False, False] Translation: X:3.81, Y:0.18, Z:-0.17 [[ 0.92805265 -0.29736636 -0.22425771 3.81148686] [ 0.31301415 0.94902981 0.03693994 0.17555869] [ 0.20184255 -0.10447804 0.97382951 -0.16849368] [ 0. 0. 0. 1. ]] SLAMing on 51.692414037 meters Centerline goodness : 0.767854 Centerline is valid? [False, False] Translation: X:3.81, Y:0.18, Z:-0.17 [[ 0.92862545 -0.29436098 -0.22584595 3.81108459] [ 0.31078666 0.94963086 0.04016071 0.17676641] [ 0.20264854 -0.10748416 0.97333485 -0.16703498] [ 0. 0. 0. 1. ]] SLAMing on 51.722414037 meters Centerline goodness : 0.771884 Centerline is valid? [False, False] Translation: X:3.81, Y:0.18, Z:-0.17 [[ 0.92852181 -0.29467631 -0.22586086 3.80989919] [ 0.31100749 0.94957941 0.03966461 0.17874864] [ 0.2027846 -0.10707387 0.97335173 -0.16627964] [ 0. 0. 0. 1. ]] SLAMing on 51.752414037 meters Centerline goodness : 0.764586 Centerline is valid? [False, False] Translation: X:3.81, Y:0.18, Z:-0.17 [[ 0.92843349 -0.2947369 -0.22614469 3.80980984] [ 0.31106803 0.94956625 0.03950461 0.18028269] [ 0.2030959 -0.10702379 0.97329233 -0.16597091] [ 0. 0. 0. 1. ]] SLAMing on 51.782414037 meters Centerline goodness : 0.769434 Centerline is valid? [False, False] Translation: X:3.81, Y:0.18, Z:-0.17 [[ 0.92820131 -0.2951766 -0.22652394 3.81006778] [ 0.31145521 0.94946014 0.03900128 0.18235799] [ 0.20356318 -0.1067531 0.97322444 -0.16571722] [ 0. 0. 0. 1. ]] SLAMing on 51.812414036999996 meters Centerline goodness : 0.766819 Centerline is valid? [False, False] Translation: X:3.81, Y:0.19, Z:-0.17 [[ 0.92776622 -0.29616363 -0.22701748 3.81028398] [ 0.31228659 0.94923216 0.03788653 0.18681804] [ 0.20427168 -0.10604435 0.97315347 -0.16579889] [ 0. 0. 0. 1. ]] SLAMing on 51.842414037 meters Centerline goodness : 0.765711 Centerline is valid? [False, False] Translation: X:3.81, Y:0.19, Z:-0.17 [[ 0.92773638 -0.29638945 -0.22684467 3.80983738] [ 0.31233223 0.94924842 0.03709479 0.18881342] [ 0.20433744 -0.10526509 0.97322427 -0.16610434] [ 0. 0. 0. 1. ]] SLAMing on 51.872414037 meters Centerline goodness : 0.769281 Centerline is valid? [False, False] Translation: X:3.81, Y:0.19, Z:-0.17 [[ 0.92774496 -0.29624257 -0.2270014 3.80989667] [ 0.31210621 0.94933995 0.03665198 0.19072245] [ 0.20464362 -0.10485224 0.9732045 -0.16639216] [ 0. 0. 0. 1. ]] SLAMing on 51.902414037 meters Centerline goodness : 0.768756 Centerline is valid? [False, False] Translation: X:3.81, Y:0.19, Z:-0.17 [[ 0.92789103 -0.29590298 -0.22684724 3.80973778] [ 0.31160621 0.94952885 0.03600748 0.1928252 ] [ 0.20474327 -0.10409803 0.9732645 -0.16718435] [ 0. 0. 0. 1. ]] SLAMing on 51.932414037 meters Centerline goodness : 0.763804 Centerline is valid? [False, False] Translation: X:3.81, Y:0.20, Z:-0.17 [[ 0.92877891 -0.2922878 -0.22789819 3.8096682 ] [ 0.30843754 0.95048623 0.03797639 0.19673382] [ 0.20551405 -0.10556403 0.97294409 -0.16817439] [ 0. 0. 0. 1. ]] SLAMing on 51.962414037 meters Centerline goodness : 0.770887 Centerline is valid? [False, False] Translation: X:3.81, Y:0.20, Z:-0.17 [[ 0.92915307 -0.29164387 -0.2271969 3.80764129] [ 0.30743141 0.95086234 0.03669797 0.19973607] [ 0.20533023 -0.1039455 0.97315715 -0.16863421] [ 0. 0. 0. 1. ]] SLAMing on 51.992414036999996 meters Centerline goodness : 0.766312 Centerline is valid? [False, False] Translation: X:3.81, Y:0.20, Z:-0.17 [[ 0.9305687 -0.28699109 -0.22732798 3.80515657] [ 0.3030747 0.95218691 0.03854639 0.20384677] [ 0.20539625 -0.10476742 0.97305507 -0.16956465] [ 0. 0. 0. 1. ]] SLAMing on 52.022414037 meters Centerline goodness : 0.766312 Centerline is valid? [False, False] Translation: X:3.81, Y:0.20, Z:-0.17 [[ 0.9305687 -0.28699109 -0.22732798 3.80515657] [ 0.3030747 0.95218691 0.03854639 0.20384677] [ 0.20539625 -0.10476742 0.97305507 -0.16956465] [ 0. 0. 0. 1. ]] SLAMing on 52.052414037 meters Centerline goodness : 0.767427 Centerline is valid? [False, False] Translation: X:3.80, Y:0.21, Z:-0.17 [[ 0.93173304 -0.2832519 -0.22724854 3.80241915] [ 0.29946404 0.95328513 0.0396074 0.20826613] [ 0.20541378 -0.10495629 0.97303102 -0.17026519] [ 0. 0. 0. 1. ]] SLAMing on 52.082414037 meters Centerline goodness : 0.768040 Centerline is valid? [False, False] Translation: X:3.80, Y:0.22, Z:-0.17 [[ 0.93350634 -0.28756792 -0.21417426 3.80130517] [ 0.30227217 0.95243685 0.03867276 0.21534504] [ 0.19286641 -0.10084018 0.97602961 -0.17460768] [ 0. 0. 0. 1. ]] SLAMing on 52.112414037 meters Centerline goodness : 0.767274 Centerline is valid? [False, False] Translation: X:3.80, Y:0.22, Z:-0.17 [[ 0.93373549 -0.28699372 -0.21394542 3.79932051] [ 0.30149378 0.95271777 0.03782004 0.21878992] [ 0.19297549 -0.09981713 0.97611321 -0.17425214] [ 0. 0. 0. 1. ]] SLAMing on 52.142414037 meters Centerline goodness : 0.746946 Centerline is valid? [False, False] Translation: X:3.80, Y:0.22, Z:-0.17 [[ 0.9346945 -0.28328557 -0.21469858 3.79813996] [ 0.29823974 0.95364853 0.04009425 0.22235459] [ 0.19338886 -0.10150752 0.97585704 -0.17470131] [ 0. 0. 0. 1. ]] SLAMing on 52.172414036999996 meters Centerline goodness : 0.766873 Centerline is valid? [False, False] Translation: X:3.80, Y:0.23, Z:-0.18 [[ 0.93596487 -0.28936456 -0.20059389 3.79730251] [ 0.30239051 0.95246675 0.03697405 0.22858946] [ 0.18036003 -0.0952641 0.97897651 -0.18074687] [ 0. 0. 0. 1. ]] SLAMing on 52.202414037 meters Centerline goodness : 0.764715 Centerline is valid? [False, False] Translation: X:3.80, Y:0.23, Z:-0.18 [[ 0.93599643 -0.28942243 -0.20036302 3.79750694] [ 0.30225712 0.95254435 0.03605397 0.23015171] [ 0.18041984 -0.09430754 0.9790581 -0.1817558 ] [ 0. 0. 0. 1. ]] SLAMing on 52.232414037 meters Centerline goodness : 0.765583 Centerline is valid? [False, False] Translation: X:3.80, Y:0.23, Z:-0.18 [[ 0.93602969 -0.28918609 -0.20054879 3.79832952] [ 0.30198229 0.95264225 0.03576935 0.23137125] [ 0.18070725 -0.09404336 0.97903051 -0.18258173] [ 0. 0. 0. 1. ]] SLAMing on 52.262414037 meters Centerline goodness : 0.766849 Centerline is valid? [False, False] Translation: X:3.80, Y:0.24, Z:-0.18 [[ 0.93610697 -0.28924947 -0.20009619 3.79612486] [ 0.301754 0.95276426 0.03442079 0.23553301] [ 0.1806883 -0.09260137 0.97917145 -0.18242125] [ 0. 0. 0. 1. ]] SLAMing on 52.292414037 meters Centerline goodness : 0.765051 Centerline is valid? [False, False] Translation: X:3.79, Y:0.24, Z:-0.18 [[ 0.93595212 -0.28968201 -0.20019479 3.7949077 ] [ 0.30206122 0.95269447 0.03364919 0.23869886] [ 0.1809769 -0.09196512 0.97917811 -0.18171156] [ 0. 0. 0. 1. ]] SLAMing on 52.322414037 meters Centerline goodness : 0.764885 Centerline is valid? [False, False] Translation: X:3.79, Y:0.24, Z:-0.18 [[ 0.93586067 -0.29004193 -0.20010116 3.7940281 ] [ 0.30225006 0.95266635 0.03273723 0.24160925] [ 0.18113448 -0.09111807 0.97922816 -0.18169012] [ 0. 0. 0. 1. ]] SLAMing on 52.352414037 meters Centerline goodness : 0.764393 Centerline is valid? [False, False] Translation: X:3.79, Y:0.24, Z:-0.18 [[ 0.93600563 -0.28993198 -0.19958182 3.79373939] [ 0.3018174 0.9528529 0.03126666 0.24430574] [ 0.18110691 -0.08950304 0.9793822 -0.18309026] [ 0. 0. 0. 1. ]] SLAMing on 52.382414037 meters Centerline goodness : 0.763301 Centerline is valid? [False, False] Translation: X:3.79, Y:0.25, Z:-0.18 [[ 0.93651359 -0.28874992 -0.19891146 3.79291884] [ 0.30046412 0.953296 0.03079053 0.24506073] [ 0.18073074 -0.08860151 0.97953365 -0.18421064] [ 0. 0. 0. 1. ]] SLAMing on 52.412414037 meters Centerline goodness : 0.763301 Centerline is valid? [False, False] Translation: X:3.79, Y:0.25, Z:-0.18 [[ 0.93651359 -0.28874992 -0.19891146 3.79291884] [ 0.30046412 0.953296 0.03079053 0.24506073] [ 0.18073074 -0.08860151 0.97953365 -0.18421064] [ 0. 0. 0. 1. ]] SLAMing on 52.442414037 meters Centerline goodness : 0.763911 Centerline is valid? [False, False] Translation: X:3.79, Y:0.25, Z:-0.18 [[ 0.93670911 -0.28810437 -0.19892692 3.79251231] [ 0.29980643 0.95350339 0.03077975 0.24620894] [ 0.18080971 -0.08847124 0.97953085 -0.18431134] [ 0. 0. 0. 1. ]] SLAMing on 52.472414037 meters Centerline goodness : 0.766168 Centerline is valid? [False, False] Translation: X:3.79, Y:0.25, Z:-0.18 [[ 0.93730118 -0.28518157 -0.20034464 3.79091856] [ 0.29755406 0.95410038 0.03397109 0.24836573] [ 0.18146097 -0.09145451 0.97913635 -0.1823075 ] [ 0. 0. 0. 1. ]] SLAMing on 52.502414037 meters Centerline goodness : 0.764927 Centerline is valid? [False, False] Translation: X:3.79, Y:0.25, Z:-0.18 [[ 0.93715918 -0.28560079 -0.20041175 3.78953329] [ 0.29785292 0.95403263 0.03324719 0.25117092] [ 0.18170392 -0.09085113 0.97914746 -0.18140973] [ 0. 0. 0. 1. ]] SLAMing on 52.532414037 meters Centerline goodness : 0.764702 Centerline is valid? [False, False] Translation: X:3.79, Y:0.25, Z:-0.18 [[ 0.93713022 -0.28522107 -0.20108678 3.7903661 ] [ 0.29755432 0.95412128 0.03337688 0.25294858] [ 0.18234139 -0.09111272 0.97900464 -0.18141067] [ 0. 0. 0. 1. ]] SLAMing on 52.562414036999996 meters Centerline goodness : 0.764702 Centerline is valid? [False, False] Translation: X:3.79, Y:0.25, Z:-0.18 [[ 0.93713022 -0.28522107 -0.20108678 3.7903661 ] [ 0.29755432 0.95412128 0.03337688 0.25294858] [ 0.18234139 -0.09111272 0.97900464 -0.18141067] [ 0. 0. 0. 1. ]] SLAMing on 52.592414037 meters Centerline goodness : 0.766225 Centerline is valid? [False, False] Translation: X:3.79, Y:0.25, Z:-0.18 [[ 0.93716719 -0.28546749 -0.20056415 3.79064499] [ 0.29751643 0.95417725 0.03208977 0.25421322] [ 0.18221316 -0.08974461 0.97915488 -0.18274552] [ 0. 0. 0. 1. ]] SLAMing on 52.622414037 meters Centerline goodness : 0.764977 Centerline is valid? [False, False] Translation: X:3.79, Y:0.25, Z:-0.18 [[ 0.93717628 -0.28565965 -0.2002478 3.79045052] [ 0.29761091 0.95416067 0.03170415 0.25412944] [ 0.18201198 -0.08930831 0.97923218 -0.18308889] [ 0. 0. 0. 1. ]] SLAMing on 52.652414037 meters Centerline goodness : 0.762919 Centerline is valid? [False, False] Translation: X:3.79, Y:0.25, Z:-0.18 [[ 0.93704996 -0.28613515 -0.20016004 3.79026181] [ 0.29800174 0.9540538 0.03124595 0.25453916] [ 0.18202289 -0.08892706 0.97926485 -0.1829053 ] [ 0. 0. 0. 1. ]] SLAMing on 52.682414037 meters Centerline goodness : 0.764553 Centerline is valid? [False, False] Translation: X:3.79, Y:0.26, Z:-0.18 [[ 0.93687475 -0.28660619 -0.20030626 3.7897093 ] [ 0.29843749 0.95392763 0.03093756 0.25571111] [ 0.18221078 -0.08876351 0.97924475 -0.18217176] [ 0. 0. 0. 1. ]] SLAMing on 52.712414037 meters Centerline goodness : 0.772260 Centerline is valid? [False, False] Translation: X:3.77, Y:0.27, Z:-0.16 [[ 0.93812656 -0.30730823 -0.15962521 3.76706592] [ 0.30929967 0.95087787 -0.01284481 0.27008685] [ 0.15573139 -0.03732196 0.98709412 -0.15555941] [ 0. 0. 0. 1. ]] SLAMing on 52.742414036999996 meters Centerline goodness : 0.764790 Centerline is valid? [False, False] Translation: X:3.86, Y:0.24, Z:-0.17 [[ 0.93801198 -0.31631578 -0.14169636 3.85849634] [ 0.34105076 0.91521323 0.2146372 0.23552292] [ 0.06178925 -0.24965791 0.96636071 -0.17025387] [ 0. 0. 0. 1. ]] SLAMing on 52.772414037 meters Centerline goodness : 0.763002 Centerline is valid? [False, False] Translation: X:3.86, Y:0.24, Z:-0.17 [[ 0.93712463 -0.31939807 -0.14064954 3.85745801] [ 0.34360345 0.91496719 0.21159329 0.23689013] [ 0.06110722 -0.24661695 0.96718457 -0.16991398] [ 0. 0. 0. 1. ]] SLAMing on 52.802414037 meters Centerline goodness : 0.762728 Centerline is valid? [False, False] Translation: X:3.86, Y:0.24, Z:-0.17 [[ 0.93611447 -0.32298581 -0.13917568 3.8566039 ] [ 0.34650393 0.91475052 0.20776551 0.23780137] [ 0.06020572 -0.24271722 0.96822705 -0.16983943] [ 0. 0. 0. 1. ]] SLAMing on 52.832414037 meters Centerline goodness : 0.763377 Centerline is valid? [False, False] Translation: X:3.85, Y:0.24, Z:-0.17 [[ 0.93447467 -0.32882409 -0.13649838 3.85413006] [ 0.35119422 0.91431865 0.20170279 0.23844735] [ 0.05847828 -0.23642359 0.96988874 -0.16875143] [ 0. 0. 0. 1. ]] SLAMing on 52.862414037 meters Centerline goodness : 0.764478 Centerline is valid? [False, False] Translation: X:3.85, Y:0.24, Z:-0.17 [[ 0.93331199 -0.33253086 -0.1354694 3.85341098] [ 0.35435189 0.9139274 0.19791777 0.24096181] [ 0.05799543 -0.23272286 0.97081234 -0.16865127] [ 0. 0. 0. 1. ]] SLAMing on 52.892414037 meters Centerline goodness : 0.763110 Centerline is valid? [False, False] Translation: X:3.85, Y:0.24, Z:-0.17 [[ 0.9326737 -0.33430321 -0.13550327 3.85258449] [ 0.35602376 0.91353713 0.19671551 0.24280113] [ 0.05802465 -0.23171376 0.97105194 -0.16748652] [ 0. 0. 0. 1. ]] SLAMing on 52.922414036999996 meters Centerline goodness : 0.764699 Centerline is valid? [False, False] Translation: X:3.85, Y:0.24, Z:-0.17 [[ 0.93215312 -0.33553854 -0.13603107 3.85250409] [ 0.35732532 0.91314294 0.19618508 0.24478614] [ 0.05838816 -0.23148188 0.97108546 -0.16662034] [ 0. 0. 0. 1. ]] SLAMing on 52.952414037 meters Centerline goodness : 0.763641 Centerline is valid? [False, False] Translation: X:3.85, Y:0.25, Z:-0.17 [[ 0.93089436 -0.33919096 -0.135592 3.85188495] [ 0.36060918 0.91253824 0.19296369 0.24853201] [ 0.05828135 -0.22852453 0.97179207 -0.16633068] [ 0. 0. 0. 1. ]] SLAMing on 52.982414037 meters Centerline goodness : 0.761922 Centerline is valid? [False, False] Translation: X:3.85, Y:0.25, Z:-0.17 [[ 0.93002888 -0.34219845 -0.13396456 3.85100497] [ 0.3629521 0.91243418 0.18902287 0.25015468] [ 0.05755051 -0.22441945 0.97279178 -0.16689155] [ 0. 0. 0. 1. ]] SLAMing on 53.012414037 meters Centerline goodness : 0.761819 Centerline is valid? [False, False] Translation: X:3.85, Y:0.25, Z:-0.17 [[ 0.92926736 -0.34505825 -0.1318976 3.85054983] [ 0.36506262 0.91240752 0.18504542 0.25062966] [ 0.05649291 -0.22010755 0.97383839 -0.16839412] [ 0. 0. 0. 1. ]] SLAMing on 53.042414037 meters Centerline goodness : 0.763046 Centerline is valid? [False, False] Translation: X:3.85, Y:0.25, Z:-0.17 [[ 0.92932377 -0.34506609 -0.13147897 3.84968677] [ 0.36495986 0.91251049 0.18474014 0.25060721] [ 0.05622838 -0.21966795 0.97395296 -0.16809661] [ 0. 0. 0. 1. ]] SLAMing on 53.072414037 meters Centerline goodness : 0.763290 Centerline is valid? [False, False] Translation: X:3.85, Y:0.25, Z:-0.17 [[ 0.92931167 -0.3451456 -0.13135577 3.84821048] [ 0.36499771 0.91254074 0.18451578 0.25183667] [ 0.05618268 -0.21941722 0.97401211 -0.16721423] [ 0. 0. 0. 1. ]] SLAMing on 53.102414037 meters Centerline goodness : 0.763148 Centerline is valid? [False, False] Translation: X:3.85, Y:0.25, Z:-0.17 [[ 0.92941479 -0.34501532 -0.13096782 3.84616226] [ 0.36476883 0.91268564 0.18425149 0.25323189] [ 0.05596286 -0.21901904 0.97411438 -0.16642381] [ 0. 0. 0. 1. ]] SLAMing on 53.132414037 meters Centerline goodness : 0.761669 Centerline is valid? [False, False] Translation: X:3.84, Y:0.25, Z:-0.17 [[ 0.92953342 -0.34485128 -0.13055733 3.84421964] [ 0.36449144 0.91288707 0.18380204 0.25495121] [ 0.05579973 -0.21843717 0.97425438 -0.16586684] [ 0. 0. 0. 1. ]] SLAMing on 53.162414037 meters Centerline goodness : 0.761459 Centerline is valid? [False, False] Translation: X:3.84, Y:0.26, Z:-0.17 [[ 0.92994385 -0.34397052 -0.12995657 3.84197149] [ 0.36348212 0.91333232 0.18358875 0.25611666] [ 0.05554442 -0.21796412 0.97437491 -0.16541937] [ 0. 0. 0. 1. ]] SLAMing on 53.192414037 meters Centerline goodness : 0.761878 Centerline is valid? [False, False] Translation: X:3.84, Y:0.26, Z:-0.17 [[ 0.93001754 -0.34388873 -0.12964538 3.84160618] [ 0.36331087 0.91348018 0.18319164 0.25623354] [ 0.05543095 -0.21747301 0.9744911 -0.16548925] [ 0. 0. 0. 1. ]] SLAMing on 53.222414037 meters Centerline goodness : 0.760369 Centerline is valid? [False, False] Translation: X:3.84, Y:0.26, Z:-0.16 [[ 0.930369 -0.34127476 -0.13395919 3.83538327] [ 0.36105348 0.91633516 0.17311919 0.25547349] [ 0.06367031 -0.20943116 0.97574827 -0.16051565] [ 0. 0. 0. 1. ]] SLAMing on 53.252414037 meters Centerline goodness : 0.758780 Centerline is valid? [False, False] Translation: X:3.83, Y:0.25, Z:-0.16 [[ 0.93096915 -0.33834342 -0.13718664 3.8286491 ] [ 0.35818534 0.91918509 0.16371325 0.2544643 ] [ 0.07070861 -0.20155023 0.97692262 -0.1553524 ] [ 0. 0. 0. 1. ]] SLAMing on 53.282414037 meters Centerline goodness : 0.758991 Centerline is valid? [False, False] Translation: X:3.83, Y:0.26, Z:-0.15 [[ 0.93082145 -0.33912415 -0.13625798 3.82682703] [ 0.3586528 0.91928575 0.16211686 0.2557037 ] [ 0.07028228 -0.19977115 0.97731872 -0.15489451] [ 0. 0. 0. 1. ]] SLAMing on 53.312414036999996 meters Centerline goodness : 0.758107 Centerline is valid? [False, False] Translation: X:3.83, Y:0.26, Z:-0.16 [[ 0.93091823 -0.33893116 -0.13607692 3.82593009] [ 0.35840221 0.91944095 0.16179058 0.25717541] [ 0.07027882 -0.19938407 0.97739802 -0.1550154 ] [ 0. 0. 0. 1. ]] SLAMing on 53.342414037 meters Centerline goodness : 0.759336 Centerline is valid? [False, False] Translation: X:3.81, Y:0.26, Z:-0.16 [[ 0.93347882 -0.33448512 -0.12937156 3.80795333] [ 0.3518169 0.92407381 0.14937358 0.25745365] [ 0.06958563 -0.18495217 0.98028084 -0.15508325] [ 0. 0. 0. 1. ]] SLAMing on 53.372414037 meters Centerline goodness : 0.759686 Centerline is valid? [False, False] Translation: X:3.80, Y:0.26, Z:-0.15 [[ 0.93475019 -0.33253167 -0.12515902 3.79607575] [ 0.34829183 0.92721234 0.13773193 0.25807395] [ 0.07024876 -0.17233681 0.98252997 -0.15410159] [ 0. 0. 0. 1. ]] SLAMing on 53.402414037 meters Centerline goodness : 0.762739 Centerline is valid? [False, False] Translation: X:3.78, Y:0.26, Z:-0.15 [[ 0.93686106 -0.3291101 -0.11822818 3.77982693] [ 0.34277778 0.93118135 0.12411563 0.2566961 ] [ 0.06924416 -0.15680509 0.98519917 -0.15499986] [ 0. 0. 0. 1. ]] SLAMing on 53.432414037 meters Centerline goodness : 0.760255 Centerline is valid? [False, False] Translation: X:3.77, Y:0.26, Z:-0.16 [[ 0.93856572 -0.32627983 -0.11240934 3.76548877] [ 0.33819975 0.93444843 0.1114767 0.25593696] [ 0.06866813 -0.14264502 0.98738903 -0.1552554 ] [ 0. 0. 0. 1. ]] SLAMing on 53.462414037 meters Centerline goodness : 0.760017 Centerline is valid? [False, False] Translation: X:3.75, Y:0.25, Z:-0.16 [[ 0.94105711 -0.3220232 -0.10350158 3.75360197] [ 0.33240867 0.93706277 0.1068543 0.2542565 ] [ 0.06257792 -0.13496082 0.98887288 -0.15659957] [ 0. 0. 0. 1. ]] SLAMing on 53.492414036999996 meters Centerline goodness : 0.762059 Centerline is valid? [False, False] Translation: X:3.75, Y:0.25, Z:-0.16 [[ 0.9424282 -0.31993789 -0.09730792 3.74557184] [ 0.3294336 0.93823916 0.10573919 0.25258803] [ 0.05746812 -0.13170809 0.98962134 -0.15831207] [ 0. 0. 0. 1. ]] SLAMing on 53.522414037 meters Centerline goodness : 0.762252 Centerline is valid? [False, False] Translation: X:3.73, Y:0.25, Z:-0.16 [[ 0.94441394 -0.31662873 -0.08847919 3.73310747] [ 0.32474711 0.94038479 0.10107301 0.25017266] [ 0.05120186 -0.12418812 0.99093677 -0.15898771] [ 0. 0. 0. 1. ]] SLAMing on 53.552414037 meters Centerline goodness : 0.761913 Centerline is valid? [False, False] Translation: X:3.72, Y:0.25, Z:-0.16 [[ 0.94567245 -0.31391146 -0.08463577 3.71851698] [ 0.32110702 0.94257444 0.09188963 0.24855074] [ 0.05093031 -0.11407463 0.99216585 -0.15605114] [ 0. 0. 0. 1. ]] SLAMing on 53.582414037 meters Centerline goodness : 0.761605 Centerline is valid? [False, False] Translation: X:3.71, Y:0.25, Z:-0.15 [[ 0.94567134 -0.31353936 -0.08601623 3.70953349] [ 0.32019058 0.94405092 0.07903076 0.2492094 ] [ 0.05642445 -0.10227871 0.99315424 -0.15291505] [ 0. 0. 0. 1. ]] SLAMing on 53.612414037 meters Centerline goodness : 0.760861 Centerline is valid? [False, False] Translation: X:3.70, Y:0.25, Z:-0.15 [[ 0.9459252 -0.31260977 -0.08660631 3.70299866] [ 0.3185589 0.94558932 0.06618956 0.24940699] [ 0.0612025 -0.09019958 0.99404139 -0.1511909 ] [ 0. 0. 0. 1. ]] SLAMing on 53.642414037 meters Centerline goodness : 0.760954 Centerline is valid? [False, False] Translation: X:3.69, Y:0.25, Z:-0.15 [[ 0.94569507 -0.31290231 -0.088051 3.69270754] [ 0.31816141 0.9465235 0.05354039 0.24932159] [ 0.06658943 -0.07864731 0.99467605 -0.14821939] [ 0. 0. 0. 1. ]] SLAMing on 53.672414036999996 meters Centerline goodness : 0.759782 Centerline is valid? [False, False] Translation: X:3.69, Y:0.25, Z:-0.15 [[ 0.94569454 -0.31287498 -0.08815373 3.69370072] [ 0.31815566 0.94651405 0.0537414 0.24886716] [ 0.06662441 -0.07886956 0.99465611 -0.14910732] [ 0. 0. 0. 1. ]] SLAMing on 53.702414037 meters Centerline goodness : 0.762437 Centerline is valid? [False, False] Translation: X:3.69, Y:0.24, Z:-0.14 [[ 0.94651365 -0.30686864 -0.09971737 3.692597 ] [ 0.31299877 0.94828898 0.05272356 0.2442862 ] [ 0.07838167 -0.08111498 0.99361797 -0.14236179] [ 0. 0. 0. 1. ]] SLAMing on 53.732414037 meters Centerline goodness : 0.759842 Centerline is valid? [False, False] Translation: X:3.69, Y:0.24, Z:-0.14 [[ 0.94725364 -0.30173933 -0.10799961 3.68841594] [ 0.30820151 0.95006776 0.04881685 0.2405219 ] [ 0.08787698 -0.07952758 0.99295166 -0.13558304] [ 0. 0. 0. 1. ]] SLAMing on 53.762414037 meters Centerline goodness : 0.759032 Centerline is valid? [False, False] Translation: X:3.69, Y:0.24, Z:-0.13 [[ 0.94739054 -0.30140839 -0.10772251 3.68699623] [ 0.30788697 0.95014655 0.04926605 0.23970573] [ 0.08750297 -0.07984055 0.99295957 -0.13436494] [ 0. 0. 0. 1. ]] SLAMing on 53.792414037 meters Centerline goodness : 0.761095 Centerline is valid? [False, False] Translation: X:3.69, Y:0.24, Z:-0.13 [[ 0.94744763 -0.30129813 -0.10752875 3.68586545] [ 0.30777296 0.95017629 0.04940469 0.23935454] [ 0.08728573 -0.0799028 0.99297369 -0.13339128] [ 0. 0. 0. 1. ]] SLAMing on 53.822414037 meters Centerline goodness : 0.759981 Centerline is valid? [False, False] Translation: X:3.68, Y:0.24, Z:-0.13 [[ 0.94743522 -0.30141228 -0.10731797 3.68487383] [ 0.30786877 0.95014624 0.04938572 0.2390633 ] [ 0.0870823 -0.07982962 0.99299743 -0.13253029] [ 0. 0. 0. 1. ]] SLAMing on 53.852414037 meters Centerline goodness : 0.761851 Centerline is valid? [False, False] Translation: X:3.68, Y:0.24, Z:-0.13 [[ 0.94734088 -0.3017836 -0.107107 3.68449091] [ 0.30821514 0.95003928 0.04928275 0.23844147] [ 0.08688313 -0.07969956 0.99302533 -0.13204881] [ 0. 0. 0. 1. ]] SLAMing on 53.882414037 meters Centerline goodness : 0.760810 Centerline is valid? [False, False] Translation: X:3.68, Y:0.23, Z:-0.13 [[ 0.94704625 -0.29908697 -0.11683489 3.68215716] [ 0.30581226 0.95106395 0.04422924 0.23364392] [ 0.09788906 -0.07761668 0.99216601 -0.12561566] [ 0. 0. 0. 1. ]] SLAMing on 53.912414037 meters Centerline goodness : 0.757813 Centerline is valid? [False, False] Translation: X:3.68, Y:0.23, Z:-0.12 [[ 0.94683792 -0.2958698 -0.12632899 3.68110268] [ 0.30278727 0.95225315 0.03916379 0.23010393] [ 0.1087098 -0.07533257 0.991215 -0.11860688] [ 0. 0. 0. 1. ]] SLAMing on 53.942414037 meters Centerline goodness : 0.758845 Centerline is valid? [False, False] Translation: X:3.68, Y:0.23, Z:-0.11 [[ 0.94643877 -0.29128107 -0.13931619 3.68134024] [ 0.29909195 0.95345129 0.03840114 0.22527424] [ 0.12164568 -0.07801267 0.98950308 -0.11220526] [ 0. 0. 0. 1. ]] SLAMing on 53.972414037 meters Centerline goodness : 0.759201 Centerline is valid? [False, False] Translation: X:3.68, Y:0.22, Z:-0.11 [[ 0.94636253 -0.28685479 -0.14870202 3.68007257] [ 0.29499559 0.9548406 0.03545462 0.22121877] [ 0.1318164 -0.07741937 0.98824626 -0.10596354] [ 0. 0. 0. 1. ]] SLAMing on 54.002414037 meters Centerline goodness : 0.761094 Centerline is valid? [False, False] Translation: X:3.68, Y:0.22, Z:-0.10 [[ 0.94598599 -0.28793227 -0.14901515 3.68013986] [ 0.29613729 0.95447882 0.03567741 0.22021993] [ 0.13195913 -0.07787927 0.98819108 -0.10464693] [ 0. 0. 0. 1. ]] SLAMing on 54.032414037 meters Centerline goodness : 0.761257 Centerline is valid? [False, False] Translation: X:3.68, Y:0.22, Z:-0.10 [[ 0.94587625 -0.28814482 -0.14930067 3.68020473] [ 0.29637351 0.95440578 0.03567017 0.21998535] [ 0.13221525 -0.07798833 0.98814824 -0.10370116] [ 0. 0. 0. 1. ]] SLAMing on 54.062414036999996 meters Centerline goodness : 0.762314 Centerline is valid? [False, False] Translation: X:3.68, Y:0.22, Z:-0.10 [[ 0.94614108 -0.28181685 -0.15936221 3.67885025] [ 0.29064605 0.95620398 0.03462411 0.21551969] [ 0.14262512 -0.07907729 0.98661282 -0.09745563] [ 0. 0. 0. 1. ]] SLAMing on 54.092414037 meters Centerline goodness : 0.762551 Centerline is valid? [False, False] Translation: X:3.68, Y:0.21, Z:-0.10 [[ 0.94617846 -0.28135795 -0.15995006 3.68000331] [ 0.29033589 0.95627147 0.03535466 0.21484488] [ 0.14300836 -0.07989106 0.98649178 -0.09734734] [ 0. 0. 0. 1. ]] SLAMing on 54.122414037 meters Centerline goodness : 0.763187 Centerline is valid? [False, False] Translation: X:3.68, Y:0.21, Z:-0.10 [[ 0.94602776 -0.28187367 -0.15993345 3.68069353] [ 0.29080612 0.95614117 0.03501235 0.21445522] [ 0.1430499 -0.07963229 0.98650668 -0.09766525] [ 0. 0. 0. 1. ]] SLAMing on 54.152414037 meters Centerline goodness : 0.762447 Centerline is valid? [False, False] Translation: X:3.68, Y:0.21, Z:-0.10 [[ 0.94553709 -0.28439279 -0.15836781 3.67990839] [ 0.29270575 0.95568666 0.03140631 0.21459271] [ 0.14241828 -0.076051 0.98688058 -0.09821421] [ 0. 0. 0. 1. ]] SLAMing on 54.182414037 meters Centerline goodness : 0.761856 Centerline is valid? [False, False] Translation: X:3.68, Y:0.21, Z:-0.10 [[ 0.945459 -0.28473995 -0.15821011 3.68032177] [ 0.29302222 0.9555947 0.03125279 0.213135 ] [ 0.14228582 -0.07590731 0.98691075 -0.09819456] [ 0. 0. 0. 1. ]] SLAMing on 54.212414037 meters Centerline goodness : 0.765301 Centerline is valid? [False, False] Translation: X:3.68, Y:0.21, Z:-0.10 [[ 0.94537942 -0.28509239 -0.15805089 3.6791836 ] [ 0.29347476 0.95543081 0.03200834 0.21006175] [ 0.14188136 -0.07664398 0.98691204 -0.09621244] [ 0. 0. 0. 1. ]] SLAMing on 54.242414036999996 meters Centerline goodness : 0.761910 Centerline is valid? [False, False] Translation: X:3.68, Y:0.21, Z:-0.10 [[ 0.94523557 -0.28507284 -0.158944 3.68068813] [ 0.29363584 0.95535537 0.03277358 0.20949716] [ 0.14250515 -0.07765041 0.98674348 -0.09565882] [ 0. 0. 0. 1. ]] SLAMing on 54.272414037 meters Centerline goodness : 0.763972 Centerline is valid? [False, False] Translation: X:3.68, Y:0.21, Z:-0.09 [[ 0.9449563 -0.2859249 -0.15907404 3.68071644] [ 0.29449051 0.95509626 0.03265691 0.20927017] [ 0.14259359 -0.07770515 0.98672639 -0.09488828] [ 0. 0. 0. 1. ]] SLAMing on 54.302414037 meters Centerline goodness : 0.762126 Centerline is valid? [False, False] Translation: X:3.68, Y:0.21, Z:-0.09 [[ 0.94372962 -0.28321225 -0.17077832 3.68059115] [ 0.29219781 0.95590389 0.02946529 0.20518282] [ 0.15490272 -0.07770832 0.98486881 -0.08919972] [ 0. 0. 0. 1. ]] SLAMing on 54.332414037 meters Centerline goodness : 0.762987 Centerline is valid? [False, False] Translation: X:3.68, Y:0.20, Z:-0.09 [[ 0.9433162 -0.28435489 -0.17116318 3.68212715] [ 0.2933228 0.95557157 0.02906406 0.20456479] [ 0.15529416 -0.07762266 0.98481392 -0.08908024] [ 0. 0. 0. 1. ]] SLAMing on 54.362414037 meters Centerline goodness : 0.763167 Centerline is valid? [False, False] Translation: X:3.68, Y:0.20, Z:-0.09 [[ 0.94295961 -0.28531993 -0.17152176 3.6835524 ] [ 0.29431115 0.95527107 0.02895057 0.20372063] [ 0.1555896 -0.07777999 0.98475487 -0.08902038] [ 0. 0. 0. 1. ]] SLAMing on 54.392414037 meters Centerline goodness : 0.762409 Centerline is valid? [False, False] Translation: X:3.69, Y:0.20, Z:-0.09 [[ 0.94198423 -0.2887937 -0.17106699 3.68563773] [ 0.29732686 0.95442193 0.02599084 0.20316945] [ 0.15576409 -0.07534578 0.98491652 -0.08974102] [ 0. 0. 0. 1. ]] SLAMing on 54.422414036999996 meters Centerline goodness : 0.763910 Centerline is valid? [False, False] Translation: X:3.69, Y:0.20, Z:-0.09 [[ 0.94158691 -0.28979881 -0.17155391 3.68691541] [ 0.29837172 0.95409775 0.02591904 0.20257477] [ 0.1561679 -0.07559186 0.98483372 -0.08931341] [ 0. 0. 0. 1. ]] SLAMing on 54.452414037 meters Centerline goodness : 0.763910 Centerline is valid? [False, False] Translation: X:3.69, Y:0.20, Z:-0.09 [[ 0.94158691 -0.28979881 -0.17155391 3.68691541] [ 0.29837172 0.95409775 0.02591904 0.20257477] [ 0.1561679 -0.07559186 0.98483372 -0.08931341] [ 0. 0. 0. 1. ]] SLAMing on 54.482414037 meters Centerline goodness : 0.763638 Centerline is valid? [False, False] Translation: X:3.69, Y:0.20, Z:-0.09 [[ 0.94131463 -0.29015497 -0.17244379 3.6887633 ] [ 0.29890399 0.95391353 0.02655913 0.20181509] [ 0.1567902 -0.07654463 0.98466124 -0.08891338] [ 0. 0. 0. 1. ]] SLAMing on 54.512414037 meters Centerline goodness : 0.764069 Centerline is valid? [False, False] Translation: X:3.69, Y:0.20, Z:-0.09 [[ 0.94097263 -0.29100227 -0.17288201 3.68904739] [ 0.29982288 0.95362062 0.02671971 0.20143636] [ 0.15708836 -0.0769765 0.98458005 -0.08772335] [ 0. 0. 0. 1. ]] SLAMing on 54.542414037 meters Centerline goodness : 0.763613 Centerline is valid? [False, False] Translation: X:3.69, Y:0.20, Z:-0.09 [[ 0.94055049 -0.29186512 -0.17372257 3.69045296] [ 0.3008557 0.9532791 0.02729097 0.20041774] [ 0.15764081 -0.07793396 0.98441641 -0.08664758] [ 0. 0. 0. 1. ]] SLAMing on 54.572414037 meters Centerline goodness : 0.763358 Centerline is valid? [False, False] Translation: X:3.69, Y:0.20, Z:-0.09 [[ 0.9404199 -0.29195865 -0.17427149 3.69156398] [ 0.30102237 0.95322152 0.02746381 0.20032603] [ 0.15810104 -0.07828713 0.98431458 -0.08640616] [ 0. 0. 0. 1. ]] SLAMing on 54.602414037 meters Centerline goodness : 0.764189 Centerline is valid? [False, False] Translation: X:3.69, Y:0.20, Z:-0.09 [[ 0.94035686 -0.2920786 -0.17441063 3.69181682] [ 0.30113625 0.95318894 0.02734609 0.20043608] [ 0.15825908 -0.07823644 0.98429321 -0.08621057] [ 0. 0. 0. 1. ]] SLAMing on 54.632414037 meters Centerline goodness : 0.764023 Centerline is valid? [False, False] Translation: X:3.69, Y:0.20, Z:-0.09 [[ 0.94029501 -0.29194622 -0.17496486 3.6923355 ] [ 0.30108833 0.95319665 0.02760383 0.20071473] [ 0.15871708 -0.07863562 0.98418765 -0.08557499] [ 0. 0. 0. 1. ]] SLAMing on 54.662414037 meters Centerline goodness : 0.763697 Centerline is valid? [False, False] Translation: X:3.69, Y:0.20, Z:-0.09 [[ 0.93998953 -0.2923312 -0.17596066 3.69464967] [ 0.30156229 0.9530463 0.02762111 0.20176027] [ 0.15962415 -0.07902666 0.98400961 -0.08598332] [ 0. 0. 0. 1. ]] SLAMing on 54.692414037 meters Centerline goodness : 0.764327 Centerline is valid? [False, False] Translation: X:3.70, Y:0.20, Z:-0.09 [[ 0.93976484 -0.29255185 -0.17679217 3.69674103] [ 0.30186448 0.95294874 0.02768624 0.20184747] [ 0.16037421 -0.07938583 0.98385873 -0.08609046] [ 0. 0. 0. 1. ]] SLAMing on 54.722414037 meters Centerline goodness : 0.761487 Centerline is valid? [False, False] Translation: X:3.70, Y:0.20, Z:-0.09 [[ 0.93940199 -0.2935549 -0.1770577 3.69720071] [ 0.30281355 0.95266342 0.027136 0.20253753] [ 0.16071048 -0.07910708 0.98382631 -0.08571852] [ 0. 0. 0. 1. ]] SLAMing on 54.752414037 meters Centerline goodness : 0.764073 Centerline is valid? [False, False] Translation: X:3.70, Y:0.20, Z:-0.09 [[ 0.93907708 -0.29404876 -0.17795943 3.69861255] [ 0.30338531 0.95248198 0.02711876 0.20402062] [ 0.16152891 -0.07945689 0.98366408 -0.08537931] [ 0. 0. 0. 1. ]] SLAMing on 54.782414037 meters Centerline goodness : 0.763122 Centerline is valid? [False, False] Translation: X:3.70, Y:0.21, Z:-0.09 [[ 0.93887151 -0.29411908 -0.17892528 3.70022679] [ 0.30356422 0.95242008 0.02729003 0.20574219] [ 0.16238551 -0.07993715 0.98348411 -0.08538768] [ 0. 0. 0. 1. ]] SLAMing on 54.812414036999996 meters Centerline goodness : 0.761069 Centerline is valid? [False, False] Translation: X:3.70, Y:0.21, Z:-0.09 [[ 0.93886379 -0.29392772 -0.17927988 3.70077962] [ 0.30339122 0.95247661 0.0272409 0.20663519] [ 0.16275304 -0.07996744 0.98342089 -0.08538092] [ 0. 0. 0. 1. ]] SLAMing on 54.842414037 meters Centerline goodness : 0.763130 Centerline is valid? [False, False] Translation: X:3.70, Y:0.21, Z:-0.09 [[ 0.93892201 -0.29353978 -0.17961031 3.70126612] [ 0.30303931 0.95258615 0.02732773 0.2072255 ] [ 0.16307252 -0.08008759 0.98335819 -0.08535283] [ 0. 0. 0. 1. ]] SLAMing on 54.872414037 meters Centerline goodness : 0.766210 Centerline is valid? [False, False] Translation: X:3.70, Y:0.21, Z:-0.08 [[ 0.93914419 -0.29269961 -0.17981971 3.70053785] [ 0.30231722 0.95279579 0.02800863 0.2071602 ] [ 0.16313335 -0.08066674 0.98330076 -0.08445092] [ 0. 0. 0. 1. ]] SLAMing on 54.902414037 meters Centerline goodness : 0.767041 Centerline is valid? [False, False] Translation: X:3.70, Y:0.21, Z:-0.08 [[ 0.93909559 -0.29275789 -0.17997857 3.70071687] [ 0.30235908 0.95278789 0.02782501 0.20742454] [ 0.16333541 -0.0805485 0.98327691 -0.08416353] [ 0. 0. 0. 1. ]] SLAMing on 54.932414037 meters Centerline goodness : 0.766855 Centerline is valid? [False, False] Translation: X:3.70, Y:0.21, Z:-0.08 [[ 0.9389544 -0.29281971 -0.18061353 3.70216991] [ 0.30248481 0.95274619 0.02788597 0.20814564] [ 0.1639133 -0.08081651 0.98315875 -0.08431797] [ 0. 0. 0. 1. ]] SLAMing on 54.962414037 meters Centerline goodness : 0.767869 Centerline is valid? [False, False] Translation: X:3.70, Y:0.21, Z:-0.08 [[ 0.93807834 -0.28875224 -0.19139273 3.70049519] [ 0.29870154 0.9540268 0.02470349 0.20610497] [ 0.1754606 -0.08034312 0.98120261 -0.0792455 ] [ 0. 0. 0. 1. ]] SLAMing on 54.992414036999996 meters Centerline goodness : 0.765697 Centerline is valid? [False, False] Translation: X:3.70, Y:0.21, Z:-0.08 [[ 0.93766483 -0.28956446 -0.19219026 3.70239523] [ 0.29953682 0.9537731 0.02438389 0.20710292] [ 0.17624519 -0.08043198 0.9810547 -0.07927992] [ 0. 0. 0. 1. ]] SLAMing on 55.022414037 meters Centerline goodness : 0.766251 Centerline is valid? [False, False] Translation: X:3.70, Y:0.21, Z:-0.08 [[ 0.9373926 -0.29004245 -0.19279652 3.7041289 ] [ 0.30003105 0.95362376 0.02414728 0.20789137] [ 0.17685161 -0.08048042 0.98094159 -0.07967372] [ 0. 0. 0. 1. ]] SLAMing on 55.052414037 meters Centerline goodness : 0.765205 Centerline is valid? [False, False] Translation: X:3.71, Y:0.21, Z:-0.08 [[ 0.93724147 -0.2901039 -0.19343772 3.70599204] [ 0.30012781 0.95359602 0.02404029 0.20872586] [ 0.17748726 -0.08058759 0.98081798 -0.08021149] [ 0. 0. 0. 1. ]] SLAMing on 55.082414037 meters Centerline goodness : 0.767096 Centerline is valid? [False, False] Translation: X:3.71, Y:0.21, Z:-0.08 [[ 0.93730662 -0.28948989 -0.19404097 3.70778446] [ 0.2995771 0.95376588 0.02417024 0.21019312] [ 0.17807262 -0.08078516 0.98069562 -0.08130757] [ 0. 0. 0. 1. ]] SLAMing on 55.112414037 meters Centerline goodness : 0.766262 Centerline is valid? [False, False] Translation: X:3.71, Y:0.21, Z:-0.08 [[ 0.93740981 -0.28920235 -0.19397128 3.70742249] [ 0.29923587 0.95387894 0.0239345 0.21087122] [ 0.1781032 -0.0804796 0.98071519 -0.08120746] [ 0. 0. 0. 1. ]] SLAMing on 55.142414037 meters Centerline goodness : 0.765432 Centerline is valid? [False, False] Translation: X:3.71, Y:0.21, Z:-0.08 [[ 0.93743862 -0.28864122 -0.1946666 3.70798807] [ 0.29880662 0.95400186 0.02439354 0.21183409] [ 0.17867132 -0.08103512 0.9805661 -0.08072725] [ 0. 0. 0. 1. ]] SLAMing on 55.172414036999996 meters Centerline goodness : 0.766667 Centerline is valid? [False, False] Translation: X:3.71, Y:0.21, Z:-0.08 [[ 0.9380285 -0.28498873 -0.19719017 3.70912152] [ 0.29611726 0.95471671 0.02881951 0.21269717] [ 0.18004751 -0.08542494 0.97994157 -0.07930476] [ 0. 0. 0. 1. ]] SLAMing on 55.202414037 meters Centerline goodness : 0.766478 Centerline is valid? [False, False] Translation: X:3.71, Y:0.21, Z:-0.08 [[ 0.93795423 -0.28473963 -0.19790199 3.70935554] [ 0.29596678 0.95475683 0.0290355 0.21414622] [ 0.18068072 -0.08580638 0.97979168 -0.07850228] [ 0. 0. 0. 1. ]] SLAMing on 55.232414037 meters Centerline goodness : 0.765247 Centerline is valid? [False, False] Translation: X:3.71, Y:0.22, Z:-0.08 [[ 0.93786167 -0.28484761 -0.19818509 3.70890411] [ 0.29606957 0.95473027 0.02886024 0.21520108] [ 0.18099253 -0.08574348 0.97973964 -0.07760291] [ 0. 0. 0. 1. ]] SLAMing on 55.262414037 meters Centerline goodness : 0.765461 Centerline is valid? [False, False] Translation: X:3.71, Y:0.22, Z:-0.08 [[ 0.93775365 -0.28524777 -0.19812067 3.70845101] [ 0.29636424 0.95465617 0.0282813 0.21608551] [ 0.18106995 -0.08523678 0.97976955 -0.07715127] [ 0. 0. 0. 1. ]] SLAMing on 55.292414037 meters Centerline goodness : 0.765543 Centerline is valid? [False, False] Translation: X:3.71, Y:0.22, Z:-0.08 [[ 0.93767332 -0.28547489 -0.19817376 3.70964332] [ 0.29652738 0.95461709 0.02788768 0.21688944] [ 0.18121883 -0.08491348 0.97977009 -0.07800508] [ 0. 0. 0. 1. ]] SLAMing on 55.322414037 meters Centerline goodness : 0.765044 Centerline is valid? [False, False] Translation: X:3.71, Y:0.22, Z:-0.08 [[ 0.93761244 -0.28565455 -0.1982029 3.71024741] [ 0.29666018 0.95458411 0.02760296 0.21735371] [ 0.18131643 -0.08467978 0.97977226 -0.07840253] [ 0. 0. 0. 1. ]] SLAMing on 55.352414037 meters Centerline goodness : 0.765096 Centerline is valid? [False, False] Translation: X:3.71, Y:0.22, Z:-0.08 [[ 0.93756585 -0.2858244 -0.19817841 3.71046732] [ 0.29678743 0.95455132 0.02736782 0.21785996] [ 0.18134907 -0.08447599 0.97978381 -0.07863936] [ 0. 0. 0. 1. ]] SLAMing on 55.382414037 meters Centerline goodness : 0.768618 Centerline is valid? [False, False] Translation: X:3.71, Y:0.22, Z:-0.08 [[ 0.93754956 -0.28596035 -0.19805932 3.70971754] [ 0.29680536 0.95456261 0.02677316 0.22049728] [ 0.18140396 -0.08388624 0.97982432 -0.07847641] [ 0. 0. 0. 1. ]] SLAMing on 55.412414037 meters Centerline goodness : 0.766824 Centerline is valid? [False, False] Translation: X:3.71, Y:0.22, Z:-0.08 [[ 0.93755356 -0.28589701 -0.19813181 3.70973804] [ 0.29668331 0.95461016 0.02642843 0.22223397] [ 0.18158283 -0.08356047 0.97981903 -0.07847247] [ 0. 0. 0. 1. ]] SLAMing on 55.442414037 meters Centerline goodness : 0.766605 Centerline is valid? [False, False] Translation: X:3.71, Y:0.22, Z:-0.08 [[ 0.9375631 -0.28575749 -0.19828791 3.70978541] [ 0.29648926 0.95468016 0.02607513 0.22373914] [ 0.18185037 -0.08323732 0.97979691 -0.0781827 ] [ 0. 0. 0. 1. ]] SLAMing on 55.472414037 meters Centerline goodness : 0.764858 Centerline is valid? [False, False] Translation: X:3.71, Y:0.22, Z:-0.08 [[ 0.93790281 -0.28489942 -0.19791575 3.70884548] [ 0.29561259 0.95494767 0.02623256 0.22466762] [ 0.18152554 -0.08310998 0.97986796 -0.07786222] [ 0. 0. 0. 1. ]] SLAMing on 55.502414037 meters Centerline goodness : 0.764115 Centerline is valid? [False, False] Translation: X:3.71, Y:0.23, Z:-0.08 [[ 0.93789608 -0.28481775 -0.19806513 3.70911568] [ 0.29549946 0.954989 0.0260014 0.22554855] [ 0.18174436 -0.08291475 0.97984393 -0.07777652] [ 0. 0. 0. 1. ]] SLAMing on 55.532414037 meters Centerline goodness : 0.764168 Centerline is valid? [False, False] Translation: X:3.71, Y:0.23, Z:-0.08 [[ 0.93788949 -0.2847169 -0.19824124 3.70950054] [ 0.29537192 0.9550343 0.02578579 0.22669323] [ 0.18198554 -0.08273912 0.97981401 -0.07785546] [ 0. 0. 0. 1. ]] SLAMing on 55.562414036999996 meters Centerline goodness : 0.765343 Centerline is valid? [False, False] Translation: X:3.71, Y:0.23, Z:-0.08 [[ 0.93790215 -0.28449691 -0.198497 3.71018228] [ 0.29512504 0.9551171 0.0255447 0.22813748] [ 0.18232049 -0.08253987 0.97976855 -0.07798681] [ 0. 0. 0. 1. ]] SLAMing on 55.592414037 meters Centerline goodness : 0.765950 Centerline is valid? [False, False] Translation: X:3.71, Y:0.23, Z:-0.08 [[ 0.93793857 -0.28434075 -0.19854868 3.71026108] [ 0.29489694 0.95519803 0.02514995 0.23022657] [ 0.18250215 -0.0821405 0.97976829 -0.07813504] [ 0. 0. 0. 1. ]] SLAMing on 55.622414037 meters Centerline goodness : 0.765716 Centerline is valid? [False, False] Translation: X:3.71, Y:0.23, Z:-0.08 [[ 0.93790598 -0.28445675 -0.19853645 3.71016753] [ 0.29493649 0.95519668 0.02473375 0.23127159] [ 0.18260567 -0.08175358 0.97978136 -0.07799634] [ 0. 0. 0. 1. ]] SLAMing on 55.652414037 meters Centerline goodness : 0.761955 Centerline is valid? [False, False] Translation: X:3.71, Y:0.23, Z:-0.08 [[ 0.93793297 -0.28433017 -0.19859027 3.71032737] [ 0.29476784 0.95525487 0.02449613 0.23249543] [ 0.18273934 -0.08151375 0.97977642 -0.07805756] [ 0. 0. 0. 1. ]] SLAMing on 55.682414037 meters Centerline goodness : 0.766677 Centerline is valid? [False, False] Translation: X:3.71, Y:0.23, Z:-0.08 [[ 0.93790909 -0.28435283 -0.1986706 3.7102991 ] [ 0.29471856 0.95528085 0.02407204 0.23429315] [ 0.18294127 -0.0811293 0.97977065 -0.07801977] [ 0. 0. 0. 1. ]] SLAMing on 55.712414037 meters Centerline goodness : 0.759658 Centerline is valid? [False, False] Translation: X:3.71, Y:0.24, Z:-0.08 [[ 0.93798739 -0.28404508 -0.19874116 3.71020737] [ 0.294315 0.95541807 0.02355809 0.23706024] [ 0.18318933 -0.08058969 0.97976883 -0.07791796] [ 0. 0. 0. 1. ]] SLAMing on 55.742414036999996 meters Centerline goodness : 0.761136 Centerline is valid? [False, False] Translation: X:3.71, Y:0.24, Z:-0.08 [[ 0.93796422 -0.28404341 -0.19885288 3.71002155] [ 0.29424279 0.95545074 0.02313127 0.23820723] [ 0.18342385 -0.08020734 0.97975633 -0.07737985] [ 0. 0. 0. 1. ]] SLAMing on 55.772414037 meters Centerline goodness : 0.762625 Centerline is valid? [False, False] Translation: X:3.71, Y:0.24, Z:-0.08 [[ 0.93795127 -0.28403944 -0.19891959 3.71000014] [ 0.29418722 0.95547518 0.02282653 0.23916749] [ 0.1835791 -0.07992977 0.97974994 -0.07714191] [ 0. 0. 0. 1. ]] SLAMing on 55.802414037 meters Centerline goodness : 0.760102 Centerline is valid? [False, False] Translation: X:3.71, Y:0.24, Z:-0.08 [[ 0.93807157 -0.2835795 -0.19900853 3.71032818] [ 0.29370905 0.95562444 0.02273576 0.24062721] [ 0.18373002 -0.07977838 0.97973399 -0.07734746] [ 0. 0. 0. 1. ]] SLAMing on 55.832414037 meters Centerline goodness : 0.760724 Centerline is valid? [False, False] Translation: X:3.71, Y:0.24, Z:-0.08 [[ 0.93807359 -0.28341646 -0.19923115 3.71105705] [ 0.29353672 0.95568051 0.02260418 0.24134193] [ 0.18399493 -0.07968605 0.97969179 -0.07753988] [ 0. 0. 0. 1. ]] SLAMing on 55.862414037 meters Centerline goodness : 0.761115 Centerline is valid? [False, False] Translation: X:3.71, Y:0.24, Z:-0.08 [[ 0.93807279 -0.28331198 -0.19938343 3.71149462] [ 0.29341619 0.95572088 0.02246208 0.24210208] [ 0.18419113 -0.07957339 0.97966408 -0.07763068] [ 0. 0. 0. 1. ]] SLAMing on 55.892414037 meters Centerline goodness : 0.762678 Centerline is valid? [False, False] Translation: X:3.71, Y:0.24, Z:-0.08 [[ 0.9380869 -0.28322813 -0.19943619 3.71182093] [ 0.29330344 0.95575943 0.02229363 0.24331639] [ 0.18429884 -0.07940868 0.97965718 -0.07797487] [ 0. 0. 0. 1. ]] SLAMing on 55.922414036999996 meters Centerline goodness : 0.760047 Centerline is valid? [False, False] Translation: X:3.71, Y:0.25, Z:-0.08 [[ 0.93817212 -0.28286798 -0.19954643 3.71174265] [ 0.29286741 0.95590272 0.02187845 0.24644323] [ 0.18455827 -0.0789664 0.9796441 -0.07801229] [ 0. 0. 0. 1. ]] SLAMing on 55.952414037 meters Centerline goodness : 0.761952 Centerline is valid? [False, False] Translation: X:3.71, Y:0.25, Z:-0.08 [[ 0.93814755 -0.28287371 -0.19965382 3.71142827] [ 0.29278194 0.95594091 0.0213475 0.2481524 ] [ 0.1848186 -0.07848213 0.97963393 -0.07742609] [ 0. 0. 0. 1. ]] SLAMing on 55.982414037 meters Centerline goodness : 0.764558 Centerline is valid? [False, False] Translation: X:3.71, Y:0.25, Z:-0.08 [[ 0.93812194 -0.28292949 -0.19969511 3.71107474] [ 0.29277212 0.95595213 0.0209765 0.24895017] [ 0.1849641 -0.07814368 0.97963353 -0.07687207] [ 0. 0. 0. 1. ]] SLAMing on 56.012414037 meters Centerline goodness : 0.762748 Centerline is valid? [False, False] Translation: X:3.71, Y:0.25, Z:-0.08 [[ 0.93809807 -0.28294675 -0.19978273 3.71101274] [ 0.29273683 0.95596985 0.02065893 0.24932684] [ 0.18514089 -0.07786387 0.97962241 -0.07633702] [ 0. 0. 0. 1. ]] SLAMing on 56.042414037 meters Centerline goodness : 0.762870 Centerline is valid? [False, False] Translation: X:3.71, Y:0.25, Z:-0.08 [[ 0.93811 -0.28289259 -0.19980344 3.71157272] [ 0.29266805 0.95599265 0.02057813 0.24896686] [ 0.18518922 -0.07778063 0.97961989 -0.07646225] [ 0. 0. 0. 1. ]] SLAMing on 56.072414037 meters Centerline goodness : 0.760337 Centerline is valid? [False, False] Translation: X:3.71, Y:0.25, Z:-0.08 [[ 0.93806521 -0.28295243 -0.19992895 3.71182472] [ 0.29270936 0.95598338 0.02042051 0.24928933] [ 0.18535072 -0.07767685 0.97959758 -0.07637736] [ 0. 0. 0. 1. ]] SLAMing on 56.102414037 meters Centerline goodness : 0.759178 Centerline is valid? [False, False] Translation: X:3.71, Y:0.25, Z:-0.08 [[ 0.93804023 -0.28297935 -0.20000806 3.7117586 ] [ 0.29269973 0.95599121 0.02019092 0.25024276] [ 0.18549233 -0.0774822 0.97958619 -0.07618789] [ 0. 0. 0. 1. ]] SLAMing on 56.132414037 meters Centerline goodness : 0.766596 Centerline is valid? [False, False] Translation: X:3.71, Y:0.25, Z:-0.08 [[ 0.93809137 -0.28276569 -0.20007035 3.71161712] [ 0.2924324 0.95607906 0.01990275 0.25230956] [ 0.18565526 -0.07717765 0.97957937 -0.07609422] [ 0. 0. 0. 1. ]] SLAMing on 56.162414037 meters Centerline goodness : 0.761639 Centerline is valid? [False, False] Translation: X:3.71, Y:0.25, Z:-0.08 [[ 0.93810867 -0.28260106 -0.20022177 3.71199726] [ 0.29225532 0.95613555 0.01978972 0.25293142] [ 0.18584656 -0.07708079 0.97955072 -0.07603146] [ 0. 0. 0. 1. ]] SLAMing on 56.192414037 meters Centerline goodness : 0.763295 Centerline is valid? [False, False] Translation: X:3.71, Y:0.25, Z:-0.08 [[ 0.9380641 -0.28270956 -0.20027743 3.71173375] [ 0.29230795 0.95612621 0.01946089 0.25299041] [ 0.18598872 -0.07679824 0.97954593 -0.07535578] [ 0. 0. 0. 1. ]] SLAMing on 56.222414037 meters Centerline goodness : 0.764574 Centerline is valid? [False, False] Translation: X:3.71, Y:0.25, Z:-0.07 [[ 0.93806435 -0.28266801 -0.20033488 3.71172734] [ 0.29223835 0.95615089 0.01929321 0.25275958] [ 0.1860968 -0.0766438 0.9795375 -0.07486065] [ 0. 0. 0. 1. ]] SLAMing on 56.252414037 meters Centerline goodness : 0.761507 Centerline is valid? [False, False] Translation: X:3.71, Y:0.25, Z:-0.07 [[ 0.93826733 -0.28224174 -0.19998507 3.71058879] [ 0.29178581 0.95628804 0.01934494 0.25280965] [ 0.18578338 -0.07650353 0.97960796 -0.07415618] [ 0. 0. 0. 1. ]] SLAMing on 56.282414037 meters Centerline goodness : 0.765952 Centerline is valid? [False, False] Translation: X:3.71, Y:0.25, Z:-0.07 [[ 0.93827249 -0.28213354 -0.20011345 3.71058612] [ 0.29163053 0.95634125 0.01905401 0.25388186] [ 0.18600097 -0.07623704 0.97958744 -0.07378711] [ 0. 0. 0. 1. ]] SLAMing on 56.312414036999996 meters Centerline goodness : 0.763881 Centerline is valid? [False, False] Translation: X:3.71, Y:0.25, Z:-0.07 [[ 0.93824049 -0.28221129 -0.20015388 3.71017378] [ 0.29164947 0.95634208 0.01871961 0.25474474] [ 0.18613269 -0.07593827 0.97958563 -0.07323297] [ 0. 0. 0. 1. ]] SLAMing on 56.342414037 meters Centerline goodness : 0.763916 Centerline is valid? [False, False] Translation: X:3.71, Y:0.25, Z:-0.07 [[ 0.93830649 -0.28169951 -0.20056497 3.71098726] [ 0.29117794 0.95648393 0.01881231 0.2548764 ] [ 0.18653775 -0.07605181 0.97949976 -0.07293329] [ 0. 0. 0. 1. ]] SLAMing on 56.372414037 meters Centerline goodness : 0.763916 Centerline is valid? [False, False] Translation: X:3.71, Y:0.25, Z:-0.07 [[ 0.93830649 -0.28169951 -0.20056497 3.71098726] [ 0.29117794 0.95648393 0.01881231 0.2548764 ] [ 0.18653775 -0.07605181 0.97949976 -0.07293329] [ 0. 0. 0. 1. ]] SLAMing on 56.402414037 meters Centerline goodness : 0.765873 Centerline is valid? [False, False] Translation: X:3.71, Y:0.25, Z:-0.07 [[ 0.93836813 -0.2812683 -0.20088154 3.71238602] [ 0.29081098 0.95659063 0.01906167 0.25477013] [ 0.18679995 -0.07630542 0.97943007 -0.0735006 ] [ 0. 0. 0. 1. ]] SLAMing on 56.432414037 meters Centerline goodness : 0.762777 Centerline is valid? [False, False] Translation: X:3.71, Y:0.25, Z:-0.07 [[ 0.93842383 -0.28082692 -0.20123855 3.71397462] [ 0.29043627 0.95669954 0.01930706 0.25466006] [ 0.18710288 -0.07656518 0.97935197 -0.07414049] [ 0. 0. 0. 1. ]] SLAMing on 56.462414037 meters Centerline goodness : 0.759966 Centerline is valid? [False, False] Translation: X:3.71, Y:0.25, Z:-0.07 [[ 0.93844972 -0.28062675 -0.20139702 3.71486779] [ 0.29025473 0.95675359 0.01935887 0.25452832] [ 0.1872547 -0.07662377 0.97931837 -0.07443619] [ 0. 0. 0. 1. ]] SLAMing on 56.492414036999996 meters Centerline goodness : 0.760112 Centerline is valid? [False, False] Translation: X:3.71, Y:0.26, Z:-0.07 [[ 0.93850607 -0.28033273 -0.20154382 3.71489077] [ 0.28993737 0.9568529 0.01920571 0.25510237] [ 0.18746379 -0.07645976 0.97929119 -0.07389804] [ 0. 0. 0. 1. ]] SLAMing on 56.522414037 meters Centerline goodness : 0.762579 Centerline is valid? [False, False] Translation: X:3.71, Y:0.26, Z:-0.07 [[ 0.93845129 -0.28059103 -0.20143944 3.714034 ] [ 0.29010234 0.95681222 0.01873508 0.25569233] [ 0.18748282 -0.07602001 0.97932178 -0.07305848] [ 0. 0. 0. 1. ]] SLAMing on 56.552414037 meters Centerline goodness : 0.763011 Centerline is valid? [False, False] Translation: X:3.71, Y:0.26, Z:-0.07 [[ 0.93840738 -0.28074711 -0.20142656 3.71355746] [ 0.29018561 0.95679455 0.01834422 0.25589219] [ 0.18757375 -0.07566544 0.97933183 -0.07226587] [ 0. 0. 0. 1. ]] SLAMing on 56.582414037 meters Centerline goodness : 0.763148 Centerline is valid? [False, False] Translation: X:3.71, Y:0.25, Z:-0.07 [[ 0.9384877 -0.28026015 -0.20173022 3.71438374] [ 0.28973545 0.95692871 0.01846115 0.25491997] [ 0.18786751 -0.07577396 0.97926713 -0.07177018] [ 0. 0. 0. 1. ]] SLAMing on 56.612414037 meters Centerline goodness : 0.765859 Centerline is valid? [False, False] Translation: X:3.71, Y:0.25, Z:-0.07 [[ 0.93854071 -0.27994708 -0.20191821 3.7149473 ] [ 0.28944261 0.95701616 0.01852131 0.25498957] [ 0.188054 -0.07582674 0.97922725 -0.07172122] [ 0. 0. 0. 1. ]] SLAMing on 56.642414037 meters Centerline goodness : 0.763656 Centerline is valid? [False, False] Translation: X:3.72, Y:0.26, Z:-0.07 [[ 0.93857262 -0.27964397 -0.20218972 3.71554987] [ 0.28915112 0.95710466 0.01850135 0.25547921] [ 0.18834293 -0.07582824 0.9791716 -0.071626 ] [ 0. 0. 0. 1. ]] SLAMing on 56.672414036999996 meters Centerline goodness : 0.763629 Centerline is valid? [False, False] Translation: X:3.72, Y:0.26, Z:-0.07 [[ 0.93861139 -0.2794024 -0.20234367 3.71598351] [ 0.28891829 0.95717483 0.01850837 0.25560167] [ 0.18850698 -0.07583295 0.97913966 -0.07154143] [ 0. 0. 0. 1. ]] SLAMing on 56.702414037 meters Centerline goodness : 0.765500 Centerline is valid? [False, False] Translation: X:3.72, Y:0.25, Z:-0.07 [[ 0.93872022 -0.27885255 -0.20259715 3.71668446] [ 0.28844027 0.95731265 0.01883362 0.25467473] [ 0.18869701 -0.07611668 0.97908104 -0.07131884] [ 0. 0. 0. 1. ]] SLAMing on 56.732414037 meters Centerline goodness : 0.765580 Centerline is valid? [False, False] Translation: X:3.72, Y:0.25, Z:-0.07 [[ 0.93874479 -0.27870131 -0.2026914 3.7169812 ] [ 0.28830636 0.95735167 0.01890029 0.25413092] [ 0.18877942 -0.07617977 0.97906025 -0.07112239] [ 0. 0. 0. 1. ]] SLAMing on 56.762414037 meters Centerline goodness : 0.765439 Centerline is valid? [False, False] Translation: X:3.72, Y:0.25, Z:-0.07 [[ 0.93874442 -0.27868398 -0.20271691 3.71704404] [ 0.28828008 0.95736067 0.01884515 0.25392935] [ 0.18882136 -0.07613002 0.97905603 -0.07089456] [ 0. 0. 0. 1. ]] SLAMing on 56.792414037 meters Centerline goodness : 0.765123 Centerline is valid? [False, False] Translation: X:3.72, Y:0.25, Z:-0.07 [[ 0.93868869 -0.2788476 -0.20274998 3.71685267] [ 0.28841576 0.95732324 0.01866992 0.25375508] [ 0.1888912 -0.07600153 0.97905254 -0.07042083] [ 0. 0. 0. 1. ]] SLAMing on 56.822414037 meters Centerline goodness : 0.764791 Centerline is valid? [False, False] Translation: X:3.72, Y:0.25, Z:-0.07 [[ 0.93853615 -0.27957396 -0.20245567 3.71580614] [ 0.28910562 0.95711791 0.01852669 0.252013 ] [ 0.18859437 -0.07591904 0.97911617 -0.06970266] [ 0. 0. 0. 1. ]] SLAMing on 56.852414037 meters Centerline goodness : 0.767000 Centerline is valid? [False, False] Translation: X:3.72, Y:0.25, Z:-0.07 [[ 0.93837696 -0.28022234 -0.20229712 3.71523198] [ 0.28971124 0.95693908 0.01830299 0.25042699] [ 0.18845711 -0.07578286 0.97915314 -0.06903985] [ 0. 0. 0. 1. ]] SLAMing on 56.882414037 meters Centerline goodness : 0.766549 Centerline is valid? [False, False] Translation: X:3.72, Y:0.25, Z:-0.07 [[ 0.9371854 -0.28497216 -0.2011825 3.71541184] [ 0.29375132 0.95577082 0.01457069 0.24857206] [ 0.18813212 -0.07275306 0.9794454 -0.06859492] [ 0. 0. 0. 1. ]] SLAMing on 56.912414037 meters Centerline goodness : 0.764686 Centerline is valid? [False, False] Translation: X:3.72, Y:0.25, Z:-0.07 [[ 0.9360893 -0.28904085 -0.20047992 3.7163786 ] [ 0.29712122 0.95477887 0.0107836 0.24920771] [ 0.18829709 -0.06966125 0.97963846 -0.06836922] [ 0. 0. 0. 1. ]] SLAMing on 56.942414037 meters Centerline goodness : 0.766011 Centerline is valid? [False, False] Translation: X:3.72, Y:0.25, Z:-0.07 [[ 0.93495462 -0.29317824 -0.1997658 3.71732264] [ 0.30053235 0.9537471 0.00683905 0.25015243] [ 0.18852099 -0.06643029 0.97981981 -0.06804335] [ 0. 0. 0. 1. ]] SLAMing on 56.972414037 meters Centerline goodness : 0.768572 Centerline is valid? [False, False] Translation: X:3.72, Y:0.25, Z:-0.07 [[ 9.33719198e-01 -2.97685840e-01 -1.98875842e-01 3.71805784e+00] [ 3.04374092e-01 9.52547139e-01 3.21878095e-03 2.49126188e-01] [ 1.88480428e-01 -6.35380912e-02 9.80019407e-01 -6.78389007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.002414037 meters Centerline goodness : 0.764133 Centerline is valid? [False, False] Translation: X:3.72, Y:0.25, Z:-0.07 [[ 9.33592621e-01 -2.98199769e-01 -1.98700063e-01 3.71768039e+00] [ 3.04888265e-01 9.52382662e-01 3.22669524e-03 2.47628455e-01] [ 1.88276296e-01 -6.35937365e-02 9.80055036e-01 -6.76159095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.032414037 meters Centerline goodness : 0.766320 Centerline is valid? [False, False] Translation: X:3.72, Y:0.25, Z:-0.07 [[ 9.33270185e-01 -2.99512416e-01 -1.98239939e-01 3.71601747e+00] [ 3.06112202e-01 9.51991367e-01 2.78529624e-03 2.45779548e-01] [ 1.87888480e-01 -6.32830982e-02 9.80149564e-01 -6.66589347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.062414036999996 meters Centerline goodness : 0.764536 Centerline is valid? [False, False] Translation: X:3.72, Y:0.24, Z:-0.07 [[ 9.33139800e-01 -3.00053896e-01 -1.98034779e-01 3.71538612e+00] [ 3.06618072e-01 9.51829044e-01 2.61324318e-03 2.44630978e-01] [ 1.87711141e-01 -6.31595633e-02 9.80191510e-01 -6.61426039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.092414037 meters Centerline goodness : 0.764536 Centerline is valid? [False, False] Translation: X:3.72, Y:0.24, Z:-0.07 [[ 9.33139800e-01 -3.00053896e-01 -1.98034779e-01 3.71538612e+00] [ 3.06618072e-01 9.51829044e-01 2.61324318e-03 2.44630978e-01] [ 1.87711141e-01 -6.31595633e-02 9.80191510e-01 -6.61426039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.122414037 meters Centerline goodness : 0.764047 Centerline is valid? [False, False] Translation: X:3.71, Y:0.24, Z:-0.06 [[ 9.32578748e-01 -3.02325150e-01 -1.97221657e-01 3.71327965e+00] [ 3.08587786e-01 9.51195259e-01 1.07575334e-03 2.42200408e-01] [ 1.87271078e-01 -6.18634193e-02 9.80358333e-01 -6.44780734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.152414037 meters Centerline goodness : 0.764325 Centerline is valid? [False, False] Translation: X:3.71, Y:0.24, Z:-0.06 [[ 9.32428104e-01 -3.02973983e-01 -1.96938050e-01 3.71232321e+00] [ 3.09181681e-01 9.51002641e-01 8.15640990e-04 2.40751616e-01] [ 1.87041488e-01 -6.16501640e-02 9.80415595e-01 -6.36974370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.182414037 meters Centerline goodness : 0.768510 Centerline is valid? [False, False] Translation: X:3.71, Y:0.24, Z:-0.06 [[ 9.32102256e-01 -3.03253392e-01 -1.98047379e-01 3.71450692e+00] [ 3.09698646e-01 9.50833327e-01 1.65300852e-03 2.39803456e-01] [ 1.87808768e-01 -6.28757780e-02 9.80191054e-01 -6.32168632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.212414037 meters Centerline goodness : 0.766837 Centerline is valid? [False, False] Translation: X:3.72, Y:0.24, Z:-0.06 [[ 9.31096904e-01 -3.06650098e-01 -1.97545623e-01 3.71512005e+00] [ 3.12611467e-01 9.49880491e-01 -1.05988765e-03 2.39734298e-01] [ 1.87969748e-01 -6.07681688e-02 9.80293121e-01 -6.27352769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.242414036999996 meters Centerline goodness : 0.765029 Centerline is valid? [False, False] Translation: X:3.72, Y:0.24, Z:-0.06 [[ 9.30763030e-01 -3.07023884e-01 -1.98535933e-01 3.71708289e+00] [ 3.13138638e-01 9.49707217e-01 -6.29260417e-04 2.40232873e-01] [ 1.88744207e-01 -6.15835794e-02 9.80093407e-01 -6.26037873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.272414037 meters Centerline goodness : 0.764906 Centerline is valid? [False, False] Translation: X:3.72, Y:0.24, Z:-0.06 [[ 9.30576070e-01 -3.07039292e-01 -1.99386690e-01 3.71834806e+00] [ 3.13282627e-01 9.49659904e-01 -2.48706439e-04 2.40673979e-01] [ 1.89425908e-01 -6.22329457e-02 9.79920857e-01 -6.21130055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.302414037 meters Centerline goodness : 0.765079 Centerline is valid? [False, False] Translation: X:3.72, Y:0.24, Z:-0.06 [[ 9.30473876e-01 -3.06917036e-01 -2.00050744e-01 3.71944480e+00] [ 3.13265487e-01 9.49665587e-01 8.40031204e-05 2.41525778e-01] [ 1.89955525e-01 -6.27471564e-02 9.79785534e-01 -6.21479315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.332414037 meters Centerline goodness : 0.764613 Centerline is valid? [False, False] Translation: X:3.72, Y:0.24, Z:-0.06 [[ 9.30582770e-01 -3.06493162e-01 -2.00194029e-01 3.72082134e+00] [ 3.12753591e-01 9.49834224e-01 -3.72596074e-04 2.43369361e-01] [ 1.90265338e-01 -6.22646699e-02 9.79756200e-01 -6.37235248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.362414037 meters Centerline goodness : 0.765828 Centerline is valid? [False, False] Translation: X:3.72, Y:0.24, Z:-0.06 [[ 9.30693942e-01 -3.06180345e-01 -2.00155897e-01 3.72141785e+00] [ 3.12386452e-01 9.49954913e-01 -6.06250104e-04 2.43677678e-01] [ 1.90324699e-01 -6.19617570e-02 9.79763874e-01 -6.44504823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.392414037 meters Centerline goodness : 0.765415 Centerline is valid? [False, False] Translation: X:3.72, Y:0.24, Z:-0.06 [[ 9.30901755e-01 -3.05283784e-01 -2.00558555e-01 3.72207523e+00] [ 3.11593295e-01 9.50215558e-01 -1.12964873e-04 2.43863088e-01] [ 1.90608345e-01 -6.23875417e-02 9.79681710e-01 -6.46372402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.422414036999996 meters Centerline goodness : 0.766898 Centerline is valid? [False, False] Translation: X:3.72, Y:0.24, Z:-0.06 [[ 9.31207030e-01 -3.04180501e-01 -2.00817553e-01 3.72182138e+00] [ 3.10631905e-01 9.50530063e-01 6.46870439e-04 2.43797659e-01] [ 1.90686356e-01 -6.29827092e-02 9.79628446e-01 -6.42456006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.452414037 meters Centerline goodness : 0.766213 Centerline is valid? [False, False] Translation: X:3.72, Y:0.24, Z:-0.06 [[ 0.93203536 -0.30051007 -0.20249392 3.72276979] [ 0.30770111 0.95147357 0.00425162 0.24432227] [ 0.19138996 -0.06627027 0.97927429 -0.06410248] [ 0. 0. 0. 1. ]] SLAMing on 57.482414037 meters Centerline goodness : 0.768349 Centerline is valid? [False, False] Translation: X:3.72, Y:0.25, Z:-0.06 [[ 0.93204194 -0.30038036 -0.20265601 3.72300003] [ 0.30752933 0.95153022 0.00399323 0.24559723] [ 0.19163383 -0.06604452 0.97924185 -0.06404997] [ 0. 0. 0. 1. ]] SLAMing on 57.512414037 meters Centerline goodness : 0.768102 Centerline is valid? [False, False] Translation: X:3.72, Y:0.25, Z:-0.06 [[ 9.32008463e-01 -3.00446494e-01 -2.02711936e-01 3.72292784e+00] [ 3.07538480e-01 9.51528546e-01 3.67541587e-03 2.46811268e-01] [ 1.91781928e-01 -6.57672393e-02 9.79231516e-01 -6.39246980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.542414037 meters Centerline goodness : 0.766948 Centerline is valid? [False, False] Translation: X:3.72, Y:0.25, Z:-0.06 [[ 9.31921565e-01 -3.00851181e-01 -2.02511145e-01 3.72164648e+00] [ 3.07807689e-01 9.51443831e-01 3.01031887e-03 2.48783850e-01] [ 1.91772322e-01 -6.51398688e-02 9.79275331e-01 -6.33128182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.572414037 meters Centerline goodness : 0.767343 Centerline is valid? [False, False] Translation: X:3.72, Y:0.25, Z:-0.06 [[ 9.31870651e-01 -3.01119251e-01 -2.02346945e-01 3.72107816e+00] [ 3.08012513e-01 9.51378431e-01 2.71543822e-03 2.49556191e-01] [ 1.91690848e-01 -6.48558281e-02 9.79310135e-01 -6.32093945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.602414036999996 meters Centerline goodness : 0.768265 Centerline is valid? [False, False] Translation: X:3.72, Y:0.25, Z:-0.06 [[ 9.31798596e-01 -3.01440677e-01 -2.02200137e-01 3.72079214e+00] [ 3.08271244e-01 9.51295446e-01 2.41131702e-03 2.50020988e-01] [ 1.91625201e-01 -6.45793497e-02 9.79341253e-01 -6.32417271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.632414037 meters Centerline goodness : 0.769539 Centerline is valid? [False, False] Translation: X:3.72, Y:0.25, Z:-0.06 [[ 9.31715915e-01 -3.01864849e-01 -2.01948181e-01 3.72025327e+00] [ 3.08621836e-01 9.51182554e-01 2.07626527e-03 2.50082280e-01] [ 1.91462835e-01 -6.42601076e-02 9.79394007e-01 -6.31009793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.662414037 meters Centerline goodness : 0.768424 Centerline is valid? [False, False] Translation: X:3.72, Y:0.25, Z:-0.06 [[ 9.31458464e-01 -3.03116379e-01 -2.01260005e-01 3.71813531e+00] [ 3.09706934e-01 9.50831141e-01 1.32491540e-03 2.49514835e-01] [ 1.90962677e-01 -6.35657228e-02 9.79536960e-01 -6.22776956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.692414037 meters Centerline goodness : 0.769798 Centerline is valid? [False, False] Translation: X:3.72, Y:0.25, Z:-0.06 [[ 9.31315965e-01 -3.03715344e-01 -2.01016326e-01 3.71734946e+00] [ 3.10225824e-01 9.50662437e-01 9.32726259e-04 2.49488033e-01] [ 1.90815387e-01 -6.32291183e-02 9.79587447e-01 -6.19101024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.722414037 meters Centerline goodness : 0.767503 Centerline is valid? [False, False] Translation: X:3.72, Y:0.25, Z:-0.06 [[ 9.31265845e-01 -3.03854297e-01 -2.01038536e-01 3.71763182e+00] [ 3.10352628e-01 9.50621127e-01 8.48035894e-04 2.49597988e-01] [ 1.90853800e-01 -6.31825848e-02 9.79582966e-01 -6.20858857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.752414037 meters Centerline goodness : 0.768653 Centerline is valid? [False, False] Translation: X:3.72, Y:0.25, Z:-0.06 [[ 9.31228212e-01 -3.03912450e-01 -2.01124937e-01 3.71817136e+00] [ 3.10415168e-01 9.50600718e-01 8.35145131e-04 2.49977569e-01] [ 1.90935699e-01 -6.32099420e-02 9.79565241e-01 -6.25040901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.782414037 meters Centerline goodness : 0.769458 Centerline is valid? [False, False] Translation: X:3.72, Y:0.25, Z:-0.06 [[ 9.31180558e-01 -3.04027032e-01 -2.01172394e-01 3.71819001e+00] [ 3.10456728e-01 9.50587415e-01 4.32462014e-04 2.52350152e-01] [ 1.91100466e-01 -6.28580236e-02 9.79555757e-01 -6.28253165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.812414036999996 meters Centerline goodness : 0.763077 Centerline is valid? [False, False] Translation: X:3.72, Y:0.25, Z:-0.06 [[ 9.31125486e-01 -3.04223808e-01 -2.01129819e-01 3.71768531e+00] [ 3.10571652e-01 9.50549972e-01 6.20644837e-06 2.53717895e-01] [ 1.91182055e-01 -6.24709991e-02 9.79564595e-01 -6.25499072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.842414037 meters Centerline goodness : 0.766918 Centerline is valid? [False, False] Translation: X:3.72, Y:0.25, Z:-0.06 [[ 9.31056037e-01 -3.04600249e-01 -2.00881417e-01 3.71672966e+00] [ 3.10853884e-01 9.50457613e-01 -4.34284574e-04 2.54564128e-01] [ 1.91061555e-01 -6.20404254e-02 9.79615469e-01 -6.21687326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.872414037 meters Centerline goodness : 0.765338 Centerline is valid? [False, False] Translation: X:3.72, Y:0.26, Z:-0.06 [[ 9.30936217e-01 -3.05227498e-01 -2.00484250e-01 3.71521545e+00] [ 3.11329870e-01 9.50301214e-01 -1.14627676e-03 2.55185847e-01] [ 1.90870302e-01 -6.13496251e-02 9.79696255e-01 -6.13454796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.902414037 meters Centerline goodness : 0.766019 Centerline is valid? [False, False] Translation: X:3.71, Y:0.26, Z:-0.06 [[ 9.30847724e-01 -3.05708976e-01 -2.00161277e-01 3.71409129e+00] [ 3.11695463e-01 9.50180558e-01 -1.68720789e-03 2.55854020e-01] [ 1.90705149e-01 -6.08188284e-02 9.79761510e-01 -6.08216071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.932414037 meters Centerline goodness : 0.766793 Centerline is valid? [False, False] Translation: X:3.71, Y:0.26, Z:-0.06 [[ 9.30783427e-01 -3.05984991e-01 -2.00038493e-01 3.71355236e+00] [ 3.11897947e-01 9.50113388e-01 -2.05458660e-03 2.56401687e-01] [ 1.90687923e-01 -6.04792199e-02 9.79785885e-01 -6.05026348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.962414037 meters Centerline goodness : 0.764795 Centerline is valid? [False, False] Translation: X:3.71, Y:0.26, Z:-0.06 [[ 9.30732297e-01 -3.06192671e-01 -1.99958593e-01 3.71332381e+00] [ 3.12041873e-01 9.50065373e-01 -2.37851789e-03 2.57376003e-01] [ 1.90702020e-01 -6.01816905e-02 9.79801461e-01 -6.05059719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.992414036999996 meters Centerline goodness : 0.766925 Centerline is valid? [False, False] Translation: X:3.71, Y:0.26, Z:-0.06 [[ 9.30693823e-01 -3.06278723e-01 -2.00005880e-01 3.71330578e+00] [ 3.12084949e-01 9.50050578e-01 -2.62364586e-03 2.58192943e-01] [ 1.90819269e-01 -5.99770138e-02 9.79791184e-01 -6.04232415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.022414037 meters Centerline goodness : 0.766710 Centerline is valid? [False, False] Translation: X:3.71, Y:0.26, Z:-0.06 [[ 9.30657405e-01 -3.06274754e-01 -2.00181339e-01 3.71340539e+00] [ 3.12037974e-01 9.50065204e-01 -2.90004774e-03 2.59120131e-01] [ 1.91073536e-01 -5.97652287e-02 9.79754572e-01 -6.01452837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.052414037 meters Centerline goodness : 0.765374 Centerline is valid? [False, False] Translation: X:3.71, Y:0.26, Z:-0.06 [[ 9.30659758e-01 -3.06241472e-01 -2.00221316e-01 3.71342973e+00] [ 3.11960747e-01 9.50089821e-01 -3.13448917e-03 2.59876894e-01] [ 1.91188145e-01 -5.95440483e-02 9.79745681e-01 -5.99943438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.082414037 meters Centerline goodness : 0.765504 Centerline is valid? [False, False] Translation: X:3.71, Y:0.26, Z:-0.06 [[ 9.30732884e-01 -3.06009774e-01 -2.00235652e-01 3.71343058e+00] [ 3.11698045e-01 9.50175571e-01 -3.27310221e-03 2.60663580e-01] [ 1.91260627e-01 -5.93666775e-02 9.79742298e-01 -5.98790192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.112414037 meters Centerline goodness : 0.763342 Centerline is valid? [False, False] Translation: X:3.71, Y:0.26, Z:-0.06 [[ 9.30749875e-01 -3.05957498e-01 -2.00236558e-01 3.71343263e+00] [ 3.11615825e-01 9.50202017e-01 -3.42116294e-03 2.61332385e-01] [ 1.91311912e-01 -5.92126330e-02 9.79741607e-01 -5.98799478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.142414037 meters Centerline goodness : 0.763212 Centerline is valid? [False, False] Translation: X:3.71, Y:0.26, Z:-0.06 [[ 9.30734512e-01 -3.05997092e-01 -2.00247465e-01 3.71329766e+00] [ 3.11606129e-01 9.50204225e-01 -3.68120239e-03 2.62139431e-01] [ 1.91402425e-01 -5.89721153e-02 9.79738435e-01 -5.97009961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.172414036999996 meters Centerline goodness : 0.763645 Centerline is valid? [False, False] Translation: X:3.71, Y:0.26, Z:-0.06 [[ 0.9307178 -0.30598976 -0.20033632 3.71335408] [ 0.31155024 0.95022144 -0.00395672 0.2628623 ] [ 0.19157458 -0.05873224 0.9797192 -0.0594585 ] [ 0. 0. 0. 1. ]] SLAMing on 58.202414037 meters Centerline goodness : 0.762206 Centerline is valid? [False, False] Translation: X:3.71, Y:0.26, Z:-0.06 [[ 0.93076539 -0.30584861 -0.20033077 3.71335974] [ 0.31136401 0.95028157 -0.00417036 0.2644196 ] [ 0.19164614 -0.05849416 0.97971944 -0.05962861] [ 0. 0. 0. 1. ]] SLAMing on 58.232414037 meters Centerline goodness : 0.763077 Centerline is valid? [False, False] Translation: X:3.71, Y:0.27, Z:-0.06 [[ 0.93074659 -0.30588924 -0.20035609 3.7132659 ] [ 0.31136855 0.9502792 -0.00436704 0.26510307] [ 0.19173006 -0.05831998 0.97971341 -0.0594952 ] [ 0. 0. 0. 1. ]] SLAMing on 58.262414037 meters Centerline goodness : 0.763077 Centerline is valid? [False, False] Translation: X:3.71, Y:0.27, Z:-0.06 [[ 0.93074659 -0.30588924 -0.20035609 3.7132659 ] [ 0.31136855 0.9502792 -0.00436704 0.26510307] [ 0.19173006 -0.05831998 0.97971341 -0.0594952 ] [ 0. 0. 0. 1. ]] SLAMing on 58.292414037 meters Centerline goodness : 0.765822 Centerline is valid? [False, False] Translation: X:3.71, Y:0.27, Z:-0.06 [[ 0.93071328 -0.30601746 -0.20031499 3.71293085] [ 0.31145122 0.950251 -0.00460081 0.26553288] [ 0.19175745 -0.05810632 0.97972074 -0.05916489] [ 0. 0. 0. 1. ]] SLAMing on 58.322414037 meters Centerline goodness : 0.764761 Centerline is valid? [False, False] Translation: X:3.71, Y:0.27, Z:-0.06 [[ 0.93068411 -0.30615618 -0.20023855 3.71275305] [ 0.31153926 0.9502209 -0.00485099 0.26576773] [ 0.19175602 -0.05786744 0.97973516 -0.05896833] [ 0. 0. 0. 1. ]] SLAMing on 58.352414036999996 meters Centerline goodness : 0.763184 Centerline is valid? [False, False] Translation: X:3.71, Y:0.27, Z:-0.06 [[ 0.93064494 -0.30630569 -0.20019195 3.71270225] [ 0.31164074 0.95018633 -0.00509807 0.26625484] [ 0.19178122 -0.05764347 0.97974343 -0.05894956] [ 0. 0. 0. 1. ]] SLAMing on 58.382414037 meters Centerline goodness : 0.764063 Centerline is valid? [False, False] Translation: X:3.71, Y:0.27, Z:-0.06 [[ 0.93061812 -0.30651349 -0.19999848 3.71235706] [ 0.31179834 0.95013342 -0.0053177 0.26674221] [ 0.19165519 -0.05741044 0.97978178 -0.05900871] [ 0. 0. 0. 1. ]] SLAMing on 58.412414037 meters Centerline goodness : 0.762184 Centerline is valid? [False, False] Translation: X:3.71, Y:0.27, Z:-0.06 [[ 0.93054595 -0.30683229 -0.19984538 3.7118575 ] [ 0.31206383 0.95004477 -0.00557771 0.26723882] [ 0.19157348 -0.0571742 0.97981157 -0.05893555] [ 0. 0. 0. 1. ]] SLAMing on 58.442414037 meters Centerline goodness : 0.764115 Centerline is valid? [False, False] Translation: X:3.71, Y:0.27, Z:-0.06 [[ 0.93044274 -0.30738867 -0.1994706 3.71118598] [ 0.31253383 0.9498879 -0.0059655 0.26806245] [ 0.19130844 -0.05679075 0.97988565 -0.05920221] [ 0. 0. 0. 1. ]] SLAMing on 58.472414037 meters Centerline goodness : 0.762277 Centerline is valid? [False, False] Translation: X:3.71, Y:0.27, Z:-0.06 [[ 0.93036123 -0.30775816 -0.19928093 3.71066585] [ 0.31283521 0.94978654 -0.00629668 0.26830849] [ 0.1912122 -0.05648391 0.97992217 -0.05897391] [ 0. 0. 0. 1. ]] SLAMing on 58.502414037 meters Centerline goodness : 0.760561 Centerline is valid? [False, False] Translation: X:3.71, Y:0.27, Z:-0.06 [[ 0.93025541 -0.30829863 -0.19893928 3.70957611] [ 0.31328069 0.94963667 -0.00673885 0.2686978 ] [ 0.19099761 -0.05605498 0.97998865 -0.05860365] [ 0. 0. 0. 1. ]] SLAMing on 58.532414037 meters Centerline goodness : 0.760498 Centerline is valid? [False, False] Translation: X:3.71, Y:0.27, Z:-0.06 [[ 0.93014386 -0.30877782 -0.19871755 3.70877055] [ 0.31367187 0.94950433 -0.00717559 0.26904805] [ 0.19089883 -0.05565777 0.98003053 -0.05815879] [ 0. 0. 0. 1. ]] SLAMing on 58.562414036999996 meters Centerline goodness : 0.763969 Centerline is valid? [False, False] Translation: X:3.71, Y:0.27, Z:-0.06 [[ 0.93001369 -0.30937857 -0.19839215 3.70777988] [ 0.31418504 0.9493314 -0.00759303 0.26949208] [ 0.19068902 -0.05527023 0.98009331 -0.05794683] [ 0. 0. 0. 1. ]] SLAMing on 58.592414037 meters Centerline goodness : 0.762154 Centerline is valid? [False, False] Translation: X:3.71, Y:0.27, Z:-0.06 [[ 0.9299128 -0.30984084 -0.19814347 3.70717811] [ 0.31459869 0.94919257 -0.00781893 0.26966545] [ 0.19049893 -0.05506475 0.98014184 -0.05794424] [ 0. 0. 0. 1. ]] SLAMing on 58.622414037 meters Centerline goodness : 0.762123 Centerline is valid? [False, False] Translation: X:3.71, Y:0.27, Z:-0.06 [[ 0.92958822 -0.31123706 -0.1974772 3.70532928] [ 0.31587003 0.94876515 -0.00841521 0.26966643] [ 0.18997861 -0.05455445 0.98027136 -0.0578085 ] [ 0. 0. 0. 1. ]] SLAMing on 58.652414037 meters Centerline goodness : 0.762367 Centerline is valid? [False, False] Translation: X:3.70, Y:0.27, Z:-0.06 [[ 0.92938581 -0.31214777 -0.19699186 3.70394153] [ 0.31669153 0.94848747 -0.00883102 0.26921365] [ 0.18960089 -0.05417823 0.98036535 -0.05742785] [ 0. 0. 0. 1. ]] SLAMing on 58.682414037 meters Centerline goodness : 0.761251 Centerline is valid? [False, False] Translation: X:3.68, Y:0.26, Z:-0.06 [[ 0.92970267 -0.31384227 -0.19275886 3.67660271] [ 0.31801082 0.94803699 -0.00974576 0.26190945] [ 0.18580116 -0.05223874 0.98119776 -0.06438214] [ 0. 0. 0. 1. ]] SLAMing on 58.712414037 meters Centerline goodness : 0.762483 Centerline is valid? [False, False] Translation: X:3.65, Y:0.25, Z:-0.07 [[ 0.92995323 -0.31502521 -0.18959459 3.65086591] [ 0.31888303 0.94773455 -0.01062253 0.25418646] [ 0.18303171 -0.05058004 0.981805 -0.07093127] [ 0. 0. 0. 1. ]] SLAMing on 58.742414036999996 meters Centerline goodness : 0.761848 Centerline is valid? [False, False] Translation: X:3.65, Y:0.26, Z:-0.07 [[ 0.92876165 -0.31910453 -0.18861098 3.65221685] [ 0.32227845 0.94653477 -0.01444066 0.25600227] [ 0.18313493 -0.04737332 0.9819457 -0.07178829] [ 0. 0. 0. 1. ]] SLAMing on 58.772414037 meters Centerline goodness : 0.762887 Centerline is valid? [False, False] Translation: X:3.63, Y:0.25, Z:-0.08 [[ 0.92915809 -0.31942751 -0.18609486 3.62500953] [ 0.32262528 0.94642795 -0.01367709 0.24926425] [ 0.18049422 -0.04733073 0.98243658 -0.07926526] [ 0. 0. 0. 1. ]] SLAMing on 58.802414037 meters Centerline goodness : 0.763206 Centerline is valid? [False, False] Translation: X:3.62, Y:0.25, Z:-0.08 [[ 0.92892359 -0.32042697 -0.18554653 3.6228763 ] [ 0.32343898 0.9461357 -0.01464483 0.25172288] [ 0.18024479 -0.04640905 0.98252634 -0.07869943] [ 0. 0. 0. 1. ]] SLAMing on 58.832414037 meters Centerline goodness : 0.764761 Centerline is valid? [False, False] Translation: X:3.61, Y:0.25, Z:-0.08 [[ 0.93156706 -0.31665709 -0.17863677 3.60987383] [ 0.31881914 0.94765859 -0.01724952 0.24755491] [ 0.17474885 -0.04088374 0.98376387 -0.08196314] [ 0. 0. 0. 1. ]] SLAMing on 58.862414037 meters Centerline goodness : 0.764654 Centerline is valid? [False, False] Translation: X:3.58, Y:0.24, Z:-0.09 [[ 0.93256673 -0.31576526 -0.17496172 3.5823662 ] [ 0.31797149 0.94796475 -0.01603036 0.24047175] [ 0.17091937 -0.04068346 0.98444473 -0.08836976] [ 0. 0. 0. 1. ]] SLAMing on 58.892414037 meters Centerline goodness : 0.763996 Centerline is valid? [False, False] Translation: X:3.58, Y:0.24, Z:-0.09 [[ 0.93244381 -0.31628069 -0.17468564 3.58144933] [ 0.31838351 0.94781648 -0.01660878 0.24130425] [ 0.17082296 -0.04013028 0.98448417 -0.08795311] [ 0. 0. 0. 1. ]] SLAMing on 58.922414036999996 meters Centerline goodness : 0.762637 Centerline is valid? [False, False] Translation: X:3.58, Y:0.24, Z:-0.09 [[ 0.93230053 -0.31688848 -0.17434852 3.58068157] [ 0.31888992 0.9476362 -0.0171711 0.24249057] [ 0.17066029 -0.03958936 0.98453428 -0.08808015] [ 0. 0. 0. 1. ]] SLAMing on 58.952414037 meters Centerline goodness : 0.763053 Centerline is valid? [False, False] Translation: X:3.56, Y:0.24, Z:-0.09 [[ 0.93295099 -0.31501116 -0.17427109 3.56352143] [ 0.31609316 0.94846711 -0.02225441 0.23854682] [ 0.17230079 -0.03432362 0.9844462 -0.08941301] [ 0. 0. 0. 1. ]] SLAMing on 58.982414037 meters Centerline goodness : 0.763210 Centerline is valid? [False, False] Translation: X:3.56, Y:0.24, Z:-0.09 [[ 0.93288186 -0.31521957 -0.17426436 3.56375975] [ 0.31627769 0.94840194 -0.02240922 0.23888868] [ 0.17233649 -0.03421078 0.98444388 -0.08970394] [ 0. 0. 0. 1. ]] SLAMing on 59.012414037 meters Centerline goodness : 0.761840 Centerline is valid? [False, False] Translation: X:3.55, Y:0.23, Z:-0.09 [[ 0.93543874 -0.31148876 -0.16712007 3.55198975] [ 0.31179412 0.9498183 -0.02509227 0.23473017] [ 0.16654966 -0.02863478 0.9856172 -0.09373189] [ 0. 0. 0. 1. ]] SLAMing on 59.042414037 meters Centerline goodness : 0.763106 Centerline is valid? [False, False] Translation: X:3.52, Y:0.23, Z:-0.10 [[ 0.93664211 -0.3096033 -0.16385163 3.52383089] [ 0.31032064 0.9503806 -0.02185877 0.22768471] [ 0.16248896 -0.0303727 0.98624279 -0.10119127] [ 0. 0. 0. 1. ]] SLAMing on 59.072414037 meters Centerline goodness : 0.763397 Centerline is valid? [False, False] Translation: X:3.50, Y:0.22, Z:-0.11 [[ 0.93773775 -0.30746891 -0.16158834 3.49910984] [ 0.30825461 0.95107603 -0.02082034 0.22125394] [ 0.1600844 -0.03028633 0.9866386 -0.10675536] [ 0. 0. 0. 1. ]] SLAMing on 59.102414036999996 meters Centerline goodness : 0.763764 Centerline is valid? [False, False] Translation: X:3.50, Y:0.22, Z:-0.11 [[ 0.93771579 -0.30750418 -0.1616486 3.49910598] [ 0.30826221 0.95106949 -0.02100545 0.22178009] [ 0.16019831 -0.03013301 0.9866248 -0.10656151] [ 0. 0. 0. 1. ]] SLAMing on 59.132414037 meters Centerline goodness : 0.765652 Centerline is valid? [False, False] Translation: X:3.47, Y:0.22, Z:-0.11 [[ 0.93862861 -0.30587107 -0.15943408 3.47469678] [ 0.30659298 0.95161633 -0.02066663 0.21596267] [ 0.1580414 -0.02948308 0.98699223 -0.11193246] [ 0. 0. 0. 1. ]] SLAMing on 59.162414037 meters Centerline goodness : 0.765745 Centerline is valid? [False, False] Translation: X:3.47, Y:0.22, Z:-0.11 [[ 0.93855451 -0.3061001 -0.15943074 3.47461974] [ 0.30677422 0.95155097 -0.02098413 0.21678543] [ 0.15812972 -0.02921449 0.98698607 -0.11187644] [ 0. 0. 0. 1. ]] SLAMing on 59.192414037 meters Centerline goodness : 0.764845 Centerline is valid? [False, False] Translation: X:3.47, Y:0.22, Z:-0.11 [[ 0.9385455 -0.3061651 -0.15935896 3.47475809] [ 0.30682762 0.95153232 -0.02104874 0.2172898 ] [ 0.15807959 -0.02914053 0.98699629 -0.11225304] [ 0. 0. 0. 1. ]] SLAMing on 59.222414037 meters Centerline goodness : 0.763734 Centerline is valid? [False, False] Translation: X:3.46, Y:0.21, Z:-0.12 [[ 0.94073205 -0.30251212 -0.15332849 3.46313947] [ 0.30222467 0.9528889 -0.02574868 0.21367585] [ 0.15389431 -0.02211704 0.98783975 -0.11525609] [ 0. 0. 0. 1. ]] SLAMing on 59.252414037 meters Centerline goodness : 0.763023 Centerline is valid? [False, False] Translation: X:3.46, Y:0.21, Z:-0.12 [[ 0.94067826 -0.30274089 -0.15320696 3.4630817 ] [ 0.30239948 0.95282398 -0.02609643 0.21409844] [ 0.15387972 -0.02178136 0.98784949 -0.11529383] [ 0. 0. 0. 1. ]] SLAMing on 59.282414037 meters Centerline goodness : 0.764029 Centerline is valid? [False, False] Translation: X:3.46, Y:0.21, Z:-0.11 [[ 0.94064783 -0.30281854 -0.15324031 3.46295215] [ 0.3024186 0.95280724 -0.02648325 0.21495769] [ 0.1540281 -0.02143131 0.98783402 -0.11489761] [ 0. 0. 0. 1. ]] SLAMing on 59.312414036999996 meters Centerline goodness : 0.767075 Centerline is valid? [False, False] Translation: X:3.46, Y:0.22, Z:-0.11 [[ 0.94066094 -0.3027431 -0.15330887 3.46282441] [ 0.30228161 0.95283957 -0.02688098 0.21639838] [ 0.15421679 -0.02105657 0.98781264 -0.11450788] [ 0. 0. 0. 1. ]] SLAMing on 59.342414037 meters Centerline goodness : 0.766259 Centerline is valid? [False, False] Translation: X:3.46, Y:0.22, Z:-0.11 [[ 0.94164231 -0.299368 -0.15391086 3.46112831] [ 0.29941335 0.95383554 -0.02343931 0.21574519] [ 0.15382263 -0.02401152 0.98780668 -0.11421565] [ 0. 0. 0. 1. ]] SLAMing on 59.372414037 meters Centerline goodness : 0.764745 Centerline is valid? [False, False] Translation: X:3.44, Y:0.21, Z:-0.11 [[ 0.94334999 -0.29437785 -0.15307674 3.44469812] [ 0.29381962 0.95548572 -0.02677806 0.21261518] [ 0.15414551 -0.01971587 0.98785143 -0.11467216] [ 0. 0. 0. 1. ]] SLAMing on 59.402414037 meters Centerline goodness : 0.767671 Centerline is valid? [False, False] Translation: X:3.44, Y:0.21, Z:-0.11 [[ 0.9444445 -0.2904334 -0.15386038 3.44312227] [ 0.29036661 0.95662908 -0.02341012 0.21402787] [ 0.1539864 -0.02256636 0.98781524 -0.11420483] [ 0. 0. 0. 1. ]] SLAMing on 59.432414037 meters Centerline goodness : 0.766870 Centerline is valid? [False, False] Translation: X:3.44, Y:0.22, Z:-0.11 [[ 0.94452508 -0.2900319 -0.15412293 3.44356861] [ 0.28993882 0.95675455 -0.02358413 0.21512386] [ 0.15429797 -0.02241042 0.98777017 -0.11390548] [ 0. 0. 0. 1. ]] SLAMing on 59.462414037 meters Centerline goodness : 0.765870 Centerline is valid? [False, False] Translation: X:3.44, Y:0.22, Z:-0.11 [[ 0.94460558 -0.28960089 -0.15443969 3.44445199] [ 0.28950123 0.95688575 -0.02363699 0.21597848] [ 0.15462643 -0.02238285 0.98771943 -0.11398527] [ 0. 0. 0. 1. ]] SLAMing on 59.492414036999996 meters Centerline goodness : 0.766468 Centerline is valid? [False, False] Translation: X:3.45, Y:0.22, Z:-0.12 [[ 0.94512852 -0.28773628 -0.1547253 3.44629652] [ 0.28777595 0.95743024 -0.0226347 0.21731011] [ 0.15465151 -0.02313352 0.98769821 -0.11542953] [ 0. 0. 0. 1. ]] SLAMing on 59.522414037 meters Centerline goodness : 0.767243 Centerline is valid? [False, False] Translation: X:3.45, Y:0.22, Z:-0.12 [[ 0.94519252 -0.28742489 -0.15491297 3.44683893] [ 0.28742293 0.95752991 -0.0229027 0.21929481] [ 0.15491661 -0.02287808 0.98766261 -0.11563494] [ 0. 0. 0. 1. ]] SLAMing on 59.552414037 meters Centerline goodness : 0.767798 Centerline is valid? [False, False] Translation: X:3.45, Y:0.22, Z:-0.12 [[ 0.94523698 -0.28721969 -0.15502226 3.44701961] [ 0.28716989 0.95759851 -0.02320664 0.22096736] [ 0.15511449 -0.02258196 0.98763837 -0.11555464] [ 0. 0. 0. 1. ]] SLAMing on 59.582414037 meters Centerline goodness : 0.765320 Centerline is valid? [False, False] Translation: X:3.45, Y:0.22, Z:-0.12 [[ 0.94524416 -0.28723703 -0.15494632 3.446829 ] [ 0.28713307 0.95760137 -0.02354181 0.2218413 ] [ 0.15513889 -0.02223746 0.98764235 -0.11536274] [ 0. 0. 0. 1. ]] SLAMing on 59.612414037 meters Centerline goodness : 0.768388 Centerline is valid? [False, False] Translation: X:3.45, Y:0.22, Z:-0.12 [[ 0.94521992 -0.28735374 -0.1548778 3.44672256] [ 0.28723503 0.95756848 -0.02363548 0.22159966] [ 0.15509784 -0.0221456 0.98765087 -0.1152319 ] [ 0. 0. 0. 1. ]] SLAMing on 59.642414037 meters Centerline goodness : 0.766808 Centerline is valid? [False, False] Translation: X:3.45, Y:0.22, Z:-0.11 [[ 0.94516754 -0.28760267 -0.15473532 3.44606401] [ 0.28744433 0.95749941 -0.0238881 0.22194715] [ 0.15502926 -0.02189953 0.98766712 -0.11480915] [ 0. 0. 0. 1. ]] SLAMing on 59.672414036999996 meters Centerline goodness : 0.768844 Centerline is valid? [False, False] Translation: X:3.45, Y:0.22, Z:-0.11 [[ 0.94513328 -0.28766446 -0.15482971 3.44593822] [ 0.28747431 0.95748486 -0.02410926 0.22260295] [ 0.15518248 -0.0217231 0.98764695 -0.11443353] [ 0. 0. 0. 1. ]] SLAMing on 59.702414037 meters Centerline goodness : 0.767915 Centerline is valid? [False, False] Translation: X:3.45, Y:0.22, Z:-0.11 [[ 0.94508646 -0.28776876 -0.15492169 3.4457398 ] [ 0.2875414 0.95745818 -0.02436756 0.22321206] [ 0.15534326 -0.02151694 0.98762619 -0.11394951] [ 0. 0. 0. 1. ]] SLAMing on 59.732414037 meters Centerline goodness : 0.769213 Centerline is valid? [False, False] Translation: X:3.42, Y:0.22, Z:-0.12 [[ 0.94608365 -0.28616777 -0.15176869 3.41847631] [ 0.28616754 0.95791963 -0.02231878 0.21585893] [ 0.15176912 -0.02231584 0.98816402 -0.12032227] [ 0. 0. 0. 1. ]] SLAMing on 59.762414037 meters Centerline goodness : 0.768306 Centerline is valid? [False, False] Translation: X:3.42, Y:0.22, Z:-0.12 [[ 0.94608795 -0.28607312 -0.15192025 3.41899638] [ 0.28608199 0.95794621 -0.02227445 0.21550753] [ 0.15190355 -0.02238806 0.98814173 -0.12030943] [ 0. 0. 0. 1. ]] SLAMing on 59.792414037 meters Centerline goodness : 0.768306 Centerline is valid? [False, False] Translation: X:3.42, Y:0.22, Z:-0.12 [[ 0.94608795 -0.28607312 -0.15192025 3.41899638] [ 0.28608199 0.95794621 -0.02227445 0.21550753] [ 0.15190355 -0.02238806 0.98814173 -0.12030943] [ 0. 0. 0. 1. ]] SLAMing on 59.822414037 meters Centerline goodness : 0.767082 Centerline is valid? [False, False] Translation: X:3.42, Y:0.21, Z:-0.12 [[ 0.94613997 -0.28580804 -0.15209509 3.41987139] [ 0.28585558 0.95801951 -0.0220276 0.21482528] [ 0.15200573 -0.02263603 0.98812037 -0.1206781 ] [ 0. 0. 0. 1. ]] SLAMing on 59.852414036999996 meters Centerline goodness : 0.767248 Centerline is valid? [False, False] Translation: X:3.42, Y:0.21, Z:-0.12 [[ 0.9462977 -0.28512826 -0.15238944 3.42116832] [ 0.28523081 0.9582141 -0.02165942 0.2145235 ] [ 0.15219742 -0.0229699 0.98808316 -0.12115309] [ 0. 0. 0. 1. ]] SLAMing on 59.882414037 meters Centerline goodness : 0.766407 Centerline is valid? [False, False] Translation: X:3.42, Y:0.22, Z:-0.12 [[ 0.94633975 -0.28483779 -0.15267124 3.42163723] [ 0.28491642 0.95830367 -0.02183363 0.21559599] [ 0.15252446 -0.02283651 0.98803582 -0.12085711] [ 0. 0. 0. 1. ]] SLAMing on 59.912414037 meters Centerline goodness : 0.766878 Centerline is valid? [False, False] Translation: X:3.42, Y:0.21, Z:-0.12 [[ 0.9472234 -0.28152778 -0.15332955 3.42006344] [ 0.28211276 0.95920507 -0.01838562 0.21453367] [ 0.15225054 -0.02584094 0.98800406 -0.12032971] [ 0. 0. 0. 1. ]] SLAMing on 59.942414037 meters Centerline goodness : 0.766033 Centerline is valid? [False, False] Translation: X:3.42, Y:0.21, Z:-0.12 [[ 0.94821047 -0.27782643 -0.15397847 3.4184531 ] [ 0.27893164 0.96019659 -0.01482085 0.21389881] [ 0.15196723 -0.02889618 0.98796304 -0.11979354] [ 0. 0. 0. 1. ]] SLAMing on 59.972414037 meters Centerline goodness : 0.767485 Centerline is valid? [False, False] Translation: X:3.42, Y:0.21, Z:-0.12 [[ 0.94829081 -0.27740156 -0.1542495 3.4193961 ] [ 0.27851773 0.96031756 -0.01476684 0.21380676] [ 0.15222484 -0.02895796 0.98792157 -0.11977446] [ 0. 0. 0. 1. ]] SLAMing on 60.002414037 meters Centerline goodness : 0.766699 Centerline is valid? [False, False] Translation: X:3.42, Y:0.21, Z:-0.12 [[ 0.94836117 -0.27700702 -0.15452571 3.42043061] [ 0.27815572 0.96042538 -0.0145768 0.21319859] [ 0.15244829 -0.02915814 0.98788123 -0.11992669] [ 0. 0. 0. 1. ]] SLAMing on 60.032414037 meters Centerline goodness : 0.766447 Centerline is valid? [False, False] Translation: X:3.42, Y:0.21, Z:-0.12 [[ 0.94843182 -0.27668334 -0.15467193 3.42118672] [ 0.27786377 0.96051296 -0.01437293 0.21278351] [ 0.15254114 -0.02934598 0.98786133 -0.12020312] [ 0. 0. 0. 1. ]] SLAMing on 60.062414036999996 meters Centerline goodness : 0.765727 Centerline is valid? [False, False] Translation: X:3.41, Y:0.21, Z:-0.12 [[ 0.95129533 -0.27094404 -0.1470596 3.40945313] [ 0.27191146 0.96222226 -0.01387384 0.20828072] [ 0.14526305 -0.02678907 0.98903033 -0.12406142] [ 0. 0. 0. 1. ]] SLAMing on 60.092414037 meters Centerline goodness : 0.766549 Centerline is valid? [False, False] Translation: X:3.41, Y:0.21, Z:-0.12 [[ 0.95211086 -0.26785811 -0.14743455 3.40696701] [ 0.26928669 0.96300215 -0.01056165 0.20698923] [ 0.14480882 -0.0296463 0.98901542 -0.1229701 ] [ 0. 0. 0. 1. ]] SLAMing on 60.122414037 meters Centerline goodness : 0.768399 Centerline is valid? [False, False] Translation: X:3.41, Y:0.21, Z:-0.12 [[ 0.95216695 -0.26750242 -0.14771783 3.40733397] [ 0.26891354 0.96310476 -0.01071143 0.20804857] [ 0.14513308 -0.02952425 0.98897154 -0.12257715] [ 0. 0. 0. 1. ]] SLAMing on 60.152414037 meters Centerline goodness : 0.766636 Centerline is valid? [False, False] Translation: X:3.41, Y:0.21, Z:-0.12 [[ 0.95249119 -0.26589417 -0.14852884 3.41042265] [ 0.26744348 0.96352356 -0.00981452 0.2070666 ] [ 0.14572066 -0.03037482 0.98885937 -0.12346975] [ 0. 0. 0. 1. ]] SLAMing on 60.182414037 meters Centerline goodness : 0.764492 Centerline is valid? [False, False] Translation: X:3.41, Y:0.21, Z:-0.12 [[ 0.95263473 -0.26511661 -0.14899752 3.41242029] [ 0.26676263 0.96371837 -0.00919748 0.20572631] [ 0.14603005 -0.03098513 0.98879479 -0.12420341] [ 0. 0. 0. 1. ]] SLAMing on 60.212414037 meters Centerline goodness : 0.764492 Centerline is valid? [False, False] Translation: X:3.41, Y:0.21, Z:-0.12 [[ 0.95263473 -0.26511661 -0.14899752 3.41242029] [ 0.26676263 0.96371837 -0.00919748 0.20572631] [ 0.14603005 -0.03098513 0.98879479 -0.12420341] [ 0. 0. 0. 1. ]] SLAMing on 60.242414036999996 meters Centerline goodness : 0.763186 Centerline is valid? [False, False] Translation: X:3.41, Y:0.20, Z:-0.12 [[ 0.9527543 -0.26458506 -0.14917771 3.4134701 ] [ 0.26629544 0.96385166 -0.0087588 0.20488692] [ 0.14610263 -0.03138036 0.98877161 -0.12468029] [ 0. 0. 0. 1. ]] SLAMing on 60.272414037 meters Centerline goodness : 0.765319 Centerline is valid? [False, False] Translation: X:3.41, Y:0.21, Z:-0.12 [[ 0.95279043 -0.26430939 -0.14943544 3.41391372] [ 0.26602461 0.96392643 -0.00876034 0.20508037] [ 0.14636021 -0.03140674 0.98873268 -0.12437759] [ 0. 0. 0. 1. ]] SLAMing on 60.302414037 meters Centerline goodness : 0.764697 Centerline is valid? [False, False] Translation: X:3.41, Y:0.20, Z:-0.12 [[ 0.95364221 -0.26082586 -0.15012131 3.41221916] [ 0.26307095 0.96476322 -0.00506017 0.20355332] [ 0.14615134 -0.03466697 0.98865464 -0.12355917] [ 0. 0. 0. 1. ]] SLAMing on 60.332414037 meters Centerline goodness : 0.766164 Centerline is valid? [False, False] Translation: X:3.41, Y:0.20, Z:-0.12 [[ 0.95368472 -0.26055994 -0.1503129 3.41269414] [ 0.26284177 0.96482683 -0.00483681 0.20291396] [ 0.1462862 -0.03489572 0.98862664 -0.12347292] [ 0. 0. 0. 1. ]] SLAMing on 60.362414037 meters Centerline goodness : 0.764212 Centerline is valid? [False, False] Translation: X:3.41, Y:0.20, Z:-0.12 [[ 0.95373131 -0.26031093 -0.15044867 3.4135093 ] [ 0.26264246 0.96488267 -0.00451431 0.20138939] [ 0.14634044 -0.03520877 0.98860751 -0.12365576] [ 0. 0. 0. 1. ]] SLAMing on 60.392414037 meters Centerline goodness : 0.763234 Centerline is valid? [False, False] Translation: X:3.42, Y:0.20, Z:-0.12 [[ 0.95381459 -0.2598246 -0.15076107 3.41507895] [ 0.26223581 0.96499547 -0.00401443 0.19971434] [ 0.14652679 -0.03570593 0.98856208 -0.12421701] [ 0. 0. 0. 1. ]] SLAMing on 60.422414036999996 meters Centerline goodness : 0.765297 Centerline is valid? [False, False] Translation: X:3.42, Y:0.20, Z:-0.12 [[ 0.95386835 -0.25946057 -0.15104766 3.41634555] [ 0.26193206 0.96507941 -0.00365018 0.19846146] [ 0.14672006 -0.03608244 0.98851974 -0.1246238 ] [ 0. 0. 0. 1. ]] SLAMing on 60.452414037 meters Centerline goodness : 0.763160 Centerline is valid? [False, False] Translation: X:3.42, Y:0.20, Z:-0.12 [[ 9.54014696e-01 -2.58671764e-01 -1.51475667e-01 3.41770241e+00] [ 2.61217857e-01 9.65274592e-01 -3.19263635e-03 1.97756674e-01] [ 1.47041457e-01 -3.65223271e-02 9.88455831e-01 -1.24748497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.482414037 meters Centerline goodness : 0.763524 Centerline is valid? [False, False] Translation: X:3.42, Y:0.20, Z:-0.12 [[ 9.54090047e-01 -2.58219810e-01 -1.51771905e-01 3.41827561e+00] [ 2.60783203e-01 9.65392365e-01 -3.11503521e-03 1.98027756e-01] [ 1.47323802e-01 -3.66075395e-02 9.88410636e-01 -1.24487632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.512414037 meters Centerline goodness : 0.763143 Centerline is valid? [False, False] Translation: X:3.42, Y:0.20, Z:-0.12 [[ 9.54156928e-01 -2.57838139e-01 -1.52000169e-01 3.41872653e+00] [ 2.60424263e-01 9.65489650e-01 -2.98973448e-03 1.98155052e-01] [ 1.47525457e-01 -3.67318561e-02 9.88375946e-01 -1.24303231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.542414037 meters Centerline goodness : 0.762751 Centerline is valid? [False, False] Translation: X:3.42, Y:0.20, Z:-0.12 [[ 9.54187771e-01 -2.57591861e-01 -1.52223948e-01 3.41903573e+00] [ 2.60179040e-01 9.65555669e-01 -3.01939287e-03 1.98235531e-01] [ 1.47758467e-01 -3.67244127e-02 9.88341415e-01 -1.23886173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.572414037 meters Centerline goodness : 0.761914 Centerline is valid? [False, False] Translation: X:3.42, Y:0.20, Z:-0.12 [[ 9.54333532e-01 -2.56835445e-01 -1.52587891e-01 3.41972982e+00] [ 2.59469664e-01 9.65747381e-01 -2.73650139e-03 1.96940436e-01] [ 1.48064187e-01 -3.69803938e-02 9.88286116e-01 -1.23058743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.602414036999996 meters Centerline goodness : 0.761821 Centerline is valid? [False, False] Translation: X:3.42, Y:0.20, Z:-0.12 [[ 9.54363768e-01 -2.56647620e-01 -1.52714755e-01 3.41993333e+00] [ 2.59291868e-01 9.65795273e-01 -2.68666985e-03 1.96026979e-01] [ 1.48180716e-01 -3.70336337e-02 9.88266657e-01 -1.22556455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.632414037 meters Centerline goodness : 0.762508 Centerline is valid? [False, False] Translation: X:3.42, Y:0.20, Z:-0.12 [[ 9.54374478e-01 -2.56547318e-01 -1.52816328e-01 3.42012915e+00] [ 2.59198444e-01 9.65820428e-01 -2.65849357e-03 1.95152657e-01] [ 1.48275160e-01 -3.70725559e-02 9.88251032e-01 -1.22161402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.662414037 meters Centerline goodness : 0.761332 Centerline is valid? [False, False] Translation: X:3.42, Y:0.19, Z:-0.12 [[ 9.54401005e-01 -2.56327246e-01 -1.53019821e-01 3.42075932e+00] [ 2.59015600e-01 9.65870045e-01 -2.44451793e-03 1.94068584e-01] [ 1.48423858e-01 -3.73014702e-02 9.88220096e-01 -1.22032840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.692414037 meters Centerline goodness : 0.759375 Centerline is valid? [False, False] Translation: X:3.42, Y:0.19, Z:-0.12 [[ 9.54407907e-01 -2.56222262e-01 -1.53152540e-01 3.42141244e+00] [ 2.58991286e-01 9.65877724e-01 -1.93300002e-03 1.91514409e-01] [ 1.48421904e-01 -3.78203027e-02 9.88200669e-01 -1.22032040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.722414037 meters Centerline goodness : 0.760164 Centerline is valid? [False, False] Translation: X:3.42, Y:0.19, Z:-0.12 [[ 9.54424045e-01 -2.56077621e-01 -1.53293819e-01 3.42204855e+00] [ 2.58889385e-01 9.65905526e-01 -1.67348462e-03 1.90244378e-01] [ 1.48495889e-01 -3.80889287e-02 9.88179237e-01 -1.22056916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.752414037 meters Centerline goodness : 0.759095 Centerline is valid? [False, False] Translation: X:3.42, Y:0.19, Z:-0.12 [[ 9.54454016e-01 -2.55860912e-01 -1.53468972e-01 3.42264980e+00] [ 2.58720374e-01 9.65951267e-01 -1.38446398e-03 1.89145408e-01] [ 1.48597778e-01 -3.83841428e-02 9.88152497e-01 -1.22070199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.782414037 meters Centerline goodness : 0.759957 Centerline is valid? [False, False] Translation: X:3.42, Y:0.19, Z:-0.12 [[ 9.54514621e-01 -2.55387821e-01 -1.53879498e-01 3.42389107e+00] [ 2.58311694e-01 9.66061083e-01 -1.02642473e-03 1.88279850e-01] [ 1.48919131e-01 -3.87691363e-02 9.88089088e-01 -1.22205248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.812414036999996 meters Centerline goodness : 0.758413 Centerline is valid? [False, False] Translation: X:3.43, Y:0.19, Z:-0.12 [[ 9.54719693e-01 -2.54179614e-01 -1.54606052e-01 3.42633096e+00] [ 2.57262728e-01 9.66341495e-01 -6.80104814e-05 1.87237023e-01] [ 1.49419531e-01 -3.97094439e-02 9.87976196e-01 -1.23054404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.842414037 meters Centerline goodness : 0.758878 Centerline is valid? [False, False] Translation: X:3.43, Y:0.19, Z:-0.12 [[ 9.54795675e-01 -2.53678810e-01 -1.54958966e-01 3.42735874e+00] [ 2.56804218e-01 9.66463434e-01 1.56573314e-04 1.86750387e-01] [ 1.49722455e-01 -3.99436115e-02 9.87920895e-01 -1.23007814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.872414037 meters Centerline goodness : 0.759496 Centerline is valid? [False, False] Translation: X:3.43, Y:0.19, Z:-0.12 [[ 9.54858725e-01 -2.53301020e-01 -1.55188303e-01 3.42791040e+00] [ 2.56458178e-01 9.66555271e-01 3.34383180e-04 1.85702765e-01] [ 1.49913372e-01 -4.01185981e-02 9.87884851e-01 -1.22614952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.902414037 meters Centerline goodness : 0.759793 Centerline is valid? [False, False] Translation: X:3.43, Y:0.18, Z:-0.12 [[ 9.55037066e-01 -2.52513752e-01 -1.55373767e-01 3.42848101e+00] [ 2.55741979e-01 9.66744731e-01 8.15644444e-04 1.82813041e-01] [ 1.50000809e-01 -4.05145654e-02 9.87855418e-01 -1.21602134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.932414037 meters Centerline goodness : 0.761320 Centerline is valid? [False, False] Translation: X:3.43, Y:0.18, Z:-0.12 [[ 9.55093409e-01 -2.52213657e-01 -1.55514796e-01 3.42864397e+00] [ 2.55447558e-01 9.66822549e-01 8.38686088e-04 1.82319567e-01] [ 1.50143684e-01 -4.05268984e-02 9.87833207e-01 -1.21007366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.962414037 meters Centerline goodness : 0.760660 Centerline is valid? [False, False] Translation: X:3.43, Y:0.18, Z:-0.12 [[ 9.55170445e-01 -2.51717942e-01 -1.55844471e-01 3.42914409e+00] [ 2.54971395e-01 9.66948161e-01 9.17196210e-04 1.82197927e-01] [ 1.50462650e-01 -4.06119610e-02 9.87781180e-01 -1.20423272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.992414036999996 meters Centerline goodness : 0.764862 Centerline is valid? [False, False] Translation: X:3.43, Y:0.18, Z:-0.12 [[ 9.55235390e-01 -2.51353795e-01 -1.56034033e-01 3.42934085e+00] [ 2.54615333e-01 9.67041950e-01 9.47952473e-04 1.82199857e-01] [ 1.50653184e-01 -4.06341750e-02 9.87751225e-01 -1.19895766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.022414037 meters Centerline goodness : 0.759885 Centerline is valid? [False, False] Translation: X:3.43, Y:0.18, Z:-0.12 [[ 9.55314339e-01 -2.50806639e-01 -1.56430632e-01 3.42992525e+00] [ 2.54129595e-01 9.67169321e-01 1.28593477e-03 1.80330240e-01] [ 1.50972388e-01 -4.09821252e-02 9.87688111e-01 -1.18887763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.052414037 meters Centerline goodness : 0.762872 Centerline is valid? [False, False] Translation: X:3.43, Y:0.18, Z:-0.12 [[ 9.55300570e-01 -2.50808532e-01 -1.56511663e-01 3.43005737e+00] [ 2.54149337e-01 9.67164004e-01 1.38022721e-03 1.78874469e-01] [ 1.51026274e-01 -4.10958673e-02 9.87675146e-01 -1.18414538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.082414037 meters Centerline goodness : 0.763095 Centerline is valid? [False, False] Translation: X:3.43, Y:0.18, Z:-0.12 [[ 9.55276010e-01 -2.50839064e-01 -1.56612607e-01 3.43037657e+00] [ 2.54219360e-01 9.67145248e-01 1.60808856e-03 1.76764564e-01] [ 1.51063767e-01 -4.13501251e-02 9.87658800e-01 -1.18067492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.112414037 meters Centerline goodness : 0.760522 Centerline is valid? [False, False] Translation: X:3.43, Y:0.17, Z:-0.12 [[ 9.55253966e-01 -2.50849507e-01 -1.56730293e-01 3.43099763e+00] [ 2.54297108e-01 9.67124047e-01 2.01448124e-03 1.73960458e-01] [ 1.51072304e-01 -4.17804014e-02 9.87639386e-01 -1.17938714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.142414037 meters Centerline goodness : 0.762048 Centerline is valid? [False, False] Translation: X:3.43, Y:0.17, Z:-0.12 [[ 9.54313255e-01 -2.54665893e-01 -1.56305774e-01 3.43302365e+00] [ 2.57711846e-01 9.66221484e-01 -8.05000542e-04 1.69673721e-01] [ 1.51231003e-01 -3.95136270e-02 9.87708387e-01 -1.17959573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.172414036999996 meters Centerline goodness : 0.757794 Centerline is valid? [False, False] Translation: X:3.43, Y:0.17, Z:-0.12 [[ 9.54160469e-01 -2.55256957e-01 -1.56274391e-01 3.43307373e+00] [ 2.58352937e-01 9.66050460e-01 -5.17944680e-04 1.66433294e-01] [ 1.51101157e-01 -3.98797457e-02 9.87713545e-01 -1.17709889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.202414037 meters Centerline goodness : 0.757081 Centerline is valid? [False, False] Translation: X:3.43, Y:0.16, Z:-0.12 [[ 9.52684385e-01 -2.60646199e-01 -1.56384214e-01 3.43397499e+00] [ 2.63572010e-01 9.64637441e-01 -2.09832097e-03 1.62886783e-01] [ 1.51400987e-01 -3.92194639e-02 9.87694069e-01 -1.15211329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.232414037 meters Centerline goodness : 0.758207 Centerline is valid? [False, False] Translation: X:3.43, Y:0.16, Z:-0.11 [[ 0.95182433 -0.26386194 -0.15622845 3.434981 ] [ 0.26652566 0.9638194 -0.00403028 0.16130544] [ 0.15163945 -0.03780277 0.98771273 -0.11435458] [ 0. 0. 0. 1. ]] SLAMing on 61.262414037 meters Centerline goodness : 0.759825 Centerline is valid? [False, False] Translation: X:3.44, Y:0.16, Z:-0.11 [[ 0.95096028 -0.26707807 -0.15602515 3.43644964] [ 0.2694082 0.96300471 -0.0064153 0.16025488] [ 0.15196634 -0.03593376 0.98773225 -0.1141111 ] [ 0. 0. 0. 1. ]] SLAMing on 61.292414037 meters Centerline goodness : 0.757047 Centerline is valid? [False, False] Translation: X:3.44, Y:0.16, Z:-0.11 [[ 0.95058764 -0.26781955 -0.15702171 3.43977481] [ 0.27033962 0.96274939 -0.00548717 0.15776484] [ 0.15264212 -0.03723316 0.98757991 -0.11450988] [ 0. 0. 0. 1. ]] SLAMing on 61.322414037 meters Centerline goodness : 0.758076 Centerline is valid? [False, False] Translation: X:3.44, Y:0.15, Z:-0.11 [[ 0.94956771 -0.27189815 -0.15618119 3.44089749] [ 0.27405126 0.96168182 -0.00799892 0.15421556] [ 0.15237151 -0.03520614 0.98769603 -0.11428307] [ 0. 0. 0. 1. ]] SLAMing on 61.352414036999996 meters Centerline goodness : 0.759496 Centerline is valid? [False, False] Translation: X:3.44, Y:0.15, Z:-0.11 [[ 0.9491677 -0.27363814 -0.15557264 3.44136986] [ 0.27554749 0.96123968 -0.0095843 0.15202074] [ 0.15216522 -0.03377054 0.98777796 -0.11426985] [ 0. 0. 0. 1. ]] SLAMing on 61.382414037 meters Centerline goodness : 0.759663 Centerline is valid? [False, False] Translation: X:3.44, Y:0.15, Z:-0.11 [[ 0.94887469 -0.27401415 -0.15669416 3.44426205] [ 0.27615232 0.96107725 -0.00839101 0.15011539] [ 0.15289445 -0.03530943 0.98761153 -0.11437395] [ 0. 0. 0. 1. ]] SLAMing on 61.412414037 meters Centerline goodness : 0.759976 Centerline is valid? [False, False] Translation: X:3.45, Y:0.15, Z:-0.11 [[ 0.94867192 -0.27454518 -0.15699213 3.44529682] [ 0.27679516 0.96089742 -0.00778356 0.14828042] [ 0.15299027 -0.03607062 0.98756918 -0.1140962 ] [ 0. 0. 0. 1. ]] SLAMing on 61.442414037 meters Centerline goodness : 0.761755 Centerline is valid? [False, False] Translation: X:3.45, Y:0.15, Z:-0.11 [[ 0.94850202 -0.27462342 -0.15787937 3.44584537] [ 0.27716932 0.96080173 -0.00609959 0.14536653] [ 0.15336586 -0.03797384 0.98743957 -0.11205362] [ 0. 0. 0. 1. ]] SLAMing on 61.472414037 meters Centerline goodness : 0.761820 Centerline is valid? [False, False] Translation: X:3.45, Y:0.14, Z:-0.11 [[ 0.94852949 -0.27424124 -0.15837785 3.44665207] [ 0.27696309 0.96086722 -0.00506231 0.14406701] [ 0.15356838 -0.03906307 0.9873656 -0.11165376] [ 0. 0. 0. 1. ]] SLAMing on 61.502414037 meters Centerline goodness : 0.763017 Centerline is valid? [False, False] Translation: X:3.45, Y:0.14, Z:-0.11 [[ 0.94856568 -0.27383798 -0.15885815 3.44811439] [ 0.27668473 0.9609509 -0.00435119 0.14267928] [ 0.1538464 -0.03982624 0.98729183 -0.11185401] [ 0. 0. 0. 1. ]] SLAMing on 61.532414037 meters Centerline goodness : 0.762245 Centerline is valid? [False, False] Translation: X:3.45, Y:0.14, Z:-0.11 [[ 0.94863759 -0.27370734 -0.15865373 3.45051269] [ 0.27654071 0.96099226 -0.00437252 0.13968099] [ 0.1536618 -0.03972628 0.9873246 -0.11379926] [ 0. 0. 0. 1. ]] SLAMing on 61.562414036999996 meters Centerline goodness : 0.762286 Centerline is valid? [False, False] Translation: X:3.45, Y:0.14, Z:-0.11 [[ 0.94860665 -0.27384726 -0.15859731 3.45186212] [ 0.27666338 0.96095645 -0.00448032 0.13827099] [ 0.15363203 -0.039628 0.98733319 -0.11474353] [ 0. 0. 0. 1. ]] SLAMing on 61.592414037 meters Centerline goodness : 0.763136 Centerline is valid? [False, False] Translation: X:3.45, Y:0.14, Z:-0.12 [[ 0.94862776 -0.27362683 -0.15885131 3.45330284] [ 0.27649192 0.961007 -0.00421392 0.13737918] [ 0.15381026 -0.03992366 0.98729353 -0.11542813] [ 0. 0. 0. 1. ]] SLAMing on 61.622414037 meters Centerline goodness : 0.764349 Centerline is valid? [False, False] Translation: X:3.45, Y:0.14, Z:-0.12 [[ 9.48683209e-01 -2.73113599e-01 -1.59402420e-01 3.45423819e+00] [ 2.76121142e-01 9.61116813e-01 -3.40384330e-03 1.36835848e-01] [ 1.54133982e-01 -4.07852093e-02 9.87207821e-01 -1.15312670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.652414037 meters Centerline goodness : 0.764457 Centerline is valid? [False, False] Translation: X:3.45, Y:0.14, Z:-0.11 [[ 9.48775045e-01 -2.72700317e-01 -1.59563316e-01 3.45413162e+00] [ 2.75816049e-01 9.61206591e-01 -2.71965495e-03 1.35711614e-01] [ 1.54114962e-01 -4.14297827e-02 9.87183950e-01 -1.14601278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.682414037 meters Centerline goodness : 0.763539 Centerline is valid? [False, False] Translation: X:3.46, Y:0.14, Z:-0.12 [[ 9.48783073e-01 -2.72430561e-01 -1.59975844e-01 3.45585430e+00] [ 2.75623166e-01 9.61262970e-01 -2.31794892e-03 1.35493226e-01] [ 1.54410335e-01 -4.18938179e-02 9.87118208e-01 -1.15470163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.712414037 meters Centerline goodness : 0.763072 Centerline is valid? [False, False] Translation: X:3.46, Y:0.14, Z:-0.12 [[ 9.48753084e-01 -2.72308072e-01 -1.60361775e-01 3.45776311e+00] [ 2.75536939e-01 9.61288007e-01 -2.18232945e-03 1.35208927e-01] [ 1.54748117e-01 -4.21151010e-02 9.87055894e-01 -1.16448504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.742414036999996 meters Centerline goodness : 0.763016 Centerline is valid? [False, False] Translation: X:3.46, Y:0.13, Z:-0.12 [[ 9.49033305e-01 -2.71712066e-01 -1.59713301e-01 3.45844667e+00] [ 2.74895384e-01 9.61471522e-01 -2.24488893e-03 1.32875502e-01] [ 1.54169755e-01 -4.17739750e-02 9.87160890e-01 -1.18048587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.772414037 meters Centerline goodness : 0.763761 Centerline is valid? [False, False] Translation: X:3.46, Y:0.13, Z:-0.12 [[ 9.49234660e-01 -2.71057317e-01 -1.59629229e-01 3.45886658e+00] [ 2.74311869e-01 9.61639263e-01 -1.71036575e-03 1.31181707e-01] [ 1.53969342e-01 -4.21646538e-02 9.87175559e-01 -1.18388536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.802414037 meters Centerline goodness : 0.763998 Centerline is valid? [False, False] Translation: X:3.46, Y:0.13, Z:-0.12 [[ 9.49559400e-01 -2.69949258e-01 -1.59575513e-01 3.45895744e+00] [ 2.73349747e-01 9.61914483e-01 -6.66011616e-04 1.29318958e-01] [ 1.53677786e-01 -4.29875085e-02 9.87185500e-01 -1.18526468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.832414037 meters Centerline goodness : 0.762595 Centerline is valid? [False, False] Translation: X:3.46, Y:0.13, Z:-0.12 [[ 9.49897460e-01 -2.68600688e-01 -1.59838936e-01 3.45878614e+00] [ 2.72229805e-01 9.62231899e-01 8.39909082e-04 1.27722297e-01] [ 1.53576522e-01 -4.43107498e-02 9.87142750e-01 -1.17977123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.862414037 meters Centerline goodness : 0.767485 Centerline is valid? [False, False] Translation: X:3.46, Y:0.13, Z:-0.12 [[ 9.50391847e-01 -2.66924201e-01 -1.59708512e-01 3.45606822e+00] [ 2.70780717e-01 9.62637856e-01 2.48230395e-03 1.26239609e-01] [ 1.53078873e-01 -4.56051469e-02 9.87161096e-01 -1.15811221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.892414037 meters Centerline goodness : 0.765503 Centerline is valid? [False, False] Translation: X:3.46, Y:0.13, Z:-0.12 [[ 9.50487617e-01 -2.66473035e-01 -1.59891878e-01 3.45659224e+00] [ 2.70376758e-01 9.62750613e-01 2.76863880e-03 1.25890973e-01] [ 1.53198236e-01 -4.58626044e-02 9.87130651e-01 -1.15996902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.922414036999996 meters Centerline goodness : 0.765111 Centerline is valid? [False, False] Translation: X:3.46, Y:0.13, Z:-0.12 [[ 9.50603061e-01 -2.66384139e-01 -1.59352790e-01 3.45691426e+00] [ 2.70165925e-01 9.62811375e-01 2.15168027e-03 1.25151810e-01] [ 1.52853506e-01 -4.50970878e-02 9.87219357e-01 -1.17141000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.952414037 meters Centerline goodness : 0.764858 Centerline is valid? [False, False] Translation: X:3.46, Y:0.12, Z:-0.12 [[ 9.50917677e-01 -2.65632779e-01 -1.58728691e-01 3.45882281e+00] [ 2.69231371e-01 9.63074761e-01 1.21366799e-03 1.23891947e-01] [ 1.52545206e-01 -4.38888414e-02 9.87321493e-01 -1.20089783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.982414037 meters Centerline goodness : 0.766709 Centerline is valid? [False, False] Translation: X:3.46, Y:0.12, Z:-0.12 [[ 9.51167399e-01 -2.64644378e-01 -1.58883391e-01 3.45941275e+00] [ 2.68324126e-01 9.63327053e-01 1.77533961e-03 1.23556503e-01] [ 1.52586836e-01 -4.43208923e-02 9.87295759e-01 -1.20610207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.012414037 meters Centerline goodness : 0.760163 Centerline is valid? [False, False] Translation: X:3.46, Y:0.12, Z:-0.12 [[ 9.51231452e-01 -2.64328722e-01 -1.59025316e-01 3.45887241e+00] [ 2.68056203e-01 9.63401056e-01 2.06835899e-03 1.23429022e-01] [ 1.52658431e-01 -4.45952105e-02 9.87272339e-01 -1.19760986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.042414037 meters Centerline goodness : 0.769419 Centerline is valid? [False, False] Translation: X:3.46, Y:0.12, Z:-0.12 [[ 9.51261645e-01 -2.63932211e-01 -1.59502571e-01 3.46087481e+00] [ 2.67769345e-01 9.63479352e-01 2.66749613e-03 1.22845069e-01] [ 1.52973395e-01 -4.52473857e-02 9.87193909e-01 -1.20821164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.072414037 meters Centerline goodness : 0.769260 Centerline is valid? [False, False] Translation: X:3.46, Y:0.12, Z:-0.12 [[ 9.51150245e-01 -2.64353232e-01 -1.59469682e-01 3.46225793e+00] [ 2.68141453e-01 9.63376742e-01 2.32679956e-03 1.21900176e-01] [ 1.53014286e-01 -4.49735683e-02 9.87200084e-01 -1.21744941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.102414036999996 meters Centerline goodness : 0.769260 Centerline is valid? [False, False] Translation: X:3.46, Y:0.12, Z:-0.12 [[ 9.51150245e-01 -2.64353232e-01 -1.59469682e-01 3.46225793e+00] [ 2.68141453e-01 9.63376742e-01 2.32679956e-03 1.21900176e-01] [ 1.53014286e-01 -4.49735683e-02 9.87200084e-01 -1.21744941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.132414037 meters Centerline goodness : 0.768264 Centerline is valid? [False, False] Translation: X:3.46, Y:0.12, Z:-0.12 [[ 9.51108251e-01 -2.64281832e-01 -1.59838069e-01 3.46421245e+00] [ 2.68158378e-01 9.63370796e-01 2.79187141e-03 1.20649783e-01] [ 1.53245487e-01 -4.55172894e-02 9.87139300e-01 -1.22605263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.162414037 meters Centerline goodness : 0.771781 Centerline is valid? [False, False] Translation: X:3.47, Y:0.12, Z:-0.12 [[ 9.51077102e-01 -2.64172548e-01 -1.60203653e-01 3.46554279e+00] [ 2.68142419e-01 9.63373662e-01 3.29105838e-03 1.19478692e-01] [ 1.53466573e-01 -4.60874453e-02 9.87078497e-01 -1.22908393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.192414037 meters Centerline goodness : 0.757255 Centerline is valid? [False, False] Translation: X:3.47, Y:0.12, Z:-0.12 [[ 0.95099541 -0.26409348 -0.16081778 3.4669952 ] [ 0.26822993 0.96334586 0.00417914 0.11848775] [ 0.15381946 -0.04711048 0.98697527 -0.12281757] [ 0. 0. 0. 1. ]] SLAMing on 62.222414037 meters Centerline goodness : 0.768408 Centerline is valid? [False, False] Translation: X:3.47, Y:0.12, Z:-0.12 [[ 0.9505929 -0.26474901 -0.16211445 3.46927644] [ 0.26920345 0.96306617 0.00574949 0.11665054] [ 0.15460477 -0.04910719 0.98675521 -0.12169324] [ 0. 0. 0. 1. ]] SLAMing on 62.252414037 meters Centerline goodness : 0.768928 Centerline is valid? [False, False] Translation: X:3.47, Y:0.12, Z:-0.12 [[ 0.95038759 -0.26511383 -0.16272088 3.47086045] [ 0.2697214 0.96291648 0.00649818 0.11539043] [ 0.15496386 -0.05006509 0.98665074 -0.12147582] [ 0. 0. 0. 1. ]] SLAMing on 62.282414037 meters Centerline goodness : 0.766089 Centerline is valid? [False, False] Translation: X:3.47, Y:0.11, Z:-0.12 [[ 0.9500968 -0.2655888 -0.16364184 3.47320826] [ 0.27037395 0.96272784 0.00728231 0.11428796] [ 0.15560846 -0.0511634 0.98649294 -0.1213885 ] [ 0. 0. 0. 1. ]] SLAMing on 62.312414036999996 meters Centerline goodness : 0.763710 Centerline is valid? [False, False] Translation: X:3.47, Y:0.11, Z:-0.12 [[ 0.94993695 -0.26612448 -0.16369957 3.47449398] [ 0.27093441 0.96256956 0.00737499 0.11256845] [ 0.15560956 -0.05135762 0.98648267 -0.12181246] [ 0. 0. 0. 1. ]] SLAMing on 62.342414037 meters Centerline goodness : 0.767720 Centerline is valid? [False, False] Translation: X:3.48, Y:0.11, Z:-0.12 [[ 0.94977739 -0.26628671 -0.16436025 3.47695106] [ 0.27136266 0.96243674 0.00882212 0.10902571] [ 0.15583713 -0.05298028 0.98636093 -0.12194325] [ 0. 0. 0. 1. ]] SLAMing on 62.372414037 meters Centerline goodness : 0.763809 Centerline is valid? [False, False] Translation: X:3.48, Y:0.11, Z:-0.12 [[ 0.9497193 -0.26617732 -0.16487231 3.47737413] [ 0.27144196 0.96240444 0.00984662 0.10798082] [ 0.15605289 -0.05410478 0.98626577 -0.12104546] [ 0. 0. 0. 1. ]] SLAMing on 62.402414037 meters Centerline goodness : 0.765776 Centerline is valid? [False, False] Translation: X:3.48, Y:0.11, Z:-0.12 [[ 0.94963491 -0.26604842 -0.16556503 3.47824597] [ 0.27151991 0.9623709 0.01091728 0.10773592] [ 0.15643045 -0.05532163 0.98613844 -0.12042911] [ 0. 0. 0. 1. ]] SLAMing on 62.432414037 meters Centerline goodness : 0.764760 Centerline is valid? [False, False] Translation: X:3.48, Y:0.11, Z:-0.12 [[ 0.94915318 -0.26722608 -0.16642857 3.47947243] [ 0.27287815 0.96197816 0.01164166 0.10694962] [ 0.15698969 -0.05646444 0.98598479 -0.11909932] [ 0. 0. 0. 1. ]] SLAMing on 62.462414037 meters Centerline goodness : 0.764427 Centerline is valid? [False, False] Translation: X:3.48, Y:0.11, Z:-0.12 [[ 0.948774 -0.26796578 -0.16739846 3.48219204] [ 0.27378893 0.96171122 0.01229473 0.10594646] [ 0.15769441 -0.05749677 0.98581266 -0.11919855] [ 0. 0. 0. 1. ]] SLAMing on 62.492414036999996 meters Centerline goodness : 0.765185 Centerline is valid? [False, False] Translation: X:3.48, Y:0.10, Z:-0.12 [[ 0.94841348 -0.26887298 -0.1679857 3.48468661] [ 0.27477587 0.96142708 0.01249737 0.10465669] [ 0.1581458 -0.05801109 0.98571021 -0.11967349] [ 0. 0. 0. 1. ]] SLAMing on 62.522414037 meters Centerline goodness : 0.765737 Centerline is valid? [False, False] Translation: X:3.49, Y:0.10, Z:-0.12 [[ 0.9480599 -0.26962342 -0.16877691 3.48691935] [ 0.27570062 0.96115263 0.01322122 0.10320902] [ 0.15865562 -0.0590664 0.9855656 -0.11953307] [ 0. 0. 0. 1. ]] SLAMing on 62.552414037 meters Centerline goodness : 0.765743 Centerline is valid? [False, False] Translation: X:3.49, Y:0.10, Z:-0.12 [[ 0.94722449 -0.27154031 -0.17038671 3.49019315] [ 0.27790185 0.96050449 0.01420147 0.10202229] [ 0.15980093 -0.06080276 0.98527493 -0.11837639] [ 0. 0. 0. 1. ]] SLAMing on 62.582414037 meters Centerline goodness : 0.766171 Centerline is valid? [False, False] Translation: X:3.49, Y:0.10, Z:-0.12 [[ 0.94682525 -0.27221389 -0.17152712 3.49215772] [ 0.27877077 0.96024206 0.01490131 0.10236027] [ 0.16065121 -0.06192568 0.9850667 -0.11777647] [ 0. 0. 0. 1. ]] SLAMing on 62.612414037 meters Centerline goodness : 0.764665 Centerline is valid? [False, False] Translation: X:3.49, Y:0.10, Z:-0.12 [[ 0.94654674 -0.27276673 -0.17218473 3.49346182] [ 0.27942918 0.96004533 0.01524151 0.1022968 ] [ 0.16114776 -0.06254024 0.98494676 -0.11738835] [ 0. 0. 0. 1. ]] SLAMing on 62.642414037 meters Centerline goodness : 0.764970 Centerline is valid? [False, False] Translation: X:3.50, Y:0.10, Z:-0.12 [[ 0.94630812 -0.27320847 -0.17279489 3.4955108 ] [ 0.27994778 0.9598912 0.01543127 0.10217712] [ 0.16164834 -0.06297628 0.98483694 -0.11790419] [ 0. 0. 0. 1. ]] SLAMing on 62.672414036999996 meters Centerline goodness : 0.765503 Centerline is valid? [False, False] Translation: X:3.50, Y:0.10, Z:-0.12 [[ 0.94605895 -0.27397318 -0.17294844 3.49727481] [ 0.28072836 0.9596637 0.01540034 0.10054596] [ 0.16175306 -0.06312116 0.98481047 -0.11855001] [ 0. 0. 0. 1. ]] SLAMing on 62.702414037 meters Centerline goodness : 0.765911 Centerline is valid? [False, False] Translation: X:3.50, Y:0.10, Z:-0.12 [[ 0.94601427 -0.27375198 -0.17354206 3.49847771] [ 0.28065058 0.95967571 0.01605562 0.10054122] [ 0.16214884 -0.06389352 0.98469557 -0.11862301] [ 0. 0. 0. 1. ]] SLAMing on 62.732414037 meters Centerline goodness : 0.771400 Centerline is valid? [False, False] Translation: X:3.50, Y:0.10, Z:-0.12 [[ 0.94600988 -0.27351944 -0.17393226 3.49879381] [ 0.28050483 0.95971171 0.01644623 0.1009125 ] [ 0.16242646 -0.06434714 0.98462028 -0.11825987] [ 0. 0. 0. 1. ]] SLAMing on 62.762414037 meters Centerline goodness : 0.766439 Centerline is valid? [False, False] Translation: X:3.50, Y:0.10, Z:-0.12 [[ 0.9460208 -0.27317233 -0.17441765 3.49939114] [ 0.28026216 0.95977448 0.01691346 0.1013305 ] [ 0.16278132 -0.06488315 0.98452649 -0.11803185] [ 0. 0. 0. 1. ]] SLAMing on 62.792414037 meters Centerline goodness : 0.767219 Centerline is valid? [False, False] Translation: X:3.50, Y:0.10, Z:-0.12 [[ 0.94619719 -0.27284145 -0.1739782 3.49854071] [ 0.27982456 0.95990981 0.01647353 0.10145921] [ 0.16250872 -0.06427058 0.9846117 -0.11814489] [ 0. 0. 0. 1. ]] SLAMing on 62.822414037 meters Centerline goodness : 0.767258 Centerline is valid? [False, False] Translation: X:3.50, Y:0.10, Z:-0.12 [[ 0.94616514 -0.27268772 -0.17439304 3.50008391] [ 0.27973122 0.95993334 0.01668585 0.10178163] [ 0.16285566 -0.06457075 0.98453474 -0.11889214] [ 0. 0. 0. 1. ]] SLAMing on 62.852414036999996 meters Centerline goodness : 0.767509 Centerline is valid? [False, False] Translation: X:3.50, Y:0.10, Z:-0.12 [[ 0.94610132 -0.27286297 -0.17446514 3.50082806] [ 0.27988862 0.9598901 0.01653356 0.10169233] [ 0.16295597 -0.06447323 0.98452453 -0.11924423] [ 0. 0. 0. 1. ]] SLAMing on 62.882414037 meters Centerline goodness : 0.768324 Centerline is valid? [False, False] Translation: X:3.50, Y:0.10, Z:-0.12 [[ 0.94580218 -0.27340966 -0.17522958 3.50277654] [ 0.28052991 0.95969915 0.01674823 0.10202589] [ 0.16358855 -0.06499765 0.98438513 -0.11940462] [ 0. 0. 0. 1. ]] SLAMing on 62.912414037 meters Centerline goodness : 0.768331 Centerline is valid? [False, False] Translation: X:3.50, Y:0.10, Z:-0.12 [[ 0.94573325 -0.273711 -0.17513109 3.5024267 ] [ 0.28082167 0.9596146 0.01670355 0.10157363] [ 0.16348641 -0.06497771 0.98440342 -0.11887994] [ 0. 0. 0. 1. ]] SLAMing on 62.942414037 meters Centerline goodness : 0.768255 Centerline is valid? [False, False] Translation: X:3.50, Y:0.10, Z:-0.12 [[ 0.94564529 -0.27360648 -0.17576826 3.50382253] [ 0.28090331 0.95957516 0.01757375 0.10117982] [ 0.16385456 -0.06599242 0.9842747 -0.11889412] [ 0. 0. 0. 1. ]] SLAMing on 62.972414037 meters Centerline goodness : 0.768123 Centerline is valid? [False, False] Translation: X:3.50, Y:0.10, Z:-0.12 [[ 0.94555458 -0.27360732 -0.17625428 3.50498339] [ 0.28101527 0.95953371 0.01804111 0.10098954] [ 0.16418574 -0.066589 0.98417933 -0.11891342] [ 0. 0. 0. 1. ]] SLAMing on 63.002414037 meters Centerline goodness : 0.774256 Centerline is valid? [False, False] Translation: X:3.51, Y:0.10, Z:-0.12 [[ 0.94543319 -0.27379127 -0.17661941 3.50546444] [ 0.28130606 0.95943949 0.01851398 0.10109062] [ 0.16438666 -0.06718784 0.98410508 -0.11864939] [ 0. 0. 0. 1. ]] SLAMing on 63.032414037 meters Centerline goodness : 0.770088 Centerline is valid? [False, False] Translation: X:3.51, Y:0.10, Z:-0.12 [[ 0.94534145 -0.27379655 -0.17710167 3.50645258] [ 0.28139786 0.95940641 0.0188304 0.10176338] [ 0.16475678 -0.06763718 0.98401241 -0.11879866] [ 0. 0. 0. 1. ]] SLAMing on 63.062414036999996 meters Centerline goodness : 0.772305 Centerline is valid? [False, False] Translation: X:3.51, Y:0.10, Z:-0.12 [[ 0.9452419 -0.27397557 -0.17735595 3.50705466] [ 0.28160269 0.95934568 0.01886259 0.10195631] [ 0.16497777 -0.06777362 0.98396599 -0.11876412] [ 0. 0. 0. 1. ]] SLAMing on 63.092414037 meters Centerline goodness : 0.772136 Centerline is valid? [False, False] Translation: X:3.51, Y:0.10, Z:-0.12 [[ 0.94512179 -0.27417018 -0.17769498 3.50881745] [ 0.28184794 0.95927084 0.0190054 0.10137172] [ 0.1652469 -0.06804538 0.98390207 -0.1196217 ] [ 0. 0. 0. 1. ]] SLAMing on 63.122414037 meters Centerline goodness : 0.772432 Centerline is valid? [False, False] Translation: X:3.51, Y:0.10, Z:-0.12 [[ 0.94497662 -0.27437099 -0.17815652 3.50961368] [ 0.28216571 0.95916769 0.0194897 0.10126092] [ 0.16553457 -0.06868697 0.98380913 -0.11935131] [ 0. 0. 0. 1. ]] SLAMing on 63.152414037 meters Centerline goodness : 0.770087 Centerline is valid? [False, False] Translation: X:3.51, Y:0.10, Z:-0.12 [[ 0.94474026 -0.27471943 -0.17887165 3.51060104] [ 0.28264412 0.95901783 0.01992742 0.10170274] [ 0.16606665 -0.06938325 0.98367059 -0.11869146] [ 0. 0. 0. 1. ]] SLAMing on 63.182414037 meters Centerline goodness : 0.770058 Centerline is valid? [False, False] Translation: X:3.51, Y:0.10, Z:-0.12 [[ 0.94443235 -0.27512969 -0.17986438 3.51195905] [ 0.28325148 0.95882371 0.02063218 0.10241947] [ 0.16678171 -0.07043255 0.98347502 -0.11796049] [ 0. 0. 0. 1. ]] SLAMing on 63.212414037 meters Centerline goodness : 0.767508 Centerline is valid? [False, False] Translation: X:3.51, Y:0.10, Z:-0.12 [[ 0.9436991 -0.27674184 -0.18123455 3.51446439] [ 0.28503707 0.95828825 0.02091639 0.10337091] [ 0.1678865 -0.07139735 0.98321744 -0.11716717] [ 0. 0. 0. 1. ]] SLAMing on 63.242414036999996 meters Centerline goodness : 0.774688 Centerline is valid? [False, False] Translation: X:3.52, Y:0.10, Z:-0.12 [[ 0.94340696 -0.27744464 -0.18168044 3.51648369] [ 0.28575009 0.95808014 0.02072006 0.10323446] [ 0.16831575 -0.07146265 0.98313931 -0.11782645] [ 0. 0. 0. 1. ]] SLAMing on 63.272414037 meters Centerline goodness : 0.770341 Centerline is valid? [False, False] Translation: X:3.52, Y:0.10, Z:-0.12 [[ 0.94310952 -0.27799654 -0.18237972 3.51873443] [ 0.28638778 0.95788651 0.02086802 0.10331441] [ 0.16889784 -0.07191215 0.98300669 -0.11830342] [ 0. 0. 0. 1. ]] SLAMing on 63.302414037 meters Centerline goodness : 0.768249 Centerline is valid? [False, False] Translation: X:3.52, Y:0.10, Z:-0.12 [[ 0.94259293 -0.27897256 -0.18355618 3.52041285] [ 0.28756459 0.9575214 0.02143294 0.10362641] [ 0.16977977 -0.07298679 0.98277554 -0.11719522] [ 0. 0. 0. 1. ]] SLAMing on 63.332414037 meters Centerline goodness : 0.769553 Centerline is valid? [False, False] Translation: X:3.52, Y:0.10, Z:-0.12 [[ 0.94245583 -0.27896597 -0.18426884 3.52117619] [ 0.28772977 0.9574563 0.02211372 0.10400422] [ 0.17026038 -0.07386083 0.98262708 -0.11653853] [ 0. 0. 0. 1. ]] SLAMing on 63.362414037 meters Centerline goodness : 0.768464 Centerline is valid? [False, False] Translation: X:3.52, Y:0.10, Z:-0.12 [[ 0.94234003 -0.27900681 -0.18479846 3.52132401] [ 0.28788907 0.95739803 0.02255877 0.10461863] [ 0.17063163 -0.07445949 0.9825175 -0.11573741] [ 0. 0. 0. 1. ]] SLAMing on 63.392414037 meters Centerline goodness : 0.768933 Centerline is valid? [False, False] Translation: X:3.52, Y:0.11, Z:-0.12 [[ 0.94212537 -0.2793048 -0.18544166 3.52183941] [ 0.28825662 0.95728537 0.02264582 0.10621824] [ 0.1711955 -0.07478999 0.9823943 -0.11512071] [ 0. 0. 0. 1. ]] SLAMing on 63.422414036999996 meters Centerline goodness : 0.766447 Centerline is valid? [False, False] Translation: X:3.52, Y:0.11, Z:-0.12 [[ 0.94198025 -0.27953884 -0.18582583 3.52329193] [ 0.28851489 0.95720883 0.02259255 0.10643267] [ 0.17155863 -0.07489525 0.98232293 -0.11564151] [ 0. 0. 0. 1. ]] SLAMing on 63.452414037 meters Centerline goodness : 0.769637 Centerline is valid? [False, False] Translation: X:3.53, Y:0.11, Z:-0.12 [[ 0.94146659 -0.28095247 -0.18629646 3.52515006] [ 0.28982763 0.95683335 0.02167699 0.10748262] [ 0.17216446 -0.07440202 0.98225442 -0.11613341] [ 0. 0. 0. 1. ]] SLAMing on 63.482414037 meters Centerline goodness : 0.770642 Centerline is valid? [False, False] Translation: X:3.53, Y:0.11, Z:-0.12 [[ 0.94110667 -0.28144851 -0.18736321 3.52704289] [ 0.2904537 0.95663838 0.02190116 0.10869723] [ 0.17307479 -0.07503167 0.98204652 -0.1158275 ] [ 0. 0. 0. 1. ]] SLAMing on 63.512414037 meters Centerline goodness : 0.767742 Centerline is valid? [False, False] Translation: X:3.53, Y:0.11, Z:-0.12 [[ 0.94089165 -0.28162175 -0.18818103 3.52780871] [ 0.29072642 0.95655125 0.02208741 0.11045819] [ 0.1737845 -0.07549106 0.98188596 -0.11521211] [ 0. 0. 0. 1. ]] SLAMing on 63.542414037 meters Centerline goodness : 0.770359 Centerline is valid? [False, False] Translation: X:3.53, Y:0.11, Z:-0.11 [[ 0.94069308 -0.28180495 -0.18889813 3.52824304] [ 0.29098172 0.95647194 0.0221599 0.11245467] [ 0.17443099 -0.07581156 0.98174663 -0.11459485] [ 0. 0. 0. 1. ]] SLAMing on 63.572414037 meters Centerline goodness : 0.769691 Centerline is valid? [False, False] Translation: X:3.53, Y:0.11, Z:-0.11 [[ 0.94058425 -0.2817843 -0.18947 3.52893914] [ 0.29100225 0.95646614 0.0221407 0.11410006] [ 0.17498274 -0.07596139 0.98163685 -0.11452812] [ 0. 0. 0. 1. ]] SLAMing on 63.602414036999996 meters Centerline goodness : 0.764991 Centerline is valid? [False, False] Translation: X:3.53, Y:0.12, Z:-0.11 [[ 0.94061276 -0.28158496 -0.18962476 3.52899574] [ 0.2907809 0.95653744 0.02196793 0.11544857] [ 0.17519735 -0.07580257 0.98161085 -0.11475314] [ 0. 0. 0. 1. ]] SLAMing on 63.632414037 meters Centerline goodness : 0.767925 Centerline is valid? [False, False] Translation: X:3.53, Y:0.12, Z:-0.11 [[ 0.94060839 -0.28152232 -0.18973942 3.52901107] [ 0.29068694 0.95657102 0.02174814 0.11624747] [ 0.17537664 -0.07561126 0.98159359 -0.11467749] [ 0. 0. 0. 1. ]] SLAMing on 63.662414037 meters Centerline goodness : 0.770055 Centerline is valid? [False, False] Translation: X:3.53, Y:0.12, Z:-0.11 [[ 0.94052872 -0.28145195 -0.19023809 3.53002085] [ 0.29065459 0.95658084 0.02174877 0.11768538] [ 0.17585688 -0.07574892 0.98149705 -0.11498751] [ 0. 0. 0. 1. ]] SLAMing on 63.692414037 meters Centerline goodness : 0.768751 Centerline is valid? [False, False] Translation: X:3.53, Y:0.12, Z:-0.11 [[ 0.94033081 -0.28170095 -0.19084691 3.53059772] [ 0.29092615 0.95650201 0.02158433 0.11941672] [ 0.17646513 -0.07581877 0.98138248 -0.11459754] [ 0. 0. 0. 1. ]] SLAMing on 63.722414037 meters Centerline goodness : 0.774464 Centerline is valid? [False, False] Translation: X:3.53, Y:0.12, Z:-0.11 [[ 0.94019203 -0.28072888 -0.19295142 3.531958 ] [ 0.29052935 0.95656679 0.0239307 0.12223061] [ 0.17785288 -0.07855751 0.98091644 -0.11325377] [ 0. 0. 0. 1. ]] SLAMing on 63.752414037 meters Centerline goodness : 0.768704 Centerline is valid? [False, False] Translation: X:3.53, Y:0.12, Z:-0.11 [[ 0.93984459 -0.28164142 -0.19331387 3.53188355] [ 0.29139808 0.95631468 0.02343899 0.12380687] [ 0.1782675 -0.0783603 0.98085695 -0.11240529] [ 0. 0. 0. 1. ]] SLAMing on 63.782414037 meters Centerline goodness : 0.771920 Centerline is valid? [False, False] Translation: X:3.53, Y:0.12, Z:-0.11 [[ 0.93956524 -0.28218456 -0.19387889 3.53316683] [ 0.29195174 0.95615183 0.02319191 0.12474746] [ 0.17883325 -0.07839359 0.9807513 -0.11245778] [ 0. 0. 0. 1. ]] SLAMing on 63.812414036999996 meters Centerline goodness : 0.768728 Centerline is valid? [False, False] Translation: X:3.53, Y:0.13, Z:-0.11 [[ 0.9390193 -0.28369239 -0.19432286 3.53461614] [ 0.29340496 0.95572228 0.022549 0.12567027] [ 0.1793217 -0.07818924 0.98067842 -0.11255102] [ 0. 0. 0. 1. ]] SLAMing on 63.842414037 meters Centerline goodness : 0.772335 Centerline is valid? [False, False] Translation: X:3.53, Y:0.13, Z:-0.11 [[ 0.93876354 -0.28437607 -0.19455913 3.53428834] [ 0.29410362 0.95550962 0.0224594 0.12644534] [ 0.17951621 -0.07830461 0.98063363 -0.1116797 ] [ 0. 0. 0. 1. ]] SLAMing on 63.872414037 meters Centerline goodness : 0.776729 Centerline is valid? [False, False] Translation: X:3.53, Y:0.13, Z:-0.11 [[ 0.93850791 -0.28451438 -0.19558749 3.53484325] [ 0.29445711 0.95538402 0.02316014 0.12731096] [ 0.18027177 -0.0793281 0.98041274 -0.11022558] [ 0. 0. 0. 1. ]] SLAMing on 63.902414037 meters Centerline goodness : 0.776130 Centerline is valid? [False, False] Translation: X:3.53, Y:0.13, Z:-0.11 [[ 0.93824356 -0.28509092 -0.19601578 3.53432662] [ 0.29505421 0.95520308 0.02302358 0.12888594] [ 0.18067107 -0.07943701 0.98033042 -0.10900392] [ 0. 0. 0. 1. ]] SLAMing on 63.932414037 meters Centerline goodness : 0.774959 Centerline is valid? [False, False] Translation: X:3.54, Y:0.13, Z:-0.11 [[ 0.93791255 -0.28541486 -0.19712536 3.53546927] [ 0.29552444 0.95505135 0.02328588 0.13080811] [ 0.1816187 -0.08009548 0.98010171 -0.10815419] [ 0. 0. 0. 1. ]] SLAMing on 63.962414037 meters Centerline goodness : 0.777473 Centerline is valid? [False, False] Translation: X:3.54, Y:0.13, Z:-0.11 [[ 0.93717948 -0.28691788 -0.19842567 3.53707294] [ 0.29707691 0.95458083 0.02282001 0.13455915] [ 0.18286587 -0.08033414 0.97985024 -0.10759231] [ 0. 0. 0. 1. ]] SLAMing on 63.992414036999996 meters Centerline goodness : 0.777473 Centerline is valid? [False, False] Translation: X:3.54, Y:0.13, Z:-0.11 [[ 0.93717948 -0.28691788 -0.19842567 3.53707294] [ 0.29707691 0.95458083 0.02282001 0.13455915] [ 0.18286587 -0.08033414 0.97985024 -0.10759231] [ 0. 0. 0. 1. ]] SLAMing on 64.02241403699999 meters Centerline goodness : 0.776031 Centerline is valid? [False, False] Translation: X:3.54, Y:0.14, Z:-0.11 [[ 0.93687696 -0.28744306 -0.19909307 3.53870174] [ 0.2975998 0.95442654 0.02245738 0.13588598] [ 0.18356449 -0.08028986 0.97972323 -0.10787537] [ 0. 0. 0. 1. ]] SLAMing on 64.05241403699999 meters Centerline goodness : 0.776896 Centerline is valid? [False, False] Translation: X:3.54, Y:0.14, Z:-0.11 [[ 0.93669523 -0.28769919 -0.19957759 3.54030576] [ 0.29785068 0.95435458 0.02218821 0.13658813] [ 0.18408426 -0.08022791 0.97963078 -0.10843572] [ 0. 0. 0. 1. ]] SLAMing on 64.08241403699999 meters Centerline goodness : 0.775700 Centerline is valid? [False, False] Translation: X:3.54, Y:0.14, Z:-0.11 [[ 0.9366122 -0.28772419 -0.19993093 3.54130778] [ 0.29784094 0.95436554 0.02184458 0.13799546] [ 0.18452198 -0.08000752 0.97956645 -0.10895472] [ 0. 0. 0. 1. ]] SLAMing on 64.112414037 meters Centerline goodness : 0.776245 Centerline is valid? [False, False] Translation: X:3.54, Y:0.14, Z:-0.11 [[ 0.93719891 -0.28488151 -0.2012479 3.53994669] [ 0.29552632 0.95502451 0.02433874 0.14137049] [ 0.18526302 -0.08228429 0.97923792 -0.10755385] [ 0. 0. 0. 1. ]] SLAMing on 64.142414037 meters Centerline goodness : 0.778425 Centerline is valid? [False, False] Translation: X:3.54, Y:0.14, Z:-0.11 [[ 0.93771506 -0.28215056 -0.20268577 3.53975337] [ 0.29342019 0.95559517 0.02724821 0.14293536] [ 0.18599745 -0.08502316 0.97886465 -0.10650533] [ 0. 0. 0. 1. ]] SLAMing on 64.172414037 meters Centerline goodness : 0.777334 Centerline is valid? [False, False] Translation: X:3.54, Y:0.15, Z:-0.11 [[ 0.93840985 -0.27926113 -0.20347034 3.53837902] [ 0.29084936 0.95633396 0.02884449 0.14681024] [ 0.18653045 -0.08624718 0.97865613 -0.10611779] [ 0. 0. 0. 1. ]] SLAMing on 64.202414037 meters Centerline goodness : 0.776112 Centerline is valid? [False, False] Translation: X:3.54, Y:0.15, Z:-0.11 [[ 0.93861006 -0.27862568 -0.203418 3.53807203] [ 0.29012689 0.95656442 0.02847636 0.1487104 ] [ 0.18664818 -0.08574523 0.97867779 -0.10659146] [ 0. 0. 0. 1. ]] SLAMing on 64.232414037 meters Centerline goodness : 0.778425 Centerline is valid? [False, False] Translation: X:3.54, Y:0.15, Z:-0.11 [[ 0.93885716 -0.27800788 -0.20312275 3.53765355] [ 0.28935703 0.95681519 0.02787846 0.15018562] [ 0.1866005 -0.08494889 0.97875632 -0.10723762] [ 0. 0. 0. 1. ]] SLAMing on 64.26241403699999 meters Centerline goodness : 0.777962 Centerline is valid? [False, False] Translation: X:3.54, Y:0.15, Z:-0.11 [[ 0.93897176 -0.27796103 -0.2026566 3.53656534] [ 0.28905719 0.95693745 0.0267705 0.15207898] [ 0.18648854 -0.08371609 0.97888388 -0.1074677 ] [ 0. 0. 0. 1. ]] SLAMing on 64.29241403699999 meters Centerline goodness : 0.775294 Centerline is valid? [False, False] Translation: X:3.54, Y:0.16, Z:-0.11 [[ 0.93960917 -0.27481879 -0.20398345 3.53751738] [ 0.28642118 0.95766107 0.02912351 0.15504364] [ 0.18734332 -0.0857899 0.97854104 -0.10818897] [ 0. 0. 0. 1. ]] SLAMing on 64.32241403699999 meters Centerline goodness : 0.775287 Centerline is valid? [False, False] Translation: X:3.54, Y:0.16, Z:-0.11 [[ 0.93948138 -0.27519746 -0.2040615 3.53688372] [ 0.28662573 0.95762926 0.02814049 0.15763029] [ 0.18767107 -0.08492674 0.97855353 -0.1078556 ] [ 0. 0. 0. 1. ]] SLAMing on 64.35241403699999 meters Centerline goodness : 0.778851 Centerline is valid? [False, False] Translation: X:3.54, Y:0.16, Z:-0.11 [[ 0.9393067 -0.2757376 -0.20413646 3.53671764] [ 0.28696522 0.95756024 0.0270064 0.16025129] [ 0.18802628 -0.08394736 0.97856985 -0.10794738] [ 0. 0. 0. 1. ]] SLAMing on 64.38241403699999 meters Centerline goodness : 0.775606 Centerline is valid? [False, False] Translation: X:3.54, Y:0.16, Z:-0.11 [[ 0.93926255 -0.27567348 -0.204426 3.53764942] [ 0.28684504 0.9576079 0.02659008 0.16200564] [ 0.18842977 -0.08361365 0.97852081 -0.1086209 ] [ 0. 0. 0. 1. ]] SLAMing on 64.41241403699999 meters Centerline goodness : 0.772502 Centerline is valid? [False, False] Translation: X:3.54, Y:0.17, Z:-0.11 [[ 0.93906586 -0.27643883 -0.20429607 3.53781677] [ 0.28730368 0.95751379 0.02497885 0.16557242] [ 0.18871118 -0.0821518 0.9785904 -0.10957149] [ 0. 0. 0. 1. ]] SLAMing on 64.44241403699999 meters Centerline goodness : 0.774407 Centerline is valid? [False, False] Translation: X:3.54, Y:0.17, Z:-0.11 [[ 0.93890005 -0.27685878 -0.20448938 3.53707548] [ 0.28766971 0.95741444 0.02457098 0.16692807] [ 0.18897839 -0.0818951 0.97856035 -0.10850192] [ 0. 0. 0. 1. ]] SLAMing on 64.472414037 meters Centerline goodness : 0.776815 Centerline is valid? [False, False] Translation: X:3.54, Y:0.17, Z:-0.11 [[ 0.93888643 -0.27658891 -0.2049167 3.53660116] [ 0.28751119 0.95745133 0.02498545 0.16815595] [ 0.18928707 -0.08237434 0.97846046 -0.10766882] [ 0. 0. 0. 1. ]] SLAMing on 64.502414037 meters Centerline goodness : 0.776100 Centerline is valid? [False, False] Translation: X:3.53, Y:0.17, Z:-0.11 [[ 0.93851522 -0.27848783 -0.20404342 3.53268375] [ 0.28896805 0.95706513 0.0228869 0.17169825] [ 0.18890912 -0.08044173 0.97869427 -0.10580449] [ 0. 0. 0. 1. ]] SLAMing on 64.532414037 meters Centerline goodness : 0.775355 Centerline is valid? [False, False] Translation: X:3.53, Y:0.17, Z:-0.11 [[ 0.9383351 -0.27931044 -0.20374722 3.53142282] [ 0.28961026 0.95689189 0.02199577 0.17319804] [ 0.18882041 -0.07964668 0.97877641 -0.10522699] [ 0. 0. 0. 1. ]] SLAMing on 64.562414037 meters Centerline goodness : 0.777081 Centerline is valid? [False, False] Translation: X:3.53, Y:0.17, Z:-0.11 [[ 0.93819157 -0.27999506 -0.20346828 3.53045954] [ 0.2901618 0.9567393 0.02135504 0.17433186] [ 0.18868679 -0.07907384 0.97884862 -0.10501248] [ 0. 0. 0. 1. ]] SLAMing on 64.592414037 meters Centerline goodness : 0.776512 Centerline is valid? [False, False] Translation: X:3.53, Y:0.18, Z:-0.11 [[ 0.93807846 -0.28057978 -0.20318412 3.52979059] [ 0.29063473 0.95660719 0.02083605 0.17530098] [ 0.18852121 -0.07859821 0.97891883 -0.10503434] [ 0. 0. 0. 1. ]] SLAMing on 64.622414037 meters Centerline goodness : 0.776081 Centerline is valid? [False, False] Translation: X:3.53, Y:0.18, Z:-0.10 [[ 0.9377853 -0.28198754 -0.20258765 3.52801969] [ 0.29179303 0.95627968 0.01964709 0.17708618] [ 0.18819022 -0.07753841 0.97906702 -0.10473444] [ 0. 0. 0. 1. ]] SLAMing on 64.65241403699999 meters Centerline goodness : 0.773475 Centerline is valid? [False, False] Translation: X:3.53, Y:0.18, Z:-0.10 [[ 0.9376028 -0.28281999 -0.20227172 3.52689479] [ 0.29247922 0.95608444 0.01893267 0.17791779] [ 0.18803431 -0.0769116 0.97914642 -0.10428797] [ 0. 0. 0. 1. ]] SLAMing on 64.68241403699999 meters Centerline goodness : 0.774223 Centerline is valid? [False, False] Translation: X:3.53, Y:0.18, Z:-0.10 [[ 0.93743262 -0.28357096 -0.20200889 3.52589688] [ 0.29309875 0.9559074 0.01828012 0.17851686] [ 0.18791808 -0.07634493 0.97921307 -0.10379289] [ 0. 0. 0. 1. ]] SLAMing on 64.71241403699999 meters Centerline goodness : 0.774679 Centerline is valid? [False, False] Translation: X:3.53, Y:0.18, Z:-0.10 [[ 0.93729917 -0.2842286 -0.20170366 3.52512972] [ 0.29364439 0.95574983 0.01775477 0.17923252] [ 0.18773183 -0.07587068 0.97928566 -0.10374014] [ 0. 0. 0. 1. ]] SLAMing on 64.74241403699999 meters Centerline goodness : 0.776330 Centerline is valid? [False, False] Translation: X:3.53, Y:0.18, Z:-0.10 [[ 0.93717644 -0.28467469 -0.20164484 3.52573102] [ 0.29403044 0.9556373 0.01742 0.18048448] [ 0.18774029 -0.07561534 0.97930379 -0.10466887] [ 0. 0. 0. 1. ]] SLAMing on 64.77241403699999 meters Centerline goodness : 0.775484 Centerline is valid? [False, False] Translation: X:3.53, Y:0.18, Z:-0.11 [[ 0.93717137 -0.28456907 -0.20181741 3.52680541] [ 0.29393552 0.95566658 0.01741573 0.18118805] [ 0.18791417 -0.07564283 0.97926831 -0.1054046 ] [ 0. 0. 0. 1. ]] SLAMing on 64.80241403699999 meters Centerline goodness : 0.777487 Centerline is valid? [False, False] Translation: X:3.53, Y:0.18, Z:-0.11 [[ 0.93717665 -0.28450251 -0.20188671 3.52732548] [ 0.2938561 0.95569261 0.01732717 0.18201956] [ 0.18801201 -0.07556426 0.9792556 -0.10586631] [ 0. 0. 0. 1. ]] SLAMing on 64.83241403699999 meters Centerline goodness : 0.777329 Centerline is valid? [False, False] Translation: X:3.53, Y:0.18, Z:-0.11 [[ 0.93714918 -0.2846268 -0.20183903 3.52720792] [ 0.29390861 0.95568305 0.0169601 0.18341708] [ 0.18806684 -0.07521638 0.97927185 -0.10596086] [ 0. 0. 0. 1. ]] SLAMing on 64.862414037 meters Centerline goodness : 0.777712 Centerline is valid? [False, False] Translation: X:3.52, Y:0.19, Z:-0.10 [[ 0.9378114 -0.28239581 -0.20189697 3.52353649] [ 0.29197363 0.95624338 0.01870794 0.18507258] [ 0.1877796 -0.07649311 0.97922808 -0.1044248 ] [ 0. 0. 0. 1. ]] SLAMing on 64.892414037 meters Centerline goodness : 0.775927 Centerline is valid? [False, False] Translation: X:3.52, Y:0.19, Z:-0.10 [[ 0.93775764 -0.28261476 -0.2018403 3.52277414] [ 0.29205699 0.95623148 0.01800208 0.18698461] [ 0.18791839 -0.07583045 0.97925299 -0.10379906] [ 0. 0. 0. 1. ]] SLAMing on 64.922414037 meters Centerline goodness : 0.775178 Centerline is valid? [False, False] Translation: X:3.52, Y:0.19, Z:-0.10 [[ 0.93771569 -0.2827288 -0.2018755 3.52248754] [ 0.29207176 0.95623704 0.01745891 0.18864582] [ 0.1881047 -0.07533363 0.97925557 -0.10344432] [ 0. 0. 0. 1. ]] SLAMing on 64.952414037 meters Centerline goodness : 0.772735 Centerline is valid? [False, False] Translation: X:3.52, Y:0.19, Z:-0.10 [[ 0.93767316 -0.28288733 -0.20185093 3.52224283] [ 0.29215406 0.95621917 0.01705584 0.18968827] [ 0.18818885 -0.07496437 0.97926774 -0.10326809] [ 0. 0. 0. 1. ]] SLAMing on 64.982414037 meters Centerline goodness : 0.773116 Centerline is valid? [False, False] Translation: X:3.52, Y:0.19, Z:-0.10 [[ 0.93766768 -0.28295121 -0.20178686 3.52199803] [ 0.29212682 0.95623549 0.01660112 0.19111426] [ 0.18825845 -0.07451369 0.97928876 -0.1031508 ] [ 0. 0. 0. 1. ]] SLAMing on 65.01241403699999 meters Centerline goodness : 0.772350 Centerline is valid? [False, False] Translation: X:3.52, Y:0.19, Z:-0.10 [[ 0.9376251 -0.2830752 -0.20181081 3.52190231] [ 0.29218727 0.95622309 0.01624826 0.19196817] [ 0.18837668 -0.07420133 0.97928974 -0.10293704] [ 0. 0. 0. 1. ]] SLAMing on 65.04241403699999 meters Centerline goodness : 0.772441 Centerline is valid? [False, False] Translation: X:3.52, Y:0.19, Z:-0.10 [[ 0.93756174 -0.28327125 -0.20183009 3.52123576] [ 0.29225301 0.95621472 0.01554327 0.19379479] [ 0.18858995 -0.07355823 0.97929721 -0.10217429] [ 0. 0. 0. 1. ]] SLAMing on 65.07241403699999 meters Centerline goodness : 0.771519 Centerline is valid? [False, False] Translation: X:3.52, Y:0.19, Z:-0.10 [[ 0.93750806 -0.28349602 -0.20176384 3.52078877] [ 0.29241252 0.95617135 0.01520747 0.19457341] [ 0.18860955 -0.0732554 0.97931613 -0.10190562] [ 0. 0. 0. 1. ]] SLAMing on 65.10241403699999 meters Centerline goodness : 0.772931 Centerline is valid? [False, False] Translation: X:3.52, Y:0.20, Z:-0.10 [[ 0.9374492 -0.2837168 -0.20172696 3.52052 ] [ 0.29256993 0.9561285 0.01487022 0.19527578] [ 0.18865797 -0.07295932 0.97932891 -0.10164845] [ 0. 0. 0. 1. ]] SLAMing on 65.13241403699999 meters Centerline goodness : 0.771316 Centerline is valid? [False, False] Translation: X:3.52, Y:0.20, Z:-0.10 [[ 0.93742008 -0.28375811 -0.20180418 3.52079514] [ 0.2925977 0.95612163 0.01476531 0.19561548] [ 0.18875957 -0.07288874 0.97931459 -0.10170762] [ 0. 0. 0. 1. ]] SLAMing on 65.16241403699999 meters Centerline goodness : 0.772054 Centerline is valid? [False, False] Translation: X:3.52, Y:0.20, Z:-0.10 [[ 0.93741235 -0.28371045 -0.20190709 3.52135658] [ 0.29255237 0.95613587 0.01474174 0.19597216] [ 0.18886823 -0.07288749 0.97929373 -0.10204674] [ 0. 0. 0. 1. ]] SLAMing on 65.19241403699999 meters Centerline goodness : 0.771126 Centerline is valid? [False, False] Translation: X:3.52, Y:0.20, Z:-0.10 [[ 0.93744448 -0.28347705 -0.20208567 3.52266026] [ 0.2923784 0.956185 0.01500363 0.19575376] [ 0.18897811 -0.07315056 0.97925292 -0.10291054] [ 0. 0. 0. 1. ]] SLAMing on 65.222414037 meters Centerline goodness : 0.769142 Centerline is valid? [False, False] Translation: X:3.52, Y:0.20, Z:-0.10 [[ 0.93740904 -0.28369775 -0.20194026 3.52255342] [ 0.29256853 0.95612878 0.01487967 0.19538521] [ 0.18885956 -0.0730297 0.9792848 -0.10292701] [ 0. 0. 0. 1. ]] SLAMing on 65.252414037 meters Centerline goodness : 0.769353 Centerline is valid? [False, False] Translation: X:3.52, Y:0.19, Z:-0.10 [[ 0.93737095 -0.28385226 -0.20189999 3.52252771] [ 0.29269674 0.95609166 0.01474315 0.19483613] [ 0.18885002 -0.07291527 0.97929517 -0.10267417] [ 0. 0. 0. 1. ]] SLAMing on 65.282414037 meters Centerline goodness : 0.770128 Centerline is valid? [False, False] Translation: X:3.52, Y:0.20, Z:-0.10 [[ 0.93725007 -0.28452937 -0.20150766 3.52073416] [ 0.29323017 0.95593817 0.01408139 0.19520134] [ 0.18862229 -0.07228591 0.97938572 -0.101568 ] [ 0. 0. 0. 1. ]] SLAMing on 65.312414037 meters Centerline goodness : 0.773822 Centerline is valid? [False, False] Translation: X:3.52, Y:0.20, Z:-0.10 [[ 0.93717301 -0.28490091 -0.20134106 3.51978212] [ 0.29350004 0.9558626 0.01357987 0.19586642] [ 0.18858547 -0.0718203 0.97942706 -0.1008696 ] [ 0. 0. 0. 1. ]] SLAMing on 65.342414037 meters Centerline goodness : 0.768124 Centerline is valid? [False, False] Translation: X:3.52, Y:0.20, Z:-0.10 [[ 0.93711356 -0.28511303 -0.20131752 3.519276 ] [ 0.29364711 0.95582235 0.01322925 0.19633564] [ 0.18865195 -0.07151362 0.9794367 -0.10031159] [ 0. 0. 0. 1. ]] SLAMing on 65.372414037 meters Centerline goodness : 0.766901 Centerline is valid? [False, False] Translation: X:3.52, Y:0.20, Z:-0.10 [[ 0.93709798 -0.28526801 -0.20117044 3.51875729] [ 0.29375829 0.95579075 0.01304252 0.1965052 ] [ 0.18855623 -0.0713176 0.97946942 -0.10003671] [ 0. 0. 0. 1. ]] SLAMing on 65.40241403699999 meters Centerline goodness : 0.771850 Centerline is valid? [False, False] Translation: X:3.52, Y:0.20, Z:-0.10 [[ 0.93710828 -0.28522896 -0.20117783 3.51883123] [ 0.29369285 0.95581271 0.01290667 0.1965576 ] [ 0.18860697 -0.07117944 0.9794697 -0.0998307 ] [ 0. 0. 0. 1. ]] SLAMing on 65.43241403699999 meters Centerline goodness : 0.766961 Centerline is valid? [False, False] Translation: X:3.52, Y:0.20, Z:-0.10 [[ 0.93789973 -0.28422637 -0.19889562 3.51694431] [ 0.29264976 0.95612183 0.013681 0.19522823] [ 0.18627994 -0.07103816 0.97992518 -0.10195138] [ 0. 0. 0. 1. ]] SLAMing on 65.46241403699999 meters Centerline goodness : 0.767517 Centerline is valid? [False, False] Translation: X:3.52, Y:0.20, Z:-0.10 [[ 0.93795348 -0.28383537 -0.19920029 3.51804626] [ 0.29230415 0.95622524 0.01384111 0.19543054] [ 0.18655175 -0.07120939 0.97986104 -0.10233973] [ 0. 0. 0. 1. ]] SLAMing on 65.49241403699999 meters Centerline goodness : 0.765743 Centerline is valid? [False, False] Translation: X:3.52, Y:0.20, Z:-0.10 [[ 0.93798846 -0.28360002 -0.19937073 3.51884917] [ 0.29209073 0.95628939 0.01391401 0.19587334] [ 0.1867101 -0.07128553 0.97982535 -0.10275627] [ 0. 0. 0. 1. ]] SLAMing on 65.52241403699999 meters Centerline goodness : 0.764877 Centerline is valid? [False, False] Translation: X:3.52, Y:0.20, Z:-0.10 [[ 0.93803952 -0.28330628 -0.19954802 3.51969509] [ 0.29182622 0.95636848 0.01402834 0.19640249] [ 0.18686712 -0.07139248 0.97978763 -0.10326204] [ 0. 0. 0. 1. ]] SLAMing on 65.55241403699999 meters Centerline goodness : 0.763918 Centerline is valid? [False, False] Translation: X:3.52, Y:0.20, Z:-0.10 [[ 0.93824406 -0.28264525 -0.1995238 3.51999491] [ 0.29122045 0.95654766 0.01439531 0.1970984 ] [ 0.18678526 -0.07161172 0.97978724 -0.1037736 ] [ 0. 0. 0. 1. ]] SLAMing on 65.58241403699999 meters Centerline goodness : 0.764923 Centerline is valid? [False, False] Translation: X:3.52, Y:0.20, Z:-0.10 [[ 0.93825737 -0.28261794 -0.1994999 3.51984661] [ 0.2911622 0.95656764 0.01424509 0.19729394] [ 0.18680923 -0.07145239 0.9797943 -0.10350398] [ 0. 0. 0. 1. ]] SLAMing on 65.612414037 meters Centerline goodness : 0.769416 Centerline is valid? [False, False] Translation: X:3.52, Y:0.20, Z:-0.10 [[ 0.93826156 -0.28261246 -0.19948793 3.51973848] [ 0.29113989 0.95657566 0.01416208 0.19718408] [ 0.18682292 -0.07136663 0.97979794 -0.10325346] [ 0. 0. 0. 1. ]] SLAMing on 65.642414037 meters Centerline goodness : 0.767308 Centerline is valid? [False, False] Translation: X:3.52, Y:0.20, Z:-0.10 [[ 0.93823195 -0.28277505 -0.19939677 3.51931538] [ 0.29125853 0.95654266 0.01395038 0.19686609] [ 0.1867867 -0.07116471 0.97981953 -0.10273481] [ 0. 0. 0. 1. ]] SLAMing on 65.672414037 meters Centerline goodness : 0.767663 Centerline is valid? [False, False] Translation: X:3.52, Y:0.20, Z:-0.10 [[ 0.93818707 -0.28297873 -0.199319 3.51841817] [ 0.29140942 0.95650057 0.01368274 0.19646059] [ 0.18677681 -0.07092041 0.97983913 -0.10170294] [ 0. 0. 0. 1. ]] SLAMing on 65.702414037 meters Centerline goodness : 0.769917 Centerline is valid? [False, False] Translation: X:3.52, Y:0.20, Z:-0.10 [[ 0.93817706 -0.28304257 -0.19927547 3.5181993 ] [ 0.29142302 0.95650001 0.01342947 0.19673502] [ 0.18680588 -0.07067268 0.97985149 -0.1013395 ] [ 0. 0. 0. 1. ]] SLAMing on 65.732414037 meters Centerline goodness : 0.768165 Centerline is valid? [False, False] Translation: X:3.51, Y:0.19, Z:-0.11 [[ 0.94088262 -0.2789652 -0.19214138 3.50771009] [ 0.28624527 0.95809712 0.01065596 0.19267148] [ 0.18111746 -0.06502557 0.9813094 -0.10505129] [ 0. 0. 0. 1. ]] SLAMing on 65.76241403699999 meters Centerline goodness : 0.767300 Centerline is valid? [False, False] Translation: X:3.51, Y:0.19, Z:-0.11 [[ 0.94090442 -0.27885367 -0.19219652 3.50785016] [ 0.28612754 0.95813276 0.01061324 0.19309663] [ 0.18119024 -0.06497876 0.98129907 -0.10507162] [ 0. 0. 0. 1. ]] SLAMing on 65.79241403699999 meters Centerline goodness : 0.770680 Centerline is valid? [False, False] Translation: X:3.51, Y:0.19, Z:-0.11 [[ 0.94095559 -0.27848911 -0.19247441 3.50863128] [ 0.2857967 0.95823019 0.01073044 0.19317426] [ 0.18144648 -0.06510542 0.98124332 -0.10506734] [ 0. 0. 0. 1. ]] SLAMing on 65.82241403699999 meters Centerline goodness : 0.765735 Centerline is valid? [False, False] Translation: X:3.51, Y:0.19, Z:-0.10 [[ 0.94093511 -0.2784618 -0.19261395 3.5090199 ] [ 0.28577158 0.95823809 0.01069396 0.19264035] [ 0.18159217 -0.06510592 0.98121634 -0.10484786] [ 0. 0. 0. 1. ]] SLAMing on 65.85241403699999 meters Centerline goodness : 0.768822 Centerline is valid? [False, False] Translation: X:3.51, Y:0.19, Z:-0.10 [[ 0.94095488 -0.27837073 -0.19264901 3.50943008] [ 0.28570703 0.95825577 0.01083351 0.19177078] [ 0.1815913 -0.06523502 0.98120793 -0.10492169] [ 0. 0. 0. 1. ]] SLAMing on 65.88241403699999 meters Centerline goodness : 0.768822 Centerline is valid? [False, False] Translation: X:3.51, Y:0.19, Z:-0.10 [[ 0.94095488 -0.27837073 -0.19264901 3.50943008] [ 0.28570703 0.95825577 0.01083351 0.19177078] [ 0.1815913 -0.06523502 0.98120793 -0.10492169] [ 0. 0. 0. 1. ]] SLAMing on 65.91241403699999 meters Centerline goodness : 0.766641 Centerline is valid? [False, False] Translation: X:3.51, Y:0.19, Z:-0.10 [[ 0.94097996 -0.27826829 -0.19267451 3.50953249] [ 0.28564617 0.95827134 0.01105903 0.1904916 ] [ 0.18155708 -0.06544306 0.9812004 -0.10465796] [ 0. 0. 0. 1. ]] SLAMing on 65.94241403699999 meters Centerline goodness : 0.767087 Centerline is valid? [False, False] Translation: X:3.51, Y:0.19, Z:-0.10 [[ 0.94100494 -0.27811644 -0.19277176 3.50990674] [ 0.28550559 0.95831277 0.01109929 0.19010196] [ 0.18164875 -0.0654819 0.98118085 -0.1045351 ] [ 0. 0. 0. 1. ]] SLAMing on 65.972414037 meters Centerline goodness : 0.767831 Centerline is valid? [False, False] Translation: X:3.51, Y:0.19, Z:-0.10 [[ 0.94107922 -0.27774951 -0.19293812 3.51075989] [ 0.28520316 0.95839901 0.01142293 0.18982251] [ 0.18173899 -0.06577645 0.98114443 -0.10498945] [ 0. 0. 0. 1. ]] SLAMing on 66.002414037 meters Centerline goodness : 0.761608 Centerline is valid? [False, False] Translation: X:3.51, Y:0.19, Z:-0.11 [[ 0.94123683 -0.27688566 -0.19341037 3.51267352] [ 0.28448321 0.95860453 0.01211013 0.18950025] [ 0.18205093 -0.0664205 0.98104321 -0.10589964] [ 0. 0. 0. 1. ]] SLAMing on 66.032414037 meters Centerline goodness : 0.760994 Centerline is valid? [False, False] Translation: X:3.51, Y:0.19, Z:-0.11 [[ 0.94129784 -0.27655781 -0.19358243 3.51320524] [ 0.2841831 0.95869204 0.01222822 0.1896982 ] [ 0.18220413 -0.06652325 0.9810078 -0.10600526] [ 0. 0. 0. 1. ]] SLAMing on 66.062414037 meters Centerline goodness : 0.766012 Centerline is valid? [False, False] Translation: X:3.51, Y:0.19, Z:-0.11 [[ 0.94132112 -0.27639801 -0.19369742 3.51324981] [ 0.28401519 0.9587427 0.01215775 0.18992122] [ 0.18234561 -0.06645735 0.98098598 -0.1056713 ] [ 0. 0. 0. 1. ]] SLAMing on 66.092414037 meters Centerline goodness : 0.767213 Centerline is valid? [False, False] Translation: X:3.51, Y:0.19, Z:-0.11 [[ 0.9413265 -0.27643572 -0.19361743 3.51270306] [ 0.28400235 0.95874959 0.01191171 0.19021752] [ 0.18233781 -0.06620061 0.98100479 -0.10513864] [ 0. 0. 0. 1. ]] SLAMing on 66.122414037 meters Centerline goodness : 0.763375 Centerline is valid? [False, False] Translation: X:3.51, Y:0.19, Z:-0.10 [[ 0.94145319 -0.27600686 -0.19361328 3.51263557] [ 0.28357819 0.95887427 0.0119812 0.1901149 ] [ 0.1823439 -0.06618424 0.98100476 -0.10476219] [ 0. 0. 0. 1. ]] SLAMing on 66.15241403699999 meters Centerline goodness : 0.764754 Centerline is valid? [False, False] Translation: X:3.51, Y:0.19, Z:-0.10 [[ 0.9414607 -0.2759213 -0.19369869 3.51283851] [ 0.2834755 0.95890606 0.01186606 0.19034334] [ 0.18246475 -0.06608026 0.9809893 -0.10464242] [ 0. 0. 0. 1. ]] SLAMing on 66.18241403699999 meters Centerline goodness : 0.765214 Centerline is valid? [False, False] Translation: X:3.51, Y:0.19, Z:-0.10 [[ 0.94146158 -0.27583047 -0.19382374 3.51282517] [ 0.28335647 0.95894356 0.01167751 0.1905045 ] [ 0.18264501 -0.06591513 0.98096687 -0.10409165] [ 0. 0. 0. 1. ]] SLAMing on 66.21241403699999 meters Centerline goodness : 0.765042 Centerline is valid? [False, False] Translation: X:3.51, Y:0.19, Z:-0.10 [[ 0.94143043 -0.27595817 -0.19379326 3.51231903] [ 0.28342843 0.95892591 0.01137659 0.19077924] [ 0.18269392 -0.06563679 0.98097642 -0.1034892 ] [ 0. 0. 0. 1. ]] SLAMing on 66.24241403699999 meters Centerline goodness : 0.765274 Centerline is valid? [False, False] Translation: X:3.51, Y:0.19, Z:-0.10 [[ 0.94140962 -0.27596959 -0.19387809 3.51209797] [ 0.28340412 0.95893573 0.01115267 0.19096079] [ 0.18283883 -0.06544507 0.98096223 -0.10289528] [ 0. 0. 0. 1. ]] SLAMing on 66.27241403699999 meters Centerline goodness : 0.768072 Centerline is valid? [False, False] Translation: X:3.51, Y:0.19, Z:-0.10 [[ 0.94139817 -0.27590991 -0.19401858 3.51213277] [ 0.28332539 0.95896069 0.01100539 0.19123188] [ 0.1830197 -0.06533084 0.98093612 -0.1024734 ] [ 0. 0. 0. 1. ]] SLAMing on 66.30241403699999 meters Centerline goodness : 0.764650 Centerline is valid? [False, False] Translation: X:3.51, Y:0.19, Z:-0.10 [[ 0.94145554 -0.27536943 -0.19450743 3.51334936] [ 0.28284645 0.95909968 0.01121102 0.19147278] [ 0.18346485 -0.06557041 0.98083697 -0.10255447] [ 0. 0. 0. 1. ]] SLAMing on 66.33241403699999 meters Centerline goodness : 0.764488 Centerline is valid? [False, False] Translation: X:3.51, Y:0.19, Z:-0.10 [[ 0.94147962 -0.27511297 -0.19475362 3.51436152] [ 0.28262464 0.95916364 0.01133214 0.1913409 ] [ 0.18368298 -0.06571115 0.98078673 -0.10286142] [ 0. 0. 0. 1. ]] SLAMing on 66.362414037 meters Centerline goodness : 0.762352 Centerline is valid? [False, False] Translation: X:3.52, Y:0.19, Z:-0.10 [[ 0.9415299 -0.27478009 -0.19498036 3.515484 ] [ 0.28235331 0.95924021 0.01161127 0.19086048] [ 0.18384245 -0.0659857 0.98073842 -0.10334879] [ 0. 0. 0. 1. ]] SLAMing on 66.392414037 meters Centerline goodness : 0.765028 Centerline is valid? [False, False] Translation: X:3.52, Y:0.19, Z:-0.10 [[ 0.94155663 -0.27453518 -0.19519617 3.51628367] [ 0.28212996 0.95930519 0.01167191 0.19043358] [ 0.18404835 -0.06606045 0.98069476 -0.10332555] [ 0. 0. 0. 1. ]] SLAMing on 66.422414037 meters Centerline goodness : 0.767156 Centerline is valid? [False, False] Translation: X:3.52, Y:0.19, Z:-0.10 [[ 0.94167306 -0.2740595 -0.19530293 3.51694433] [ 0.2817075 0.95942574 0.0119641 0.19002028] [ 0.18409978 -0.06628457 0.98066999 -0.10356605] [ 0. 0. 0. 1. ]] SLAMing on 66.452414037 meters Centerline goodness : 0.772342 Centerline is valid? [False, False] Translation: X:3.56, Y:0.20, Z:-0.10 [[ 0.94093751 -0.2770567 -0.19461806 3.56354226] [ 0.28735147 0.95746561 0.0262438 0.20279263] [ 0.17906908 -0.08061756 0.98052796 -0.10410204] [ 0. 0. 0. 1. ]] SLAMing on 66.482414037 meters Centerline goodness : 0.764690 Centerline is valid? [False, False] Translation: X:3.46, Y:0.18, Z:-0.12 [[ 0.94292957 -0.27452057 -0.18847357 3.45649681] [ 0.28278001 0.95901797 0.0178883 0.17741106] [ 0.17583883 -0.07016397 0.98191533 -0.12287641] [ 0. 0. 0. 1. ]] SLAMing on 66.51241403699999 meters Centerline goodness : 0.764979 Centerline is valid? [False, False] Translation: X:3.46, Y:0.18, Z:-0.12 [[ 0.94295188 -0.27442139 -0.18850637 3.45646549] [ 0.28267676 0.95904891 0.01786173 0.17719647] [ 0.17588519 -0.07012912 0.98190952 -0.12256955] [ 0. 0. 0. 1. ]] SLAMing on 66.54241403699999 meters Centerline goodness : 0.766732 Centerline is valid? [False, False] Translation: X:3.46, Y:0.18, Z:-0.12 [[ 0.94297024 -0.27431071 -0.18857562 3.45659053] [ 0.2825684 0.95908093 0.01785711 0.17669859] [ 0.17596089 -0.07012423 0.98189631 -0.12222224] [ 0. 0. 0. 1. ]] SLAMing on 66.57241403699999 meters Centerline goodness : 0.763907 Centerline is valid? [False, False] Translation: X:3.46, Y:0.18, Z:-0.12 [[ 0.94301385 -0.27408349 -0.1886879 3.45711681] [ 0.28237279 0.95913568 0.01800961 0.17591976] [ 0.17604116 -0.07026364 0.98187195 -0.12218291] [ 0. 0. 0. 1. ]] SLAMing on 66.60241403699999 meters Centerline goodness : 0.767641 Centerline is valid? [False, False] Translation: X:3.46, Y:0.17, Z:-0.12 [[ 0.94305726 -0.27376815 -0.18892858 3.45767014] [ 0.28212168 0.95920408 0.01829987 0.17424998] [ 0.17621114 -0.07055867 0.9818203 -0.12168499] [ 0. 0. 0. 1. ]] SLAMing on 66.63241403699999 meters Centerline goodness : 0.768259 Centerline is valid? [False, False] Translation: X:3.46, Y:0.17, Z:-0.12 [[ 0.94299304 -0.27399055 -0.18892669 3.45736982] [ 0.28231364 0.95915121 0.0181098 0.17404518] [ 0.17624735 -0.07041399 0.98182419 -0.12118539] [ 0. 0. 0. 1. ]] SLAMing on 66.66241403699999 meters Centerline goodness : 0.766582 Centerline is valid? [False, False] Translation: X:3.46, Y:0.17, Z:-0.12 [[ 0.94282651 -0.27471313 -0.18870841 3.45630125] [ 0.28298237 0.95895938 0.01782939 0.17278945] [ 0.17606573 -0.07021117 0.9818713 -0.12025319] [ 0. 0. 0. 1. ]] SLAMing on 66.69241403699999 meters Centerline goodness : 0.764937 Centerline is valid? [False, False] Translation: X:3.46, Y:0.17, Z:-0.12 [[ 0.94274285 -0.27505041 -0.18863508 3.45631252] [ 0.28334025 0.9588516 0.01794192 0.17108613] [ 0.17593812 -0.07036253 0.98188334 -0.12012117] [ 0. 0. 0. 1. ]] SLAMing on 66.722414037 meters Centerline goodness : 0.762120 Centerline is valid? [False, False] Translation: X:3.46, Y:0.17, Z:-0.12 [[ 0.94263894 -0.27549381 -0.18850726 3.45616014] [ 0.28379453 0.95871592 0.01801246 0.16917755] [ 0.17576259 -0.07047658 0.9819066 -0.11992185] [ 0. 0. 0. 1. ]] SLAMing on 66.752414037 meters Centerline goodness : 0.765282 Centerline is valid? [False, False] Translation: X:3.46, Y:0.17, Z:-0.12 [[ 0.94251565 -0.27601783 -0.18835712 3.45594103] [ 0.28430503 0.95856586 0.01794822 0.16767455] [ 0.17559868 -0.07046735 0.98193659 -0.11969773] [ 0. 0. 0. 1. ]] SLAMing on 66.782414037 meters Centerline goodness : 0.764419 Centerline is valid? [False, False] Translation: X:3.46, Y:0.17, Z:-0.12 [[ 0.9414199 -0.28030259 -0.18750743 3.45673717] [ 0.28793815 0.95754323 0.01423335 0.16770418] [ 0.17555682 -0.0673901 0.98216006 -0.11978055] [ 0. 0. 0. 1. ]] SLAMing on 66.812414037 meters Centerline goodness : 0.763864 Centerline is valid? [False, False] Translation: X:3.46, Y:0.17, Z:-0.12 [[ 0.94136322 -0.28050684 -0.18748655 3.45720145] [ 0.28817453 0.9574696 0.01440172 0.16653815] [ 0.17547289 -0.0675861 0.98216159 -0.12016447] [ 0. 0. 0. 1. ]] SLAMing on 66.842414037 meters Centerline goodness : 0.763222 Centerline is valid? [False, False] Translation: X:3.46, Y:0.17, Z:-0.12 [[ 0.94118607 -0.28063821 -0.18817803 3.45984889] [ 0.2884376 0.95738348 0.01485331 0.16548755] [ 0.17599013 -0.06825735 0.98202261 -0.12092727] [ 0. 0. 0. 1. ]] SLAMing on 66.872414037 meters Centerline goodness : 0.762745 Centerline is valid? [False, False] Translation: X:3.46, Y:0.17, Z:-0.12 [[ 0.94084078 -0.28166739 -0.18836694 3.46041674] [ 0.28940275 0.95710026 0.01432301 0.16570817] [ 0.17625173 -0.06798959 0.98199427 -0.1206135 ] [ 0. 0. 0. 1. ]] SLAMing on 66.90241403699999 meters Centerline goodness : 0.762548 Centerline is valid? [False, False] Translation: X:3.46, Y:0.17, Z:-0.12 [[ 0.94074247 -0.28160397 -0.18895187 3.46125661] [ 0.28948762 0.95706541 0.01492377 0.16528137] [ 0.17663671 -0.06873865 0.98187294 -0.12008563] [ 0. 0. 0. 1. ]] SLAMing on 66.93241403699999 meters Centerline goodness : 0.762040 Centerline is valid? [False, False] Translation: X:3.46, Y:0.16, Z:-0.12 [[ 0.94077522 -0.2810536 -0.1896071 3.46160957] [ 0.28918534 0.95713784 0.01609309 0.16484016] [ 0.17695711 -0.06997157 0.98172815 -0.11934462] [ 0. 0. 0. 1. ]] SLAMing on 66.96241403699999 meters Centerline goodness : 0.763042 Centerline is valid? [False, False] Translation: X:3.46, Y:0.16, Z:-0.12 [[ 0.94069599 -0.28144642 -0.18941744 3.4608813 ] [ 0.2895095 0.95704555 0.01575031 0.16470349] [ 0.17684825 -0.0696544 0.98177032 -0.11881471] [ 0. 0. 0. 1. ]] SLAMing on 66.99241403699999 meters Centerline goodness : 0.765883 Centerline is valid? [False, False] Translation: X:3.46, Y:0.16, Z:-0.12 [[ 0.94048738 -0.28244978 -0.18895927 3.45902522] [ 0.29037952 0.95679248 0.01509559 0.16370137] [ 0.17653107 -0.06906712 0.98186889 -0.11749168] [ 0. 0. 0. 1. ]] SLAMing on 67.02241403699999 meters Centerline goodness : 0.765725 Centerline is valid? [False, False] Translation: X:3.46, Y:0.16, Z:-0.12 [[ 0.94036447 -0.28234864 -0.18972062 3.46013674] [ 0.29049809 0.95674145 0.0160206 0.16287711] [ 0.17699019 -0.07017868 0.9817074 -0.11689836] [ 0. 0. 0. 1. ]] SLAMing on 67.05241403699999 meters Centerline goodness : 0.766184 Centerline is valid? [False, False] Translation: X:3.46, Y:0.16, Z:-0.12 [[ 0.94004912 -0.28283322 -0.19055977 3.462228 ] [ 0.29110488 0.95655209 0.01631079 0.16289469] [ 0.17766711 -0.07080582 0.98154008 -0.11702231] [ 0. 0. 0. 1. ]] SLAMing on 67.08241403699999 meters Centerline goodness : 0.765687 Centerline is valid? [False, False] Translation: X:3.46, Y:0.16, Z:-0.12 [[ 0.93970241 -0.28368577 -0.191002 3.46345951] [ 0.2919669 0.95629289 0.01610095 0.16278924] [ 0.17808624 -0.07089637 0.98145759 -0.11684203] [ 0. 0. 0. 1. ]] SLAMing on 67.112414037 meters Centerline goodness : 0.767443 Centerline is valid? [False, False] Translation: X:3.46, Y:0.16, Z:-0.12 [[ 0.93878612 -0.28722713 -0.19021356 3.46402085] [ 0.29491795 0.95543665 0.01281482 0.16323439] [ 0.17805624 -0.06812777 0.9816591 -0.11694174] [ 0. 0. 0. 1. ]] SLAMing on 67.142414037 meters Centerline goodness : 0.767558 Centerline is valid? [False, False] Translation: X:3.46, Y:0.16, Z:-0.12 [[ 0.9385057 -0.28792051 -0.19054877 3.46460363] [ 0.29562975 0.95521794 0.01271784 0.16280705] [ 0.17835387 -0.06826765 0.98159535 -0.11630993] [ 0. 0. 0. 1. ]] SLAMing on 67.172414037 meters Centerline goodness : 0.768735 Centerline is valid? [False, False] Translation: X:3.47, Y:0.16, Z:-0.12 [[ 0.93839278 -0.28792373 -0.19109925 3.46568088] [ 0.29577651 0.9551647 0.01329132 0.16206225] [ 0.17870437 -0.06899515 0.98148073 -0.11597244] [ 0. 0. 0. 1. ]] SLAMing on 67.202414037 meters Centerline goodness : 0.769574 Centerline is valid? [False, False] Translation: X:3.47, Y:0.16, Z:-0.12 [[ 0.93824586 -0.28789449 -0.19186315 3.46673132] [ 0.29594084 0.95510288 0.01405381 0.1616823 ] [ 0.17920304 -0.06996607 0.98132106 -0.11547028] [ 0. 0. 0. 1. ]] SLAMing on 67.232414037 meters Centerline goodness : 0.772289 Centerline is valid? [False, False] Translation: X:3.47, Y:0.16, Z:-0.11 [[ 0.93821232 -0.28762655 -0.19242818 3.4673085 ] [ 0.29586916 0.95511182 0.01492804 0.16083707] [ 0.17949673 -0.07093923 0.98119751 -0.11479491] [ 0. 0. 0. 1. ]] SLAMing on 67.26241403699999 meters Centerline goodness : 0.772603 Centerline is valid? [False, False] Translation: X:3.47, Y:0.16, Z:-0.11 [[ 0.93824759 -0.28750179 -0.19244268 3.46719915] [ 0.29576042 0.95514403 0.01502206 0.16065976] [ 0.1794916 -0.07101134 0.98119323 -0.11450452] [ 0. 0. 0. 1. ]] SLAMing on 67.29241403699999 meters Centerline goodness : 0.769243 Centerline is valid? [False, False] Translation: X:3.47, Y:0.16, Z:-0.11 [[ 0.93810269 -0.28787575 -0.19258995 3.46727203] [ 0.29612054 0.95503513 0.01485032 0.160598 ] [ 0.17965512 -0.07096096 0.98116695 -0.11393128] [ 0. 0. 0. 1. ]] SLAMing on 67.32241403699999 meters Centerline goodness : 0.772333 Centerline is valid? [False, False] Translation: X:3.47, Y:0.16, Z:-0.11 [[ 0.93794164 -0.28796103 -0.19324578 3.4696998 ] [ 0.2963598 0.95495193 0.01541688 0.15926458] [ 0.18010097 -0.07173041 0.98102925 -0.11459507] [ 0. 0. 0. 1. ]] SLAMing on 67.35241403699999 meters Centerline goodness : 0.771537 Centerline is valid? [False, False] Translation: X:3.47, Y:0.16, Z:-0.12 [[ 0.93779813 -0.28837169 -0.19332988 3.47116584] [ 0.29672291 0.95484449 0.0150834 0.15880845] [ 0.18025034 -0.07151059 0.98101786 -0.11538885] [ 0. 0. 0. 1. ]] SLAMing on 67.38241403699999 meters Centerline goodness : 0.771598 Centerline is valid? [False, False] Translation: X:3.47, Y:0.16, Z:-0.12 [[ 0.93754799 -0.28917841 -0.19333806 3.47183891] [ 0.29743238 0.95463321 0.01447111 0.15901629] [ 0.1803822 -0.07107236 0.98102547 -0.11563447] [ 0. 0. 0. 1. ]] SLAMing on 67.41241403699999 meters Centerline goodness : 0.773609 Centerline is valid? [False, False] Translation: X:3.47, Y:0.16, Z:-0.12 [[ 0.93733533 -0.28978905 -0.19345486 3.47245988] [ 0.29794023 0.95448469 0.01380526 0.15968945] [ 0.18064909 -0.07057814 0.98101204 -0.11572553] [ 0. 0. 0. 1. ]] SLAMing on 67.44241403699999 meters Centerline goodness : 0.773141 Centerline is valid? [False, False] Translation: X:3.48, Y:0.16, Z:-0.12 [[ 0.93779699 -0.28658794 -0.19596979 3.47577704] [ 0.2956242 0.9551369 0.01788421 0.15995081] [ 0.18205257 -0.07470517 0.98044684 -0.11593095] [ 0. 0. 0. 1. ]] SLAMing on 67.472414037 meters Centerline goodness : 0.772826 Centerline is valid? [False, False] Translation: X:3.48, Y:0.16, Z:-0.12 [[ 0.93809643 -0.28552614 -0.19608649 3.47541251] [ 0.29462758 0.95543707 0.01829202 0.16043915] [ 0.18212546 -0.07493217 0.98041598 -0.11584198] [ 0. 0. 0. 1. ]] SLAMing on 67.502414037 meters Centerline goodness : 0.773075 Centerline is valid? [False, False] Translation: X:3.47, Y:0.16, Z:-0.12 [[ 0.93850225 -0.28450857 -0.19562311 3.47391504] [ 0.29355562 0.95576693 0.01829397 0.16088943] [ 0.18176531 -0.07459519 0.98050851 -0.11576797] [ 0. 0. 0. 1. ]] SLAMing on 67.532414037 meters Centerline goodness : 0.772273 Centerline is valid? [False, False] Translation: X:3.47, Y:0.16, Z:-0.12 [[ 0.93902908 -0.28316922 -0.1950374 3.47270961] [ 0.292162 0.95619225 0.01837802 0.16101873] [ 0.18128916 -0.07424001 0.98062361 -0.11626222] [ 0. 0. 0. 1. ]] SLAMing on 67.562414037 meters Centerline goodness : 0.773185 Centerline is valid? [False, False] Translation: X:3.47, Y:0.16, Z:-0.12 [[ 0.94023566 -0.27962011 -0.19434377 3.47173301] [ 0.28865241 0.95724079 0.01923148 0.16147744] [ 0.18065628 -0.07417992 0.98074495 -0.11818799] [ 0. 0. 0. 1. ]] SLAMing on 67.592414037 meters Centerline goodness : 0.772165 Centerline is valid? [False, False] Translation: X:3.47, Y:0.16, Z:-0.12 [[ 0.94051751 -0.27868273 -0.19432638 3.47210636] [ 0.28766912 0.95753975 0.01908154 0.16274638] [ 0.18075753 -0.07384822 0.98075132 -0.11922364] [ 0. 0. 0. 1. ]] SLAMing on 67.622414037 meters Centerline goodness : 0.771272 Centerline is valid? [False, False] Translation: X:3.47, Y:0.16, Z:-0.12 [[ 0.94073069 -0.27790118 -0.19441373 3.47202899] [ 0.28685954 0.95778481 0.01897006 0.16451852] [ 0.18093472 -0.07361515 0.98073617 -0.11972578] [ 0. 0. 0. 1. ]] SLAMing on 67.65241403699999 meters Centerline goodness : 0.770027 Centerline is valid? [False, False] Translation: X:3.47, Y:0.17, Z:-0.12 [[ 0.94086124 -0.27769693 -0.19407354 3.47073626] [ 0.28645879 0.95792224 0.01806482 0.16664617] [ 0.18089081 -0.07259056 0.98082064 -0.11960542] [ 0. 0. 0. 1. ]] SLAMing on 67.68241403699999 meters Centerline goodness : 0.769967 Centerline is valid? [False, False] Translation: X:3.47, Y:0.17, Z:-0.12 [[ 0.94185165 -0.27390868 -0.19465228 3.4710729 ] [ 0.28310481 0.95886878 0.02055077 0.16759093] [ 0.18101696 -0.07446277 0.980657 -0.12079355] [ 0. 0. 0. 1. ]] SLAMing on 67.71241403699999 meters Centerline goodness : 0.770015 Centerline is valid? [False, False] Translation: X:3.47, Y:0.17, Z:-0.12 [[ 0.9421071 -0.27347961 -0.19401833 3.46987357] [ 0.2824795 0.95906913 0.01979244 0.16824042] [ 0.18066416 -0.0734528 0.98079822 -0.12101071] [ 0. 0. 0. 1. ]] SLAMing on 67.74241403699999 meters Centerline goodness : 0.769525 Centerline is valid? [False, False] Translation: X:3.47, Y:0.17, Z:-0.12 [[ 0.94243251 -0.2727833 -0.19341724 3.46886022] [ 0.28171627 0.95929457 0.01974502 0.16869556] [ 0.180158 -0.07309713 0.98091789 -0.12163286] [ 0. 0. 0. 1. ]] SLAMing on 67.77241403699999 meters Centerline goodness : 0.769334 Centerline is valid? [False, False] Translation: X:3.47, Y:0.17, Z:-0.12 [[ 0.94271328 -0.2713622 -0.19404695 3.46960152] [ 0.2804617 0.95964568 0.02052804 0.16943109] [ 0.18064579 -0.0737748 0.98077744 -0.12170824] [ 0. 0. 0. 1. ]] SLAMing on 67.80241403699999 meters Centerline goodness : 0.769334 Centerline is valid? [False, False] Translation: X:3.47, Y:0.17, Z:-0.12 [[ 0.94271328 -0.2713622 -0.19404695 3.46960152] [ 0.2804617 0.95964568 0.02052804 0.16943109] [ 0.18064579 -0.0737748 0.98077744 -0.12170824] [ 0. 0. 0. 1. ]] SLAMing on 67.83241403699999 meters Centerline goodness : 0.770584 Centerline is valid? [False, False] Translation: X:3.47, Y:0.17, Z:-0.12 [[ 0.94316133 -0.27011988 -0.19360257 3.46722596] [ 0.2790873 0.96005502 0.02011545 0.17188567] [ 0.18043554 -0.07300413 0.9808738 -0.12127566] [ 0. 0. 0. 1. ]] SLAMing on 67.862414037 meters Centerline goodness : 0.771710 Centerline is valid? [False, False] Translation: X:3.47, Y:0.17, Z:-0.12 [[ 0.94325665 -0.26974763 -0.19365721 3.46755733] [ 0.27865915 0.96018541 0.01982548 0.17378129] [ 0.18059895 -0.07266486 0.98086892 -0.12207016] [ 0. 0. 0. 1. ]] SLAMing on 67.892414037 meters Centerline goodness : 0.771235 Centerline is valid? [False, False] Translation: X:3.47, Y:0.18, Z:-0.12 [[ 0.94344642 -0.26929536 -0.19336198 3.46736913] [ 0.2780549 0.96037399 0.01916426 0.17508564] [ 0.18053897 -0.07184569 0.9809403 -0.12281867] [ 0. 0. 0. 1. ]] SLAMing on 67.922414037 meters Centerline goodness : 0.771608 Centerline is valid? [False, False] Translation: X:3.47, Y:0.18, Z:-0.12 [[ 0.94374554 -0.26884525 -0.19252684 3.4662445 ] [ 0.27734481 0.96059939 0.01812915 0.17631129] [ 0.18006723 -0.07050563 0.98112423 -0.123662 ] [ 0. 0. 0. 1. ]] SLAMing on 67.952414037 meters Centerline goodness : 0.771027 Centerline is valid? [False, False] Translation: X:3.46, Y:0.18, Z:-0.12 [[ 0.94474962 -0.26641424 -0.19097539 3.46366443] [ 0.2746609 0.96138014 0.01759612 0.17669817] [ 0.17891209 -0.0690774 0.9814371 -0.12487552] [ 0. 0. 0. 1. ]] SLAMing on 67.982414037 meters Centerline goodness : 0.770075 Centerline is valid? [False, False] Translation: X:3.47, Y:0.18, Z:-0.13 [[ 0.94603008 -0.26955369 -0.17991077 3.46539214] [ 0.27771829 0.96042495 0.02136485 0.17999073] [ 0.16703182 -0.07017631 0.98345089 -0.13163525] [ 0. 0. 0. 1. ]] SLAMing on 68.01241403699999 meters Centerline goodness : 0.768465 Centerline is valid? [False, False] Translation: X:3.46, Y:0.18, Z:-0.13 [[ 0.94639651 -0.26843514 -0.17965587 3.46344986] [ 0.27660884 0.9607392 0.02162736 0.18061866] [ 0.16679689 -0.07016246 0.98349175 -0.1306973 ] [ 0. 0. 0. 1. ]] SLAMing on 68.04241403699999 meters Centerline goodness : 0.771365 Centerline is valid? [False, False] Translation: X:3.46, Y:0.18, Z:-0.13 [[ 0.9463702 -0.26853805 -0.17964066 3.46243777] [ 0.27660376 0.96075484 0.02098811 0.18276106] [ 0.16695453 -0.0695518 0.98350838 -0.12977062] [ 0. 0. 0. 1. ]] SLAMing on 68.07241403699999 meters Centerline goodness : 0.769809 Centerline is valid? [False, False] Translation: X:3.46, Y:0.19, Z:-0.13 [[ 0.94625529 -0.26902824 -0.17951248 3.46069194] [ 0.27691134 0.96068892 0.0199227 0.1850811 ] [ 0.16709588 -0.068561 0.98355394 -0.12815652] [ 0. 0. 0. 1. ]] SLAMing on 68.10241403699999 meters Centerline goodness : 0.770405 Centerline is valid? [False, False] Translation: X:3.46, Y:0.18, Z:-0.13 [[ 0.94619465 -0.26919146 -0.17958742 3.4609253 ] [ 0.27705683 0.96065007 0.01977248 0.18422822] [ 0.16719808 -0.06846454 0.98354329 -0.12777663] [ 0. 0. 0. 1. ]] SLAMing on 68.13241403699999 meters Centerline goodness : 0.768181 Centerline is valid? [False, False] Translation: X:3.46, Y:0.18, Z:-0.13 [[ 0.94528455 -0.27271928 -0.1790567 3.46276235] [ 0.27998765 0.95986758 0.01616024 0.18465883] [ 0.16746351 -0.06540969 0.98370603 -0.12796499] [ 0. 0. 0. 1. ]] SLAMing on 68.16241403699999 meters Centerline goodness : 0.767838 Centerline is valid? [False, False] Translation: X:3.46, Y:0.19, Z:-0.13 [[ 0.94431462 -0.27641182 -0.17851162 3.46461628] [ 0.28307163 0.95901779 0.01246318 0.18509712] [ 0.16775085 -0.06230074 0.98385887 -0.12821716] [ 0. 0. 0. 1. ]] SLAMing on 68.19241403699999 meters Centerline goodness : 0.765730 Centerline is valid? [False, False] Translation: X:3.47, Y:0.19, Z:-0.13 [[ 0.94341219 -0.27964882 -0.17824135 3.46748242] [ 0.2857957 0.95824581 0.00926179 0.18538961] [ 0.16820898 -0.0596783 0.98394321 -0.12906077] [ 0. 0. 0. 1. ]] SLAMing on 68.222414037 meters Centerline goodness : 0.766630 Centerline is valid? [False, False] Translation: X:3.47, Y:0.19, Z:-0.13 [[ 0.94339798 -0.27959544 -0.17840021 3.46782964] [ 0.28574242 0.9582622 0.00921005 0.18585499] [ 0.16837909 -0.05966525 0.9839149 -0.12908228] [ 0. 0. 0. 1. ]] SLAMing on 68.252414037 meters Centerline goodness : 0.769336 Centerline is valid? [False, False] Translation: X:3.47, Y:0.19, Z:-0.13 [[ 0.94342485 -0.27941551 -0.17853998 3.46797748] [ 0.28556438 0.95831549 0.00918742 0.18660587] [ 0.16853052 -0.0596523 0.98388976 -0.12898963] [ 0. 0. 0. 1. ]] SLAMing on 68.282414037 meters Centerline goodness : 0.768094 Centerline is valid? [False, False] Translation: X:3.47, Y:0.19, Z:-0.13 [[ 0.94445378 -0.27531336 -0.17947037 3.46719412] [ 0.28210745 0.95929492 0.01298674 0.18506813] [ 0.16858959 -0.0628953 0.98367766 -0.12832701] [ 0. 0. 0. 1. ]] SLAMing on 68.312414037 meters Centerline goodness : 0.766505 Centerline is valid? [False, False] Translation: X:3.47, Y:0.18, Z:-0.13 [[ 0.94454025 -0.27491798 -0.17962134 3.46762536] [ 0.28171778 0.95940925 0.01299916 0.18490916] [ 0.16875668 -0.06288075 0.98364994 -0.12801272] [ 0. 0. 0. 1. ]] SLAMing on 68.342414037 meters Centerline goodness : 0.770193 Centerline is valid? [False, False] Translation: X:3.47, Y:0.18, Z:-0.13 [[ 0.94465623 -0.27432644 -0.17991558 3.46854427] [ 0.28116804 0.95956796 0.01318548 0.18442854] [ 0.1690241 -0.06304226 0.98359368 -0.1278843 ] [ 0. 0. 0. 1. ]] SLAMing on 68.372414037 meters Centerline goodness : 0.770090 Centerline is valid? [False, False] Translation: X:3.47, Y:0.18, Z:-0.13 [[ 0.94500382 -0.27307653 -0.17999163 3.46927382] [ 0.28000776 0.95989865 0.01379291 0.1835324 ] [ 0.1690072 -0.0634334 0.98357144 -0.1276639 ] [ 0. 0. 0. 1. ]] SLAMing on 68.40241403699999 meters Centerline goodness : 0.769076 Centerline is valid? [False, False] Translation: X:3.47, Y:0.18, Z:-0.13 [[ 0.94506373 -0.27281717 -0.18007034 3.4692686 ] [ 0.27974111 0.95997708 0.01374433 0.18383027] [ 0.16911371 -0.06336234 0.98355771 -0.12724777] [ 0. 0. 0. 1. ]] SLAMing on 68.43241403699999 meters Centerline goodness : 0.769498 Centerline is valid? [False, False] Translation: X:3.47, Y:0.18, Z:-0.13 [[ 0.94536247 -0.271882 -0.17991659 3.46780349] [ 0.27889328 0.96021417 0.01439717 0.18327813] [ 0.16884412 -0.06378807 0.98357651 -0.12636493] [ 0. 0. 0. 1. ]] SLAMing on 68.46241403699999 meters Centerline goodness : 0.770449 Centerline is valid? [False, False] Translation: X:3.47, Y:0.18, Z:-0.13 [[ 0.94540612 -0.27167783 -0.17999565 3.46773725] [ 0.27868203 0.9602763 0.01434433 0.1836342 ] [ 0.16894852 -0.06372277 0.98356281 -0.12597559] [ 0. 0. 0. 1. ]] SLAMing on 68.49241403699999 meters Centerline goodness : 0.771496 Centerline is valid? [False, False] Translation: X:3.47, Y:0.18, Z:-0.13 [[ 0.94565897 -0.27105451 -0.17960669 3.46709776] [ 0.27803346 0.9604634 0.0144031 0.18289894] [ 0.16860162 -0.06355709 0.98363306 -0.1260585 ] [ 0. 0. 0. 1. ]] SLAMing on 68.52241403699999 meters Centerline goodness : 0.767924 Centerline is valid? [False, False] Translation: X:3.47, Y:0.18, Z:-0.13 [[ 0.9454405 -0.27289364 -0.17796438 3.46744726] [ 0.27928911 0.96013894 0.01143727 0.18162061] [ 0.16774937 -0.06051677 0.98397046 -0.12811243] [ 0. 0. 0. 1. ]] SLAMing on 68.55241403699999 meters Centerline goodness : 0.765122 Centerline is valid? [False, False] Translation: X:3.47, Y:0.18, Z:-0.13 [[ 0.94492807 -0.27560083 -0.17650813 3.46707737] [ 0.28139385 0.95955758 0.00817005 0.18087177] [ 0.16711804 -0.05738841 0.98426527 -0.1287237 ] [ 0. 0. 0. 1. ]] SLAMing on 68.58241403699999 meters Centerline goodness : 0.764850 Centerline is valid? [False, False] Translation: X:3.47, Y:0.18, Z:-0.13 [[ 0.94421946 -0.27877147 -0.1753171 3.46674737] [ 0.28399978 0.95881154 0.00495574 0.18062978] [ 0.16671454 -0.05446932 0.98449955 -0.1288495 ] [ 0. 0. 0. 1. ]] SLAMing on 68.612414037 meters Centerline goodness : 0.766628 Centerline is valid? [False, False] Translation: X:3.47, Y:0.18, Z:-0.13 [[ 9.43030369e-01 -2.83102314e-01 -1.74776434e-01 3.46697268e+00] [ 2.87956416e-01 9.57640184e-01 2.52604365e-03 1.78914679e-01] [ 1.66657808e-01 -5.27101315e-02 9.84604904e-01 -1.27491788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.642414037 meters Centerline goodness : 0.765253 Centerline is valid? [False, False] Translation: X:3.47, Y:0.18, Z:-0.13 [[ 9.42640391e-01 -2.83957033e-01 -1.75492157e-01 3.46839775e+00] [ 2.89003616e-01 9.57322139e-01 3.35130431e-03 1.77444872e-01] [ 1.67050901e-01 -5.38769427e-02 9.84475125e-01 -1.26702435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.672414037 meters Centerline goodness : 0.766536 Centerline is valid? [False, False] Translation: X:3.47, Y:0.18, Z:-0.13 [[ 0.94224373 -0.28493538 -0.17603577 3.46939868] [ 0.29016267 0.95696836 0.00414584 0.17541026] [ 0.16727936 -0.0549854 0.98437504 -0.1255769 ] [ 0. 0. 0. 1. ]] SLAMing on 68.702414037 meters Centerline goodness : 0.766088 Centerline is valid? [False, False] Translation: X:3.47, Y:0.17, Z:-0.13 [[ 0.94181138 -0.28621975 -0.17626567 3.47089094] [ 0.29148698 0.95656564 0.00418561 0.17345346] [ 0.16741168 -0.05532121 0.98433373 -0.1254117 ] [ 0. 0. 0. 1. ]] SLAMing on 68.732414037 meters Centerline goodness : 0.768607 Centerline is valid? [False, False] Translation: X:3.47, Y:0.17, Z:-0.13 [[ 9.39899495e-01 -2.93752188e-01 -1.74064907e-01 3.47144600e+00] [ 2.97933578e-01 9.54584060e-01 -2.20341066e-03 1.71195102e-01] [ 1.66806842e-01 -4.97887959e-02 9.84731716e-01 -1.25342637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76241403699999 meters Centerline goodness : 0.764799 Centerline is valid? [False, False] Translation: X:3.47, Y:0.17, Z:-0.13 [[ 0.93893899 -0.29710575 -0.17355617 3.47271841] [ 0.30094328 0.95363193 -0.00439136 0.16986265] [ 0.1668134 -0.04810735 0.98481418 -0.12537616] [ 0. 0. 0. 1. ]] SLAMing on 68.79241403699999 meters Centerline goodness : 0.766262 Centerline is valid? [False, False] Translation: X:3.47, Y:0.17, Z:-0.12 [[ 0.9381963 -0.29902723 -0.17427112 3.47469508] [ 0.30294977 0.95299692 -0.00427882 0.16832698] [ 0.16735933 -0.04878103 0.98468841 -0.12449057] [ 0. 0. 0. 1. ]] SLAMing on 68.82241403699999 meters Centerline goodness : 0.767510 Centerline is valid? [False, False] Translation: X:3.48, Y:0.17, Z:-0.12 [[ 9.37709810e-01 -3.00008212e-01 -1.75200986e-01 3.47658166e+00] [ 3.04208531e-01 9.52600684e-01 -3.01769930e-03 1.66277406e-01] [ 1.67801914e-01 -5.04679084e-02 9.84528064e-01 -1.23449294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.85241403699999 meters Centerline goodness : 0.764317 Centerline is valid? [False, False] Translation: X:3.48, Y:0.16, Z:-0.12 [[ 9.36579081e-01 -3.03211047e-01 -1.75734703e-01 3.47814553e+00] [ 3.07507556e-01 9.51541167e-01 -2.91717649e-03 1.62888241e-01] [ 1.68103325e-01 -5.13075826e-02 9.84433240e-01 -1.21554487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88241403699999 meters Centerline goodness : 0.766027 Centerline is valid? [False, False] Translation: X:3.48, Y:0.16, Z:-0.12 [[ 9.36074573e-01 -3.04463522e-01 -1.76256511e-01 3.48008857e+00] [ 3.08846720e-01 9.51108021e-01 -2.69003441e-03 1.60962987e-01] [ 1.68457999e-01 -5.19181727e-02 9.84340594e-01 -1.21176561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.91241403699999 meters Centerline goodness : 0.767231 Centerline is valid? [False, False] Translation: X:3.48, Y:0.16, Z:-0.12 [[ 9.35612194e-01 -3.05546871e-01 -1.76835892e-01 3.48271455e+00] [ 3.10060959e-01 9.50714108e-01 -2.21056305e-03 1.59150912e-01] [ 1.68795808e-01 -5.27616766e-02 9.84237868e-01 -1.21579922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.94241403699999 meters Centerline goodness : 0.765780 Centerline is valid? [False, False] Translation: X:3.49, Y:0.16, Z:-0.12 [[ 9.35191426e-01 -3.06600350e-01 -1.77237758e-01 3.48519683e+00] [ 3.11155010e-01 9.50356624e-01 -2.20142933e-03 1.57580028e-01] [ 1.69114037e-01 -5.30896586e-02 9.84165601e-01 -1.22100559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.972414037 meters Centerline goodness : 0.767987 Centerline is valid? [False, False] Translation: X:3.49, Y:0.16, Z:-0.12 [[ 9.34782335e-01 -3.07640453e-01 -1.77593179e-01 3.48706946e+00] [ 3.12210344e-01 9.50010156e-01 -2.32463800e-03 1.56316827e-01] [ 1.69430476e-01 -5.32733970e-02 9.84101244e-01 -1.22196020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.002414037 meters Centerline goodness : 0.765925 Centerline is valid? [False, False] Translation: X:3.49, Y:0.16, Z:-0.12 [[ 9.34290906e-01 -3.08600634e-01 -1.78510928e-01 3.49002353e+00] [ 3.13318467e-01 9.49646304e-01 -1.85342792e-03 1.55219668e-01] [ 1.70094212e-01 -5.41991295e-02 9.83936184e-01 -1.22480122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.032414037 meters Centerline goodness : 0.767756 Centerline is valid? [False, False] Translation: X:3.49, Y:0.15, Z:-0.12 [[ 9.34198588e-01 -3.08482999e-01 -1.79196085e-01 3.49129866e+00] [ 3.13338783e-01 9.49640562e-01 -1.26855252e-03 1.54964290e-01] [ 1.70563197e-01 -5.49640032e-02 9.83812560e-01 -1.22302653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.062414037 meters Centerline goodness : 0.771167 Centerline is valid? [False, False] Translation: X:3.49, Y:0.15, Z:-0.12 [[ 9.34387480e-01 -3.07454464e-01 -1.79977189e-01 3.49282374e+00] [ 3.12521997e-01 9.49910500e-01 -2.08820804e-04 1.54427986e-01] [ 1.71026425e-01 -5.60517110e-02 9.83670762e-01 -1.22448394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.092414037 meters Centerline goodness : 0.766994 Centerline is valid? [False, False] Translation: X:3.49, Y:0.15, Z:-0.12 [[ 9.34600716e-01 -3.06660604e-01 -1.80224237e-01 3.49374236e+00] [ 3.11774757e-01 9.50156039e-01 5.26349829e-05 1.54657954e-01] [ 1.71225006e-01 -5.62385604e-02 9.83625549e-01 -1.23152694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.122414037 meters Centerline goodness : 0.767568 Centerline is valid? [False, False] Translation: X:3.49, Y:0.15, Z:-0.12 [[ 9.34893929e-01 -3.05671005e-01 -1.80384529e-01 3.49433642e+00] [ 3.10858414e-01 9.50456092e-01 5.14319880e-04 1.54564305e-01] [ 1.71290362e-01 -5.65548831e-02 9.83596034e-01 -1.23801838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.15241403699999 meters Centerline goodness : 0.769268 Centerline is valid? [False, False] Translation: X:3.49, Y:0.15, Z:-0.12 [[ 9.35221786e-01 -3.04582961e-01 -1.80525428e-01 3.49485419e+00] [ 3.09815314e-01 9.50796395e-01 8.28971645e-04 1.54852720e-01] [ 1.71390436e-01 -5.67048145e-02 9.83569968e-01 -1.24484609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18241403699999 meters Centerline goodness : 0.768176 Centerline is valid? [False, False] Translation: X:3.49, Y:0.16, Z:-0.12 [[ 9.35483587e-01 -3.03908478e-01 -1.80305561e-01 3.49431686e+00] [ 3.09095163e-01 9.51030853e-01 7.04985351e-04 1.55237901e-01] [ 1.71261900e-01 -5.63910789e-02 9.83610394e-01 -1.24700610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.21241403699999 meters Centerline goodness : 0.766679 Centerline is valid? [False, False] Translation: X:3.49, Y:0.15, Z:-0.13 [[ 9.36459763e-01 -3.00724021e-01 -1.80577341e-01 3.49435634e+00] [ 3.06194631e-01 9.51965523e-01 2.54767478e-03 1.54544331e-01] [ 1.71137256e-01 -5.76776074e-02 9.83557488e-01 -1.25493447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24241403699999 meters Centerline goodness : 0.767282 Centerline is valid? [False, False] Translation: X:3.49, Y:0.16, Z:-0.13 [[ 9.36665229e-01 -3.00024421e-01 -1.80675387e-01 3.49432824e+00] [ 3.05518057e-01 9.52182418e-01 2.71294513e-03 1.55069981e-01] [ 1.71221977e-01 -5.77407145e-02 9.83539041e-01 -1.25648481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.27241403699999 meters Centerline goodness : 0.769741 Centerline is valid? [False, False] Translation: X:3.49, Y:0.16, Z:-0.13 [[ 9.37009006e-01 -2.98945631e-01 -1.80681026e-01 3.49427136e+00] [ 3.04465843e-01 9.52518636e-01 2.96628831e-03 1.55598959e-01] [ 1.71215286e-01 -5.77906398e-02 9.83537273e-01 -1.26144977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.30241403699999 meters Centerline goodness : 0.767729 Centerline is valid? [False, False] Translation: X:3.49, Y:0.16, Z:-0.13 [[ 9.37538789e-01 -2.97372609e-01 -1.80528534e-01 3.49413349e+00] [ 3.02822053e-01 9.53043115e-01 2.76135772e-03 1.57416664e-01] [ 1.71230324e-01 -5.72569012e-02 9.83565871e-01 -1.27408396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.33241403699999 meters Centerline goodness : 0.767992 Centerline is valid? [False, False] Translation: X:3.49, Y:0.16, Z:-0.13 [[ 9.37813061e-01 -2.96553820e-01 -1.80450810e-01 3.49421150e+00] [ 3.01942966e-01 9.53322663e-01 2.51913247e-03 1.58399496e-01] [ 1.71280788e-01 -5.68483279e-02 9.83580784e-01 -1.28124418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.362414037 meters Centerline goodness : 0.767295 Centerline is valid? [False, False] Translation: X:3.49, Y:0.16, Z:-0.13 [[ 9.38081562e-01 -2.95618774e-01 -1.80589379e-01 3.49474664e+00] [ 3.01028418e-01 9.53611407e-01 2.67886186e-03 1.59131670e-01] [ 1.71420169e-01 -5.68755259e-02 9.83554930e-01 -1.28886001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.392414037 meters Centerline goodness : 0.769100 Centerline is valid? [False, False] Translation: X:3.49, Y:0.16, Z:-0.13 [[ 9.38655173e-01 -2.93905265e-01 -1.80405548e-01 3.49402529e+00] [ 2.99330108e-01 9.54144927e-01 2.99068714e-03 1.60049204e-01] [ 1.71254060e-01 -5.68080361e-02 9.83587766e-01 -1.29492870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.422414037 meters Centerline goodness : 0.766772 Centerline is valid? [False, False] Translation: X:3.49, Y:0.16, Z:-0.13 [[ 9.38701800e-01 -2.93945576e-01 -1.80096997e-01 3.49365972e+00] [ 2.99264187e-01 9.54167069e-01 2.48001186e-03 1.60804048e-01] [ 1.71113635e-01 -5.62245730e-02 9.83645730e-01 -1.29862518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.452414037 meters Centerline goodness : 0.768413 Centerline is valid? [False, False] Translation: X:3.49, Y:0.16, Z:-0.13 [[ 9.38791482e-01 -2.93587111e-01 -1.80214210e-01 3.49435878e+00] [ 2.98925687e-01 9.54272879e-01 2.58953527e-03 1.61201496e-01] [ 1.71213279e-01 -5.63016903e-02 9.83623979e-01 -1.30505535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.482414037 meters Centerline goodness : 0.767336 Centerline is valid? [False, False] Translation: X:3.49, Y:0.16, Z:-0.13 [[ 9.38848163e-01 -2.93626259e-01 -1.79854792e-01 3.49386540e+00] [ 2.98865250e-01 9.54292939e-01 2.13297320e-03 1.61287943e-01] [ 1.71007861e-01 -5.57548852e-02 9.83690858e-01 -1.30577479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.51241403699999 meters Centerline goodness : 0.766597 Centerline is valid? [False, False] Translation: X:3.49, Y:0.16, Z:-0.13 [[ 9.38990736e-01 -2.93249211e-01 -1.79725619e-01 3.49302368e+00] [ 2.98540033e-01 9.54393813e-01 2.50989706e-03 1.60786132e-01] [ 1.70792993e-01 -5.60120622e-02 9.83713577e-01 -1.29996842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54241403699999 meters Centerline goodness : 0.767106 Centerline is valid? [False, False] Translation: X:3.49, Y:0.16, Z:-0.13 [[ 9.39081842e-01 -2.92999800e-01 -1.79656372e-01 3.49272322e+00] [ 2.98290347e-01 9.54471760e-01 2.55495113e-03 1.61059543e-01] [ 1.70728333e-01 -5.59890697e-02 9.83726110e-01 -1.29969199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.57241403699999 meters Centerline goodness : 0.765590 Centerline is valid? [False, False] Translation: X:3.49, Y:0.16, Z:-0.13 [[ 9.39051582e-01 -2.93097269e-01 -1.79655553e-01 3.49258481e+00] [ 2.98328621e-01 9.54460670e-01 2.20503977e-03 1.61837509e-01] [ 1.70827869e-01 -5.56670396e-02 9.83727106e-01 -1.29943134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60241403699999 meters Centerline goodness : 0.765905 Centerline is valid? [False, False] Translation: X:3.49, Y:0.16, Z:-0.13 [[ 9.39284601e-01 -2.92734622e-01 -1.79027592e-01 3.49228509e+00] [ 2.97731697e-01 9.54648961e-01 1.09477549e-03 1.62420367e-01] [ 1.70588026e-01 -5.43304946e-02 9.83843444e-01 -1.30972758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.63241403699999 meters Centerline goodness : 0.765445 Centerline is valid? [False, False] Translation: X:3.49, Y:0.16, Z:-0.13 [[ 9.39459785e-01 -2.92372200e-01 -1.78700331e-01 3.49266044e+00] [ 2.97292650e-01 9.54786077e-01 7.92290556e-04 1.62239855e-01] [ 1.70388945e-01 -5.38706201e-02 9.83903229e-01 -1.32016226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.66241403699999 meters Centerline goodness : 0.765612 Centerline is valid? [False, False] Translation: X:3.49, Y:0.16, Z:-0.13 [[ 9.39671103e-01 -2.91640170e-01 -1.78785430e-01 3.49337425e+00] [ 2.96626640e-01 9.54992754e-01 1.21504409e-03 1.61860164e-01] [ 1.70384435e-01 -5.41742632e-02 9.83887338e-01 -1.32744290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.69241403699999 meters Centerline goodness : 0.765612 Centerline is valid? [False, False] Translation: X:3.49, Y:0.16, Z:-0.13 [[ 9.39671103e-01 -2.91640170e-01 -1.78785430e-01 3.49337425e+00] [ 2.96626640e-01 9.54992754e-01 1.21504409e-03 1.61860164e-01] [ 1.70384435e-01 -5.41742632e-02 9.83887338e-01 -1.32744290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.722414037 meters Centerline goodness : 0.766857 Centerline is valid? [False, False] Translation: X:3.49, Y:0.16, Z:-0.13 [[ 9.39847179e-01 -2.91087342e-01 -1.78760843e-01 3.49358301e+00] [ 2.96107477e-01 9.55153497e-01 1.46947489e-03 1.61635359e-01] [ 1.70316299e-01 -5.43135042e-02 9.83891458e-01 -1.33098987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.752414037 meters Centerline goodness : 0.765649 Centerline is valid? [False, False] Translation: X:3.49, Y:0.16, Z:-0.13 [[ 9.40438761e-01 -2.89310360e-01 -1.78534179e-01 3.49296292e+00] [ 2.94471780e-01 9.55656833e-01 2.52754506e-03 1.60644368e-01] [ 1.69886163e-01 -5.49502787e-02 9.83930464e-01 -1.33421681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.782414037 meters Centerline goodness : 0.766441 Centerline is valid? [False, False] Translation: X:3.49, Y:0.16, Z:-0.13 [[ 9.40487727e-01 -2.89197864e-01 -1.78458484e-01 3.49260871e+00] [ 2.94370004e-01 9.55687925e-01 2.62509105e-03 1.60074839e-01] [ 1.69791447e-01 -5.50016905e-02 9.83943941e-01 -1.33079372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.812414037 meters Centerline goodness : 0.765266 Centerline is valid? [False, False] Translation: X:3.49, Y:0.16, Z:-0.13 [[ 9.40442352e-01 -2.89001079e-01 -1.79015528e-01 3.49413049e+00] [ 2.94331614e-01 9.55697391e-01 3.37589826e-03 1.59467324e-01] [ 1.70109035e-01 -5.58647670e-02 9.83840457e-01 -1.33389383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.842414037 meters Centerline goodness : 0.765156 Centerline is valid? [False, False] Translation: X:3.49, Y:0.16, Z:-0.13 [[ 0.94031981 -0.28944243 -0.17894614 3.49458056] [ 0.29482125 0.9555455 0.00363714 0.157803 ] [ 0.16993844 -0.0561772 0.98385215 -0.13330466] [ 0. 0. 0. 1. ]] SLAMing on 69.87241403699998 meters Centerline goodness : 0.765665 Centerline is valid? [False, False] Translation: X:3.50, Y:0.16, Z:-0.13 [[ 9.39201279e-01 -2.93374610e-01 -1.78416074e-01 3.49623608e+00] [ 2.98358480e-01 9.54453184e-01 1.15648840e-03 1.56328674e-01] [ 1.69950505e-01 -5.43181240e-02 9.83954454e-01 -1.33430696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90241403699999 meters Centerline goodness : 0.764521 Centerline is valid? [False, False] Translation: X:3.50, Y:0.16, Z:-0.13 [[ 9.38729266e-01 -2.94559124e-01 -1.78947724e-01 3.49841727e+00] [ 2.99652781e-01 9.54047138e-01 1.50628479e-03 1.55082262e-01] [ 1.70280874e-01 -5.50361768e-02 9.83857430e-01 -1.33545250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.93241403699999 meters Centerline goodness : 0.767401 Centerline is valid? [False, False] Translation: X:3.50, Y:0.15, Z:-0.13 [[ 9.38339871e-01 -2.95421817e-01 -1.79566801e-01 3.50055672e+00] [ 3.00678109e-01 9.53723238e-01 2.15856648e-03 1.53732383e-01] [ 1.70619343e-01 -5.60172752e-02 9.83743414e-01 -1.33656803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96241403699999 meters Centerline goodness : 0.766687 Centerline is valid? [False, False] Translation: X:3.50, Y:0.15, Z:-0.13 [[ 0.93740522 -0.29754251 -0.18094172 3.50296021] [ 0.30319245 0.95292195 0.00375476 0.15066968] [ 0.17130613 -0.05837989 0.98348665 -0.13160524] [ 0. 0. 0. 1. ]] SLAMing on 69.99241403699999 meters Centerline goodness : 0.769214 Centerline is valid? [False, False] Translation: X:3.50, Y:0.15, Z:-0.13 [[ 0.93696849 -0.29851042 -0.18160834 3.50462626] [ 0.3043266 0.95255767 0.00438333 0.14940529] [ 0.17168394 -0.05937529 0.98336117 -0.13108802] [ 0. 0. 0. 1. ]] SLAMing on 70.02241403699999 meters Centerline goodness : 0.768046 Centerline is valid? [False, False] Translation: X:3.51, Y:0.15, Z:-0.13 [[ 0.93649562 -0.29937597 -0.18261977 3.5073018 ] [ 0.30543262 0.95219885 0.00531629 0.14796118] [ 0.17229877 -0.06075672 0.98316924 -0.13084763] [ 0. 0. 0. 1. ]] SLAMing on 70.05241403699999 meters Centerline goodness : 0.768866 Centerline is valid? [False, False] Translation: X:3.51, Y:0.15, Z:-0.13 [[ 0.93591154 -0.30132128 -0.18241455 3.50833973] [ 0.3072352 0.95162349 0.00438871 0.14642583] [ 0.17226756 -0.06015161 0.98321192 -0.13069496] [ 0. 0. 0. 1. ]] SLAMing on 70.08241403699999 meters Centerline goodness : 0.772335 Centerline is valid? [False, False] Translation: X:3.51, Y:0.15, Z:-0.13 [[ 0.93545351 -0.30217055 -0.18335674 3.51170645] [ 0.30825178 0.95129207 0.0049235 0.14512809] [ 0.17293808 -0.06112575 0.98303411 -0.13125582] [ 0. 0. 0. 1. ]] SLAMing on 70.112414037 meters Centerline goodness : 0.771295 Centerline is valid? [False, False] Translation: X:3.52, Y:0.14, Z:-0.13 [[ 0.93460527 -0.30412821 -0.18444245 3.5153941 ] [ 0.31043917 0.95057649 0.00564383 0.14282267] [ 0.17361021 -0.06253291 0.98282711 -0.13115201] [ 0. 0. 0. 1. ]] SLAMing on 70.142414037 meters Centerline goodness : 0.769894 Centerline is valid? [False, False] Translation: X:3.52, Y:0.14, Z:-0.13 [[ 0.93434016 -0.30471782 -0.18481209 3.51633115] [ 0.31112299 0.95035082 0.0059838 0.14183864] [ 0.17381295 -0.06309019 0.98275566 -0.13077047] [ 0. 0. 0. 1. ]] SLAMing on 70.172414037 meters Centerline goodness : 0.771178 Centerline is valid? [False, False] Translation: X:3.52, Y:0.14, Z:-0.13 [[ 0.93417523 -0.3046743 -0.1857154 3.51821329] [ 0.31131855 0.95027982 0.00700123 0.14104809] [ 0.1743485 -0.06435703 0.98257863 -0.1305311 ] [ 0. 0. 0. 1. ]] SLAMing on 70.202414037 meters Centerline goodness : 0.769136 Centerline is valid? [False, False] Translation: X:3.52, Y:0.14, Z:-0.13 [[ 0.9340799 -0.30452065 -0.18644548 3.51899402] [ 0.31138461 0.95025049 0.00797661 0.1405908 ] [ 0.17474086 -0.06550705 0.98243293 -0.12977012] [ 0. 0. 0. 1. ]] SLAMing on 70.232414037 meters Centerline goodness : 0.769789 Centerline is valid? [False, False] Translation: X:3.52, Y:0.14, Z:-0.13 [[ 0.93419027 -0.30391068 -0.18688722 3.52011863] [ 0.31092274 0.95039538 0.00869874 0.14028657] [ 0.17497311 -0.06623377 0.98234286 -0.13014588] [ 0. 0. 0. 1. ]] SLAMing on 70.26241403699999 meters Centerline goodness : 0.765767 Centerline is valid? [False, False] Translation: X:3.52, Y:0.14, Z:-0.13 [[ 0.9341265 -0.30391338 -0.18720132 3.52156475] [ 0.31094676 0.95038754 0.00869716 0.14062323] [ 0.17527062 -0.06633389 0.98228307 -0.1309089 ] [ 0. 0. 0. 1. ]] SLAMing on 70.29241403699999 meters Centerline goodness : 0.766372 Centerline is valid? [False, False] Translation: X:3.52, Y:0.14, Z:-0.13 [[ 0.93413448 -0.30378629 -0.18736772 3.52283443] [ 0.31083531 0.95042367 0.00873307 0.1403559 ] [ 0.17542573 -0.06639837 0.98225102 -0.13167319] [ 0. 0. 0. 1. ]] SLAMing on 70.32241403699999 meters Centerline goodness : 0.766149 Centerline is valid? [False, False] Translation: X:3.52, Y:0.14, Z:-0.13 [[ 0.93404099 -0.3037766 -0.18784892 3.52408906] [ 0.31093376 0.95038751 0.00915304 0.14023055] [ 0.17574879 -0.06695789 0.98215529 -0.13183112] [ 0. 0. 0. 1. ]] SLAMing on 70.35241403699999 meters Centerline goodness : 0.772825 Centerline is valid? [False, False] Translation: X:3.52, Y:0.14, Z:-0.13 [[ 0.93408559 -0.303337 -0.18833687 3.52497154] [ 0.31062769 0.95048164 0.00975172 0.14036525] [ 0.17605268 -0.06761158 0.98205607 -0.13195379] [ 0. 0. 0. 1. ]] SLAMing on 70.38241403699999 meters Centerline goodness : 0.771933 Centerline is valid? [False, False] Translation: X:3.53, Y:0.14, Z:-0.13 [[ 0.93406167 -0.3031276 -0.18879209 3.52581944] [ 0.31048304 0.95052679 0.00995487 0.14120572] [ 0.17643435 -0.0679152 0.98196662 -0.13209116] [ 0. 0. 0. 1. ]] SLAMing on 70.41241403699999 meters Centerline goodness : 0.771691 Centerline is valid? [False, False] Translation: X:3.53, Y:0.14, Z:-0.13 [[ 0.93396637 -0.30306309 -0.18936625 3.52687296] [ 0.310445 0.95053996 0.00988354 0.14263976] [ 0.17700485 -0.0680187 0.98185678 -0.13227584] [ 0. 0. 0. 1. ]] SLAMing on 70.44241403699999 meters Centerline goodness : 0.771238 Centerline is valid? [False, False] Translation: X:3.53, Y:0.14, Z:-0.13 [[ 0.93391153 -0.30285598 -0.18996713 3.52852451] [ 0.31028753 0.95059075 0.00994386 0.14400983] [ 0.17756944 -0.06823112 0.98174009 -0.13302616] [ 0. 0. 0. 1. ]] SLAMing on 70.472414037 meters Centerline goodness : 0.770859 Centerline is valid? [False, False] Translation: X:3.53, Y:0.15, Z:-0.13 [[ 0.93373404 -0.30349672 -0.18981697 3.52889951] [ 0.31080658 0.95042801 0.00926628 0.14513361] [ 0.17759508 -0.06764861 0.98177576 -0.13367845] [ 0. 0. 0. 1. ]] SLAMing on 70.502414037 meters Centerline goodness : 0.770192 Centerline is valid? [False, False] Translation: X:3.53, Y:0.15, Z:-0.13 [[ 0.93360689 -0.30360559 -0.19026775 3.53001102] [ 0.31098476 0.95036779 0.00946317 0.14528952] [ 0.17795127 -0.06800525 0.98168663 -0.13379121] [ 0. 0. 0. 1. ]] SLAMing on 70.532414037 meters Centerline goodness : 0.759136 Centerline is valid? [False, False] Translation: X:3.53, Y:0.15, Z:-0.13 [[ 0.9334625 -0.30358441 -0.19100856 3.53106283] [ 0.31112218 0.95031679 0.01004943 0.14567324] [ 0.17846779 -0.06880776 0.98153693 -0.13339068] [ 0. 0. 0. 1. ]] SLAMing on 70.562414037 meters Centerline goodness : 0.766153 Centerline is valid? [False, False] Translation: X:3.53, Y:0.15, Z:-0.13 [[ 0.93311307 -0.3039691 -0.19210097 3.5318717 ] [ 0.31168884 0.95012534 0.0105787 0.14725906] [ 0.1793044 -0.06974685 0.98131815 -0.13220964] [ 0. 0. 0. 1. ]] SLAMing on 70.592414037 meters Centerline goodness : 0.763789 Centerline is valid? [False, False] Translation: X:3.53, Y:0.15, Z:-0.13 [[ 0.93299749 -0.30424564 -0.19222452 3.5319097 ] [ 0.31195726 0.95003858 0.01045777 0.14820957] [ 0.17943898 -0.0697229 0.98129525 -0.1322374 ] [ 0. 0. 0. 1. ]] SLAMing on 70.62241403699998 meters Centerline goodness : 0.762737 Centerline is valid? [False, False] Translation: X:3.53, Y:0.15, Z:-0.13 [[ 0.93284333 -0.30434242 -0.19281861 3.53307048] [ 0.31210534 0.94998955 0.0104931 0.14932833] [ 0.17998217 -0.06996813 0.98117831 -0.13239085] [ 0. 0. 0. 1. ]] SLAMing on 70.65241403699999 meters Centerline goodness : 0.771627 Centerline is valid? [False, False] Translation: X:3.53, Y:0.15, Z:-0.13 [[ 0.93275434 -0.30437499 -0.19319734 3.53432598] [ 0.31215359 0.94997445 0.01042533 0.15027129] [ 0.18035933 -0.07003152 0.98110453 -0.13301373] [ 0. 0. 0. 1. ]] SLAMing on 70.68241403699999 meters Centerline goodness : 0.766095 Centerline is valid? [False, False] Translation: X:3.54, Y:0.15, Z:-0.13 [[ 0.93254727 -0.30468131 -0.19371344 3.53558913] [ 0.31246436 0.94987456 0.01021485 0.15125398] [ 0.18089119 -0.07005437 0.98100498 -0.13327502] [ 0. 0. 0. 1. ]] SLAMing on 70.71241403699999 meters Centerline goodness : 0.762440 Centerline is valid? [False, False] Translation: X:3.54, Y:0.15, Z:-0.13 [[ 0.93246075 -0.30459885 -0.1942588 3.53722593] [ 0.31243648 0.94988277 0.01030358 0.15206066] [ 0.18138463 -0.07030122 0.9808962 -0.13389291] [ 0. 0. 0. 1. ]] SLAMing on 70.74241403699999 meters Centerline goodness : 0.766689 Centerline is valid? [False, False] Translation: X:3.54, Y:0.15, Z:-0.13 [[ 0.93235381 -0.30460626 -0.19475985 3.53833061] [ 0.31248658 0.94986594 0.01033552 0.15329413] [ 0.18184749 -0.0704962 0.9807965 -0.1342304 ] [ 0. 0. 0. 1. ]] SLAMing on 70.77241403699999 meters Centerline goodness : 0.767767 Centerline is valid? [False, False] Translation: X:3.54, Y:0.15, Z:-0.13 [[ 0.93232782 -0.3044542 -0.19512169 3.53899159] [ 0.31236202 0.94990669 0.0103562 0.15424096] [ 0.18219441 -0.07060398 0.98072436 -0.13443 ] [ 0. 0. 0. 1. ]] SLAMing on 70.80241403699999 meters Centerline goodness : 0.768875 Centerline is valid? [False, False] Translation: X:3.54, Y:0.16, Z:-0.14 [[ 0.93269512 -0.30339211 -0.1950206 3.53884003] [ 0.31126349 0.95026775 0.01030761 0.15552319] [ 0.18219454 -0.07031665 0.98074498 -0.13526636] [ 0. 0. 0. 1. ]] SLAMing on 70.83241403699999 meters Centerline goodness : 0.768638 Centerline is valid? [False, False] Translation: X:3.54, Y:0.16, Z:-0.14 [[ 0.93296818 -0.302601 -0.19494359 3.53943354] [ 0.3104314 0.95054109 0.01019746 0.15616208] [ 0.18221613 -0.07003052 0.98076144 -0.13641144] [ 0. 0. 0. 1. ]] SLAMing on 70.862414037 meters Centerline goodness : 0.766968 Centerline is valid? [False, False] Translation: X:3.54, Y:0.16, Z:-0.14 [[ 0.93323998 -0.30173721 -0.19498153 3.54051334] [ 0.30958161 0.9508166 0.01034552 0.1565293 ] [ 0.18227005 -0.07001755 0.98075235 -0.13777151] [ 0. 0. 0. 1. ]] SLAMing on 70.892414037 meters Centerline goodness : 0.768862 Centerline is valid? [False, False] Translation: X:3.54, Y:0.16, Z:-0.14 [[ 0.93378551 -0.30041471 -0.19441096 3.53879838] [ 0.30814093 0.95128747 0.01006522 0.15778458] [ 0.18191698 -0.06930473 0.98086853 -0.1381047 ] [ 0. 0. 0. 1. ]] SLAMing on 70.922414037 meters Centerline goodness : 0.770303 Centerline is valid? [False, False] Translation: X:3.54, Y:0.16, Z:-0.14 [[ 0.93408281 -0.29957541 -0.19427783 3.53699792] [ 0.30728051 0.95156551 0.01008769 0.15921256] [ 0.18184606 -0.06912053 0.98089468 -0.13732653] [ 0. 0. 0. 1. ]] SLAMing on 70.952414037 meters Centerline goodness : 0.770088 Centerline is valid? [False, False] Translation: X:3.54, Y:0.16, Z:-0.14 [[ 0.93439932 -0.29806818 -0.1950725 3.53693154] [ 0.30598673 0.9519713 0.01108019 0.16097998] [ 0.18240077 -0.07004292 0.98072624 -0.13686288] [ 0. 0. 0. 1. ]] SLAMing on 70.982414037 meters Centerline goodness : 0.769520 Centerline is valid? [False, False] Translation: X:3.54, Y:0.16, Z:-0.14 [[ 0.93498381 -0.29631581 -0.19494156 3.53620817] [ 0.30419642 0.95254461 0.01110434 0.16401426] [ 0.18240014 -0.06968291 0.980752 -0.137977 ] [ 0. 0. 0. 1. ]] SLAMing on 71.01241403699999 meters Centerline goodness : 0.767058 Centerline is valid? [False, False] Translation: X:3.54, Y:0.16, Z:-0.14 [[ 0.93505657 -0.29650011 -0.19431133 3.53556663] [ 0.30412944 0.95257847 0.00997683 0.1647867 ] [ 0.18213866 -0.06842469 0.98088917 -0.13859693] [ 0. 0. 0. 1. ]] SLAMing on 71.04241403699999 meters Centerline goodness : 0.766997 Centerline is valid? [False, False] Translation: X:3.54, Y:0.17, Z:-0.14 [[ 0.93518293 -0.2961182 -0.19428563 3.53649986] [ 0.30369167 0.95272074 0.00972445 0.16537487] [ 0.18222037 -0.06809707 0.9808968 -0.13974724] [ 0. 0. 0. 1. ]] SLAMing on 71.07241403699999 meters Centerline goodness : 0.769152 Centerline is valid? [False, False] Translation: X:3.54, Y:0.17, Z:-0.14 [[ 0.93530509 -0.29591701 -0.19400387 3.53650169] [ 0.30336085 0.95283179 0.00915346 0.16598798] [ 0.18214439 -0.06741446 0.98095806 -0.14041051] [ 0. 0. 0. 1. ]] SLAMing on 71.10241403699999 meters Centerline goodness : 0.768311 Centerline is valid? [False, False] Translation: X:3.53, Y:0.17, Z:-0.14 [[ 0.93560732 -0.29520927 -0.19362446 3.53484382] [ 0.30255841 0.95308969 0.00885713 0.16726919] [ 0.18192677 -0.0668695 0.98103574 -0.14018495] [ 0. 0. 0. 1. ]] SLAMing on 71.13241403699999 meters Centerline goodness : 0.767392 Centerline is valid? [False, False] Translation: X:3.53, Y:0.17, Z:-0.14 [[ 0.93578508 -0.29474124 -0.19347838 3.53395113] [ 0.30210023 0.95323357 0.00901206 0.1680077 ] [ 0.18177386 -0.06688321 0.98106315 -0.13996929] [ 0. 0. 0. 1. ]] SLAMing on 71.16241403699999 meters Centerline goodness : 0.769097 Centerline is valid? [False, False] Translation: X:3.53, Y:0.17, Z:-0.14 [[ 0.93598271 -0.29438978 -0.19305706 3.53260986] [ 0.30165867 0.95337613 0.00871818 0.16865899] [ 0.18148945 -0.0663974 0.9811488 -0.13978176] [ 0. 0. 0. 1. ]] SLAMing on 71.19241403699999 meters Centerline goodness : 0.769306 Centerline is valid? [False, False] Translation: X:3.53, Y:0.17, Z:-0.14 [[ 0.93634477 -0.29339908 -0.19280939 3.53164074] [ 0.30069788 0.9536763 0.00907185 0.16875632] [ 0.18121607 -0.06647175 0.98119429 -0.13977116] [ 0. 0. 0. 1. ]] SLAMing on 71.222414037 meters Centerline goodness : 0.769160 Centerline is valid? [False, False] Translation: X:3.53, Y:0.17, Z:-0.14 [[ 0.93625243 -0.2938835 -0.19251979 3.53143385] [ 0.30104538 0.95357291 0.00838941 0.16924129] [ 0.18111615 -0.0658118 0.98125723 -0.14000217] [ 0. 0. 0. 1. ]] SLAMing on 71.252414037 meters Centerline goodness : 0.767881 Centerline is valid? [False, False] Translation: X:3.53, Y:0.17, Z:-0.14 [[ 0.93614439 -0.29435333 -0.19232731 3.53139576] [ 0.30140291 0.95346493 0.00780474 0.16933508] [ 0.18108 -0.06527437 0.9812998 -0.14006082] [ 0. 0. 0. 1. ]] SLAMing on 71.282414037 meters Centerline goodness : 0.766428 Centerline is valid? [False, False] Translation: X:3.53, Y:0.17, Z:-0.14 [[ 0.93607269 -0.29464868 -0.19222402 3.53176854] [ 0.30160919 0.95340346 0.00733024 0.16973337] [ 0.1811072 -0.06483817 0.98132369 -0.14046036] [ 0. 0. 0. 1. ]] SLAMing on 71.312414037 meters Centerline goodness : 0.767693 Centerline is valid? [False, False] Translation: X:3.54, Y:0.17, Z:-0.15 [[ 0.93637608 -0.30013238 -0.18199011 3.53541792] [ 0.3069202 0.95168607 0.00967594 0.17302947] [ 0.17029339 -0.06491676 0.98325275 -0.14618757] [ 0. 0. 0. 1. ]] SLAMing on 71.342414037 meters Centerline goodness : 0.769092 Centerline is valid? [False, False] Translation: X:3.54, Y:0.17, Z:-0.15 [[ 0.93623476 -0.30022413 -0.18256492 3.53656928] [ 0.30719235 0.9515897 0.01048371 0.17248153] [ 0.17057943 -0.06589776 0.98313791 -0.14599718] [ 0. 0. 0. 1. ]] SLAMing on 71.37241403699998 meters Centerline goodness : 0.768789 Centerline is valid? [False, False] Translation: X:3.54, Y:0.17, Z:-0.15 [[ 0.9360784 -0.30044915 -0.18299602 3.53766645] [ 0.30753006 0.95147546 0.01094154 0.17179714] [ 0.17082884 -0.06651891 0.98305277 -0.14579363] [ 0. 0. 0. 1. ]] SLAMing on 71.40241403699999 meters Centerline goodness : 0.768921 Centerline is valid? [False, False] Translation: X:3.54, Y:0.17, Z:-0.15 [[ 0.93581749 -0.30111423 -0.18323715 3.53864055] [ 0.30823695 0.95124575 0.01102341 0.17111461] [ 0.17098426 -0.06679636 0.98300693 -0.14569986] [ 0. 0. 0. 1. ]] SLAMing on 71.43241403699999 meters Centerline goodness : 0.767646 Centerline is valid? [False, False] Translation: X:3.54, Y:0.17, Z:-0.15 [[ 0.93530532 -0.3025751 -0.18344555 3.541274 ] [ 0.30968066 0.95078038 0.01070347 0.16985616] [ 0.17117783 -0.06682055 0.9829716 -0.14668661] [ 0. 0. 0. 1. ]] SLAMing on 71.46241403699999 meters Centerline goodness : 0.766418 Centerline is valid? [False, False] Translation: X:3.54, Y:0.17, Z:-0.15 [[ 0.93496121 -0.3033626 -0.1838985 3.54295823] [ 0.31051668 0.95050741 0.01072684 0.16928946] [ 0.17154277 -0.06713273 0.98288671 -0.14675513] [ 0. 0. 0. 1. ]] SLAMing on 71.49241403699999 meters Centerline goodness : 0.766869 Centerline is valid? [False, False] Translation: X:3.54, Y:0.17, Z:-0.15 [[ 0.93474727 -0.30368986 -0.18444513 3.54476768] [ 0.31095159 0.95036101 0.01109354 0.16873899] [ 0.17192046 -0.06772316 0.9827802 -0.14697266] [ 0. 0. 0. 1. ]] SLAMing on 71.52241403699999 meters Centerline goodness : 0.767497 Centerline is valid? [False, False] Translation: X:3.55, Y:0.17, Z:-0.15 [[ 0.9344381 -0.30394278 -0.18559158 3.54638588] [ 0.31156138 0.95014195 0.01264085 0.16717443] [ 0.17249625 -0.06963526 0.98254566 -0.14580572] [ 0. 0. 0. 1. ]] SLAMing on 71.55241403699999 meters Centerline goodness : 0.766403 Centerline is valid? [False, False] Translation: X:3.55, Y:0.17, Z:-0.15 [[ 0.93429807 -0.30400467 -0.18619419 3.54751515] [ 0.31179513 0.95005536 0.01336412 0.16659746] [ 0.17283204 -0.07054051 0.98242207 -0.14543536] [ 0. 0. 0. 1. ]] SLAMing on 71.58241403699999 meters Centerline goodness : 0.767158 Centerline is valid? [False, False] Translation: X:3.55, Y:0.17, Z:-0.15 [[ 0.93421132 -0.30398182 -0.18666616 3.54886125] [ 0.31188956 0.95001762 0.01383577 0.16601671] [ 0.17313031 -0.07114476 0.98232597 -0.14556371] [ 0. 0. 0. 1. ]] SLAMing on 71.612414037 meters Centerline goodness : 0.767158 Centerline is valid? [False, False] Translation: X:3.55, Y:0.17, Z:-0.15 [[ 0.93421132 -0.30398182 -0.18666616 3.54886125] [ 0.31188956 0.95001762 0.01383577 0.16601671] [ 0.17313031 -0.07114476 0.98232597 -0.14556371] [ 0. 0. 0. 1. ]] SLAMing on 71.642414037 meters Centerline goodness : 0.766137 Centerline is valid? [False, False] Translation: X:3.55, Y:0.17, Z:-0.15 [[ 0.93406106 -0.30423886 -0.18699907 3.55041002] [ 0.31219902 0.94991402 0.01396899 0.16597111] [ 0.17338313 -0.07142882 0.98226077 -0.14618881] [ 0. 0. 0. 1. ]] SLAMing on 71.672414037 meters Centerline goodness : 0.765914 Centerline is valid? [False, False] Translation: X:3.55, Y:0.17, Z:-0.15 [[ 0.93387203 -0.3059271 -0.18518 3.54907823] [ 0.31324588 0.94960939 0.01091005 0.16575666] [ 0.17251099 -0.06819546 0.98264405 -0.14711569] [ 0. 0. 0. 1. ]] SLAMing on 71.702414037 meters Centerline goodness : 0.768289 Centerline is valid? [False, False] Translation: X:3.55, Y:0.16, Z:-0.15 [[ 0.93400531 -0.30522684 -0.18566275 3.55045312] [ 0.31271808 0.94977314 0.01176378 0.16485853] [ 0.17274687 -0.06904753 0.98254311 -0.14751034] [ 0. 0. 0. 1. ]] SLAMing on 71.732414037 meters Centerline goodness : 0.766964 Centerline is valid? [False, False] Translation: X:3.55, Y:0.16, Z:-0.15 [[ 0.93417649 -0.30473788 -0.18560473 3.55045076] [ 0.31226294 0.94991958 0.0120267 0.16399735] [ 0.17264457 -0.06919254 0.98255089 -0.14752259] [ 0. 0. 0. 1. ]] SLAMing on 71.76241403699999 meters Centerline goodness : 0.770145 Centerline is valid? [False, False] Translation: X:3.55, Y:0.16, Z:-0.15 [[ 0.93422631 -0.30407226 -0.18644371 3.55091416] [ 0.31188073 0.95002738 0.01335639 0.16344539] [ 0.17306533 -0.07062609 0.98237485 -0.14646608] [ 0. 0. 0. 1. ]] SLAMing on 71.79241403699999 meters Centerline goodness : 0.771114 Centerline is valid? [False, False] Translation: X:3.55, Y:0.16, Z:-0.15 [[ 0.93411457 -0.30425188 -0.18671035 3.55137107] [ 0.31210801 0.94995072 0.01349868 0.1637346 ] [ 0.17325863 -0.07088311 0.98232226 -0.14627676] [ 0. 0. 0. 1. ]] SLAMing on 71.82241403699999 meters Centerline goodness : 0.767036 Centerline is valid? [False, False] Translation: X:3.55, Y:0.16, Z:-0.15 [[ 0.93394403 -0.30446598 -0.18721379 3.55296937] [ 0.3124304 0.94983922 0.01388132 0.1634064 ] [ 0.17359661 -0.07145566 0.98222111 -0.14655222] [ 0. 0. 0. 1. ]] SLAMing on 71.85241403699999 meters Centerline goodness : 0.768203 Centerline is valid? [False, False] Translation: X:3.55, Y:0.16, Z:-0.15 [[ 0.93368327 -0.30524856 -0.18724013 3.55416057] [ 0.31316358 0.94960302 0.01351547 0.16259786] [ 0.17367822 -0.07125595 0.98222119 -0.14689397] [ 0. 0. 0. 1. ]] SLAMing on 71.88241403699999 meters Centerline goodness : 0.768292 Centerline is valid? [False, False] Translation: X:3.56, Y:0.16, Z:-0.15 [[ 0.93286455 -0.30830113 -0.18631734 3.55577494] [ 0.31577826 0.94876783 0.01112161 0.16115688] [ 0.1733431 -0.06920992 0.98242667 -0.14800303] [ 0. 0. 0. 1. ]] SLAMing on 71.91241403699999 meters Centerline goodness : 0.768066 Centerline is valid? [False, False] Translation: X:3.56, Y:0.16, Z:-0.15 [[ 0.93265914 -0.30849745 -0.18701937 3.55720375] [ 0.31618566 0.9486213 0.0120105 0.16013488] [ 0.17370535 -0.07033454 0.9822828 -0.14757226] [ 0. 0. 0. 1. ]] SLAMing on 71.94241403699999 meters Centerline goodness : 0.771052 Centerline is valid? [False, False] Translation: X:3.56, Y:0.16, Z:-0.15 [[ 0.93242002 -0.30890216 -0.18754295 3.55784191] [ 0.31673118 0.94843231 0.01255023 0.15954508] [ 0.173995 -0.07110278 0.98217622 -0.14671968] [ 0. 0. 0. 1. ]] SLAMing on 71.972414037 meters Centerline goodness : 0.767847 Centerline is valid? [False, False] Translation: X:3.56, Y:0.16, Z:-0.15 [[ 0.93221529 -0.309027 -0.18835331 3.55928774] [ 0.31708804 0.94829992 0.0135067 0.15884073] [ 0.1744415 -0.07231573 0.98200845 -0.14624941] [ 0. 0. 0. 1. ]] SLAMing on 72.002414037 meters Centerline goodness : 0.766060 Centerline is valid? [False, False] Translation: X:3.56, Y:0.16, Z:-0.15 [[ 0.93206828 -0.3092421 -0.18872745 3.56175017] [ 0.31745203 0.94816853 0.01416507 0.15638661] [ 0.17456499 -0.07311473 0.98192734 -0.14700873] [ 0. 0. 0. 1. ]] SLAMing on 72.032414037 meters Centerline goodness : 0.766850 Centerline is valid? [False, False] Translation: X:3.56, Y:0.15, Z:-0.15 [[ 0.93205677 -0.3091195 -0.18898497 3.56363228] [ 0.31742773 0.94816976 0.01461969 0.1548821 ] [ 0.1746706 -0.07361545 0.98187115 -0.14779135] [ 0. 0. 0. 1. ]] SLAMing on 72.062414037 meters Centerline goodness : 0.768886 Centerline is valid? [False, False] Translation: X:3.57, Y:0.15, Z:-0.15 [[ 0.93195551 -0.30932378 -0.18915003 3.56503904] [ 0.31765433 0.94809334 0.01465443 0.15398648] [ 0.17479892 -0.0737416 0.98183884 -0.14827358] [ 0. 0. 0. 1. ]] SLAMing on 72.092414037 meters Centerline goodness : 0.767762 Centerline is valid? [False, False] Translation: X:3.57, Y:0.15, Z:-0.15 [[ 0.93183298 -0.30937248 -0.18967332 3.56658656] [ 0.31782506 0.94802898 0.01510909 0.15362327] [ 0.17514146 -0.07436208 0.981731 -0.14856035] [ 0. 0. 0. 1. ]] SLAMing on 72.12241403699998 meters Centerline goodness : 0.767402 Centerline is valid? [False, False] Translation: X:3.57, Y:0.15, Z:-0.15 [[ 0.93173054 -0.30933391 -0.19023862 3.56725746] [ 0.31797448 0.9479656 0.01592014 0.15277781] [ 0.17541503 -0.07532431 0.98160879 -0.14770047] [ 0. 0. 0. 1. ]] SLAMing on 72.15241403699999 meters Centerline goodness : 0.767627 Centerline is valid? [False, False] Translation: X:3.57, Y:0.15, Z:-0.15 [[ 0.93170888 -0.30900122 -0.1908843 3.56873378] [ 0.31786242 0.94798618 0.01690213 0.15193692] [ 0.1757329 -0.07642281 0.98146701 -0.14772036] [ 0. 0. 0. 1. ]] SLAMing on 72.18241403699999 meters Centerline goodness : 0.769801 Centerline is valid? [False, False] Translation: X:3.57, Y:0.15, Z:-0.15 [[ 0.93171089 -0.30888601 -0.19106087 3.56984632] [ 0.31782644 0.94799148 0.0172775 0.15075014] [ 0.1757873 -0.07682183 0.98142612 -0.14804547] [ 0. 0. 0. 1. ]] SLAMing on 72.21241403699999 meters Centerline goodness : 0.768839 Centerline is valid? [False, False] Translation: X:3.57, Y:0.15, Z:-0.15 [[ 0.93163619 -0.30905896 -0.1911454 3.5711173 ] [ 0.31802709 0.94792236 0.01737762 0.14956393] [ 0.17582029 -0.07697903 0.98140789 -0.14849278] [ 0. 0. 0. 1. ]] SLAMing on 72.24241403699999 meters Centerline goodness : 0.766406 Centerline is valid? [False, False] Translation: X:3.57, Y:0.15, Z:-0.15 [[ 0.93158891 -0.30924816 -0.1910698 3.57174373] [ 0.31825103 0.94784333 0.01758689 0.14763145] [ 0.17566552 -0.07719191 0.98141889 -0.14845486] [ 0. 0. 0. 1. ]] SLAMing on 72.27241403699999 meters Centerline goodness : 0.768218 Centerline is valid? [False, False] Translation: X:3.57, Y:0.15, Z:-0.15 [[ 0.93172545 -0.30865569 -0.19136185 3.57254623] [ 0.31778986 0.94798558 0.01824692 0.14705951] [ 0.17577625 -0.07781398 0.98134993 -0.14867198] [ 0. 0. 0. 1. ]] SLAMing on 72.30241403699999 meters Centerline goodness : 0.767639 Centerline is valid? [False, False] Translation: X:3.57, Y:0.15, Z:-0.15 [[ 0.93169199 -0.30837001 -0.19198431 3.5736086 ] [ 0.31765651 0.94801861 0.01884278 0.14719213] [ 0.17619415 -0.07854073 0.98121709 -0.14854933] [ 0. 0. 0. 1. ]] SLAMing on 72.33241403699999 meters Centerline goodness : 0.766397 Centerline is valid? [False, False] Translation: X:3.57, Y:0.15, Z:-0.15 [[ 0.93188685 -0.30783199 -0.19190197 3.57339446] [ 0.31712506 0.948194 0.0189692 0.14681437] [ 0.17612097 -0.07853407 0.98123076 -0.14849384] [ 0. 0. 0. 1. ]] SLAMing on 72.362414037 meters Centerline goodness : 0.767256 Centerline is valid? [False, False] Translation: X:3.57, Y:0.15, Z:-0.15 [[ 0.93215468 -0.30694531 -0.19202145 3.57395129] [ 0.3162968 0.94846339 0.01932675 0.1469572 ] [ 0.17619306 -0.07875129 0.98120041 -0.14911987] [ 0. 0. 0. 1. ]] SLAMing on 72.392414037 meters Centerline goodness : 0.765742 Centerline is valid? [False, False] Translation: X:3.57, Y:0.15, Z:-0.15 [[ 0.93210366 -0.30725382 -0.19177554 3.5739383 ] [ 0.31648085 0.94841427 0.01871485 0.14727168] [ 0.17613245 -0.07813747 0.98126036 -0.1494335 ] [ 0. 0. 0. 1. ]] SLAMing on 72.422414037 meters Centerline goodness : 0.767418 Centerline is valid? [False, False] Translation: X:3.58, Y:0.15, Z:-0.15 [[ 0.93218284 -0.3069837 -0.19182327 3.57602452] [ 0.31621463 0.94850254 0.01874141 0.14666164] [ 0.17619155 -0.07812774 0.98125053 -0.15116068] [ 0. 0. 0. 1. ]] SLAMing on 72.452414037 meters Centerline goodness : 0.766482 Centerline is valid? [False, False] Translation: X:3.58, Y:0.15, Z:-0.15 [[ 0.93224004 -0.30675501 -0.19191109 3.57713365] [ 0.31601128 0.94856785 0.01886513 0.14612253] [ 0.17625372 -0.0782329 0.98123098 -0.15188356] [ 0. 0. 0. 1. ]] SLAMing on 72.482414037 meters Centerline goodness : 0.764876 Centerline is valid? [False, False] Translation: X:3.58, Y:0.14, Z:-0.15 [[ 0.93241767 -0.30619823 -0.19193732 3.57763874] [ 0.31553907 0.9487147 0.01937839 0.14495351] [ 0.17616013 -0.07863248 0.98121585 -0.1521444 ] [ 0. 0. 0. 1. ]] SLAMing on 72.51241403699999 meters Centerline goodness : 0.764045 Centerline is valid? [False, False] Translation: X:3.58, Y:0.14, Z:-0.15 [[ 0.93246797 -0.3058603 -0.19223155 3.57847004] [ 0.31529723 0.94878613 0.01981237 0.14479518] [ 0.17632681 -0.07908447 0.98114958 -0.1524209 ] [ 0. 0. 0. 1. ]] SLAMing on 72.54241403699999 meters Centerline goodness : 0.766495 Centerline is valid? [False, False] Translation: X:3.58, Y:0.14, Z:-0.15 [[ 0.93250983 -0.30564661 -0.19236832 3.5789241 ] [ 0.3151242 0.94883975 0.01999685 0.14462695] [ 0.17641473 -0.07926717 0.98111903 -0.1525014 ] [ 0. 0. 0. 1. ]] SLAMing on 72.57241403699999 meters Centerline goodness : 0.764327 Centerline is valid? [False, False] Translation: X:3.58, Y:0.14, Z:-0.15 [[ 0.93241755 -0.30594671 -0.19233858 3.57895425] [ 0.31541982 0.94874237 0.01995632 0.14459473] [ 0.17637419 -0.07927502 0.98112569 -0.15235519] [ 0. 0. 0. 1. ]] SLAMing on 72.60241403699999 meters Centerline goodness : 0.765969 Centerline is valid? [False, False] Translation: X:3.58, Y:0.14, Z:-0.15 [[ 0.93242908 -0.30595805 -0.19226464 3.5796072 ] [ 0.315418 0.94874382 0.01991582 0.14377699] [ 0.17631648 -0.07921381 0.981141 -0.15274967] [ 0. 0. 0. 1. ]] SLAMing on 72.63241403699999 meters Centerline goodness : 0.767519 Centerline is valid? [False, False] Translation: X:3.58, Y:0.14, Z:-0.15 [[ 0.93259668 -0.30554911 -0.19210202 3.58059876] [ 0.31501897 0.94887282 0.02008515 0.14220713] [ 0.17614338 -0.07924713 0.98116941 -0.15360817] [ 0. 0. 0. 1. ]] SLAMing on 72.66241403699999 meters Centerline goodness : 0.763864 Centerline is valid? [False, False] Translation: X:3.58, Y:0.14, Z:-0.15 [[ 0.93268516 -0.30524272 -0.19215948 3.5815939 ] [ 0.31477833 0.94894478 0.02045487 0.14115164] [ 0.17610504 -0.07956559 0.98115051 -0.15424342] [ 0. 0. 0. 1. ]] SLAMing on 72.69241403699999 meters Centerline goodness : 0.764006 Centerline is valid? [False, False] Translation: X:3.58, Y:0.14, Z:-0.15 [[ 0.93297905 -0.30429441 -0.19223684 3.58129016] [ 0.31398377 0.94918786 0.021368 0.13993696] [ 0.17596671 -0.08029514 0.9811159 -0.15378122] [ 0. 0. 0. 1. ]] SLAMing on 72.722414037 meters Centerline goodness : 0.766320 Centerline is valid? [False, False] Translation: X:3.58, Y:0.14, Z:-0.15 [[ 0.93309969 -0.30358063 -0.19277908 3.58179934] [ 0.31343615 0.94935185 0.02210997 0.14009829] [ 0.17630302 -0.08105473 0.98099306 -0.15348627] [ 0. 0. 0. 1. ]] SLAMing on 72.752414037 meters Centerline goodness : 0.764128 Centerline is valid? [False, False] Translation: X:3.58, Y:0.14, Z:-0.15 [[ 0.93327791 -0.30314772 -0.19259752 3.58171145] [ 0.31298299 0.94950101 0.02212409 0.14004422] [ 0.17616467 -0.08092767 0.9810284 -0.1538847 ] [ 0. 0. 0. 1. ]] SLAMing on 72.782414037 meters Centerline goodness : 0.766258 Centerline is valid? [False, False] Translation: X:3.58, Y:0.14, Z:-0.15 [[ 0.93367746 -0.30226918 -0.19204097 3.58137809] [ 0.31197322 0.94984221 0.02173669 0.13966628] [ 0.17583829 -0.08020669 0.98114616 -0.15473591] [ 0. 0. 0. 1. ]] SLAMing on 72.812414037 meters Centerline goodness : 0.767049 Centerline is valid? [False, False] Translation: X:3.58, Y:0.14, Z:-0.16 [[ 0.93409684 -0.30116705 -0.19173289 3.58159157] [ 0.31088973 0.95018924 0.02209025 0.13861595] [ 0.17552967 -0.08024221 0.98119851 -0.15571575] [ 0. 0. 0. 1. ]] SLAMing on 72.842414037 meters Centerline goodness : 0.769594 Centerline is valid? [False, False] Translation: X:3.58, Y:0.14, Z:-0.16 [[ 0.93448871 -0.29993995 -0.19174691 3.58200256] [ 0.3097305 0.95055621 0.02258114 0.13811222] [ 0.17549323 -0.08049169 0.9811846 -0.15647409] [ 0. 0. 0. 1. ]] SLAMing on 72.87241403699998 meters Centerline goodness : 0.765898 Centerline is valid? [False, False] Translation: X:3.58, Y:0.14, Z:-0.16 [[ 0.93481232 -0.29892411 -0.19175586 3.58212911] [ 0.30877546 0.95085648 0.02301459 0.13787956] [ 0.17545268 -0.08072382 0.98117278 -0.15689721] [ 0. 0. 0. 1. ]] SLAMing on 72.90241403699999 meters Centerline goodness : 0.765387 Centerline is valid? [False, False] Translation: X:3.58, Y:0.14, Z:-0.16 [[ 0.93501584 -0.29847646 -0.19146066 3.58119999] [ 0.30826417 0.95102658 0.02283935 0.13837976] [ 0.17526717 -0.08037561 0.98123452 -0.15681871] [ 0. 0. 0. 1. ]] SLAMing on 72.93241403699999 meters Centerline goodness : 0.765449 Centerline is valid? [False, False] Translation: X:3.58, Y:0.14, Z:-0.16 [[ 0.93511052 -0.29818674 -0.19144971 3.58161119] [ 0.30797252 0.95112054 0.02286138 0.13846221] [ 0.17527479 -0.08033917 0.98123614 -0.15735885] [ 0. 0. 0. 1. ]] SLAMing on 72.96241403699999 meters Centerline goodness : 0.764360 Centerline is valid? [False, False] Translation: X:3.58, Y:0.14, Z:-0.16 [[ 0.93519542 -0.29781903 -0.19160727 3.58253032] [ 0.30767158 0.95120981 0.0231968 0.13779008] [ 0.17535027 -0.08064565 0.98119751 -0.15779331] [ 0. 0. 0. 1. ]] SLAMing on 72.99241403699999 meters Centerline goodness : 0.767607 Centerline is valid? [False, False] Translation: X:3.58, Y:0.14, Z:-0.16 [[ 0.93537246 -0.29749378 -0.19124802 3.58201685] [ 0.30734735 0.9513096 0.02340183 0.13620735] [ 0.17497418 -0.08066899 0.98126273 -0.15753436] [ 0. 0. 0. 1. ]] SLAMing on 73.02241403699999 meters Centerline goodness : 0.767863 Centerline is valid? [False, False] Translation: X:3.58, Y:0.14, Z:-0.16 [[ 0.93532501 -0.29729604 -0.19178683 3.58322192] [ 0.30730431 0.95130775 0.02403391 0.13539607] [ 0.17530311 -0.08141644 0.98114229 -0.15741027] [ 0. 0. 0. 1. ]] SLAMing on 73.05241403699999 meters Centerline goodness : 0.768519 Centerline is valid? [False, False] Translation: X:3.58, Y:0.13, Z:-0.16 [[ 0.93516116 -0.29745939 -0.19233179 3.58467007] [ 0.30760785 0.95119662 0.0245438 0.13472619] [ 0.17564457 -0.08211518 0.98102298 -0.15738701] [ 0. 0. 0. 1. ]] SLAMing on 73.08241403699999 meters Centerline goodness : 0.766972 Centerline is valid? [False, False] Translation: X:3.59, Y:0.13, Z:-0.16 [[ 0.93449414 -0.2986425 -0.19373529 3.5878115 ] [ 0.30912702 0.95067535 0.02562944 0.13332143] [ 0.17652533 -0.08383938 0.98071901 -0.15668197] [ 0. 0. 0. 1. ]] SLAMing on 73.112414037 meters Centerline goodness : 0.768576 Centerline is valid? [False, False] Translation: X:3.59, Y:0.13, Z:-0.16 [[ 0.93385943 -0.30029899 -0.1942346 3.58905576] [ 0.31080194 0.9501371 0.02533078 0.13311252] [ 0.17694269 -0.08402388 0.980628 -0.15595077] [ 0. 0. 0. 1. ]] SLAMing on 73.142414037 meters Centerline goodness : 0.771467 Centerline is valid? [False, False] Translation: X:3.59, Y:0.13, Z:-0.16 [[ 0.93333984 -0.30137575 -0.19506256 3.59150753] [ 0.31204186 0.94971994 0.02572785 0.13243319] [ 0.17750106 -0.08488051 0.9804533 -0.15588363] [ 0. 0. 0. 1. ]] SLAMing on 73.172414037 meters Centerline goodness : 0.768732 Centerline is valid? [False, False] Translation: X:3.59, Y:0.13, Z:-0.16 [[ 0.93239054 -0.30447188 -0.19479415 3.59323896] [ 0.31475244 0.94888464 0.02342732 0.13233425] [ 0.17770421 -0.08315535 0.98056433 -0.15609549] [ 0. 0. 0. 1. ]] SLAMing on 73.202414037 meters Centerline goodness : 0.769145 Centerline is valid? [False, False] Translation: X:3.60, Y:0.13, Z:-0.16 [[ 0.93054287 -0.30954976 -0.1956244 3.59782008] [ 0.31963597 0.94729723 0.02146639 0.13115257] [ 0.17866954 -0.08250399 0.98044392 -0.15563635] [ 0. 0. 0. 1. ]] SLAMing on 73.232414037 meters Centerline goodness : 0.770601 Centerline is valid? [False, False] Translation: X:3.60, Y:0.13, Z:-0.16 [[ 0.92990677 -0.31073508 -0.19676662 3.60108158] [ 0.32110768 0.94677829 0.02237668 0.12930577] [ 0.17934114 -0.0839915 0.98019497 -0.15532442] [ 0. 0. 0. 1. ]] SLAMing on 73.26241403699999 meters Centerline goodness : 0.770425 Centerline is valid? [False, False] Translation: X:3.60, Y:0.13, Z:-0.15 [[ 0.92932439 -0.3117856 -0.19785325 3.60398614] [ 0.32243939 0.94630369 0.02328455 0.12748455] [ 0.17996947 -0.08543458 0.97995506 -0.15476311] [ 0. 0. 0. 1. ]] SLAMing on 73.29241403699999 meters Centerline goodness : 0.771008 Centerline is valid? [False, False] Translation: X:3.61, Y:0.12, Z:-0.15 [[ 0.92847751 -0.31346388 -0.19917308 3.60693416] [ 0.32459528 0.94552076 0.02506771 0.12386045] [ 0.18046446 -0.08792544 0.97964366 -0.15318551] [ 0. 0. 0. 1. ]] SLAMing on 73.32241403699999 meters Centerline goodness : 0.773637 Centerline is valid? [False, False] Translation: X:3.61, Y:0.12, Z:-0.15 [[ 0.92802902 -0.31396545 -0.20046904 3.60907781] [ 0.3254246 0.94520646 0.02614518 0.12332478] [ 0.18127595 -0.08950104 0.97935111 -0.15212962] [ 0. 0. 0. 1. ]] SLAMing on 73.35241403699999 meters Centerline goodness : 0.771088 Centerline is valid? [False, False] Translation: X:3.61, Y:0.12, Z:-0.15 [[ 0.92770504 -0.31428994 -0.20145764 3.61051051] [ 0.32600379 0.9449832 0.02698654 0.12308344] [ 0.18189249 -0.0907115 0.9791254 -0.15120627] [ 0. 0. 0. 1. ]] SLAMing on 73.38241403699999 meters Centerline goodness : 0.771485 Centerline is valid? [False, False] Translation: X:3.61, Y:0.12, Z:-0.15 [[ 0.92708239 -0.31522484 -0.20285841 3.61264481] [ 0.327204 0.94455051 0.02760194 0.12388078] [ 0.1829092 -0.09196536 0.97881898 -0.15015841] [ 0. 0. 0. 1. ]] SLAMing on 73.41241403699999 meters Centerline goodness : 0.771316 Centerline is valid? [False, False] Translation: X:3.61, Y:0.12, Z:-0.15 [[ 0.92691558 -0.31545913 -0.20325613 3.61453325] [ 0.32746082 0.94446463 0.02749509 0.12385779] [ 0.18329465 -0.09204405 0.97873948 -0.15091291] [ 0. 0. 0. 1. ]] SLAMing on 73.44241403699999 meters Centerline goodness : 0.771698 Centerline is valid? [False, False] Translation: X:3.62, Y:0.12, Z:-0.15 [[ 0.92688759 -0.31553967 -0.20325875 3.61629807] [ 0.32750177 0.94445683 0.02727425 0.12304498] [ 0.18336301 -0.09184776 0.97874511 -0.15218275] [ 0. 0. 0. 1. ]] SLAMing on 73.472414037 meters Centerline goodness : 0.771541 Centerline is valid? [False, False] Translation: X:3.62, Y:0.12, Z:-0.15 [[ 0.92670635 -0.31594364 -0.20345752 3.61832723] [ 0.32788129 0.94433298 0.02700158 0.12275789] [ 0.18360067 -0.09173245 0.97871137 -0.15341664] [ 0. 0. 0. 1. ]] SLAMing on 73.502414037 meters Centerline goodness : 0.771541 Centerline is valid? [False, False] Translation: X:3.62, Y:0.12, Z:-0.15 [[ 0.92670635 -0.31594364 -0.20345752 3.61832723] [ 0.32788129 0.94433298 0.02700158 0.12275789] [ 0.18360067 -0.09173245 0.97871137 -0.15341664] [ 0. 0. 0. 1. ]] SLAMing on 73.532414037 meters Centerline goodness : 0.772473 Centerline is valid? [False, False] Translation: X:3.62, Y:0.12, Z:-0.15 [[ 0.92658827 -0.31592409 -0.20402488 3.61896395] [ 0.32795721 0.94430027 0.02722267 0.12357264] [ 0.18406045 -0.09213564 0.97858713 -0.15303675] [ 0. 0. 0. 1. ]] SLAMing on 73.562414037 meters Centerline goodness : 0.769846 Centerline is valid? [False, False] Translation: X:3.62, Y:0.12, Z:-0.15 [[ 0.9267719 -0.31393582 -0.20624776 3.62083795] [ 0.32679834 0.94459644 0.0306663 0.12401327] [ 0.18519365 -0.09582209 0.97801914 -0.1517938 ] [ 0. 0. 0. 1. ]] SLAMing on 73.592414037 meters Centerline goodness : 0.773139 Centerline is valid? [False, False] Translation: X:3.62, Y:0.13, Z:-0.15 [[ 0.92623211 -0.31456297 -0.20771185 3.62158903] [ 0.32770607 0.94426096 0.03130464 0.12695168] [ 0.18628691 -0.0970638 0.97768901 -0.15030915] [ 0. 0. 0. 1. ]] SLAMing on 73.62241403699998 meters Centerline goodness : 0.771226 Centerline is valid? [False, False] Translation: X:3.62, Y:0.13, Z:-0.15 [[ 0.92598541 -0.31491228 -0.20828174 3.62317556] [ 0.32808452 0.94413566 0.03111924 0.12790635] [ 0.18684638 -0.09714997 0.97757369 -0.15062845] [ 0. 0. 0. 1. ]] SLAMing on 73.65241403699999 meters Centerline goodness : 0.773342 Centerline is valid? [False, False] Translation: X:3.62, Y:0.13, Z:-0.15 [[ 0.92565972 -0.31575087 -0.20845977 3.6239184 ] [ 0.32884498 0.94389029 0.03053045 0.12853513] [ 0.18712314 -0.09681176 0.9775543 -0.15066822] [ 0. 0. 0. 1. ]] SLAMing on 73.68241403699999 meters Centerline goodness : 0.772730 Centerline is valid? [False, False] Translation: X:3.63, Y:0.13, Z:-0.15 [[ 0.92537094 -0.31622982 -0.20901513 3.6256755 ] [ 0.32933289 0.94372966 0.03023529 0.12946743] [ 0.18769248 -0.09681442 0.97744488 -0.15114847] [ 0. 0. 0. 1. ]] SLAMing on 73.71241403699999 meters Centerline goodness : 0.777525 Centerline is valid? [False, False] Translation: X:3.63, Y:0.13, Z:-0.15 [[ 0.92480786 -0.31741891 -0.20970372 3.62598498] [ 0.3305885 0.94329502 0.03009567 0.13088758] [ 0.18825954 -0.09715835 0.97730169 -0.14993595] [ 0. 0. 0. 1. ]] SLAMing on 73.74241403699999 meters Centerline goodness : 0.772919 Centerline is valid? [False, False] Translation: X:3.63, Y:0.13, Z:-0.15 [[ 0.92445344 -0.31789805 -0.21053898 3.626448 ] [ 0.33123291 0.94305718 0.03046167 0.13198822] [ 0.18886659 -0.09789783 0.97711075 -0.14873844] [ 0. 0. 0. 1. ]] SLAMing on 73.77241403699999 meters Centerline goodness : 0.771625 Centerline is valid? [False, False] Translation: X:3.63, Y:0.13, Z:-0.15 [[ 0.92401099 -0.31879966 -0.21111721 3.62614851] [ 0.33222042 0.94270834 0.03050544 0.13305118] [ 0.18929683 -0.09832481 0.97698462 -0.14722305] [ 0. 0. 0. 1. ]] SLAMing on 73.80241403699999 meters Centerline goodness : 0.774106 Centerline is valid? [False, False] Translation: X:3.63, Y:0.13, Z:-0.15 [[ 0.92337828 -0.31971867 -0.21249123 3.6277241 ] [ 0.33336844 0.94229151 0.03085773 0.13449678] [ 0.19036289 -0.09933123 0.97667563 -0.14589479] [ 0. 0. 0. 1. ]] SLAMing on 73.83241403699999 meters Centerline goodness : 0.777564 Centerline is valid? [False, False] Translation: X:3.63, Y:0.14, Z:-0.15 [[ 0.92138434 -0.32525382 -0.21274598 3.63043016] [ 0.33826167 0.94066889 0.02685294 0.13837247] [ 0.19138951 -0.09670569 0.97673848 -0.14596223] [ 0. 0. 0. 1. ]] SLAMing on 73.862414037 meters Centerline goodness : 0.777533 Centerline is valid? [False, False] Translation: X:3.63, Y:0.14, Z:-0.15 [[ 0.92056943 -0.3269671 -0.21364562 3.63341234] [ 0.33996743 0.94007308 0.0261679 0.13952662] [ 0.19228645 -0.09672192 0.97656069 -0.14645991] [ 0. 0. 0. 1. ]] SLAMing on 73.892414037 meters Centerline goodness : 0.776299 Centerline is valid? [False, False] Translation: X:3.64, Y:0.14, Z:-0.15 [[ 0.91984772 -0.32846336 -0.21445744 3.63595638] [ 0.34148074 0.93953799 0.02567632 0.1399588 ] [ 0.19305718 -0.09685139 0.97639579 -0.14654984] [ 0. 0. 0. 1. ]] SLAMing on 73.922414037 meters Centerline goodness : 0.773010 Centerline is valid? [False, False] Translation: X:3.64, Y:0.14, Z:-0.15 [[ 0.91896022 -0.33005387 -0.21581601 3.63762018] [ 0.34331194 0.93886097 0.02601901 0.14077217] [ 0.19403355 -0.09800265 0.97608732 -0.1450263 ] [ 0. 0. 0. 1. ]] SLAMing on 73.952414037 meters Centerline goodness : 0.773185 Centerline is valid? [False, False] Translation: X:3.64, Y:0.14, Z:-0.14 [[ 0.9191184 -0.32806509 -0.21816202 3.63875357] [ 0.34227646 0.93912711 0.02978419 0.14063384] [ 0.19511072 -0.10204692 0.97545796 -0.14294766] [ 0. 0. 0. 1. ]] SLAMing on 73.982414037 meters Centerline goodness : 0.772380 Centerline is valid? [False, False] Translation: X:3.64, Y:0.14, Z:-0.14 [[ 0.91885921 -0.32812088 -0.21916761 3.6387964 ] [ 0.34252886 0.93902114 0.0302205 0.14243164] [ 0.19588704 -0.10283962 0.97521909 -0.14150816] [ 0. 0. 0. 1. ]] SLAMing on 74.01241403699999 meters Centerline goodness : 0.772406 Centerline is valid? [False, False] Translation: X:3.64, Y:0.14, Z:-0.14 [[ 0.91918743 -0.32568946 -0.22140651 3.63950155] [ 0.34090336 0.93950952 0.03326794 0.14464078] [ 0.19717851 -0.10605769 0.97461398 -0.14018064] [ 0. 0. 0. 1. ]] SLAMing on 74.04241403699999 meters Centerline goodness : 0.773088 Centerline is valid? [False, False] Translation: X:3.64, Y:0.15, Z:-0.14 [[ 0.9189054 -0.32600222 -0.2221158 3.64113289] [ 0.34117846 0.93943102 0.0326592 0.14700319] [ 0.1980155 -0.10579184 0.97447317 -0.1407192 ] [ 0. 0. 0. 1. ]] SLAMing on 74.07241403699999 meters Centerline goodness : 0.771873 Centerline is valid? [False, False] Translation: X:3.64, Y:0.15, Z:-0.14 [[ 0.91880215 -0.32607414 -0.2224371 3.64289864] [ 0.34109475 0.93949386 0.03171202 0.14924161] [ 0.19863782 -0.1050092 0.97443116 -0.14213045] [ 0. 0. 0. 1. ]] SLAMing on 74.10241403699999 meters Centerline goodness : 0.770875 Centerline is valid? [False, False] Translation: X:3.64, Y:0.15, Z:-0.14 [[ 0.91881772 -0.32587685 -0.22266178 3.64437816] [ 0.34081594 0.93961174 0.03121331 0.15077957] [ 0.19904392 -0.10456603 0.97439595 -0.14345381] [ 0. 0. 0. 1. ]] SLAMing on 74.13241403699999 meters Centerline goodness : 0.772649 Centerline is valid? [False, False] Translation: X:3.65, Y:0.15, Z:-0.14 [[ 0.91969966 -0.32269545 -0.22365193 3.64505598] [ 0.33811268 0.94051394 0.03336676 0.15219232] [ 0.19958046 -0.10630696 0.97409777 -0.14442114] [ 0. 0. 0. 1. ]] SLAMing on 74.16241403699999 meters Centerline goodness : 0.773075 Centerline is valid? [False, False] Translation: X:3.65, Y:0.15, Z:-0.14 [[ 0.92043023 -0.31961866 -0.2250602 3.64516513] [ 0.33572561 0.94126049 0.03629065 0.15290893] [ 0.20024111 -0.10896149 0.97366878 -0.14391904] [ 0. 0. 0. 1. ]] SLAMing on 74.19241403699999 meters Centerline goodness : 0.773257 Centerline is valid? [False, False] Translation: X:3.64, Y:0.16, Z:-0.14 [[ 0.9206697 -0.31901688 -0.22493449 3.6439411 ] [ 0.33500053 0.94153654 0.03582727 0.15561654] [ 0.20035454 -0.10833826 0.97371499 -0.14408253] [ 0. 0. 0. 1. ]] SLAMing on 74.222414037 meters Centerline goodness : 0.770219 Centerline is valid? [False, False] Translation: X:3.65, Y:0.16, Z:-0.14 [[ 0.92141979 -0.31547902 -0.22684481 3.64517496] [ 0.33229004 0.94236409 0.03915683 0.15687053] [ 0.20141724 -0.11145815 0.97314345 -0.14388164] [ 0. 0. 0. 1. ]] SLAMing on 74.252414037 meters Centerline goodness : 0.776515 Centerline is valid? [False, False] Translation: X:3.64, Y:0.16, Z:-0.14 [[ 0.92236619 -0.31215563 -0.22759496 3.64330704] [ 0.32938858 0.94329818 0.0411303 0.16026304] [ 0.20185086 -0.11290438 0.97288685 -0.14362557] [ 0. 0. 0. 1. ]] SLAMing on 74.282414037 meters Centerline goodness : 0.775895 Centerline is valid? [False, False] Translation: X:3.64, Y:0.16, Z:-0.14 [[ 0.9225832 -0.31139278 -0.22776036 3.64357356] [ 0.32857349 0.94359381 0.04086788 0.16185844] [ 0.2021873 -0.11254004 0.97285921 -0.14427668] [ 0. 0. 0. 1. ]] SLAMing on 74.312414037 meters Centerline goodness : 0.772309 Centerline is valid? [False, False] Translation: X:3.64, Y:0.16, Z:-0.14 [[ 0.92265562 -0.31153042 -0.22727825 3.64274443] [ 0.32840628 0.94370362 0.03965848 0.16381671] [ 0.20212849 -0.11123073 0.97302199 -0.14488275] [ 0. 0. 0. 1. ]] SLAMing on 74.342414037 meters Centerline goodness : 0.775435 Centerline is valid? [False, False] Translation: X:3.64, Y:0.17, Z:-0.15 [[ 0.92356466 -0.30786881 -0.22857191 3.64317135] [ 0.32540441 0.94461959 0.04249477 0.16536411] [ 0.20283069 -0.11362497 0.97259913 -0.14521676] [ 0. 0. 0. 1. ]] SLAMing on 74.37241403699998 meters Centerline goodness : 0.774651 Centerline is valid? [False, False] Translation: X:3.64, Y:0.17, Z:-0.14 [[ 0.92355864 -0.30798981 -0.22843319 3.64169943] [ 0.32536489 0.94466459 0.04179118 0.16763285] [ 0.20292149 -0.11292075 0.97266221 -0.144707 ] [ 0. 0. 0. 1. ]] SLAMing on 74.40241403699999 meters Centerline goodness : 0.776852 Centerline is valid? [False, False] Translation: X:3.64, Y:0.17, Z:-0.14 [[ 0.92347313 -0.30835153 -0.22829086 3.64088736] [ 0.32550862 0.94465894 0.0407876 0.17012634] [ 0.20308008 -0.1119769 0.97273823 -0.14477241] [ 0. 0. 0. 1. ]] SLAMing on 74.43241403699999 meters Centerline goodness : 0.771291 Centerline is valid? [False, False] Translation: X:3.64, Y:0.17, Z:-0.14 [[ 0.92328421 -0.30895303 -0.22824173 3.64031076] [ 0.32590142 0.94456774 0.03974983 0.17228668] [ 0.20330895 -0.11108469 0.97279271 -0.14468784] [ 0. 0. 0. 1. ]] SLAMing on 74.46241403699999 meters Centerline goodness : 0.776308 Centerline is valid? [False, False] Translation: X:3.64, Y:0.18, Z:-0.15 [[ 0.92319331 -0.30879342 -0.22882467 3.64146326] [ 0.32570789 0.94465412 0.0392806 0.17529641] [ 0.20403058 -0.11079359 0.97267482 -0.14545561] [ 0. 0. 0. 1. ]] SLAMing on 74.49241403699999 meters Centerline goodness : 0.772911 Centerline is valid? [False, False] Translation: X:3.64, Y:0.18, Z:-0.15 [[ 0.92315937 -0.30907395 -0.22858273 3.64068378] [ 0.32581245 0.94464838 0.0385445 0.1770591 ] [ 0.20401721 -0.11005781 0.97276115 -0.14557548] [ 0. 0. 0. 1. ]] SLAMing on 74.52241403699999 meters Centerline goodness : 0.773529 Centerline is valid? [False, False] Translation: X:3.64, Y:0.18, Z:-0.15 [[ 0.92324234 -0.30907638 -0.22824411 3.63982861] [ 0.32563759 0.94473535 0.03788501 0.17854107] [ 0.20392092 -0.1093019 0.97286656 -0.1458262 ] [ 0. 0. 0. 1. ]] SLAMing on 74.55241403699999 meters Centerline goodness : 0.774458 Centerline is valid? [False, False] Translation: X:3.64, Y:0.18, Z:-0.15 [[ 0.92330516 -0.30911772 -0.22793379 3.63894328] [ 0.32548318 0.94481909 0.03711597 0.1800407 ] [ 0.20388299 -0.10845798 0.97296896 -0.14592003] [ 0. 0. 0. 1. ]] SLAMing on 74.58241403699999 meters Centerline goodness : 0.776314 Centerline is valid? [False, False] Translation: X:3.64, Y:0.18, Z:-0.15 [[ 0.92353506 -0.30862156 -0.22767461 3.63814721] [ 0.32470185 0.94513292 0.03595107 0.18413815] [ 0.20408749 -0.10712844 0.97307338 -0.14704831] [ 0. 0. 0. 1. ]] SLAMing on 74.612414037 meters Centerline goodness : 0.773454 Centerline is valid? [False, False] Translation: X:3.64, Y:0.19, Z:-0.15 [[ 0.92470099 -0.31453709 -0.21446329 3.63749603] [ 0.32881719 0.94379693 0.0335649 0.19093632] [ 0.19185239 -0.10155672 0.97615516 -0.15153751] [ 0. 0. 0. 1. ]] SLAMing on 74.642414037 meters Centerline goodness : 0.774349 Centerline is valid? [False, False] Translation: X:3.64, Y:0.19, Z:-0.15 [[ 0.92483899 -0.31438978 -0.21408388 3.63578868] [ 0.32848415 0.94393842 0.03283928 0.19269127] [ 0.19175766 -0.10069421 0.97626312 -0.15119457] [ 0. 0. 0. 1. ]] SLAMing on 74.672414037 meters Centerline goodness : 0.774943 Centerline is valid? [False, False] Translation: X:3.63, Y:0.19, Z:-0.15 [[ 0.92590338 -0.31125903 -0.2140578 3.63425566] [ 0.32563054 0.94486404 0.03459322 0.19241308] [ 0.19148806 -0.10173373 0.97620826 -0.15113598] [ 0. 0. 0. 1. ]] SLAMing on 74.702414037 meters Centerline goodness : 0.772477 Centerline is valid? [False, False] Translation: X:3.64, Y:0.19, Z:-0.15 [[ 0.92607318 -0.31037421 -0.21460737 3.6352246 ] [ 0.32492179 0.94508248 0.03528359 0.19274157] [ 0.19187055 -0.1024058 0.97606288 -0.15133639] [ 0. 0. 0. 1. ]] SLAMing on 74.732414037 meters Centerline goodness : 0.773953 Centerline is valid? [False, False] Translation: X:3.63, Y:0.19, Z:-0.15 [[ 0.92610304 -0.3104235 -0.21440712 3.63460228] [ 0.32485203 0.94512507 0.03478156 0.1935308 ] [ 0.19184453 -0.10186189 0.9761249 -0.15123279] [ 0. 0. 0. 1. ]] SLAMing on 74.76241403699999 meters Centerline goodness : 0.773630 Centerline is valid? [False, False] Translation: X:3.63, Y:0.19, Z:-0.15 [[ 0.92615204 -0.31019652 -0.21452393 3.63460734] [ 0.32463665 0.94519836 0.03480102 0.19404375] [ 0.19197251 -0.10187337 0.97609855 -0.15115629] [ 0. 0. 0. 1. ]] SLAMing on 74.79241403699999 meters Centerline goodness : 0.774624 Centerline is valid? [False, False] Translation: X:3.63, Y:0.20, Z:-0.15 [[ 0.92624612 -0.31010244 -0.21425361 3.63408165] [ 0.32439069 0.94530529 0.03418445 0.19576 ] [ 0.19193439 -0.10116509 0.9761797 -0.1517163 ] [ 0. 0. 0. 1. ]] SLAMing on 74.82241403699999 meters Centerline goodness : 0.776520 Centerline is valid? [False, False] Translation: X:3.63, Y:0.20, Z:-0.15 [[ 0.92624031 -0.31020464 -0.21413071 3.63372494] [ 0.32435912 0.94533853 0.03355938 0.19702709] [ 0.19201573 -0.1005393 0.97622836 -0.15177552] [ 0. 0. 0. 1. ]] SLAMing on 74.85241403699999 meters Centerline goodness : 0.776029 Centerline is valid? [False, False] Translation: X:3.63, Y:0.20, Z:-0.15 [[ 0.92626885 -0.31019092 -0.21402714 3.63291565] [ 0.3242571 0.94538737 0.03316715 0.19818833] [ 0.1920504 -0.10012152 0.97626447 -0.151427 ] [ 0. 0. 0. 1. ]] SLAMing on 74.88241403699999 meters Centerline goodness : 0.774552 Centerline is valid? [False, False] Translation: X:3.63, Y:0.20, Z:-0.15 [[ 0.9263422 -0.31016874 -0.2137416 3.63190006] [ 0.32408488 0.94546759 0.03255805 0.19950476] [ 0.19198727 -0.09943031 0.97634753 -0.15123671] [ 0. 0. 0. 1. ]] SLAMing on 74.91241403699999 meters Centerline goodness : 0.772008 Centerline is valid? [False, False] Translation: X:3.63, Y:0.20, Z:-0.15 [[ 0.92671358 -0.30935695 -0.2133078 3.63174817] [ 0.32307976 0.94583435 0.03188805 0.2006385 ] [ 0.19188906 -0.09846653 0.97646451 -0.15237163] [ 0. 0. 0. 1. ]] SLAMing on 74.94241403699999 meters Centerline goodness : 0.770188 Centerline is valid? [False, False] Translation: X:3.63, Y:0.20, Z:-0.15 [[ 0.92688947 -0.30897684 -0.21309439 3.63190864] [ 0.32259712 0.94601149 0.03151767 0.20119372] [ 0.19185151 -0.09795704 0.97652313 -0.15311523] [ 0. 0. 0. 1. ]] SLAMing on 74.972414037 meters Centerline goodness : 0.770642 Centerline is valid? [False, False] Translation: X:3.63, Y:0.20, Z:-0.15 [[ 0.92695031 -0.30912573 -0.21261327 3.63093414] [ 0.32252485 0.94606544 0.03062524 0.20252396] [ 0.19167902 -0.09696114 0.97665638 -0.15338562] [ 0. 0. 0. 1. ]] SLAMing on 75.002414037 meters Centerline goodness : 0.770861 Centerline is valid? [False, False] Translation: X:3.63, Y:0.20, Z:-0.15 [[ 0.92707079 -0.30877547 -0.21259695 3.63085523] [ 0.32216658 0.94618736 0.03062967 0.20280613] [ 0.19169886 -0.09688751 0.9766598 -0.15349678] [ 0. 0. 0. 1. ]] SLAMing on 75.032414037 meters Centerline goodness : 0.772499 Centerline is valid? [False, False] Translation: X:3.63, Y:0.20, Z:-0.15 [[ 0.9270985 -0.30880819 -0.21242852 3.63008306] [ 0.32209512 0.94622607 0.03018208 0.20369114] [ 0.19168493 -0.09640395 0.97671038 -0.15314347] [ 0. 0. 0. 1. ]] SLAMing on 75.062414037 meters Centerline goodness : 0.770803 Centerline is valid? [False, False] Translation: X:3.63, Y:0.20, Z:-0.15 [[ 0.92721832 -0.30857048 -0.21225092 3.62908036] [ 0.32181601 0.94632406 0.03008716 0.20380513] [ 0.19157414 -0.09620311 0.97675192 -0.15261191] [ 0. 0. 0. 1. ]] SLAMing on 75.092414037 meters Centerline goodness : 0.770125 Centerline is valid? [False, False] Translation: X:3.63, Y:0.20, Z:-0.15 [[ 0.92742947 -0.3078286 -0.21240557 3.62910752] [ 0.32110186 0.94656215 0.03022721 0.20466546] [ 0.19175027 -0.09623743 0.97671398 -0.15276504] [ 0. 0. 0. 1. ]] SLAMing on 75.12241403699998 meters Centerline goodness : 0.770719 Centerline is valid? [False, False] Translation: X:3.63, Y:0.21, Z:-0.15 [[ 0.92738458 -0.3080864 -0.21222774 3.62868028] [ 0.32123772 0.94653369 0.02966979 0.20529379] [ 0.19173985 -0.09569086 0.97676972 -0.15261209] [ 0. 0. 0. 1. ]] SLAMing on 75.15241403699999 meters Centerline goodness : 0.770498 Centerline is valid? [False, False] Translation: X:3.63, Y:0.21, Z:-0.15 [[ 0.92746254 -0.30792653 -0.21211904 3.62867986] [ 0.32106292 0.94659312 0.0296659 0.20538544] [ 0.19165551 -0.09561757 0.97679345 -0.15289036] [ 0. 0. 0. 1. ]] SLAMing on 75.18241403699999 meters Centerline goodness : 0.768971 Centerline is valid? [False, False] Translation: X:3.63, Y:0.21, Z:-0.15 [[ 0.92735799 -0.3083254 -0.21199671 3.62860569] [ 0.32136004 0.94650778 0.02916751 0.20566922] [ 0.19166345 -0.09517599 0.97683502 -0.15280794] [ 0. 0. 0. 1. ]] SLAMing on 75.21241403699999 meters Centerline goodness : 0.767860 Centerline is valid? [False, False] Translation: X:3.63, Y:0.21, Z:-0.15 [[ 0.92705465 -0.30997455 -0.21091573 3.62875007] [ 0.32246882 0.94620125 0.02677805 0.20568824] [ 0.19126821 -0.09283846 0.9771374 -0.15373498] [ 0. 0. 0. 1. ]] SLAMing on 75.24241403699999 meters Centerline goodness : 0.768487 Centerline is valid? [False, False] Translation: X:3.63, Y:0.21, Z:-0.15 [[ 0.92664459 -0.31101391 -0.21118749 3.62918708] [ 0.32350747 0.94585362 0.02653003 0.20566536] [ 0.19150124 -0.09290464 0.97708546 -0.15304261] [ 0. 0. 0. 1. ]] SLAMing on 75.27241403699999 meters Centerline goodness : 0.771314 Centerline is valid? [False, False] Translation: X:3.63, Y:0.21, Z:-0.15 [[ 0.92614741 -0.31210994 -0.21175069 3.62993737] [ 0.3246983 0.94544302 0.02661774 0.20533205] [ 0.19189055 -0.09340704 0.97696118 -0.15202341] [ 0. 0. 0. 1. ]] SLAMing on 75.30241403699999 meters Centerline goodness : 0.769936 Centerline is valid? [False, False] Translation: X:3.63, Y:0.21, Z:-0.15 [[ 0.9249308 -0.31590952 -0.21143367 3.62980011] [ 0.32811076 0.94432411 0.02439898 0.20535797] [ 0.19195405 -0.09194103 0.97708776 -0.15035309] [ 0. 0. 0. 1. ]] SLAMing on 75.33241403699999 meters Centerline goodness : 0.769226 Centerline is valid? [False, False] Translation: X:3.63, Y:0.20, Z:-0.15 [[ 0.92452988 -0.31674763 -0.21193261 3.63041833] [ 0.32906945 0.94398321 0.02467808 0.20456407] [ 0.1922441 -0.09255617 0.97697265 -0.14929072] [ 0. 0. 0. 1. ]] SLAMing on 75.362414037 meters Centerline goodness : 0.772241 Centerline is valid? [False, False] Translation: X:3.63, Y:0.21, Z:-0.15 [[ 0.92382484 -0.31954024 -0.21081201 3.62956783] [ 0.33124769 0.94329203 0.02179704 0.20504099] [ 0.19189226 -0.08996764 0.97728357 -0.14904883] [ 0. 0. 0. 1. ]] SLAMing on 75.392414037 meters Centerline goodness : 0.769617 Centerline is valid? [False, False] Translation: X:3.63, Y:0.20, Z:-0.15 [[ 0.92298467 -0.32280739 -0.2095106 3.62945363] [ 0.33383144 0.94244976 0.01857448 0.20479037] [ 0.19145723 -0.08708519 0.97762994 -0.14919983] [ 0. 0. 0. 1. ]] SLAMing on 75.422414037 meters Centerline goodness : 0.769617 Centerline is valid? [False, False] Translation: X:3.63, Y:0.20, Z:-0.15 [[ 0.92298467 -0.32280739 -0.2095106 3.62945363] [ 0.33383144 0.94244976 0.01857448 0.20479037] [ 0.19145723 -0.08708519 0.97762994 -0.14919983] [ 0. 0. 0. 1. ]] SLAMing on 75.452414037 meters Centerline goodness : 0.772314 Centerline is valid? [False, False] Translation: X:3.63, Y:0.20, Z:-0.15 [[ 0.92287176 -0.3228455 -0.2099488 3.63061897] [ 0.33402493 0.9423695 0.01915906 0.20434687] [ 0.19166393 -0.08780949 0.97752465 -0.14928864] [ 0. 0. 0. 1. ]] SLAMing on 75.482414037 meters Centerline goodness : 0.774375 Centerline is valid? [False, False] Translation: X:3.63, Y:0.20, Z:-0.15 [[ 0.92284256 -0.32254396 -0.2105398 3.63147491] [ 0.33392016 0.94239092 0.01991659 0.20387056] [ 0.19198682 -0.08868336 0.97738238 -0.14885139] [ 0. 0. 0. 1. ]] SLAMing on 75.51241403699999 meters Centerline goodness : 0.773787 Centerline is valid? [False, False] Translation: X:3.63, Y:0.20, Z:-0.15 [[ 0.92309079 -0.32174778 -0.21066979 3.63121318] [ 0.33328604 0.94259705 0.02076598 0.20271583] [ 0.19189532 -0.08938219 0.97733669 -0.14829533] [ 0. 0. 0. 1. ]] SLAMing on 75.54241403699999 meters Centerline goodness : 0.774597 Centerline is valid? [False, False] Translation: X:3.63, Y:0.20, Z:-0.15 [[ 0.92312129 -0.32161969 -0.21073174 3.63156258] [ 0.3331667 0.9426386 0.02079487 0.20245259] [ 0.19195583 -0.08940499 0.97732272 -0.14837547] [ 0. 0. 0. 1. ]] SLAMing on 75.57241403699999 meters Centerline goodness : 0.774031 Centerline is valid? [False, False] Translation: X:3.63, Y:0.20, Z:-0.15 [[ 0.92298779 -0.32206578 -0.21063518 3.63170068] [ 0.33352271 0.94252274 0.02033408 0.20258275] [ 0.19197954 -0.08901972 0.97735324 -0.14833853] [ 0. 0. 0. 1. ]] SLAMing on 75.60241403699999 meters Centerline goodness : 0.770362 Centerline is valid? [False, False] Translation: X:3.63, Y:0.20, Z:-0.15 [[ 0.9227809 -0.32239454 -0.2110383 3.6335543 ] [ 0.33385649 0.94240888 0.02013337 0.20289451] [ 0.19239348 -0.08903519 0.97727042 -0.14904536] [ 0. 0. 0. 1. ]] SLAMing on 75.63241403699999 meters Centerline goodness : 0.771057 Centerline is valid? [False, False] Translation: X:3.63, Y:0.20, Z:-0.15 [[ 0.9227503 -0.32238035 -0.21119375 3.63422524] [ 0.33385881 0.9424078 0.02014529 0.20283371] [ 0.19253619 -0.08909796 0.9772366 -0.14923408] [ 0. 0. 0. 1. ]] SLAMing on 75.66241403699999 meters Centerline goodness : 0.769786 Centerline is valid? [False, False] Translation: X:3.63, Y:0.20, Z:-0.15 [[ 0.92270381 -0.3224849 -0.21123724 3.6341646 ] [ 0.33397387 0.94236657 0.02016673 0.20265215] [ 0.19255945 -0.08915563 0.97722676 -0.1488971 ] [ 0. 0. 0. 1. ]] SLAMing on 75.69241403699999 meters Centerline goodness : 0.773768 Centerline is valid? [False, False] Translation: X:3.63, Y:0.20, Z:-0.15 [[ 0.92271574 -0.3221657 -0.21167174 3.63398343] [ 0.33382971 0.94240205 0.02088285 0.20195593] [ 0.19275214 -0.08993125 0.97711769 -0.14775271] [ 0. 0. 0. 1. ]] SLAMing on 75.722414037 meters Centerline goodness : 0.774192 Centerline is valid? [False, False] Translation: X:3.64, Y:0.20, Z:-0.15 [[ 0.92273308 -0.32166477 -0.21235686 3.63523014] [ 0.33352797 0.94249231 0.02161798 0.20171665] [ 0.19319097 -0.09077458 0.97695303 -0.14760677] [ 0. 0. 0. 1. ]] SLAMing on 75.752414037 meters Centerline goodness : 0.774154 Centerline is valid? [False, False] Translation: X:3.63, Y:0.20, Z:-0.15 [[ 0.92270644 -0.32181427 -0.2122461 3.63485153] [ 0.33362804 0.94246176 0.02140484 0.2018943 ] [ 0.19314545 -0.09056163 0.97698179 -0.14735131] [ 0. 0. 0. 1. ]] SLAMing on 75.782414037 meters Centerline goodness : 0.778473 Centerline is valid? [False, False] Translation: X:3.65, Y:0.21, Z:-0.13 [[ 9.23367497e-01 -3.27914767e-01 -1.99660637e-01 3.65230395e+00] [ 3.34767619e-01 9.42300528e-01 5.97417132e-04 2.14109819e-01] [ 1.87944422e-01 -6.73915518e-02 9.79864926e-01 -1.29852935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.812414037 meters Centerline goodness : 0.774360 Centerline is valid? [False, False] Translation: X:3.66, Y:0.19, Z:-0.15 [[ 0.92483111 -0.3042621 -0.22828053 3.65518355] [ 0.32809231 0.94174254 0.07400289 0.19064971] [ 0.19246521 -0.14333727 0.97077885 -0.1540753 ] [ 0. 0. 0. 1. ]] SLAMing on 75.842414037 meters Centerline goodness : 0.775987 Centerline is valid? [False, False] Translation: X:3.65, Y:0.19, Z:-0.15 [[ 0.92481935 -0.30458137 -0.22790207 3.65476884] [ 0.32822857 0.94174721 0.07333624 0.19111816] [ 0.19228929 -0.14262674 0.97091835 -0.15434863] [ 0. 0. 0. 1. ]] SLAMing on 75.87241403699998 meters Centerline goodness : 0.775237 Centerline is valid? [False, False] Translation: X:3.65, Y:0.19, Z:-0.15 [[ 0.92486083 -0.30460034 -0.22770832 3.65437198] [ 0.3281215 0.94182271 0.0728441 0.19180132] [ 0.19227253 -0.14208665 0.97100085 -0.15449141] [ 0. 0. 0. 1. ]] SLAMing on 75.90241403699999 meters Centerline goodness : 0.775952 Centerline is valid? [False, False] Translation: X:3.65, Y:0.19, Z:-0.15 [[ 0.92525093 -0.30385258 -0.22712184 3.65217504] [ 0.32719037 0.94217875 0.07242696 0.19291947] [ 0.19198226 -0.14132519 0.9711694 -0.15414361] [ 0. 0. 0. 1. ]] SLAMing on 75.93241403699999 meters Centerline goodness : 0.774049 Centerline is valid? [False, False] Translation: X:3.65, Y:0.19, Z:-0.15 [[ 0.92551352 -0.30328081 -0.22681595 3.65082862] [ 0.32654466 0.94240982 0.0723348 0.1934685 ] [ 0.19181582 -0.14101237 0.97124776 -0.15387395] [ 0. 0. 0. 1. ]] SLAMing on 75.96241403699999 meters Centerline goodness : 0.776083 Centerline is valid? [False, False] Translation: X:3.65, Y:0.19, Z:-0.15 [[ 0.92616189 -0.30178244 -0.22616699 3.64845797] [ 0.32493679 0.94296014 0.07240341 0.19390691] [ 0.19141638 -0.14054726 0.97139397 -0.15361016] [ 0. 0. 0. 1. ]] SLAMing on 75.99241403699999 meters Centerline goodness : 0.777026 Centerline is valid? [False, False] Translation: X:3.65, Y:0.19, Z:-0.15 [[ 0.92643263 -0.30140039 -0.22556682 3.64744953] [ 0.32433265 0.94321742 0.07175812 0.19433284] [ 0.19113063 -0.13963774 0.97158138 -0.15406228] [ 0. 0. 0. 1. ]] SLAMing on 76.02241403699999 meters Centerline goodness : 0.775421 Centerline is valid? [False, False] Translation: X:3.65, Y:0.20, Z:-0.16 [[ 0.92789889 -0.30774494 -0.21046781 3.64546359] [ 0.32796387 0.94222591 0.0681912 0.19908325] [ 0.17732272 -0.13230037 0.9752196 -0.15971215] [ 0. 0. 0. 1. ]] SLAMing on 76.05241403699999 meters Centerline goodness : 0.772520 Centerline is valid? [False, False] Translation: X:3.64, Y:0.20, Z:-0.16 [[ 0.92882284 -0.30598343 -0.20895518 3.64425476] [ 0.32581972 0.94302838 0.06737205 0.19840751] [ 0.17643593 -0.13065842 0.97560173 -0.16193834] [ 0. 0. 0. 1. ]] SLAMing on 76.08241403699999 meters Centerline goodness : 0.773046 Centerline is valid? [False, False] Translation: X:3.64, Y:0.20, Z:-0.16 [[ 0.92937923 -0.30481715 -0.20818441 3.64229252] [ 0.32453333 0.94347095 0.06738455 0.19837283] [ 0.17587598 -0.13018858 0.97576563 -0.16199588] [ 0. 0. 0. 1. ]] SLAMing on 76.112414037 meters Centerline goodness : 0.772829 Centerline is valid? [False, False] Translation: X:3.64, Y:0.20, Z:-0.16 [[ 0.92989255 -0.30349044 -0.20783022 3.64045299] [ 0.32319761 0.94390591 0.06771212 0.19876056] [ 0.17562219 -0.13013522 0.97581846 -0.16159445] [ 0. 0. 0. 1. ]] SLAMing on 76.142414037 meters Centerline goodness : 0.775205 Centerline is valid? [False, False] Translation: X:3.64, Y:0.20, Z:-0.16 [[ 0.93035775 -0.30241169 -0.2073201 3.63853681] [ 0.32201517 0.94431735 0.06760898 0.19958803] [ 0.17533022 -0.12966075 0.97593412 -0.16140227] [ 0. 0. 0. 1. ]] SLAMing on 76.172414037 meters Centerline goodness : 0.773920 Centerline is valid? [False, False] Translation: X:3.64, Y:0.20, Z:-0.16 [[ 0.93127258 -0.30036843 -0.20617998 3.63646586] [ 0.31975399 0.94509906 0.0674178 0.19937204] [ 0.17461033 -0.12871122 0.97618884 -0.16232585] [ 0. 0. 0. 1. ]] SLAMing on 76.202414037 meters Centerline goodness : 0.772123 Centerline is valid? [False, False] Translation: X:3.64, Y:0.20, Z:-0.16 [[ 0.93154355 -0.29995522 -0.20555653 3.6358979 ] [ 0.3191438 0.94534808 0.06681499 0.19912569] [ 0.17428097 -0.12784316 0.97636175 -0.16297522] [ 0. 0. 0. 1. ]] SLAMing on 76.232414037 meters Centerline goodness : 0.773201 Centerline is valid? [False, False] Translation: X:3.64, Y:0.20, Z:-0.16 [[ 0.93165372 -0.29997379 -0.20502943 3.63564738] [ 0.31897644 0.94545046 0.06616235 0.19843856] [ 0.1739982 -0.12703996 0.97651701 -0.1633425 ] [ 0. 0. 0. 1. ]] SLAMing on 76.26241403699999 meters Centerline goodness : 0.772684 Centerline is valid? [False, False] Translation: X:3.64, Y:0.20, Z:-0.16 [[ 0.93213499 -0.29937599 -0.20371153 3.63567897] [ 0.31800457 0.94585289 0.06507999 0.19602867] [ 0.17319775 -0.12544453 0.9768655 -0.16497445] [ 0. 0. 0. 1. ]] SLAMing on 76.29241403699999 meters Centerline goodness : 0.773237 Centerline is valid? [False, False] Translation: X:3.64, Y:0.20, Z:-0.16 [[ 0.93218794 -0.29933169 -0.20353423 3.63533364] [ 0.31791504 0.94589132 0.06495868 0.19543118] [ 0.17307707 -0.12526029 0.97691053 -0.16467493] [ 0. 0. 0. 1. ]] SLAMing on 76.32241403699999 meters Centerline goodness : 0.773699 Centerline is valid? [False, False] Translation: X:3.63, Y:0.19, Z:-0.16 [[ 0.93244507 -0.29861413 -0.20341039 3.63357048] [ 0.31732868 0.94602654 0.06585048 0.19408714] [ 0.17276775 -0.12594991 0.97687662 -0.16300102] [ 0. 0. 0. 1. ]] SLAMing on 76.35241403699999 meters Centerline goodness : 0.770808 Centerline is valid? [False, False] Translation: X:3.63, Y:0.19, Z:-0.16 [[ 0.93251366 -0.29842118 -0.20337913 3.63315835] [ 0.31719266 0.94604696 0.06621153 0.19354911] [ 0.17264728 -0.12625353 0.97685872 -0.16254099] [ 0. 0. 0. 1. ]] SLAMing on 76.38241403699999 meters Centerline goodness : 0.772542 Centerline is valid? [False, False] Translation: X:3.63, Y:0.19, Z:-0.16 [[ 0.93236104 -0.29892082 -0.20334513 3.63323603] [ 0.31768404 0.94588644 0.06614898 0.19275373] [ 0.17256809 -0.12627423 0.97687004 -0.16206718] [ 0. 0. 0. 1. ]] SLAMing on 76.41241403699999 meters Centerline goodness : 0.773881 Centerline is valid? [False, False] Translation: X:3.63, Y:0.19, Z:-0.16 [[ 0.93187147 -0.30122099 -0.20219167 3.63277999] [ 0.31938331 0.94550234 0.06340046 0.1922894 ] [ 0.17207515 -0.12365773 0.97729162 -0.16213271] [ 0. 0. 0. 1. ]] SLAMing on 76.44241403699999 meters Centerline goodness : 0.771499 Centerline is valid? [False, False] Translation: X:3.63, Y:0.19, Z:-0.16 [[ 0.93079586 -0.30525577 -0.20109199 3.63424293] [ 0.32281462 0.94453143 0.06042429 0.18946032] [ 0.17149284 -0.12115811 0.97770697 -0.16241638] [ 0. 0. 0. 1. ]] SLAMing on 76.472414037 meters Centerline goodness : 0.769008 Centerline is valid? [False, False] Translation: X:3.63, Y:0.19, Z:-0.16 [[ 0.92998022 -0.30867802 -0.19963634 3.6337717 ] [ 0.32559253 0.94376101 0.05748619 0.18818549] [ 0.17066427 -0.11846112 0.97818233 -0.16236754] [ 0. 0. 0. 1. ]] SLAMing on 76.502414037 meters Centerline goodness : 0.774842 Centerline is valid? [False, False] Translation: X:3.64, Y:0.19, Z:-0.16 [[ 0.92839413 -0.3130396 -0.20022625 3.63655103] [ 0.32988084 0.9423435 0.05627935 0.18530136] [ 0.17106424 -0.11830022 0.97813194 -0.16038766] [ 0. 0. 0. 1. ]] SLAMing on 76.532414037 meters Centerline goodness : 0.769762 Centerline is valid? [False, False] Translation: X:3.64, Y:0.18, Z:-0.16 [[ 0.92728914 -0.31685286 -0.19934673 3.63635942] [ 0.33317523 0.94134065 0.05359152 0.18460049] [ 0.17067255 -0.11611222 0.97846248 -0.15938432] [ 0. 0. 0. 1. ]] SLAMing on 76.562414037 meters Centerline goodness : 0.770661 Centerline is valid? [False, False] Translation: X:3.64, Y:0.18, Z:-0.16 [[ 0.92623204 -0.32031306 -0.19873036 3.63708509] [ 0.3362011 0.94039637 0.05122008 0.18354637] [ 0.17047885 -0.11425504 0.97871484 -0.15871244] [ 0. 0. 0. 1. ]] SLAMing on 76.592414037 meters Centerline goodness : 0.770629 Centerline is valid? [False, False] Translation: X:3.64, Y:0.18, Z:-0.16 [[ 0.92452728 -0.325228 -0.19868581 3.64029911] [ 0.34083564 0.93883427 0.0492066 0.18013465] [ 0.17052968 -0.11321205 0.97882719 -0.15785316] [ 0. 0. 0. 1. ]] SLAMing on 76.62241403699998 meters Centerline goodness : 0.768344 Centerline is valid? [False, False] Translation: X:3.64, Y:0.18, Z:-0.16 [[ 0.92348163 -0.32876301 -0.19772851 3.64043074] [ 0.34382992 0.93788374 0.0464229 0.1793316 ] [ 0.17018422 -0.11085567 0.97915696 -0.15723986] [ 0. 0. 0. 1. ]] SLAMing on 76.65241403699999 meters Centerline goodness : 0.770616 Centerline is valid? [False, False] Translation: X:3.64, Y:0.18, Z:-0.16 [[ 0.92209944 -0.33266579 -0.19765144 3.64279619] [ 0.34746229 0.9366343 0.04456629 0.17735936] [ 0.17030143 -0.10977097 0.97925878 -0.15660199] [ 0. 0. 0. 1. ]] SLAMing on 76.68241403699999 meters Centerline goodness : 0.770345 Centerline is valid? [False, False] Translation: X:3.64, Y:0.18, Z:-0.16 [[ 0.92111494 -0.33583868 -0.19687472 3.64331048] [ 0.35014761 0.93575354 0.04197573 0.17684209] [ 0.17012914 -0.10759968 0.97952968 -0.15630078] [ 0. 0. 0. 1. ]] SLAMing on 76.71241403699999 meters Centerline goodness : 0.771099 Centerline is valid? [False, False] Translation: X:3.65, Y:0.18, Z:-0.16 [[ 0.92049145 -0.33734187 -0.19722055 3.64501689] [ 0.35170712 0.93517013 0.04193965 0.1751735 ] [ 0.17028677 -0.10796896 0.97946165 -0.15583233] [ 0. 0. 0. 1. ]] SLAMing on 76.74241403699999 meters Centerline goodness : 0.776291 Centerline is valid? [False, False] Translation: X:3.65, Y:0.17, Z:-0.16 [[ 0.91952367 -0.34036768 -0.19653513 3.64630942] [ 0.35426243 0.93431605 0.03939093 0.17481676] [ 0.17021852 -0.1058459 0.97970521 -0.1562048 ] [ 0. 0. 0. 1. ]] SLAMing on 76.77241403699999 meters Centerline goodness : 0.768220 Centerline is valid? [False, False] Translation: X:3.65, Y:0.17, Z:-0.15 [[ 0.91817408 -0.34311957 -0.19805382 3.64925187] [ 0.35736396 0.93310064 0.04017714 0.17243456] [ 0.17101858 -0.1076669 0.97936739 -0.15388002] [ 0. 0. 0. 1. ]] SLAMing on 76.80241403699999 meters Centerline goodness : 0.776759 Centerline is valid? [False, False] Translation: X:3.65, Y:0.17, Z:-0.15 [[ 0.91769299 -0.34397796 -0.19879318 3.64974145] [ 0.35841684 0.93267252 0.04073492 0.17148508] [ 0.17139703 -0.10863297 0.97919453 -0.15207376] [ 0. 0. 0. 1. ]] SLAMing on 76.83241403699999 meters Centerline goodness : 0.774086 Centerline is valid? [False, False] Translation: X:3.65, Y:0.17, Z:-0.15 [[ 0.91698695 -0.34551513 -0.19938463 3.64996821] [ 0.3601224 0.93199617 0.04117048 0.16988019] [ 0.17160068 -0.10955566 0.97905606 -0.1497752 ] [ 0. 0. 0. 1. ]] SLAMing on 76.862414037 meters Centerline goodness : 0.770840 Centerline is valid? [False, False] Translation: X:3.65, Y:0.17, Z:-0.15 [[ 0.91663003 -0.34592423 -0.20031429 3.65187896] [ 0.36074795 0.93172797 0.04175999 0.16930808] [ 0.17219264 -0.11054143 0.9788413 -0.14933134] [ 0. 0. 0. 1. ]] SLAMing on 76.892414037 meters Centerline goodness : 0.769659 Centerline is valid? [False, False] Translation: X:3.65, Y:0.17, Z:-0.15 [[ 0.91615862 -0.34706348 -0.20050017 3.65304138] [ 0.36183526 0.93132957 0.04123692 0.16934862] [ 0.17241991 -0.11032759 0.97882542 -0.14940111] [ 0. 0. 0. 1. ]] SLAMing on 76.922414037 meters Centerline goodness : 0.769673 Centerline is valid? [False, False] Translation: X:3.65, Y:0.17, Z:-0.15 [[ 0.91458546 -0.34395498 -0.21266972 3.65459642] [ 0.35959111 0.93231237 0.03857302 0.16537009] [ 0.18500723 -0.11175246 0.97636249 -0.14561171] [ 0. 0. 0. 1. ]] SLAMing on 76.952414037 meters Centerline goodness : 0.770881 Centerline is valid? [False, False] Translation: X:3.66, Y:0.17, Z:-0.15 [[ 0.91426958 -0.34457212 -0.21302861 3.65592989] [ 0.36019107 0.93209617 0.03819854 0.16560911] [ 0.185401 -0.11165476 0.97629897 -0.14576863] [ 0. 0. 0. 1. ]] SLAMing on 76.982414037 meters Centerline goodness : 0.770758 Centerline is valid? [False, False] Translation: X:3.66, Y:0.17, Z:-0.15 [[ 0.91397138 -0.34499202 -0.21362776 3.65708341] [ 0.36069173 0.93190198 0.03821215 0.16616639] [ 0.18589725 -0.11197857 0.97616751 -0.14556521] [ 0. 0. 0. 1. ]] SLAMing on 77.01241403699999 meters Centerline goodness : 0.769570 Centerline is valid? [False, False] Translation: X:3.66, Y:0.17, Z:-0.15 [[ 0.91382946 -0.34499345 -0.21423173 3.65803573] [ 0.36077585 0.93186686 0.0382746 0.16731216] [ 0.18643096 -0.11226609 0.97603269 -0.14553529] [ 0. 0. 0. 1. ]] SLAMing on 77.04241403699999 meters Centerline goodness : 0.769273 Centerline is valid? [False, False] Translation: X:3.66, Y:0.17, Z:-0.15 [[ 0.9139002 -0.34454551 -0.21465045 3.6580399 ] [ 0.36040433 0.93200283 0.03846348 0.16864845] [ 0.18680241 -0.11251274 0.97593327 -0.14533823] [ 0. 0. 0. 1. ]] SLAMing on 77.07241403699999 meters Centerline goodness : 0.771810 Centerline is valid? [False, False] Translation: X:3.66, Y:0.17, Z:-0.15 [[ 0.91393746 -0.34435911 -0.21479089 3.65826131] [ 0.36023945 0.9320647 0.03850891 0.16871819] [ 0.18693811 -0.11257089 0.97590058 -0.1453091 ] [ 0. 0. 0. 1. ]] SLAMing on 77.10241403699999 meters Centerline goodness : 0.768175 Centerline is valid? [False, False] Translation: X:3.66, Y:0.17, Z:-0.15 [[ 0.91402702 -0.34398924 -0.21500235 3.659286 ] [ 0.35988797 0.93220029 0.03851332 0.16882827] [ 0.18717709 -0.11257897 0.97585384 -0.14596699] [ 0. 0. 0. 1. ]] SLAMing on 77.13241403699999 meters Centerline goodness : 0.769266 Centerline is valid? [False, False] Translation: X:3.66, Y:0.17, Z:-0.15 [[ 0.91389924 -0.34400188 -0.21552468 3.66034548] [ 0.35998384 0.93215865 0.03862495 0.16953465] [ 0.18761614 -0.11288472 0.9757342 -0.14610281] [ 0. 0. 0. 1. ]] SLAMing on 77.16241403699999 meters Centerline goodness : 0.766836 Centerline is valid? [False, False] Translation: X:3.66, Y:0.17, Z:-0.15 [[ 0.91379452 -0.3439529 -0.21604624 3.6606531 ] [ 0.35992416 0.93219694 0.03825515 0.17208219] [ 0.18823967 -0.11271761 0.97563342 -0.14610373] [ 0. 0. 0. 1. ]] SLAMing on 77.19241403699999 meters Centerline goodness : 0.776308 Centerline is valid? [False, False] Translation: X:3.66, Y:0.17, Z:-0.15 [[ 0.91423208 -0.34145149 -0.21815265 3.66241 ] [ 0.3582101 0.93272788 0.04128229 0.17268656] [ 0.18938116 -0.11588608 0.97504112 -0.1454506 ] [ 0. 0. 0. 1. ]] SLAMing on 77.222414037 meters Centerline goodness : 0.769431 Centerline is valid? [False, False] Translation: X:3.66, Y:0.17, Z:-0.15 [[ 0.91431995 -0.34091461 -0.21862358 3.66271191] [ 0.35771049 0.93292163 0.04123629 0.17452897] [ 0.18990061 -0.11590711 0.97493759 -0.14557726] [ 0. 0. 0. 1. ]] SLAMing on 77.252414037 meters Centerline goodness : 0.769824 Centerline is valid? [False, False] Translation: X:3.66, Y:0.18, Z:-0.15 [[ 0.91532189 -0.33767258 -0.21946087 3.66181592] [ 0.3548514 0.93393272 0.04301352 0.17705987] [ 0.1904372 -0.11724722 0.97467264 -0.14588247] [ 0. 0. 0. 1. ]] SLAMing on 77.282414037 meters Centerline goodness : 0.770366 Centerline is valid? [False, False] Translation: X:3.66, Y:0.18, Z:-0.15 [[ 0.91568088 -0.3365044 -0.21975738 3.66277548] [ 0.35366086 0.9343924 0.04283509 0.1788415 ] [ 0.19092543 -0.11694286 0.97461369 -0.14714109] [ 0. 0. 0. 1. ]] SLAMing on 77.312414037 meters Centerline goodness : 0.770366 Centerline is valid? [False, False] Translation: X:3.66, Y:0.18, Z:-0.15 [[ 0.91568088 -0.3365044 -0.21975738 3.66277548] [ 0.35366086 0.9343924 0.04283509 0.1788415 ] [ 0.19092543 -0.11694286 0.97461369 -0.14714109] [ 0. 0. 0. 1. ]] SLAMing on 77.342414037 meters Centerline goodness : 0.766971 Centerline is valid? [False, False] Translation: X:3.66, Y:0.18, Z:-0.15 [[ 0.91649845 -0.33486599 -0.21885008 3.66194531] [ 0.35159589 0.93523644 0.04139003 0.18192635] [ 0.19081645 -0.11488069 0.97488025 -0.14958251] [ 0. 0. 0. 1. ]] SLAMing on 77.37241403699998 meters Centerline goodness : 0.767463 Centerline is valid? [False, False] Translation: X:3.66, Y:0.18, Z:-0.15 [[ 0.91707799 -0.33326339 -0.21886861 3.66187401] [ 0.34999454 0.9358297 0.04155237 0.18357117] [ 0.19097586 -0.11470958 0.97486919 -0.15062468] [ 0. 0. 0. 1. ]] SLAMing on 77.40241403699999 meters Centerline goodness : 0.773092 Centerline is valid? [False, False] Translation: X:3.66, Y:0.18, Z:-0.15 [[ 0.9179664 -0.3300684 -0.21998304 3.66117065] [ 0.34742126 0.93665908 0.04436472 0.18395843] [ 0.19140572 -0.1171521 0.97449435 -0.14988415] [ 0. 0. 0. 1. ]] SLAMing on 77.43241403699999 meters Centerline goodness : 0.771441 Centerline is valid? [False, False] Translation: X:3.66, Y:0.18, Z:-0.15 [[ 0.91881307 -0.3268485 -0.22125236 3.66040515] [ 0.34487632 0.93745422 0.04732767 0.18455054] [ 0.19194498 -0.11978998 0.9740675 -0.14887574] [ 0. 0. 0. 1. ]] SLAMing on 77.46241403699999 meters Centerline goodness : 0.774517 Centerline is valid? [False, False] Translation: X:3.66, Y:0.19, Z:-0.15 [[ 0.91982859 -0.32329017 -0.2222585 3.65875751] [ 0.34186882 0.93842517 0.04983874 0.18654909] [ 0.1924606 -0.12182635 0.97371313 -0.14812428] [ 0. 0. 0. 1. ]] SLAMing on 77.49241403699999 meters Centerline goodness : 0.769025 Centerline is valid? [False, False] Translation: X:3.66, Y:0.19, Z:-0.15 [[ 0.91983592 -0.32350079 -0.22192143 3.65790695] [ 0.34185612 0.93847898 0.04890398 0.18810056] [ 0.19244812 -0.12084883 0.9738374 -0.14831557] [ 0. 0. 0. 1. ]] SLAMing on 77.52241403699999 meters Centerline goodness : 0.773140 Centerline is valid? [False, False] Translation: X:3.66, Y:0.19, Z:-0.15 [[ 0.91976394 -0.32406091 -0.22140192 3.6579712 ] [ 0.34200023 0.93852016 0.04707174 0.1905131 ] [ 0.19253606 -0.1190144 0.97404591 -0.14964511] [ 0. 0. 0. 1. ]] SLAMing on 77.55241403699999 meters Centerline goodness : 0.773214 Centerline is valid? [False, False] Translation: X:3.66, Y:0.19, Z:-0.15 [[ 0.91965427 -0.32446112 -0.22127133 3.65848419] [ 0.34222226 0.93848199 0.04621134 0.19147235] [ 0.19266537 -0.11822243 0.97411679 -0.15037847] [ 0. 0. 0. 1. ]] SLAMing on 77.58241403699999 meters Centerline goodness : 0.773362 Centerline is valid? [False, False] Translation: X:3.66, Y:0.19, Z:-0.15 [[ 0.91959817 -0.32433383 -0.22169072 3.65952747] [ 0.34213927 0.9385135 0.04618581 0.19226339] [ 0.19308011 -0.11832148 0.97402264 -0.15067738] [ 0. 0. 0. 1. ]] SLAMing on 77.612414037 meters Centerline goodness : 0.774070 Centerline is valid? [False, False] Translation: X:3.66, Y:0.19, Z:-0.15 [[ 0.91948438 -0.32461259 -0.22175468 3.65702778] [ 0.34237833 0.93843952 0.04591673 0.19435614] [ 0.19319821 -0.11814372 0.9740208 -0.148868 ] [ 0. 0. 0. 1. ]] SLAMing on 77.642414037 meters Centerline goodness : 0.773525 Centerline is valid? [False, False] Translation: X:3.66, Y:0.20, Z:-0.15 [[ 0.91943148 -0.32465352 -0.22191406 3.65623008] [ 0.34243227 0.9384217 0.04587858 0.19535357] [ 0.19335433 -0.11817274 0.9739863 -0.14803135] [ 0. 0. 0. 1. ]] SLAMing on 77.672414037 meters Centerline goodness : 0.771415 Centerline is valid? [False, False] Translation: X:3.66, Y:0.20, Z:-0.15 [[ 0.91921322 -0.32547318 -0.22161739 3.65530245] [ 0.34301974 0.93825888 0.04480776 0.19688009] [ 0.19335076 -0.11720703 0.97410369 -0.14771271] [ 0. 0. 0. 1. ]] SLAMing on 77.702414037 meters Centerline goodness : 0.774402 Centerline is valid? [False, False] Translation: X:3.66, Y:0.20, Z:-0.15 [[ 0.9190708 -0.32602984 -0.22138973 3.65562208] [ 0.34342212 0.93814461 0.04411272 0.19724174] [ 0.19331352 -0.11657285 0.97418718 -0.14822316] [ 0. 0. 0. 1. ]] SLAMing on 77.732414037 meters Centerline goodness : 0.774877 Centerline is valid? [False, False] Translation: X:3.66, Y:0.20, Z:-0.15 [[ 0.91891794 -0.3263144 -0.2216049 3.65654469] [ 0.34367824 0.93806512 0.04380744 0.19787642] [ 0.19358483 -0.11641622 0.97415203 -0.14860439] [ 0. 0. 0. 1. ]] SLAMing on 77.76241403699999 meters Centerline goodness : 0.773421 Centerline is valid? [False, False] Translation: X:3.66, Y:0.20, Z:-0.15 [[ 0.91855109 -0.32749132 -0.22138955 3.65631542] [ 0.34460008 0.93778559 0.04253197 0.19952167] [ 0.19368708 -0.11535864 0.97425751 -0.14866232] [ 0. 0. 0. 1. ]] SLAMing on 77.79241403699999 meters Centerline goodness : 0.773185 Centerline is valid? [False, False] Translation: X:3.66, Y:0.20, Z:-0.15 [[ 0.91823536 -0.32831613 -0.22147762 3.65639537] [ 0.34533868 0.93753971 0.04195808 0.20043404] [ 0.19386855 -0.11501218 0.97426238 -0.14841958] [ 0. 0. 0. 1. ]] SLAMing on 77.82241403699999 meters Centerline goodness : 0.771913 Centerline is valid? [False, False] Translation: X:3.66, Y:0.20, Z:-0.15 [[ 0.9180307 -0.3285652 -0.22195618 3.65723576] [ 0.34561344 0.93744681 0.04177106 0.2018713 ] [ 0.19434759 -0.11505815 0.9741615 -0.14852442] [ 0. 0. 0. 1. ]] SLAMing on 77.85241403699999 meters Centerline goodness : 0.772525 Centerline is valid? [False, False] Translation: X:3.66, Y:0.20, Z:-0.15 [[ 0.91781225 -0.32913849 -0.22201019 3.65679597] [ 0.34610761 0.93728618 0.04128121 0.20264595] [ 0.19449985 -0.11472782 0.97417008 -0.14791893] [ 0. 0. 0. 1. ]] SLAMing on 77.88241403699999 meters Centerline goodness : 0.768613 Centerline is valid? [False, False] Translation: X:3.66, Y:0.20, Z:-0.15 [[ 0.91762833 -0.32977739 -0.22182227 3.65647231] [ 0.34661171 0.93712743 0.04065097 0.20331461] [ 0.19446996 -0.11418868 0.97423939 -0.14785699] [ 0. 0. 0. 1. ]] SLAMing on 77.91241403699999 meters Centerline goodness : 0.772811 Centerline is valid? [False, False] Translation: X:3.66, Y:0.20, Z:-0.15 [[ 0.9171817 -0.33083507 -0.22209433 3.65862355] [ 0.34759163 0.93679302 0.03998615 0.20329033] [ 0.19482759 -0.11387269 0.97420492 -0.14856793] [ 0. 0. 0. 1. ]] SLAMing on 77.94241403699999 meters Centerline goodness : 0.770518 Centerline is valid? [False, False] Translation: X:3.66, Y:0.20, Z:-0.15 [[ 0.91644346 -0.33394862 -0.22047608 3.65817069] [ 0.34984433 0.93610457 0.03629294 0.20388862] [ 0.19426868 -0.11039273 0.97471694 -0.14933488] [ 0. 0. 0. 1. ]] SLAMing on 77.972414037 meters Centerline goodness : 0.770608 Centerline is valid? [False, False] Translation: X:3.66, Y:0.20, Z:-0.15 [[ 0.91548802 -0.33727382 -0.21938105 3.65846842] [ 0.35249438 0.93522584 0.03317148 0.20431066] [ 0.19398295 -0.10769868 0.97507518 -0.14965937] [ 0. 0. 0. 1. ]] SLAMing on 78.002414037 meters Centerline goodness : 0.771309 Centerline is valid? [False, False] Translation: X:3.66, Y:0.20, Z:-0.15 [[ 0.91501689 -0.33826948 -0.21981321 3.65865517] [ 0.35350491 0.93485417 0.03289303 0.20494216] [ 0.19436658 -0.10780273 0.97498728 -0.14863291] [ 0. 0. 0. 1. ]] SLAMing on 78.032414037 meters Centerline goodness : 0.771960 Centerline is valid? [False, False] Translation: X:3.66, Y:0.21, Z:-0.15 [[ 0.91421048 -0.33968289 -0.22098581 3.66011381] [ 0.35515067 0.93421807 0.03323551 0.20514718] [ 0.19515941 -0.10886751 0.97471056 -0.14709881] [ 0. 0. 0. 1. ]] SLAMing on 78.062414037 meters Centerline goodness : 0.768466 Centerline is valid? [False, False] Translation: X:3.66, Y:0.20, Z:-0.15 [[ 0.91384601 -0.34041081 -0.22137288 3.66120961] [ 0.35594084 0.93391694 0.03324571 0.20459075] [ 0.19542669 -0.10917711 0.97462237 -0.14671841] [ 0. 0. 0. 1. ]] SLAMing on 78.092414037 meters Centerline goodness : 0.769786 Centerline is valid? [False, False] Translation: X:3.66, Y:0.20, Z:-0.15 [[ 0.91355048 -0.34080466 -0.2219858 3.66305792] [ 0.3564656 0.93370753 0.03350414 0.20375791] [ 0.19585144 -0.10973802 0.9744741 -0.14657413] [ 0. 0. 0. 1. ]] SLAMing on 78.12241403699998 meters Centerline goodness : 0.767958 Centerline is valid? [False, False] Translation: X:3.66, Y:0.20, Z:-0.15 [[ 0.91243854 -0.34479183 -0.22039622 3.66255918] [ 0.35969964 0.93257896 0.03021017 0.20245526] [ 0.19512066 -0.10684137 0.97494249 -0.14624881] [ 0. 0. 0. 1. ]] SLAMing on 78.15241403699999 meters Centerline goodness : 0.767242 Centerline is valid? [False, False] Translation: X:3.66, Y:0.20, Z:-0.15 [[ 0.91207793 -0.3452035 -0.22124284 3.66434874] [ 0.36031966 0.93232262 0.030729 0.20171399] [ 0.19566195 -0.10774539 0.97473449 -0.14573658] [ 0. 0. 0. 1. ]] SLAMing on 78.18241403699999 meters Centerline goodness : 0.768798 Centerline is valid? [False, False] Translation: X:3.67, Y:0.20, Z:-0.14 [[ 0.91132484 -0.34632348 -0.22259176 3.66571406] [ 0.36176545 0.93173813 0.0314614 0.2018014 ] [ 0.1965014 -0.10919756 0.97440397 -0.14401352] [ 0. 0. 0. 1. ]] SLAMing on 78.21241403699999 meters Centerline goodness : 0.769563 Centerline is valid? [False, False] Translation: X:3.67, Y:0.20, Z:-0.14 [[ 0.91085195 -0.34717723 -0.22319654 3.66582223] [ 0.36272951 0.93135961 0.03156871 0.20244621] [ 0.1969163 -0.10971439 0.97426214 -0.14278821] [ 0. 0. 0. 1. ]] SLAMing on 78.24241403699999 meters Centerline goodness : 0.771674 Centerline is valid? [False, False] Translation: X:3.67, Y:0.20, Z:-0.14 [[ 0.91043323 -0.34786887 -0.22382714 3.66644852] [ 0.36351069 0.9310548 0.03157449 0.20275514] [ 0.19741155 -0.11011002 0.97411727 -0.14180252] [ 0. 0. 0. 1. ]] SLAMing on 78.27241403699999 meters Centerline goodness : 0.769984 Centerline is valid? [False, False] Translation: X:3.67, Y:0.20, Z:-0.14 [[ 0.90977908 -0.34899318 -0.22473492 3.6695829 ] [ 0.36482932 0.93052824 0.03188678 0.20130514] [ 0.19799392 -0.11099981 0.97389807 -0.14189065] [ 0. 0. 0. 1. ]] SLAMing on 78.30241403699999 meters Centerline goodness : 0.762721 Centerline is valid? [False, False] Translation: X:3.67, Y:0.20, Z:-0.14 [[ 0.90925487 -0.35004452 -0.2252208 3.6718766 ] [ 0.36593445 0.93009873 0.03175426 0.20038435] [ 0.19836218 -0.11128876 0.97379015 -0.14212121] [ 0. 0. 0. 1. ]] SLAMing on 78.33241403699999 meters Centerline goodness : 0.760670 Centerline is valid? [False, False] Translation: X:3.67, Y:0.20, Z:-0.14 [[ 0.90758264 -0.35468286 -0.22470827 3.67372501] [ 0.36989508 0.92864561 0.02819507 0.20135006] [ 0.19867405 -0.10870784 0.97401808 -0.1421343 ] [ 0. 0. 0. 1. ]] SLAMing on 78.362414037 meters Centerline goodness : 0.768179 Centerline is valid? [False, False] Translation: X:3.67, Y:0.20, Z:-0.14 [[ 0.90703696 -0.35573136 -0.22525352 3.67391298] [ 0.37099989 0.9282093 0.02804599 0.20201664] [ 0.19910557 -0.10900778 0.97389644 -0.14093327] [ 0. 0. 0. 1. ]] SLAMing on 78.392414037 meters Centerline goodness : 0.770244 Centerline is valid? [False, False] Translation: X:3.67, Y:0.20, Z:-0.14 [[ 0.90661905 -0.35614172 -0.22628516 3.6745597 ] [ 0.37164705 0.92793422 0.0285755 0.20285959] [ 0.19980081 -0.11000531 0.97364186 -0.13972228] [ 0. 0. 0. 1. ]] SLAMing on 78.422414037 meters Centerline goodness : 0.770231 Centerline is valid? [False, False] Translation: X:3.67, Y:0.20, Z:-0.14 [[ 0.90614862 -0.35676037 -0.22719314 3.67493407] [ 0.37243883 0.92760871 0.02883409 0.20373809] [ 0.20045948 -0.11074352 0.97342276 -0.13836863] [ 0. 0. 0. 1. ]] SLAMing on 78.452414037 meters Centerline goodness : 0.762037 Centerline is valid? [False, False] Translation: X:3.68, Y:0.20, Z:-0.14 [[ 0.90594599 -0.35709585 -0.22747398 3.67571832] [ 0.37280424 0.92746353 0.02878189 0.20352809] [ 0.20069592 -0.1108781 0.97335872 -0.13823777] [ 0. 0. 0. 1. ]] SLAMing on 78.482414037 meters Centerline goodness : 0.760183 Centerline is valid? [False, False] Translation: X:3.68, Y:0.20, Z:-0.14 [[ 0.9057413 -0.35742502 -0.22777195 3.67657495] [ 0.37319173 0.92730531 0.02885801 0.20255337] [ 0.20089956 -0.1111405 0.97328678 -0.13783966] [ 0. 0. 0. 1. ]] SLAMing on 78.51241403699999 meters Centerline goodness : 0.769668 Centerline is valid? [False, False] Translation: X:3.68, Y:0.20, Z:-0.14 [[ 0.90554815 -0.3579602 -0.22769945 3.67590564] [ 0.37361382 0.92715286 0.02828941 0.20342685] [ 0.20098572 -0.11068908 0.97332043 -0.13731834] [ 0. 0. 0. 1. ]] SLAMing on 78.54241403699999 meters Centerline goodness : 0.768977 Centerline is valid? [False, False] Translation: X:3.68, Y:0.20, Z:-0.14 [[ 0.90593881 -0.35538505 -0.23016589 3.67792635] [ 0.37198195 0.9276975 0.03172959 0.20353002] [ 0.2022481 -0.11436262 0.972634 -0.13635364] [ 0. 0. 0. 1. ]] SLAMing on 78.57241403699999 meters Centerline goodness : 0.769327 Centerline is valid? [False, False] Translation: X:3.67, Y:0.20, Z:-0.13 [[ 0.906594 -0.34943423 -0.23660735 3.67311026] [ 0.36579375 0.93028371 0.02769753 0.20247611] [ 0.21043349 -0.11165991 0.97121049 -0.13238467] [ 0. 0. 0. 1. ]] SLAMing on 78.60241403699999 meters Centerline goodness : 0.767404 Centerline is valid? [False, False] Translation: X:3.67, Y:0.20, Z:-0.13 [[ 0.90680946 -0.34879727 -0.23672149 3.67427871] [ 0.36508746 0.93057014 0.02739266 0.2040159 ] [ 0.21073147 -0.11126397 0.97119132 -0.13383315] [ 0. 0. 0. 1. ]] SLAMing on 78.63241403699999 meters Centerline goodness : 0.769412 Centerline is valid? [False, False] Translation: X:3.68, Y:0.20, Z:-0.13 [[ 0.90682453 -0.34862823 -0.2369127 3.67534134] [ 0.36492707 0.93063432 0.0273494 0.20420447] [ 0.21094431 -0.11125696 0.97114591 -0.13443938] [ 0. 0. 0. 1. ]] SLAMing on 78.66241403699999 meters Centerline goodness : 0.769111 Centerline is valid? [False, False] Translation: X:3.68, Y:0.20, Z:-0.13 [[ 0.90690882 -0.34825744 -0.2371353 3.67645371] [ 0.36460025 0.93075868 0.02747607 0.20398213] [ 0.21114699 -0.11137788 0.97108801 -0.13497417] [ 0. 0. 0. 1. ]] SLAMing on 78.69241403699999 meters Centerline goodness : 0.769553 Centerline is valid? [False, False] Translation: X:3.68, Y:0.20, Z:-0.13 [[ 0.90676592 -0.34862445 -0.23714249 3.67636211] [ 0.36489863 0.93065242 0.02711221 0.20463744] [ 0.21124525 -0.1111174 0.97109648 -0.13485942] [ 0. 0. 0. 1. ]] SLAMing on 78.722414037 meters Centerline goodness : 0.771476 Centerline is valid? [False, False] Translation: X:3.68, Y:0.21, Z:-0.13 [[ 0.9071657 -0.34626407 -0.239064 3.67627861] [ 0.36337511 0.93115377 0.03018582 0.20560723] [ 0.21215308 -0.11425345 0.9705345 -0.13318599] [ 0. 0. 0. 1. ]] SLAMing on 78.752414037 meters Centerline goodness : 0.769446 Centerline is valid? [False, False] Translation: X:3.68, Y:0.21, Z:-0.13 [[ 0.90710185 -0.34602778 -0.23964769 3.67625516] [ 0.36326615 0.93118692 0.03047331 0.2067103 ] [ 0.21261218 -0.11469829 0.97038156 -0.13249867] [ 0. 0. 0. 1. ]] SLAMing on 78.782414037 meters Centerline goodness : 0.773236 Centerline is valid? [False, False] Translation: X:3.68, Y:0.21, Z:-0.13 [[ 0.90715419 -0.34587092 -0.23967599 3.67616947] [ 0.36305582 0.93127679 0.03023269 0.20779641] [ 0.21274808 -0.11444148 0.97038209 -0.13272652] [ 0. 0. 0. 1. ]] SLAMing on 78.812414037 meters Centerline goodness : 0.773026 Centerline is valid? [False, False] Translation: X:3.68, Y:0.21, Z:-0.13 [[ 0.90721057 -0.34613162 -0.2390855 3.67606859] [ 0.36304374 0.93131191 0.0292808 0.20825571] [ 0.21252817 -0.11336235 0.97055693 -0.13363002] [ 0. 0. 0. 1. ]] SLAMing on 78.842414037 meters Centerline goodness : 0.775075 Centerline is valid? [False, False] Translation: X:3.68, Y:0.21, Z:-0.13 [[ 0.90720411 -0.3461427 -0.23909397 3.676895 ] [ 0.36301992 0.93132638 0.02911548 0.20820375] [ 0.21259641 -0.11320956 0.97055982 -0.13426351] [ 0. 0. 0. 1. ]] SLAMing on 78.87241403699998 meters Centerline goodness : 0.770071 Centerline is valid? [False, False] Translation: X:3.68, Y:0.21, Z:-0.13 [[ 0.90710077 -0.3461539 -0.23946957 3.67751681] [ 0.36302472 0.93133184 0.02887988 0.20961762] [ 0.21302875 -0.11313033 0.97047425 -0.13445038] [ 0. 0. 0. 1. ]] SLAMing on 78.90241403699999 meters Centerline goodness : 0.771959 Centerline is valid? [False, False] Translation: X:3.68, Y:0.21, Z:-0.13 [[ 0.90711912 -0.34573706 -0.24000164 3.67780737] [ 0.36272052 0.93144186 0.02915293 0.21051805] [ 0.21346832 -0.1134987 0.97033464 -0.13407789] [ 0. 0. 0. 1. ]] SLAMing on 78.93241403699999 meters Centerline goodness : 0.776099 Centerline is valid? [False, False] Translation: X:3.68, Y:0.21, Z:-0.13 [[ 0.90707675 -0.34542053 -0.24061675 3.67850028] [ 0.36253642 0.93150397 0.02945665 0.21177899] [ 0.21396052 -0.11395178 0.97017312 -0.13402007] [ 0. 0. 0. 1. ]] SLAMing on 78.96241403699999 meters Centerline goodness : 0.773420 Centerline is valid? [False, False] Translation: X:3.68, Y:0.21, Z:-0.13 [[ 0.90719937 -0.34558283 -0.23992045 3.67750435] [ 0.36236264 0.93160772 0.02829076 0.21359652] [ 0.21373494 -0.11260357 0.97038024 -0.13479809] [ 0. 0. 0. 1. ]] SLAMing on 78.99241403699999 meters Centerline goodness : 0.774652 Centerline is valid? [False, False] Translation: X:3.68, Y:0.21, Z:-0.14 [[ 0.90731255 -0.34541008 -0.23974112 3.67779271] [ 0.36208399 0.93172701 0.02792785 0.21436134] [ 0.21372672 -0.11214571 0.97043507 -0.13560771] [ 0. 0. 0. 1. ]] SLAMing on 79.02241403699999 meters Centerline goodness : 0.773280 Centerline is valid? [False, False] Translation: X:3.68, Y:0.22, Z:-0.14 [[ 0.90775699 -0.34446896 -0.23941257 3.67680853] [ 0.36099424 0.93216118 0.0275443 0.21621913] [ 0.21368295 -0.11143009 0.97052714 -0.13624472] [ 0. 0. 0. 1. ]] SLAMing on 79.05241403699999 meters Centerline goodness : 0.773614 Centerline is valid? [False, False] Translation: X:3.68, Y:0.22, Z:-0.14 [[ 0.90800907 -0.34374242 -0.23950088 3.67678227] [ 0.36027398 0.93243772 0.02761428 0.21697073] [ 0.21382746 -0.11135996 0.97050336 -0.13651658] [ 0. 0. 0. 1. ]] SLAMing on 79.08241403699999 meters Centerline goodness : 0.774936 Centerline is valid? [False, False] Translation: X:3.68, Y:0.22, Z:-0.14 [[ 0.90831533 -0.34292188 -0.23951584 3.67674038] [ 0.35942454 0.93276664 0.02757532 0.21811767] [ 0.21395621 -0.11113496 0.97050078 -0.13712978] [ 0. 0. 0. 1. ]] SLAMing on 79.112414037 meters Centerline goodness : 0.773624 Centerline is valid? [False, False] Translation: X:3.68, Y:0.22, Z:-0.14 [[ 0.9094063 -0.33909519 -0.24082076 3.67648442] [ 0.35623343 0.93390825 0.03021802 0.22045179] [ 0.21465771 -0.11326887 0.97009908 -0.13734488] [ 0. 0. 0. 1. ]] SLAMing on 79.142414037 meters Centerline goodness : 0.774048 Centerline is valid? [False, False] Translation: X:3.67, Y:0.22, Z:-0.14 [[ 0.90962704 -0.33896791 -0.24016537 3.67447633] [ 0.3558102 0.93410043 0.02924864 0.22246383] [ 0.21442423 -0.11205864 0.97029125 -0.13741118] [ 0. 0. 0. 1. ]] SLAMing on 79.172414037 meters Centerline goodness : 0.774649 Centerline is valid? [False, False] Translation: X:3.68, Y:0.22, Z:-0.14 [[ 0.91040174 -0.33540678 -0.24222091 3.67644542] [ 0.35322687 0.93495631 0.0329768 0.22199806] [ 0.21540533 -0.11558107 0.96966054 -0.13730864] [ 0. 0. 0. 1. ]] SLAMing on 79.202414037 meters Centerline goodness : 0.774219 Centerline is valid? [False, False] Translation: X:3.68, Y:0.22, Z:-0.14 [[ 0.91061614 -0.33531387 -0.24154264 3.67522854] [ 0.35284259 0.93513371 0.03204754 0.223166 ] [ 0.21512869 -0.11440954 0.96986087 -0.13777591] [ 0. 0. 0. 1. ]] SLAMing on 79.232414037 meters Centerline goodness : 0.774219 Centerline is valid? [False, False] Translation: X:3.68, Y:0.22, Z:-0.14 [[ 0.91061614 -0.33531387 -0.24154264 3.67522854] [ 0.35284259 0.93513371 0.03204754 0.223166 ] [ 0.21512869 -0.11440954 0.96986087 -0.13777591] [ 0. 0. 0. 1. ]] SLAMing on 79.26241403699999 meters Centerline goodness : 0.775789 Centerline is valid? [False, False] Translation: X:3.67, Y:0.22, Z:-0.14 [[ 0.91088083 -0.33518667 -0.24071979 3.67267703] [ 0.35239571 0.93533527 0.03106758 0.22492219] [ 0.21474027 -0.11312749 0.97009731 -0.13758078] [ 0. 0. 0. 1. ]] SLAMing on 79.29241403699999 meters Centerline goodness : 0.775350 Centerline is valid? [False, False] Translation: X:3.67, Y:0.23, Z:-0.14 [[ 0.91084344 -0.33515818 -0.24090087 3.67248957] [ 0.35234848 0.935359 0.03088854 0.22604518] [ 0.21497625 -0.11301568 0.97005807 -0.13736543] [ 0. 0. 0. 1. ]] SLAMing on 79.32241403699999 meters Centerline goodness : 0.777313 Centerline is valid? [False, False] Translation: X:3.67, Y:0.23, Z:-0.14 [[ 0.91063058 -0.33557111 -0.2411306 3.67254509] [ 0.3525827 0.93530255 0.02990941 0.22918014] [ 0.21549334 -0.1122549 0.97003168 -0.13754736] [ 0. 0. 0. 1. ]] SLAMing on 79.35241403699999 meters Centerline goodness : 0.774645 Centerline is valid? [False, False] Translation: X:3.67, Y:0.23, Z:-0.14 [[ 0.91059505 -0.33550157 -0.24136147 3.6732242 ] [ 0.35249277 0.93534303 0.02970281 0.23038655] [ 0.21579043 -0.1121254 0.96998061 -0.13805276] [ 0. 0. 0. 1. ]] SLAMing on 79.38241403699999 meters Centerline goodness : 0.774631 Centerline is valid? [False, False] Translation: X:3.67, Y:0.23, Z:-0.14 [[ 0.91041569 -0.3361423 -0.24114647 3.67343013] [ 0.35287793 0.93523247 0.02859011 0.23219495] [ 0.21591766 -0.11112415 0.97006752 -0.13876397] [ 0. 0. 0. 1. ]] SLAMing on 79.41241403699999 meters Centerline goodness : 0.773268 Centerline is valid? [False, False] Translation: X:3.67, Y:0.23, Z:-0.14 [[ 0.91055389 -0.33628732 -0.24042142 3.67385783] [ 0.35263838 0.93536357 0.02722444 0.2338279 ] [ 0.2157262 -0.10957114 0.97028675 -0.14067879] [ 0. 0. 0. 1. ]] SLAMing on 79.44241403699999 meters Centerline goodness : 0.772851 Centerline is valid? [False, False] Translation: X:3.67, Y:0.23, Z:-0.14 [[ 0.91075788 -0.33574994 -0.24039978 3.67421341] [ 0.35203718 0.93559609 0.02701458 0.23485468] [ 0.21584696 -0.1092334 0.97029797 -0.14142379] [ 0. 0. 0. 1. ]] SLAMing on 79.472414037 meters Centerline goodness : 0.772544 Centerline is valid? [False, False] Translation: X:3.67, Y:0.24, Z:-0.14 [[ 0.91109429 -0.33500358 -0.24016618 3.67365174] [ 0.35123454 0.93589887 0.02697426 0.23557618] [ 0.21573479 -0.10893075 0.97035694 -0.14183914] [ 0. 0. 0. 1. ]] SLAMing on 79.502414037 meters Centerline goodness : 0.770991 Centerline is valid? [False, False] Translation: X:3.67, Y:0.24, Z:-0.14 [[ 0.91244527 -0.33082828 -0.24082417 3.67260032] [ 0.34768832 0.93713112 0.02996827 0.23577387] [ 0.21576947 -0.11107616 0.97010599 -0.1420989 ] [ 0. 0. 0. 1. ]] SLAMing on 79.532414037 meters Centerline goodness : 0.773549 Centerline is valid? [False, False] Translation: X:3.67, Y:0.24, Z:-0.14 [[ 0.91277415 -0.33015515 -0.24050141 3.67115191] [ 0.34692925 0.93741668 0.02983398 0.23644659] [ 0.21560019 -0.11066866 0.97019019 -0.14184174] [ 0. 0. 0. 1. ]] SLAMing on 79.562414037 meters Centerline goodness : 0.773755 Centerline is valid? [False, False] Translation: X:3.67, Y:0.24, Z:-0.14 [[ 0.913367 -0.32877885 -0.24013577 3.66938793] [ 0.34535969 0.93801217 0.02932335 0.23870986] [ 0.21560937 -0.10971619 0.97029632 -0.14197601] [ 0. 0. 0. 1. ]] SLAMing on 79.592414037 meters Centerline goodness : 0.771936 Centerline is valid? [False, False] Translation: X:3.66, Y:0.24, Z:-0.15 [[ 0.91519224 -0.32684631 -0.23578517 3.66460861] [ 0.34296896 0.93887552 0.0297497 0.23717619] [ 0.21164935 -0.10809369 0.97134973 -0.1452964 ] [ 0. 0. 0. 1. ]] SLAMing on 79.62241403699998 meters Centerline goodness : 0.772521 Centerline is valid? [False, False] Translation: X:3.66, Y:0.24, Z:-0.15 [[ 0.91545774 -0.32650685 -0.23522414 3.66355572] [ 0.34236972 0.93912106 0.02888968 0.23922259] [ 0.21147126 -0.10698091 0.9715117 -0.14610001] [ 0. 0. 0. 1. ]] SLAMing on 79.65241403699999 meters Centerline goodness : 0.770216 Centerline is valid? [False, False] Translation: X:3.66, Y:0.24, Z:-0.15 [[ 0.91825916 -0.32365407 -0.22814064 3.65530559] [ 0.33838468 0.94060327 0.02759156 0.23641536] [ 0.20565971 -0.1025355 0.97323715 -0.15062696] [ 0. 0. 0. 1. ]] SLAMing on 79.68241403699999 meters Centerline goodness : 0.770577 Centerline is valid? [False, False] Translation: X:3.65, Y:0.24, Z:-0.15 [[ 0.91830066 -0.32373006 -0.22786563 3.65440952] [ 0.33837133 0.94061658 0.02730012 0.23749905] [ 0.20549632 -0.10217292 0.97330979 -0.15044432] [ 0. 0. 0. 1. ]] SLAMing on 79.71241403699999 meters Centerline goodness : 0.774280 Centerline is valid? [False, False] Translation: X:3.65, Y:0.24, Z:-0.15 [[ 0.91840677 -0.32335251 -0.22797403 3.65447725] [ 0.33793534 0.94078162 0.02701187 0.23892135] [ 0.20573942 -0.10184836 0.97329245 -0.15015414] [ 0. 0. 0. 1. ]] SLAMing on 79.74241403699999 meters Centerline goodness : 0.771247 Centerline is valid? [False, False] Translation: X:3.65, Y:0.24, Z:-0.15 [[ 0.92038619 -0.31977028 -0.22502494 3.64653264] [ 0.33238653 0.94294057 0.01955163 0.23650816] [ 0.20593312 -0.09279031 0.97415682 -0.151906 ] [ 0. 0. 0. 1. ]] SLAMing on 79.77241403699999 meters Centerline goodness : 0.770808 Centerline is valid? [False, False] Translation: X:3.65, Y:0.24, Z:-0.15 [[ 0.92049205 -0.31943627 -0.22506632 3.64686823] [ 0.33206936 0.94305026 0.01965087 0.23712285] [ 0.20597165 -0.0928261 0.97414526 -0.15227443] [ 0. 0. 0. 1. ]] SLAMing on 79.80241403699999 meters Centerline goodness : 0.773030 Centerline is valid? [False, False] Translation: X:3.65, Y:0.24, Z:-0.15 [[ 0.92173377 -0.3151238 -0.22606159 3.64630313] [ 0.32851795 0.94421077 0.02328038 0.23674038] [ 0.20611359 -0.0957236 0.97383478 -0.15216929] [ 0. 0. 0. 1. ]] SLAMing on 79.83241403699999 meters Centerline goodness : 0.771870 Centerline is valid? [False, False] Translation: X:3.64, Y:0.24, Z:-0.15 [[ 0.92301002 -0.31152076 -0.22584799 3.64487317] [ 0.32523548 0.94529421 0.02531279 0.23534829] [ 0.20560734 -0.09681774 0.97383363 -0.15233939] [ 0. 0. 0. 1. ]] SLAMing on 79.862414037 meters Centerline goodness : 0.771870 Centerline is valid? [False, False] Translation: X:3.64, Y:0.24, Z:-0.15 [[ 0.92301002 -0.31152076 -0.22584799 3.64487317] [ 0.32523548 0.94529421 0.02531279 0.23534829] [ 0.20560734 -0.09681774 0.97383363 -0.15233939] [ 0. 0. 0. 1. ]] SLAMing on 79.892414037 meters Centerline goodness : 0.776455 Centerline is valid? [False, False] Translation: X:3.64, Y:0.23, Z:-0.15 [[ 0.92348127 -0.31063828 -0.22513596 3.64354207] [ 0.32429913 0.94561078 0.02550136 0.23421503] [ 0.20496929 -0.09656142 0.97399357 -0.15244074] [ 0. 0. 0. 1. ]] SLAMing on 79.922414037 meters Centerline goodness : 0.771972 Centerline is valid? [False, False] Translation: X:3.64, Y:0.23, Z:-0.15 [[ 0.92418149 -0.30924966 -0.22417229 3.64202301] [ 0.32286409 0.9460908 0.02590309 0.23178523] [ 0.20407682 -0.09631634 0.97420522 -0.15258649] [ 0. 0. 0. 1. ]] SLAMing on 79.952414037 meters Centerline goodness : 0.771972 Centerline is valid? [False, False] Translation: X:3.64, Y:0.23, Z:-0.15 [[ 0.92418149 -0.30924966 -0.22417229 3.64202301] [ 0.32286409 0.9460908 0.02590309 0.23178523] [ 0.20407682 -0.09631634 0.97420522 -0.15258649] [ 0. 0. 0. 1. ]] SLAMing on 79.982414037 meters Centerline goodness : 0.773843 Centerline is valid? [False, False] Translation: X:3.64, Y:0.23, Z:-0.15 [[ 0.9242222 -0.30917768 -0.22410376 3.64162321] [ 0.32286227 0.94608104 0.02627952 0.23050218] [ 0.20389528 -0.09664277 0.97421091 -0.15200689] [ 0. 0. 0. 1. ]] SLAMing on 80.01241403699999 meters Centerline goodness : 0.775653 Centerline is valid? [False, False] Translation: X:3.64, Y:0.23, Z:-0.15 [[ 0.92352947 -0.31191443 -0.22316519 3.64065411] [ 0.32508086 0.9453831 0.02394245 0.22982332] [ 0.20350861 -0.09465829 0.97448656 -0.15104787] [ 0. 0. 0. 1. ]] SLAMing on 80.04241403699999 meters Centerline goodness : 0.770190 Centerline is valid? [False, False] Translation: X:3.64, Y:0.23, Z:-0.15 [[ 0.9234208 -0.31228752 -0.2230931 3.64103609] [ 0.3254152 0.94527294 0.02374894 0.22892805] [ 0.20346737 -0.09452815 0.9745078 -0.1509779 ] [ 0. 0. 0. 1. ]] SLAMing on 80.07241403699999 meters Centerline goodness : 0.771817 Centerline is valid? [False, False] Translation: X:3.64, Y:0.23, Z:-0.15 [[ 0.92295336 -0.31477896 -0.22152042 3.64014738] [ 0.32714275 0.94475173 0.02053775 0.22904154] [ 0.20281695 -0.09142419 0.97493944 -0.15150257] [ 0. 0. 0. 1. ]] SLAMing on 80.10241403699999 meters Centerline goodness : 0.772544 Centerline is valid? [False, False] Translation: X:3.64, Y:0.23, Z:-0.15 [[ 0.92257945 -0.31727993 -0.2195008 3.63978541] [ 0.32882341 0.94423448 0.01721664 0.22719812] [ 0.20179773 -0.08806072 0.9754604 -0.15271833] [ 0. 0. 0. 1. ]] SLAMing on 80.13241403699999 meters Centerline goodness : 0.771973 Centerline is valid? [False, False] Translation: X:3.64, Y:0.23, Z:-0.15 [[ 0.92251379 -0.317508 -0.21944697 3.64079815] [ 0.32902827 0.94416519 0.0171026 0.22605801] [ 0.20176398 -0.08798164 0.97547451 -0.15310501] [ 0. 0. 0. 1. ]] SLAMing on 80.16241403699999 meters Centerline goodness : 0.771391 Centerline is valid? [False, False] Translation: X:3.64, Y:0.22, Z:-0.15 [[ 0.92242779 -0.3193095 -0.21718292 3.63949909] [ 0.33009923 0.94383716 0.01434979 0.22365993] [ 0.20040328 -0.08492856 0.97602544 -0.154046 ] [ 0. 0. 0. 1. ]] SLAMing on 80.19241403699999 meters Centerline goodness : 0.771048 Centerline is valid? [False, False] Translation: X:3.64, Y:0.22, Z:-0.15 [[ 0.92246413 -0.31916241 -0.21724478 3.64022752] [ 0.33000369 0.94386688 0.01459063 0.22230177] [ 0.20039337 -0.08515091 0.9760081 -0.15408773] [ 0. 0. 0. 1. ]] SLAMing on 80.222414037 meters Centerline goodness : 0.772040 Centerline is valid? [False, False] Translation: X:3.64, Y:0.22, Z:-0.16 [[ 0.92384951 -0.32450242 -0.20297847 3.63914419] [ 0.33430367 0.94234539 0.01504061 0.22385295] [ 0.18639511 -0.08175171 0.97906768 -0.15970524] [ 0. 0. 0. 1. ]] SLAMing on 80.252414037 meters Centerline goodness : 0.773835 Centerline is valid? [False, False] Translation: X:3.64, Y:0.22, Z:-0.16 [[ 0.92429981 -0.32338165 -0.20271699 3.6381662 ] [ 0.33340924 0.94263838 0.01646703 0.22014083] [ 0.18576368 -0.08280819 0.9790989 -0.15865786] [ 0. 0. 0. 1. ]] SLAMing on 80.282414037 meters Centerline goodness : 0.773692 Centerline is valid? [False, False] Translation: X:3.64, Y:0.22, Z:-0.16 [[ 0.92453384 -0.32291507 -0.20239328 3.63783118] [ 0.33300161 0.94277346 0.01697436 0.21796833] [ 0.18532974 -0.08309066 0.9791572 -0.15842973] [ 0. 0. 0. 1. ]] SLAMing on 80.312414037 meters Centerline goodness : 0.775365 Centerline is valid? [False, False] Translation: X:3.64, Y:0.21, Z:-0.16 [[ 0.92433454 -0.32427151 -0.20113091 3.63773846] [ 0.33403129 0.94243162 0.01567607 0.21408227] [ 0.18446882 -0.08167395 0.97943893 -0.15839714] [ 0. 0. 0. 1. ]] SLAMing on 80.342414037 meters Centerline goodness : 0.774280 Centerline is valid? [False, False] Translation: X:3.64, Y:0.21, Z:-0.16 [[ 0.92390839 -0.32615194 -0.20004547 3.63708123] [ 0.33547438 0.94195058 0.01363982 0.2128063 ] [ 0.18398429 -0.07971207 0.97969167 -0.15809214] [ 0. 0. 0. 1. ]] SLAMing on 80.37241403699998 meters Centerline goodness : 0.775228 Centerline is valid? [False, False] Translation: X:3.64, Y:0.21, Z:-0.16 [[ 0.92365009 -0.3263883 -0.20085114 3.63871184] [ 0.33596636 0.94176057 0.01461644 0.21128579] [ 0.18438304 -0.0809797 0.97951273 -0.15749506] [ 0. 0. 0. 1. ]] SLAMing on 80.40241403699999 meters Centerline goodness : 0.770301 Centerline is valid? [False, False] Translation: X:3.64, Y:0.21, Z:-0.16 [[ 0.92277386 -0.32950109 -0.1997935 3.63892857] [ 0.33863414 0.94083651 0.01239318 0.20891278] [ 0.18388945 -0.07909301 0.97975965 -0.15690858] [ 0. 0. 0. 1. ]] SLAMing on 80.43241403699999 meters Centerline goodness : 0.770386 Centerline is valid? [False, False] Translation: X:3.64, Y:0.21, Z:-0.16 [[ 0.92231388 -0.33093856 -0.1995414 3.64141846] [ 0.3398538 0.94041168 0.01119261 0.20743629] [ 0.18394699 -0.078138 0.97982547 -0.15803549] [ 0. 0. 0. 1. ]] SLAMing on 80.46241403699999 meters Centerline goodness : 0.762638 Centerline is valid? [False, False] Translation: X:3.64, Y:0.21, Z:-0.16 [[ 0.92151378 -0.33380828 -0.19845498 3.6432495 ] [ 0.34212917 0.93961727 0.00818689 0.20690517] [ 0.18373888 -0.07544157 0.98007581 -0.15963599] [ 0. 0. 0. 1. ]] SLAMing on 80.49241403699999 meters Centerline goodness : 0.771401 Centerline is valid? [False, False] Translation: X:3.65, Y:0.20, Z:-0.16 [[ 0.92048979 -0.33727372 -0.19734483 3.6457876 ] [ 0.34505947 0.93856515 0.00542384 0.20470008] [ 0.18339166 -0.07308829 0.98031913 -0.16116285] [ 0. 0. 0. 1. ]] SLAMing on 80.52241403699999 meters Centerline goodness : 0.771840 Centerline is valid? [False, False] Translation: X:3.65, Y:0.20, Z:-0.16 [[ 0.9204049 -0.33723035 -0.19781436 3.64770397] [ 0.34518046 0.93851642 0.00611464 0.20337085] [ 0.18358998 -0.07390959 0.98022043 -0.16156072] [ 0. 0. 0. 1. ]] SLAMing on 80.55241403699999 meters Centerline goodness : 0.763239 Centerline is valid? [False, False] Translation: X:3.65, Y:0.20, Z:-0.16 [[ 0.92063593 -0.33667511 -0.19768497 3.64859051] [ 0.3448628 0.93862317 0.00749692 0.19864341] [ 0.18302767 -0.07507613 0.98023693 -0.16141681] [ 0. 0. 0. 1. ]] SLAMing on 80.58241403699999 meters Centerline goodness : 0.771549 Centerline is valid? [False, False] Translation: X:3.65, Y:0.20, Z:-0.16 [[ 0.92077443 -0.33627071 -0.19772824 3.64908936] [ 0.34456275 0.93872852 0.00808011 0.19669967] [ 0.18289603 -0.07556975 0.98022357 -0.16127237] [ 0. 0. 0. 1. ]] SLAMing on 80.612414037 meters Centerline goodness : 0.771045 Centerline is valid? [False, False] Translation: X:3.65, Y:0.19, Z:-0.16 [[ 0.92094114 -0.33549925 -0.19826162 3.6503361 ] [ 0.34405459 0.93890315 0.00934485 0.19496582] [ 0.18301326 -0.07681888 0.98010459 -0.16118602] [ 0. 0. 0. 1. ]] SLAMing on 80.642414037 meters Centerline goodness : 0.770283 Centerline is valid? [False, False] Translation: X:3.65, Y:0.19, Z:-0.16 [[ 0.92097301 -0.33549778 -0.198116 3.6509358 ] [ 0.34410331 0.93888193 0.00967642 0.19274929] [ 0.18276111 -0.07708409 0.98013082 -0.16118429] [ 0. 0. 0. 1. ]] SLAMing on 80.672414037 meters Centerline goodness : 0.770424 Centerline is valid? [False, False] Translation: X:3.65, Y:0.19, Z:-0.16 [[ 0.92111549 -0.33529396 -0.19779844 3.65133096] [ 0.34388258 0.93896211 0.00974349 0.1912044 ] [ 0.18245831 -0.07699432 0.98019429 -0.16168378] [ 0. 0. 0. 1. ]] SLAMing on 80.702414037 meters Centerline goodness : 0.777385 Centerline is valid? [False, False] Translation: X:3.65, Y:0.19, Z:-0.16 [[ 0.92175846 -0.3333776 -0.19804222 3.65280461] [ 0.34227921 0.93952768 0.01151911 0.18792733] [ 0.18222593 -0.07840357 0.9801258 -0.16247932] [ 0. 0. 0. 1. ]] SLAMing on 80.732414037 meters Centerline goodness : 0.770147 Centerline is valid? [False, False] Translation: X:3.65, Y:0.19, Z:-0.16 [[ 0.92218788 -0.33219389 -0.19803214 3.65298673] [ 0.34122888 0.93989892 0.01236399 0.18606248] [ 0.18202295 -0.07897621 0.98011755 -0.16257409] [ 0. 0. 0. 1. ]] SLAMing on 80.76241403699999 meters Centerline goodness : 0.773939 Centerline is valid? [False, False] Translation: X:3.65, Y:0.18, Z:-0.16 [[ 0.9224224 -0.33179164 -0.19761381 3.65239558] [ 0.34082815 0.94004119 0.01259886 0.18472419] [ 0.18158492 -0.07897382 0.98019899 -0.16254769] [ 0. 0. 0. 1. ]] SLAMing on 80.79241403699999 meters Centerline goodness : 0.773054 Centerline is valid? [False, False] Translation: X:3.65, Y:0.18, Z:-0.16 [[ 0.92287799 -0.33038423 -0.19784457 3.65361668] [ 0.33966696 0.94044202 0.01397031 0.18200549] [ 0.18144578 -0.08009415 0.98013385 -0.16305798] [ 0. 0. 0. 1. ]] SLAMing on 80.82241403699999 meters Centerline goodness : 0.776747 Centerline is valid? [False, False] Translation: X:3.65, Y:0.18, Z:-0.16 [[ 0.92303763 -0.32994687 -0.19782969 3.6540069 ] [ 0.33927439 0.94057931 0.01426391 0.18101541] [ 0.18136818 -0.08028467 0.98013262 -0.16322364] [ 0. 0. 0. 1. ]] SLAMing on 80.85241403699999 meters Centerline goodness : 0.776597 Centerline is valid? [False, False] Translation: X:3.65, Y:0.18, Z:-0.16 [[ 0.92329447 -0.32913922 -0.1979765 3.65496021] [ 0.33860064 0.94081055 0.01500405 0.17934742] [ 0.18131996 -0.08088812 0.98009193 -0.16363479] [ 0. 0. 0. 1. ]] SLAMing on 80.88241403699999 meters Centerline goodness : 0.775018 Centerline is valid? [False, False] Translation: X:3.66, Y:0.18, Z:-0.16 [[ 0.92341543 -0.32857525 -0.19834882 3.65653915] [ 0.33822356 0.94093143 0.01590166 0.1779295 ] [ 0.18140775 -0.08177009 0.98000249 -0.1641798 ] [ 0. 0. 0. 1. ]] SLAMing on 80.91241403699999 meters Centerline goodness : 0.780786 Centerline is valid? [False, False] Translation: X:3.66, Y:0.18, Z:-0.16 [[ 0.92337168 -0.32858294 -0.19853965 3.65768939] [ 0.33834264 0.94087981 0.0164146 0.17625826] [ 0.18140839 -0.08233121 0.97995539 -0.16432867] [ 0. 0. 0. 1. ]] SLAMing on 80.94241403699999 meters Centerline goodness : 0.776891 Centerline is valid? [False, False] Translation: X:3.66, Y:0.17, Z:-0.16 [[ 0.92344831 -0.32873022 -0.19793855 3.65839383] [ 0.33846153 0.94083513 0.01652427 0.17220008] [ 0.18079551 -0.08225389 0.98007514 -0.16452469] [ 0. 0. 0. 1. ]] SLAMing on 80.972414037 meters Centerline goodness : 0.779217 Centerline is valid? [False, False] Translation: X:3.66, Y:0.17, Z:-0.16 [[ 0.92361425 -0.32840993 -0.19769583 3.65851157] [ 0.33836217 0.94084627 0.01787021 0.16775635] [ 0.18013263 -0.08339797 0.98010051 -0.16386093] [ 0. 0. 0. 1. ]] SLAMing on 81.002414037 meters Centerline goodness : 0.781276 Centerline is valid? [False, False] Translation: X:3.66, Y:0.17, Z:-0.16 [[ 0.92351105 -0.32824796 -0.19844552 3.66007246] [ 0.33848524 0.94077824 0.01907992 0.16608431] [ 0.18043028 -0.0847914 0.97992619 -0.16339035] [ 0. 0. 0. 1. ]] SLAMing on 81.032414037 meters Centerline goodness : 0.781830 Centerline is valid? [False, False] Translation: X:3.66, Y:0.16, Z:-0.16 [[ 0.92335578 -0.32833207 -0.19902804 3.66123813] [ 0.33877301 0.94065774 0.01989623 0.16471343] [ 0.1806847 -0.08579663 0.9797918 -0.16281076] [ 0. 0. 0. 1. ]] SLAMing on 81.062414037 meters Centerline goodness : 0.777747 Centerline is valid? [False, False] Translation: X:3.66, Y:0.16, Z:-0.16 [[ 0.92297345 -0.32879394 -0.20003637 3.66353526] [ 0.3394705 0.94039035 0.0206343 0.16388922] [ 0.18132784 -0.08695136 0.97957117 -0.16242187] [ 0. 0. 0. 1. ]] SLAMing on 81.092414037 meters Centerline goodness : 0.780943 Centerline is valid? [False, False] Translation: X:3.67, Y:0.16, Z:-0.16 [[ 0.92179919 -0.33218514 -0.19984815 3.66698811] [ 0.34247014 0.93935116 0.01826488 0.16258531] [ 0.18166027 -0.08527858 0.97965663 -0.16334597] [ 0. 0. 0. 1. ]] SLAMing on 81.12241403699998 meters Centerline goodness : 0.780943 Centerline is valid? [False, False] Translation: X:3.67, Y:0.16, Z:-0.16 [[ 0.92179919 -0.33218514 -0.19984815 3.66698811] [ 0.34247014 0.93935116 0.01826488 0.16258531] [ 0.18166027 -0.08527858 0.97965663 -0.16334597] [ 0. 0. 0. 1. ]] SLAMing on 81.15241403699999 meters Centerline goodness : 0.781367 Centerline is valid? [False, False] Translation: X:3.67, Y:0.16, Z:-0.16 [[ 0.92152053 -0.33256565 -0.2004994 3.66993158] [ 0.34302091 0.93913901 0.01883015 0.1606289 ] [ 0.18203455 -0.08612785 0.97951285 -0.16394129] [ 0. 0. 0. 1. ]] SLAMing on 81.18241403699999 meters Centerline goodness : 0.779493 Centerline is valid? [False, False] Translation: X:3.67, Y:0.16, Z:-0.16 [[ 0.92046323 -0.33589001 -0.19981325 3.67255848] [ 0.34593661 0.93811076 0.01661499 0.15792154] [ 0.18186615 -0.08441621 0.97969312 -0.16477632] [ 0. 0. 0. 1. ]] SLAMing on 81.21241403699999 meters Centerline goodness : 0.778966 Centerline is valid? [False, False] Translation: X:3.67, Y:0.16, Z:-0.17 [[ 0.92035255 -0.33586532 -0.20036383 3.67455332] [ 0.34613339 0.93802119 0.01754792 0.15612189] [ 0.18205178 -0.08550288 0.9795644 -0.16500581] [ 0. 0. 0. 1. ]] SLAMing on 81.24241403699999 meters Centerline goodness : 0.780642 Centerline is valid? [False, False] Translation: X:3.68, Y:0.15, Z:-0.16 [[ 0.92027751 -0.33539654 -0.20149059 3.67619544] [ 0.34611902 0.93798809 0.01949266 0.15374351] [ 0.18245801 -0.08767838 0.97929647 -0.16383992] [ 0. 0. 0. 1. ]] SLAMing on 81.27241403699999 meters Centerline goodness : 0.782006 Centerline is valid? [False, False] Translation: X:3.68, Y:0.15, Z:-0.16 [[ 0.92037937 -0.3347584 -0.20208571 3.67681029] [ 0.34573242 0.93810668 0.02061451 0.15286703] [ 0.18267708 -0.08884075 0.97915086 -0.16324701] [ 0. 0. 0. 1. ]] SLAMing on 81.30241403699999 meters Centerline goodness : 0.782777 Centerline is valid? [False, False] Translation: X:3.68, Y:0.15, Z:-0.16 [[ 0.92083619 -0.33342928 -0.20220194 3.6766327 ] [ 0.34463396 0.93848095 0.02193055 0.1504087 ] [ 0.18245038 -0.0898801 0.97909827 -0.1626888 ] [ 0. 0. 0. 1. ]] SLAMing on 81.33241403699999 meters Centerline goodness : 0.782522 Centerline is valid? [False, False] Translation: X:3.68, Y:0.15, Z:-0.16 [[ 0.92098454 -0.3328517 -0.20247772 3.67785473] [ 0.34419493 0.93862631 0.02259433 0.14931167] [ 0.18253035 -0.09050083 0.97902618 -0.1631898 ] [ 0. 0. 0. 1. ]] SLAMing on 81.362414037 meters Centerline goodness : 0.786350 Centerline is valid? [False, False] Translation: X:3.68, Y:0.15, Z:-0.16 [[ 0.92118489 -0.33233381 -0.20241697 3.67849447] [ 0.34374331 0.93878111 0.02303384 0.14780907] [ 0.1823703 -0.0907979 0.97902851 -0.1636153 ] [ 0. 0. 0. 1. ]] SLAMing on 81.392414037 meters Centerline goodness : 0.781766 Centerline is valid? [False, False] Translation: X:3.68, Y:0.15, Z:-0.16 [[ 0.92132994 -0.33175714 -0.20270258 3.67964637] [ 0.34326582 0.93894476 0.02347996 0.14742998] [ 0.18253689 -0.09121366 0.97895881 -0.1641988 ] [ 0. 0. 0. 1. ]] SLAMing on 81.422414037 meters Centerline goodness : 0.782513 Centerline is valid? [False, False] Translation: X:3.68, Y:0.15, Z:-0.16 [[ 0.92152043 -0.33091633 -0.20321042 3.67985153] [ 0.34265311 0.93914173 0.0245288 0.14678016] [ 0.18272641 -0.09223447 0.9788278 -0.16353051] [ 0. 0. 0. 1. ]] SLAMing on 81.452414037 meters Centerline goodness : 0.787409 Centerline is valid? [False, False] Translation: X:3.68, Y:0.15, Z:-0.16 [[ 0.92147766 -0.33062506 -0.20387739 3.68145324] [ 0.34262387 0.93912337 0.025616 0.14527435] [ 0.18299673 -0.09345783 0.97866124 -0.16334579] [ 0. 0. 0. 1. ]] SLAMing on 81.482414037 meters Centerline goodness : 0.780081 Centerline is valid? [False, False] Translation: X:3.68, Y:0.14, Z:-0.16 [[ 0.92131707 -0.33063019 -0.2045936 3.6837899 ] [ 0.34280485 0.93904175 0.02618075 0.14418161] [ 0.18346579 -0.09425645 0.97849682 -0.1636812 ] [ 0. 0. 0. 1. ]] SLAMing on 81.51241403699999 meters Centerline goodness : 0.784430 Centerline is valid? [False, False] Translation: X:3.69, Y:0.14, Z:-0.16 [[ 0.92113659 -0.33068963 -0.20530889 3.68616862] [ 0.34305407 0.93893299 0.0268096 0.14283432] [ 0.18390563 -0.09512736 0.97832996 -0.16399319] [ 0. 0. 0. 1. ]] SLAMing on 81.54241403699999 meters Centerline goodness : 0.786012 Centerline is valid? [False, False] Translation: X:3.69, Y:0.14, Z:-0.16 [[ 0.92092334 -0.3308925 -0.20593775 3.68840153] [ 0.34340275 0.93879339 0.0272311 0.14179999] [ 0.18432243 -0.09579734 0.97818613 -0.16430323] [ 0. 0. 0. 1. ]] SLAMing on 81.57241403699999 meters Centerline goodness : 0.787787 Centerline is valid? [False, False] Translation: X:3.69, Y:0.14, Z:-0.16 [[ 0.92071865 -0.33125174 -0.20627519 3.68964966] [ 0.34390874 0.93859167 0.02779327 0.14018424] [ 0.1844016 -0.09652962 0.97809922 -0.164073 ] [ 0. 0. 0. 1. ]] SLAMing on 81.60241403699999 meters Centerline goodness : 0.786256 Centerline is valid? [False, False] Translation: X:3.69, Y:0.14, Z:-0.16 [[ 0.92064987 -0.33094105 -0.20707929 3.69119842] [ 0.3438447 0.93858781 0.02870079 0.1395038 ] [ 0.18486383 -0.0976265 0.97790308 -0.16378182] [ 0. 0. 0. 1. ]] SLAMing on 81.63241403699999 meters Centerline goodness : 0.787837 Centerline is valid? [False, False] Translation: X:3.69, Y:0.14, Z:-0.16 [[ 0.92062479 -0.33056283 -0.20779369 3.69208361] [ 0.34382695 0.93854541 0.03025781 0.13696608] [ 0.18502171 -0.09930116 0.97770458 -0.16254387] [ 0. 0. 0. 1. ]] SLAMing on 81.66241403699999 meters Centerline goodness : 0.788685 Centerline is valid? [False, False] Translation: X:3.69, Y:0.14, Z:-0.16 [[ 0.92048833 -0.33046843 -0.20854701 3.69371284] [ 0.34394611 0.93847816 0.03098094 0.13651327] [ 0.18547859 -0.10024652 0.97752152 -0.16241439] [ 0. 0. 0. 1. ]] SLAMing on 81.69241403699999 meters Centerline goodness : 0.783103 Centerline is valid? [False, False] Translation: X:3.70, Y:0.14, Z:-0.16 [[ 0.92034036 -0.33037198 -0.20935131 3.69559919] [ 0.34407176 0.93840758 0.03171492 0.13578987] [ 0.18597913 -0.10122039 0.97732604 -0.16227754] [ 0. 0. 0. 1. ]] SLAMing on 81.722414037 meters Centerline goodness : 0.787061 Centerline is valid? [False, False] Translation: X:3.70, Y:0.13, Z:-0.16 [[ 0.91992256 -0.33092908 -0.21030557 3.69889 ] [ 0.34494319 0.93805119 0.03277427 0.13295803] [ 0.18643143 -0.10269326 0.97708619 -0.16226703] [ 0. 0. 0. 1. ]] SLAMing on 81.752414037 meters Centerline goodness : 0.789494 Centerline is valid? [False, False] Translation: X:3.70, Y:0.13, Z:-0.16 [[ 0.9197806 -0.33090193 -0.21096815 3.70041855] [ 0.34519095 0.93792211 0.03384257 0.13083489] [ 0.18667312 -0.10395203 0.97690692 -0.16166417] [ 0. 0. 0. 1. ]] SLAMing on 81.782414037 meters Centerline goodness : 0.788035 Centerline is valid? [False, False] Translation: X:3.70, Y:0.13, Z:-0.16 [[ 0.91930329 -0.33137378 -0.21230375 3.7020987 ] [ 0.34620952 0.93747069 0.03588415 0.12777679] [ 0.18713747 -0.10648999 0.97654465 -0.15938119] [ 0. 0. 0. 1. ]] SLAMing on 81.812414037 meters Centerline goodness : 0.789752 Centerline is valid? [False, False] Translation: X:3.70, Y:0.13, Z:-0.16 [[ 0.91885795 -0.33183361 -0.21351002 3.70400566] [ 0.34698491 0.93714937 0.03677667 0.12729727] [ 0.18788704 -0.10787729 0.97624841 -0.15833155] [ 0. 0. 0. 1. ]] SLAMing on 81.842414037 meters Centerline goodness : 0.788207 Centerline is valid? [False, False] Translation: X:3.71, Y:0.13, Z:-0.16 [[ 0.91763118 -0.33417662 -0.21512557 3.70829651] [ 0.34965977 0.93613385 0.03730224 0.1261548 ] [ 0.18892079 -0.10945045 0.97587373 -0.15766078] [ 0. 0. 0. 1. ]] SLAMing on 81.87241403699998 meters Centerline goodness : 0.788548 Centerline is valid? [False, False] Translation: X:3.71, Y:0.12, Z:-0.16 [[ 0.91706387 -0.33501201 -0.21624248 3.71228802] [ 0.35073438 0.93571235 0.03778604 0.12477629] [ 0.18968198 -0.11049589 0.97560822 -0.15812227] [ 0. 0. 0. 1. ]] SLAMing on 81.90241403699999 meters Centerline goodness : 0.789225 Centerline is valid? [False, False] Translation: X:3.72, Y:0.12, Z:-0.16 [[ 0.91664325 -0.33576107 -0.21686322 3.71524424] [ 0.35162241 0.93536823 0.03805195 0.1232683 ] [ 0.19007061 -0.11113403 0.97546009 -0.1586573 ] [ 0. 0. 0. 1. ]] SLAMing on 81.93241403699999 meters Centerline goodness : 0.789869 Centerline is valid? [False, False] Translation: X:3.72, Y:0.12, Z:-0.16 [[ 0.91601373 -0.33676344 -0.21796613 3.71793742] [ 0.35291689 0.93485058 0.03878226 0.12226963] [ 0.19070531 -0.11244901 0.97518547 -0.15821074] [ 0. 0. 0. 1. ]] SLAMing on 81.96241403699999 meters Centerline goodness : 0.787785 Centerline is valid? [False, False] Translation: X:3.72, Y:0.12, Z:-0.16 [[ 0.91583587 -0.33663885 -0.21890395 3.71907714] [ 0.35307202 0.9347553 0.03965695 0.12210228] [ 0.19127156 -0.11360812 0.9749402 -0.15730134] [ 0. 0. 0. 1. ]] SLAMing on 81.99241403699999 meters Centerline goodness : 0.790392 Centerline is valid? [False, False] Translation: X:3.72, Y:0.12, Z:-0.16 [[ 0.91562263 -0.33665029 -0.21977668 3.7197741 ] [ 0.35338648 0.93459307 0.04066687 0.12150448] [ 0.19171124 -0.11490161 0.97470222 -0.15593989] [ 0. 0. 0. 1. ]] SLAMing on 82.02241403699999 meters Centerline goodness : 0.789324 Centerline is valid? [False, False] Translation: X:3.72, Y:0.12, Z:-0.16 [[ 0.9154905 -0.33660411 -0.22039697 3.72113842] [ 0.35350775 0.93452641 0.04114194 0.12122873] [ 0.19211824 -0.11557709 0.97454221 -0.15585634] [ 0. 0. 0. 1. ]] SLAMing on 82.05241403699999 meters Centerline goodness : 0.790390 Centerline is valid? [False, False] Translation: X:3.72, Y:0.12, Z:-0.16 [[ 0.91546109 -0.33637682 -0.22086566 3.72254729] [ 0.35341448 0.93454333 0.04155691 0.12072447] [ 0.19242974 -0.11610086 0.97441849 -0.15606449] [ 0. 0. 0. 1. ]] SLAMing on 82.08241403699999 meters Centerline goodness : 0.789611 Centerline is valid? [False, False] Translation: X:3.72, Y:0.12, Z:-0.16 [[ 0.91544244 -0.33608279 -0.22138991 3.72346138] [ 0.35328365 0.93456893 0.04209003 0.1203503 ] [ 0.1927584 -0.11674443 0.97427662 -0.15584315] [ 0. 0. 0. 1. ]] SLAMing on 82.112414037 meters Centerline goodness : 0.789794 Centerline is valid? [False, False] Translation: X:3.72, Y:0.12, Z:-0.16 [[ 0.91590556 -0.33372393 -0.22303666 3.72487157] [ 0.35167019 0.93503844 0.04506872 0.11980689] [ 0.19350734 -0.11971404 0.97376766 -0.15514645] [ 0. 0. 0. 1. ]] SLAMing on 82.142414037 meters Centerline goodness : 0.790151 Centerline is valid? [False, False] Translation: X:3.72, Y:0.12, Z:-0.15 [[ 0.91598465 -0.33327699 -0.22337988 3.72485039] [ 0.35133223 0.93514719 0.04544671 0.12037235] [ 0.19374672 -0.12010904 0.97367142 -0.15480441] [ 0. 0. 0. 1. ]] SLAMing on 82.172414037 meters Centerline goodness : 0.793029 Centerline is valid? [False, False] Translation: X:3.73, Y:0.12, Z:-0.16 [[ 0.91593952 -0.33330849 -0.22351791 3.7252291 ] [ 0.35124777 0.93521136 0.04477416 0.12255378] [ 0.19411288 -0.11952059 0.9736709 -0.15546876] [ 0. 0. 0. 1. ]] SLAMing on 82.202414037 meters Centerline goodness : 0.792257 Centerline is valid? [False, False] Translation: X:3.73, Y:0.12, Z:-0.16 [[ 0.91577088 -0.33343948 -0.22401297 3.72662604] [ 0.35137893 0.93517753 0.04445048 0.12407708] [ 0.19467035 -0.11941989 0.97357195 -0.15609705] [ 0. 0. 0. 1. ]] SLAMing on 82.232414037 meters Centerline goodness : 0.792254 Centerline is valid? [False, False] Translation: X:3.73, Y:0.13, Z:-0.16 [[ 0.9154197 -0.33425618 -0.22423109 3.72782348] [ 0.35202794 0.93498323 0.04339001 0.12628978] [ 0.19514893 -0.11865568 0.97356958 -0.15698358] [ 0. 0. 0. 1. ]] SLAMing on 82.26241403699999 meters Centerline goodness : 0.792069 Centerline is valid? [False, False] Translation: X:3.73, Y:0.13, Z:-0.16 [[ 0.91519576 -0.33449733 -0.22478489 3.72932849] [ 0.35233498 0.93486948 0.04334872 0.12706629] [ 0.1956445 -0.11887215 0.9734437 -0.15737902] [ 0. 0. 0. 1. ]] SLAMing on 82.29241403699999 meters Centerline goodness : 0.792554 Centerline is valid? [False, False] Translation: X:3.73, Y:0.13, Z:-0.16 [[ 0.91485831 -0.33507772 -0.22529355 3.73062135] [ 0.35294536 0.93464979 0.04312005 0.12821862] [ 0.196122 -0.11896505 0.97333626 -0.1575814 ] [ 0. 0. 0. 1. ]] SLAMing on 82.32241403699999 meters Centerline goodness : 0.789828 Centerline is valid? [False, False] Translation: X:3.73, Y:0.13, Z:-0.16 [[ 0.91460888 -0.33540198 -0.22582318 3.7312306 ] [ 0.35335308 0.93449339 0.04317065 0.12909279] [ 0.19655075 -0.11927958 0.97321128 -0.15712072] [ 0. 0. 0. 1. ]] SLAMing on 82.35241403699999 meters Centerline goodness : 0.791230 Centerline is valid? [False, False] Translation: X:3.73, Y:0.13, Z:-0.16 [[ 0.91429897 -0.33580481 -0.22647851 3.73228116] [ 0.35384716 0.93430636 0.04317196 0.13045157] [ 0.19710296 -0.11961086 0.97305892 -0.15700327] [ 0. 0. 0. 1. ]] SLAMing on 82.38241403699999 meters Centerline goodness : 0.788127 Centerline is valid? [False, False] Translation: X:3.73, Y:0.13, Z:-0.16 [[ 0.91355573 -0.33706528 -0.22760258 3.73334578] [ 0.35519782 0.93381161 0.04278304 0.13343233] [ 0.19811725 -0.11992863 0.97281379 -0.15608281] [ 0. 0. 0. 1. ]] SLAMing on 82.41241403699999 meters Centerline goodness : 0.787490 Centerline is valid? [False, False] Translation: X:3.73, Y:0.13, Z:-0.16 [[ 0.91331215 -0.33735911 -0.22814413 3.73422904] [ 0.35554175 0.93368626 0.0426618 0.13469902] [ 0.19862269 -0.1200783 0.97269226 -0.15603318] [ 0. 0. 0. 1. ]] SLAMing on 82.44241403699999 meters Centerline goodness : 0.790921 Centerline is valid? [False, False] Translation: X:3.74, Y:0.14, Z:-0.16 [[ 0.91312294 -0.3375522 -0.22861543 3.73525407] [ 0.35576579 0.93360825 0.042501 0.1358313 ] [ 0.19909095 -0.12014218 0.97258863 -0.15623359] [ 0. 0. 0. 1. ]] SLAMing on 82.472414037 meters Centerline goodness : 0.786749 Centerline is valid? [False, False] Translation: X:3.74, Y:0.14, Z:-0.16 [[ 0.91277154 -0.33816575 -0.22911142 3.73592746] [ 0.35634294 0.93341301 0.04195065 0.13784673] [ 0.19966931 -0.1199336 0.97249581 -0.15623227] [ 0. 0. 0. 1. ]] SLAMing on 82.502414037 meters Centerline goodness : 0.788730 Centerline is valid? [False, False] Translation: X:3.74, Y:0.14, Z:-0.16 [[ 0.91251836 -0.33851676 -0.22960106 3.73635792] [ 0.3566785 0.93330336 0.04153663 0.14016033] [ 0.20022659 -0.1197967 0.9723981 -0.15618008] [ 0. 0. 0. 1. ]] SLAMing on 82.532414037 meters Centerline goodness : 0.782724 Centerline is valid? [False, False] Translation: X:3.74, Y:0.14, Z:-0.15 [[ 0.91252993 -0.33683885 -0.23201017 3.73710779] [ 0.35576123 0.93354455 0.04391487 0.14401934] [ 0.2017996 -0.12261385 0.97172155 -0.15472127] [ 0. 0. 0. 1. ]] SLAMing on 82.562414037 meters Centerline goodness : 0.785045 Centerline is valid? [False, False] Translation: X:3.74, Y:0.15, Z:-0.15 [[ 0.9122753 -0.33721942 -0.23245827 3.73743422] [ 0.35606624 0.93346016 0.04323159 0.14679908] [ 0.202412 -0.12220965 0.97164509 -0.15481099] [ 0. 0. 0. 1. ]] SLAMing on 82.592414037 meters Centerline goodness : 0.779818 Centerline is valid? [False, False] Translation: X:3.74, Y:0.15, Z:-0.16 [[ 0.91188124 -0.33799411 -0.23287892 3.73803155] [ 0.35673071 0.9332465 0.04235769 0.14967841] [ 0.20301678 -0.12170025 0.97158285 -0.15501837] [ 0. 0. 0. 1. ]] SLAMing on 82.62241403699998 meters Centerline goodness : 0.785068 Centerline is valid? [False, False] Translation: X:3.74, Y:0.15, Z:-0.16 [[ 0.91129108 -0.33926626 -0.23333876 3.73892876] [ 0.35779903 0.93289984 0.04096031 0.15380612] [ 0.20378524 -0.12081515 0.97153244 -0.15564608] [ 0. 0. 0. 1. ]] SLAMing on 82.65241403699999 meters Centerline goodness : 0.783224 Centerline is valid? [False, False] Translation: X:3.74, Y:0.16, Z:-0.16 [[ 0.91083498 -0.34008151 -0.23393203 3.74039302] [ 0.35858557 0.93262345 0.04037194 0.15581553] [ 0.20444075 -0.12065682 0.97141439 -0.15596634] [ 0. 0. 0. 1. ]] SLAMing on 82.68241403699999 meters Centerline goodness : 0.779008 Centerline is valid? [False, False] Translation: X:3.74, Y:0.16, Z:-0.16 [[ 0.90994067 -0.34188032 -0.23478889 3.74146845] [ 0.36030707 0.93200621 0.03928411 0.15952299] [ 0.20539424 -0.12034231 0.97125225 -0.15555613] [ 0. 0. 0. 1. ]] SLAMing on 82.71241403699999 meters Centerline goodness : 0.779348 Centerline is valid? [False, False] Translation: X:3.74, Y:0.16, Z:-0.16 [[ 0.90947826 -0.34261572 -0.23550745 3.7422923 ] [ 0.36108589 0.93171778 0.03897374 0.16177765] [ 0.20607346 -0.12048419 0.97109077 -0.15521818] [ 0. 0. 0. 1. ]] SLAMing on 82.74241403699999 meters Centerline goodness : 0.777561 Centerline is valid? [False, False] Translation: X:3.74, Y:0.17, Z:-0.15 [[ 0.90865907 -0.34408275 -0.23652854 3.74241014] [ 0.3625853 0.93116138 0.03834567 0.16509937] [ 0.20705216 -0.12060491 0.97086758 -0.15364063] [ 0. 0. 0. 1. ]] SLAMing on 82.77241403699999 meters Centerline goodness : 0.776477 Centerline is valid? [False, False] Translation: X:3.74, Y:0.17, Z:-0.15 [[ 0.90843411 -0.34435757 -0.23699225 3.74261279] [ 0.36289593 0.93104615 0.03820483 0.16673495] [ 0.2074946 -0.12071009 0.97076004 -0.15330068] [ 0. 0. 0. 1. ]] SLAMing on 82.80241403699999 meters Centerline goodness : 0.780286 Centerline is valid? [False, False] Translation: X:3.74, Y:0.17, Z:-0.15 [[ 0.90823946 -0.34461057 -0.23737026 3.74266174] [ 0.36312932 0.93096929 0.03785865 0.16856553] [ 0.20793793 -0.12058082 0.97068125 -0.15302496] [ 0. 0. 0. 1. ]] SLAMing on 82.83241403699999 meters Centerline goodness : 0.779392 Centerline is valid? [False, False] Translation: X:3.74, Y:0.17, Z:-0.15 [[ 0.9083721 -0.34282701 -0.23943637 3.7444738 ] [ 0.36200224 0.93132357 0.03988474 0.17148908] [ 0.20931917 -0.12290669 0.97009249 -0.1529797 ] [ 0. 0. 0. 1. ]] SLAMing on 82.862414037 meters Centerline goodness : 0.773876 Centerline is valid? [False, False] Translation: X:3.75, Y:0.17, Z:-0.15 [[ 0.90814168 -0.34319092 -0.23978882 3.74500026] [ 0.36227465 0.93124642 0.03920697 0.1738372 ] [ 0.209847 -0.12247489 0.97003306 -0.15325715] [ 0. 0. 0. 1. ]] SLAMing on 82.892414037 meters Centerline goodness : 0.778415 Centerline is valid? [False, False] Translation: X:3.75, Y:0.18, Z:-0.15 [[ 0.90864708 -0.34076529 -0.24132862 3.74504804] [ 0.36033951 0.93192731 0.04082799 0.17818511] [ 0.21098797 -0.12405847 0.96958423 -0.15334653] [ 0. 0. 0. 1. ]] SLAMing on 82.922414037 meters Centerline goodness : 0.778129 Centerline is valid? [False, False] Translation: X:3.75, Y:0.18, Z:-0.15 [[ 0.90863335 -0.34068939 -0.24148743 3.74503031] [ 0.36010366 0.93205406 0.0400073 0.18121764] [ 0.21144928 -0.12331247 0.9695789 -0.15389611] [ 0. 0. 0. 1. ]] SLAMing on 82.952414037 meters Centerline goodness : 0.777181 Centerline is valid? [False, False] Translation: X:3.75, Y:0.18, Z:-0.15 [[ 0.9091911 -0.33809696 -0.24302672 3.74651399] [ 0.3581604 0.93269883 0.04235591 0.18244274] [ 0.21235033 -0.12555217 0.96909442 -0.15428833] [ 0. 0. 0. 1. ]] SLAMing on 82.982414037 meters Centerline goodness : 0.770902 Centerline is valid? [False, False] Translation: X:3.75, Y:0.19, Z:-0.16 [[ 0.90930949 -0.33762418 -0.24324094 3.74772766] [ 0.35738207 0.93306269 0.04089106 0.18780728] [ 0.21315323 -0.12411258 0.96910359 -0.15671853] [ 0. 0. 0. 1. ]] SLAMing on 83.01241403699999 meters Centerline goodness : 0.767263 Centerline is valid? [False, False] Translation: X:3.75, Y:0.19, Z:-0.16 [[ 0.90944178 -0.33767651 -0.24267306 3.74594149] [ 0.35696961 0.93329696 0.03910864 0.19284795] [ 0.21327996 -0.12219394 0.9693195 -0.15770202] [ 0. 0. 0. 1. ]] SLAMing on 83.04241403699999 meters Centerline goodness : 0.767263 Centerline is valid? [False, False] Translation: X:3.75, Y:0.19, Z:-0.16 [[ 0.90944178 -0.33767651 -0.24267306 3.74594149] [ 0.35696961 0.93329696 0.03910864 0.19284795] [ 0.21327996 -0.12219394 0.9693195 -0.15770202] [ 0. 0. 0. 1. ]] SLAMing on 83.07241403699999 meters Centerline goodness : 0.768635 Centerline is valid? [False, False] Translation: X:3.75, Y:0.20, Z:-0.16 [[ 0.90943701 -0.3375878 -0.24281433 3.74599351] [ 0.35677872 0.93339226 0.03857239 0.19514368] [ 0.21361945 -0.12171015 0.96930561 -0.15817922] [ 0. 0. 0. 1. ]] SLAMing on 83.10241403699999 meters Centerline goodness : 0.767687 Centerline is valid? [False, False] Translation: X:3.75, Y:0.20, Z:-0.16 [[ 0.90977926 -0.33556085 -0.24433708 3.74592467] [ 0.35534493 0.93385295 0.04060358 0.19824984] [ 0.21454993 -0.12376424 0.9688399 -0.15774672] [ 0. 0. 0. 1. ]] SLAMing on 83.13241403699999 meters Centerline goodness : 0.769607 Centerline is valid? [False, False] Translation: X:3.75, Y:0.20, Z:-0.16 [[ 0.9095703 -0.3359889 -0.24452674 3.74543637] [ 0.35568357 0.93374849 0.04003689 0.2001805 ] [ 0.21487452 -0.12339051 0.96881563 -0.15731986] [ 0. 0. 0. 1. ]] SLAMing on 83.16241403699999 meters Centerline goodness : 0.765580 Centerline is valid? [False, False] Translation: X:3.74, Y:0.20, Z:-0.16 [[ 0.90924764 -0.33660841 -0.24487447 3.74464713] [ 0.35621987 0.93357183 0.03938323 0.20336049] [ 0.21535119 -0.12303826 0.96875459 -0.15666541] [ 0. 0. 0. 1. ]] SLAMing on 83.19241403699999 meters Centerline goodness : 0.766868 Centerline is valid? [False, False] Translation: X:3.74, Y:0.21, Z:-0.16 [[ 0.90902197 -0.33729659 -0.24476534 3.74182578] [ 0.35669176 0.93343295 0.03839147 0.20683315] [ 0.21552273 -0.12220447 0.96882198 -0.15513057] [ 0. 0. 0. 1. ]] SLAMing on 83.222414037 meters Centerline goodness : 0.768012 Centerline is valid? [False, False] Translation: X:3.74, Y:0.21, Z:-0.15 [[ 0.90893122 -0.33726256 -0.24514895 3.74179091] [ 0.3566556 0.93345614 0.03816295 0.20863203] [ 0.21596486 -0.12212124 0.96873401 -0.15486417] [ 0. 0. 0. 1. ]] SLAMing on 83.252414037 meters Centerline goodness : 0.769157 Centerline is valid? [False, False] Translation: X:3.74, Y:0.21, Z:-0.15 [[ 0.90869992 -0.33756453 -0.24559041 3.742035 ] [ 0.35691886 0.93337445 0.03769706 0.21067498] [ 0.21650262 -0.12191117 0.96864043 -0.15471706] [ 0. 0. 0. 1. ]] SLAMing on 83.282414037 meters Centerline goodness : 0.768387 Centerline is valid? [False, False] Translation: X:3.74, Y:0.21, Z:-0.15 [[ 0.90846476 -0.33787215 -0.24603696 3.74258503] [ 0.35718279 0.93329316 0.03720667 0.21284154] [ 0.21705351 -0.12168112 0.96854607 -0.15485574] [ 0. 0. 0. 1. ]] SLAMing on 83.312414037 meters Centerline goodness : 0.766880 Centerline is valid? [False, False] Translation: X:3.74, Y:0.22, Z:-0.16 [[ 0.90832788 -0.33804817 -0.24630043 3.74301909] [ 0.35723935 0.93329936 0.03650142 0.21510552] [ 0.21753279 -0.12114346 0.96850593 -0.15528572] [ 0. 0. 0. 1. ]] SLAMing on 83.342414037 meters Centerline goodness : 0.771030 Centerline is valid? [False, False] Translation: X:3.74, Y:0.22, Z:-0.16 [[ 0.907945 -0.33909721 -0.24627009 3.74317724] [ 0.35788232 0.93312603 0.03458411 0.21924858] [ 0.21807366 -0.11953618 0.96858401 -0.15612899] [ 0. 0. 0. 1. ]] SLAMing on 83.37241403699998 meters Centerline goodness : 0.764255 Centerline is valid? [False, False] Translation: X:3.74, Y:0.22, Z:-0.16 [[ 0.90785452 -0.33900401 -0.24673153 3.74477901] [ 0.35775035 0.93319209 0.03416432 0.22074852] [ 0.21866607 -0.11928453 0.96848147 -0.15693586] [ 0. 0. 0. 1. ]] SLAMing on 83.40241403699999 meters Centerline goodness : 0.765721 Centerline is valid? [False, False] Translation: X:3.74, Y:0.22, Z:-0.16 [[ 0.90769329 -0.33959848 -0.24650715 3.74444842] [ 0.35809602 0.93309736 0.03311428 0.22261609] [ 0.21876961 -0.11833084 0.96857507 -0.15722502] [ 0. 0. 0. 1. ]] SLAMing on 83.43241403699999 meters Centerline goodness : 0.770396 Centerline is valid? [False, False] Translation: X:3.74, Y:0.23, Z:-0.16 [[ 0.90776586 -0.33946236 -0.24642736 3.7428941 ] [ 0.35773619 0.93326787 0.03218551 0.22588736] [ 0.21905697 -0.11737289 0.96862668 -0.15690667] [ 0. 0. 0. 1. ]] SLAMing on 83.46241403699999 meters Centerline goodness : 0.766077 Centerline is valid? [False, False] Translation: X:3.74, Y:0.23, Z:-0.16 [[ 0.90849126 -0.33599591 -0.24849621 3.74415315] [ 0.35531168 0.93405222 0.03605619 0.22561916] [ 0.21999371 -0.12105035 0.96796156 -0.15618991] [ 0. 0. 0. 1. ]] SLAMing on 83.49241403699999 meters Centerline goodness : 0.772328 Centerline is valid? [False, False] Translation: X:3.74, Y:0.23, Z:-0.16 [[ 0.90849252 -0.33619402 -0.24822354 3.74283199] [ 0.35532458 0.93407354 0.03537045 0.22710928] [ 0.21996771 -0.12033372 0.96805682 -0.15584286] [ 0. 0. 0. 1. ]] SLAMing on 83.52241403699999 meters Centerline goodness : 0.770260 Centerline is valid? [False, False] Translation: X:3.74, Y:0.23, Z:-0.16 [[ 0.90857327 -0.33581587 -0.24843974 3.74361901] [ 0.35490073 0.93424505 0.03509505 0.22883043] [ 0.22031812 -0.12005788 0.96801138 -0.15668169] [ 0. 0. 0. 1. ]] SLAMing on 83.55241403699999 meters Centerline goodness : 0.764003 Centerline is valid? [False, False] Translation: X:3.74, Y:0.23, Z:-0.16 [[ 0.90858845 -0.33553847 -0.24875884 3.74427236] [ 0.35469648 0.93431595 0.03527185 0.22917034] [ 0.22058429 -0.12028148 0.967923 -0.1568194 ] [ 0. 0. 0. 1. ]] SLAMing on 83.58241403699999 meters Centerline goodness : 0.770771 Centerline is valid? [False, False] Translation: X:3.74, Y:0.23, Z:-0.16 [[ 0.908881 -0.33471616 -0.24879797 3.74343009] [ 0.35395385 0.93458123 0.03570161 0.22959925] [ 0.220572 -0.12051151 0.96789719 -0.15652812] [ 0. 0. 0. 1. ]] SLAMing on 83.612414037 meters Centerline goodness : 0.770805 Centerline is valid? [False, False] Translation: X:3.74, Y:0.23, Z:-0.16 [[ 0.90885659 -0.33489388 -0.24864794 3.74219735] [ 0.35399922 0.93458371 0.0351829 0.23082758] [ 0.22059977 -0.11999739 0.96795473 -0.15592637] [ 0. 0. 0. 1. ]] SLAMing on 83.642414037 meters Centerline goodness : 0.772750 Centerline is valid? [False, False] Translation: X:3.73, Y:0.23, Z:-0.16 [[ 0.91190758 -0.33154743 -0.24186951 3.73330296] [ 0.3493851 0.93637237 0.03371684 0.22943507] [ 0.2153012 -0.11525225 0.9697228 -0.16035562] [ 0. 0. 0. 1. ]] SLAMing on 83.672414037 meters Centerline goodness : 0.770848 Centerline is valid? [False, False] Translation: X:3.73, Y:0.23, Z:-0.16 [[ 0.91177869 -0.33159677 -0.24228744 3.73438149] [ 0.34939689 0.93638244 0.03331271 0.23107526] [ 0.21582732 -0.1150283 0.96963244 -0.16079563] [ 0. 0. 0. 1. ]] SLAMing on 83.702414037 meters Centerline goodness : 0.768195 Centerline is valid? [False, False] Translation: X:3.74, Y:0.23, Z:-0.16 [[ 0.9115358 -0.33191673 -0.24276277 3.73599877] [ 0.34967959 0.93629336 0.03284702 0.23240886] [ 0.21639469 -0.11483041 0.96952943 -0.16141761] [ 0. 0. 0. 1. ]] SLAMing on 83.732414037 meters Centerline goodness : 0.768387 Centerline is valid? [False, False] Translation: X:3.74, Y:0.23, Z:-0.16 [[ 0.91133078 -0.33285863 -0.24224233 3.73686523] [ 0.35023156 0.93614115 0.03126679 0.23388912] [ 0.21636559 -0.11333529 0.96971184 -0.162991 ] [ 0. 0. 0. 1. ]] SLAMing on 83.76241403699999 meters Centerline goodness : 0.768954 Centerline is valid? [False, False] Translation: X:3.74, Y:0.23, Z:-0.16 [[ 0.91139348 -0.33283272 -0.24204195 3.73696732] [ 0.35009378 0.93620564 0.03087614 0.23394686] [ 0.21632445 -0.1128777 0.96977439 -0.16328523] [ 0. 0. 0. 1. ]] SLAMing on 83.79241403699999 meters Centerline goodness : 0.768081 Centerline is valid? [False, False] Translation: X:3.74, Y:0.23, Z:-0.16 [[ 0.91164767 -0.33235001 -0.24174781 3.73535839] [ 0.34957209 0.93639919 0.03091773 0.23421878] [ 0.21609694 -0.11269436 0.96984643 -0.16257788] [ 0. 0. 0. 1. ]] SLAMing on 83.82241403699999 meters Centerline goodness : 0.769077 Centerline is valid? [False, False] Translation: X:3.74, Y:0.23, Z:-0.16 [[ 0.91171605 -0.33180269 -0.24224122 3.73558336] [ 0.3491476 0.93654583 0.03127068 0.2348294 ] [ 0.21649431 -0.11308792 0.96971199 -0.16222334] [ 0. 0. 0. 1. ]] SLAMing on 83.85241403699999 meters Centerline goodness : 0.767774 Centerline is valid? [False, False] Translation: X:3.73, Y:0.24, Z:-0.16 [[ 0.91186266 -0.33163044 -0.24192507 3.7347561 ] [ 0.34887406 0.93665652 0.03100721 0.23534268] [ 0.21631776 -0.1126757 0.96979937 -0.16223264] [ 0. 0. 0. 1. ]] SLAMing on 83.88241403699999 meters Centerline goodness : 0.767892 Centerline is valid? [False, False] Translation: X:3.73, Y:0.24, Z:-0.16 [[ 0.91184269 -0.33183684 -0.24171725 3.73447225] [ 0.3489052 0.93666784 0.03030712 0.23662852] [ 0.21635175 -0.11197173 0.96987332 -0.16254113] [ 0. 0. 0. 1. ]] SLAMing on 83.91241403699999 meters Centerline goodness : 0.756801 Centerline is valid? [False, False] Translation: X:3.73, Y:0.24, Z:-0.16 [[ 0.91225169 -0.33103125 -0.24127821 3.73464429] [ 0.34789101 0.93706436 0.02970252 0.23795103] [ 0.21626075 -0.11103469 0.97000133 -0.16402011] [ 0. 0. 0. 1. ]] SLAMing on 83.94241403699999 meters Centerline goodness : 0.767194 Centerline is valid? [False, False] Translation: X:3.73, Y:0.24, Z:-0.16 [[ 0.91250447 -0.33065168 -0.24084241 3.73427124] [ 0.3473375 0.93728553 0.02919746 0.23849522] [ 0.21608392 -0.11029641 0.97012496 -0.1646705 ] [ 0. 0. 0. 1. ]] SLAMing on 83.972414037 meters Centerline goodness : 0.767899 Centerline is valid? [False, False] Translation: X:3.73, Y:0.24, Z:-0.17 [[ 0.91320072 -0.32941552 -0.23989554 3.73221965] [ 0.34587117 0.93783967 0.0288078 0.23954169] [ 0.21549381 -0.10928025 0.97037119 -0.16537517] [ 0. 0. 0. 1. ]] SLAMing on 84.002414037 meters Centerline goodness : 0.770104 Centerline is valid? [False, False] Translation: X:3.73, Y:0.24, Z:-0.17 [[ 0.91351964 -0.32837201 -0.24011182 3.73198512] [ 0.34489261 0.93819052 0.02911424 0.24071611] [ 0.21571033 -0.10940922 0.97030855 -0.16549978] [ 0. 0. 0. 1. ]] SLAMing on 84.032414037 meters Centerline goodness : 0.767480 Centerline is valid? [False, False] Translation: X:3.73, Y:0.24, Z:-0.17 [[ 0.91383996 -0.32789068 -0.23955006 3.73017576] [ 0.34423194 0.9384472 0.0286571 0.24182892] [ 0.21540869 -0.10864878 0.97046099 -0.16542886] [ 0. 0. 0. 1. ]] SLAMing on 84.062414037 meters Centerline goodness : 0.773776 Centerline is valid? [False, False] Translation: X:3.73, Y:0.26, Z:-0.14 [[ 0.91694035 -0.3448365 -0.20076897 3.72586975] [ 0.34933702 0.93689666 -0.01372204 0.26045553] [ 0.19283164 -0.05755374 0.97954251 -0.13863396] [ 0. 0. 0. 1. ]] SLAMing on 84.092414037 meters Centerline goodness : 0.768589 Centerline is valid? [False, False] Translation: X:3.82, Y:0.24, Z:-0.15 [[ 0.91590507 -0.34835005 -0.19942453 3.82146124] [ 0.38460429 0.90381054 0.18763274 0.23839119] [ 0.11488012 -0.24855331 0.96178158 -0.14541385] [ 0. 0. 0. 1. ]] SLAMing on 84.12241403699998 meters Centerline goodness : 0.768519 Centerline is valid? [False, False] Translation: X:3.82, Y:0.24, Z:-0.15 [[ 0.91681264 -0.3467959 -0.19795752 3.81959746] [ 0.38261568 0.90479658 0.18694489 0.23860476] [ 0.11427957 -0.24713509 0.96221849 -0.14718928] [ 0. 0. 0. 1. ]] SLAMing on 84.15241403699999 meters Centerline goodness : 0.769338 Centerline is valid? [False, False] Translation: X:3.82, Y:0.24, Z:-0.15 [[ 0.91729357 -0.34605898 -0.19701699 3.81816344] [ 0.38159126 0.90533213 0.18644531 0.23871384] [ 0.11384474 -0.24620505 0.96250842 -0.14793292] [ 0. 0. 0. 1. ]] SLAMing on 84.18241403699999 meters Centerline goodness : 0.768397 Centerline is valid? [False, False] Translation: X:3.82, Y:0.24, Z:-0.15 [[ 0.91772775 -0.34519856 -0.19650376 3.81677799] [ 0.38061184 0.90574563 0.18643897 0.23861655] [ 0.11362396 -0.24589188 0.96261455 -0.14782111] [ 0. 0. 0. 1. ]] SLAMing on 84.21241403699999 meters Centerline goodness : 0.770021 Centerline is valid? [False, False] Translation: X:3.81, Y:0.24, Z:-0.15 [[ 0.91862949 -0.3430639 -0.19602809 3.81428074] [ 0.37846704 0.90650107 0.18713233 0.23864119] [ 0.11350133 -0.24609544 0.962577 -0.14722844] [ 0. 0. 0. 1. ]] SLAMing on 84.24241403699999 meters Centerline goodness : 0.770679 Centerline is valid? [False, False] Translation: X:3.81, Y:0.24, Z:-0.15 [[ 0.91905893 -0.34219121 -0.19553992 3.81277974] [ 0.37746802 0.90694342 0.18700675 0.23896252] [ 0.11335158 -0.24568029 0.96270069 -0.14720169] [ 0. 0. 0. 1. ]] SLAMing on 84.27241403699999 meters Centerline goodness : 0.770821 Centerline is valid? [False, False] Translation: X:3.81, Y:0.24, Z:-0.15 [[ 0.91999294 -0.3401028 -0.19478984 3.81126286] [ 0.37522658 0.90785882 0.18707588 0.23848979] [ 0.11321664 -0.24519881 0.96283931 -0.14768355] [ 0. 0. 0. 1. ]] SLAMing on 84.30241403699999 meters Centerline goodness : 0.770249 Centerline is valid? [False, False] Translation: X:3.81, Y:0.24, Z:-0.15 [[ 0.92023445 -0.33970304 -0.19434609 3.8108145 ] [ 0.37466884 0.90817996 0.18663445 0.23839797] [ 0.11310094 -0.24456288 0.96301463 -0.14814191] [ 0. 0. 0. 1. ]] SLAMing on 84.33241403699999 meters Centerline goodness : 0.764392 Centerline is valid? [False, False] Translation: X:3.81, Y:0.24, Z:-0.15 [[ 0.92040712 -0.33961532 -0.19368058 3.81022232] [ 0.37432917 0.90847147 0.18589582 0.23834688] [ 0.11282021 -0.24360013 0.96329153 -0.14875182] [ 0. 0. 0. 1. ]] SLAMing on 84.362414037 meters Centerline goodness : 0.767008 Centerline is valid? [False, False] Translation: X:3.81, Y:0.24, Z:-0.15 [[ 0.92067126 -0.3393427 -0.19290142 3.80978063] [ 0.37381307 0.90877636 0.18544356 0.23727572] [ 0.11237533 -0.24284163 0.96353502 -0.14936671] [ 0. 0. 0. 1. ]] SLAMing on 84.392414037 meters Centerline goodness : 0.769681 Centerline is valid? [False, False] Translation: X:3.81, Y:0.24, Z:-0.15 [[ 0.92077182 -0.3392233 -0.19263128 3.80903497] [ 0.37364513 0.90881543 0.1855905 0.2365436 ] [ 0.11210966 -0.24286224 0.96356077 -0.1488074 ] [ 0. 0. 0. 1. ]] SLAMing on 84.422414037 meters Centerline goodness : 0.770271 Centerline is valid? [False, False] Translation: X:3.81, Y:0.24, Z:-0.15 [[ 0.92049077 -0.33980208 -0.19295409 3.80897131] [ 0.37435957 0.90841094 0.18613026 0.23589632] [ 0.11203416 -0.2435654 0.96339205 -0.14747188] [ 0. 0. 0. 1. ]] SLAMing on 84.452414037 meters Centerline goodness : 0.770706 Centerline is valid? [False, False] Translation: X:3.81, Y:0.24, Z:-0.15 [[ 0.92003311 -0.34089164 -0.19321482 3.8096538 ] [ 0.37544027 0.90806974 0.18561776 0.23625293] [ 0.11217699 -0.24331511 0.96343867 -0.14707984] [ 0. 0. 0. 1. ]] SLAMing on 84.48241403699998 meters Centerline goodness : 0.769366 Centerline is valid? [False, False] Translation: X:3.81, Y:0.24, Z:-0.15 [[ 0.91906641 -0.34429728 -0.1917715 3.80949464] [ 0.3780984 0.90757325 0.18262637 0.23567582] [ 0.11116892 -0.24035426 0.96429835 -0.14715337] [ 0. 0. 0. 1. ]] SLAMing on 84.51241403699999 meters Centerline goodness : 0.770351 Centerline is valid? [False, False] Translation: X:3.81, Y:0.24, Z:-0.15 [[ 0.91833465 -0.34698085 -0.19043572 3.80822639] [ 0.38012958 0.90723381 0.18007865 0.23543657] [ 0.11028588 -0.23776271 0.96504193 -0.14642881] [ 0. 0. 0. 1. ]] SLAMing on 84.54241403699999 meters Centerline goodness : 0.767660 Centerline is valid? [False, False] Translation: X:3.81, Y:0.23, Z:-0.14 [[ 0.91757996 -0.34973288 -0.18903422 3.80667816] [ 0.38229159 0.9067031 0.17816461 0.23303018] [ 0.10908789 -0.23574647 0.96567253 -0.1445408 ] [ 0. 0. 0. 1. ]] SLAMing on 84.57241403699999 meters Centerline goodness : 0.768354 Centerline is valid? [False, False] Translation: X:3.81, Y:0.23, Z:-0.14 [[ 0.91734638 -0.35024242 -0.18922437 3.80719831] [ 0.38287643 0.90639453 0.17847854 0.23178857] [ 0.10900118 -0.23617619 0.96557731 -0.14368541] [ 0. 0. 0. 1. ]] SLAMing on 84.60241403699999 meters Centerline goodness : 0.767355 Centerline is valid? [False, False] Translation: X:3.81, Y:0.23, Z:-0.14 [[ 0.9168892 -0.35127776 -0.18952078 3.80729104] [ 0.38402601 0.90581198 0.17896559 0.23040942] [ 0.10880356 -0.23687252 0.96542902 -0.14191937] [ 0. 0. 0. 1. ]] SLAMing on 84.63241403699999 meters Centerline goodness : 0.769714 Centerline is valid? [False, False] Translation: X:3.81, Y:0.23, Z:-0.14 [[ 0.916588 -0.35200669 -0.18962523 3.80763365] [ 0.38473402 0.90557708 0.17863338 0.23062794] [ 0.10884012 -0.23668849 0.96547003 -0.14170808] [ 0. 0. 0. 1. ]] SLAMing on 84.66241403699999 meters Centerline goodness : 0.769500 Centerline is valid? [False, False] Translation: X:3.81, Y:0.23, Z:-0.14 [[ 0.91601893 -0.35440757 -0.18789517 3.8071548 ] [ 0.38631756 0.90555294 0.17530718 0.23082854] [ 0.10801884 -0.2331719 0.96641751 -0.14273158] [ 0. 0. 0. 1. ]] SLAMing on 84.69241403699999 meters Centerline goodness : 0.766253 Centerline is valid? [False, False] Translation: X:3.81, Y:0.23, Z:-0.15 [[ 0.91555125 -0.35698366 -0.18527972 3.80785328] [ 0.38779936 0.90569208 0.17127031 0.22922906] [ 0.10666567 -0.22865811 0.96764555 -0.14560811] [ 0. 0. 0. 1. ]] SLAMing on 84.722414037 meters Centerline goodness : 0.763230 Centerline is valid? [False, False] Translation: X:3.81, Y:0.23, Z:-0.15 [[ 0.91582781 -0.35655572 -0.18473615 3.80807169] [ 0.38724959 0.90592637 0.17127513 0.22761525] [ 0.10628823 -0.22839752 0.96774862 -0.14622981] [ 0. 0. 0. 1. ]] SLAMing on 84.752414037 meters Centerline goodness : 0.767516 Centerline is valid? [False, False] Translation: X:3.81, Y:0.23, Z:-0.15 [[ 0.91632986 -0.35549095 -0.18429803 3.80707988] [ 0.38614574 0.90630829 0.17174619 0.2262564 ] [ 0.10597661 -0.22854206 0.96774867 -0.14594144] [ 0. 0. 0. 1. ]] SLAMing on 84.782414037 meters Centerline goodness : 0.773337 Centerline is valid? [False, False] Translation: X:3.80, Y:0.23, Z:-0.15 [[ 0.91745049 -0.35290653 -0.18368884 3.80442239] [ 0.38358912 0.90714707 0.17304212 0.22511281] [ 0.1055651 -0.22921862 0.96763363 -0.14515453] [ 0. 0. 0. 1. ]] SLAMing on 84.812414037 meters Centerline goodness : 0.775057 Centerline is valid? [False, False] Translation: X:3.80, Y:0.23, Z:-0.14 [[ 0.91779543 -0.3521236 -0.18346805 3.80320777] [ 0.38276952 0.90748231 0.17309924 0.22532817] [ 0.10554168 -0.22909567 0.9676653 -0.14480838] [ 0. 0. 0. 1. ]] SLAMing on 84.842414037 meters Centerline goodness : 0.771645 Centerline is valid? [False, False] Translation: X:3.80, Y:0.22, Z:-0.14 [[ 0.91859227 -0.35055752 -0.18247652 3.80127007] [ 0.38101924 0.90816589 0.17337547 0.2240731 ] [ 0.10494087 -0.22878843 0.96780332 -0.14485958] [ 0. 0. 0. 1. ]] SLAMing on 84.87241403699998 meters Centerline goodness : 0.772790 Centerline is valid? [False, False] Translation: X:3.80, Y:0.22, Z:-0.15 [[ 0.91871931 -0.35042528 -0.18209049 3.80142067] [ 0.38076627 0.90832852 0.17307902 0.22302766] [ 0.10474672 -0.22834495 0.96792908 -0.14519358] [ 0. 0. 0. 1. ]] SLAMing on 84.90241403699999 meters Centerline goodness : 0.772083 Centerline is valid? [False, False] Translation: X:3.80, Y:0.22, Z:-0.15 [[ 0.91831681 -0.35272969 -0.17965523 3.80023652] [ 0.38207473 0.90849426 0.169284 0.22259901] [ 0.10350425 -0.22409807 0.96905465 -0.14665534] [ 0. 0. 0. 1. ]] SLAMing on 84.93241403699999 meters Centerline goodness : 0.772083 Centerline is valid? [False, False] Translation: X:3.80, Y:0.22, Z:-0.15 [[ 0.91831681 -0.35272969 -0.17965523 3.80023652] [ 0.38207473 0.90849426 0.169284 0.22259901] [ 0.10350425 -0.22409807 0.96905465 -0.14665534] [ 0. 0. 0. 1. ]] SLAMing on 84.96241403699999 meters Centerline goodness : 0.767098 Centerline is valid? [False, False] Translation: X:3.80, Y:0.22, Z:-0.15 [[ 0.91736909 -0.35618779 -0.17766318 3.80102015] [ 0.38464813 0.90809746 0.16554401 0.22134667] [ 0.10237073 -0.22020277 0.97006751 -0.1481873 ] [ 0. 0. 0. 1. ]] SLAMing on 84.99241403699999 meters Centerline goodness : 0.764702 Centerline is valid? [False, False] Translation: X:3.80, Y:0.22, Z:-0.15 [[ 0.91687816 -0.35716641 -0.17823186 3.80158753] [ 0.38575645 0.90760705 0.1656545 0.22143134] [ 0.10259827 -0.22063908 0.96994432 -0.14705054] [ 0. 0. 0. 1. ]] SLAMing on 85.02241403699999 meters Centerline goodness : 0.776624 Centerline is valid? [False, False] Translation: X:3.80, Y:0.22, Z:-0.14 [[ 0.91620468 -0.35847704 -0.17906197 3.80066968] [ 0.38735246 0.90673436 0.16670592 0.22089118] [ 0.10260139 -0.22209684 0.96961123 -0.14353704] [ 0. 0. 0. 1. ]] SLAMing on 85.05241403699999 meters Centerline goodness : 0.776044 Centerline is valid? [False, False] Translation: X:3.80, Y:0.22, Z:-0.14 [[ 0.91582003 -0.35936481 -0.17925014 3.8008784 ] [ 0.38827165 0.90634475 0.16668631 0.22048933] [ 0.10256123 -0.2222524 0.96957984 -0.14262012] [ 0. 0. 0. 1. ]] SLAMing on 85.08241403699999 meters Centerline goodness : 0.772793 Centerline is valid? [False, False] Translation: X:3.80, Y:0.22, Z:-0.14 [[ 0.91483865 -0.36247993 -0.17798469 3.80003271] [ 0.39073889 0.90585707 0.16354231 0.22084416] [ 0.10194789 -0.21916037 0.97034806 -0.14208855] [ 0. 0. 0. 1. ]] SLAMing on 85.112414037 meters Centerline goodness : 0.769696 Centerline is valid? [False, False] Translation: X:3.80, Y:0.22, Z:-0.14 [[ 0.91333418 -0.36695031 -0.17654504 3.80087387] [ 0.39447528 0.90487242 0.15998486 0.21998663] [ 0.10104425 -0.21576229 0.97120373 -0.14216779] [ 0. 0. 0. 1. ]] SLAMing on 85.142414037 meters Centerline goodness : 0.770541 Centerline is valid? [False, False] Translation: X:3.80, Y:0.22, Z:-0.14 [[ 0.9122806 -0.37026279 -0.17507022 3.80044337] [ 0.39709509 0.90430183 0.15669615 0.22024529] [ 0.10029757 -0.21247039 0.97200655 -0.1422623 ] [ 0. 0. 0. 1. ]] SLAMing on 85.172414037 meters Centerline goodness : 0.771144 Centerline is valid? [False, False] Translation: X:3.80, Y:0.22, Z:-0.14 [[ 0.9111793 -0.37353766 -0.17384448 3.7998065 ] [ 0.39974186 0.90369678 0.15342289 0.22112587] [ 0.09979347 -0.20928868 0.97274843 -0.14195162] [ 0. 0. 0. 1. ]] SLAMing on 85.202414037 meters Centerline goodness : 0.771058 Centerline is valid? [False, False] Translation: X:3.80, Y:0.22, Z:-0.14 [[ 0.91025814 -0.37545447 -0.17453959 3.80015357] [ 0.40179611 0.90277757 0.15346838 0.22126671] [ 0.09995004 -0.20982517 0.97261677 -0.13991457] [ 0. 0. 0. 1. ]] SLAMing on 85.23241403699998 meters Centerline goodness : 0.775165 Centerline is valid? [False, False] Translation: X:3.80, Y:0.22, Z:-0.14 [[ 0.90959975 -0.37673111 -0.17521978 3.80024795] [ 0.4031887 0.90218825 0.15328157 0.2225042 ] [ 0.10033529 -0.21007151 0.97252393 -0.13852811] [ 0. 0. 0. 1. ]] SLAMing on 85.26241403699999 meters Centerline goodness : 0.770520 Centerline is valid? [False, False] Translation: X:3.80, Y:0.22, Z:-0.14 [[ 0.90859866 -0.37884319 -0.17585881 3.80063685] [ 0.4053712 0.90129095 0.1528032 0.2237673 ] [ 0.10061151 -0.21012488 0.97248386 -0.137002 ] [ 0. 0. 0. 1. ]] SLAMing on 85.29241403699999 meters Centerline goodness : 0.773404 Centerline is valid? [False, False] Translation: X:3.80, Y:0.22, Z:-0.14 [[ 0.90771116 -0.3818887 -0.17384323 3.79928988] [ 0.40757755 0.90092652 0.14903676 0.22439994] [ 0.09970452 -0.20613693 0.97343031 -0.13744059] [ 0. 0. 0. 1. ]] SLAMing on 85.32241403699999 meters Centerline goodness : 0.768629 Centerline is valid? [False, False] Translation: X:3.80, Y:0.23, Z:-0.14 [[ 0.90677639 -0.38495568 -0.1719468 3.79829806] [ 0.40983956 0.90052199 0.14522972 0.22519435] [ 0.09893487 -0.20216148 0.97434215 -0.13795605] [ 0. 0. 0. 1. ]] SLAMing on 85.35241403699999 meters Centerline goodness : 0.770316 Centerline is valid? [False, False] Translation: X:3.80, Y:0.23, Z:-0.14 [[ 0.90570728 -0.38830455 -0.17004086 3.79687609] [ 0.41242407 0.89989864 0.14173503 0.22558389] [ 0.09798318 -0.19849939 0.9751909 -0.13763207] [ 0. 0. 0. 1. ]] SLAMing on 85.38241403699999 meters Centerline goodness : 0.770344 Centerline is valid? [False, False] Translation: X:3.80, Y:0.23, Z:-0.14 [[ 0.90543138 -0.38898771 -0.16994876 3.79654681] [ 0.4130451 0.89967509 0.14134522 0.22592934] [ 0.09791711 -0.1981749 0.97526353 -0.13718937] [ 0. 0. 0. 1. ]] SLAMing on 85.41241403699999 meters Centerline goodness : 0.772316 Centerline is valid? [False, False] Translation: X:3.80, Y:0.23, Z:-0.14 [[ 0.90519678 -0.38958835 -0.16982257 3.7962774 ] [ 0.41358901 0.89946816 0.1410715 0.22618932] [ 0.09779018 -0.19793421 0.97532514 -0.13692916] [ 0. 0. 0. 1. ]] SLAMing on 85.44241403699999 meters Centerline goodness : 0.772644 Centerline is valid? [False, False] Translation: X:3.80, Y:0.23, Z:-0.14 [[ 0.90511299 -0.38982543 -0.16972509 3.79556416] [ 0.41377132 0.89943686 0.14073605 0.22686559] [ 0.09779451 -0.1976094 0.97539057 -0.13645977] [ 0. 0. 0. 1. ]] SLAMing on 85.472414037 meters Centerline goodness : 0.772597 Centerline is valid? [False, False] Translation: X:3.79, Y:0.23, Z:-0.14 [[ 0.90500508 -0.39003131 -0.16982752 3.79467496] [ 0.41398245 0.89936165 0.14059569 0.22778151] [ 0.09789963 -0.19754542 0.97539298 -0.13562749] [ 0. 0. 0. 1. ]] SLAMing on 85.502414037 meters Centerline goodness : 0.770973 Centerline is valid? [False, False] Translation: X:3.79, Y:0.23, Z:-0.13 [[ 0.9050498 -0.39004279 -0.1695626 3.79259656] [ 0.41392705 0.89940823 0.1404608 0.22866911] [ 0.09772028 -0.19731057 0.9754585 -0.13442629] [ 0. 0. 0. 1. ]] SLAMing on 85.532414037 meters Centerline goodness : 0.770973 Centerline is valid? [False, False] Translation: X:3.79, Y:0.23, Z:-0.13 [[ 0.90479782 -0.39075697 -0.1692628 3.79238712] [ 0.41449862 0.8992664 0.13968122 0.2292751 ] [ 0.09763094 -0.19654246 0.9756225 -0.13462578] [ 0. 0. 0. 1. ]] SLAMing on 85.562414037 meters Centerline goodness : 0.770419 Centerline is valid? [False, False] Translation: X:3.79, Y:0.23, Z:-0.13 [[ 0.9045143 -0.39145354 -0.1691686 3.79277698] [ 0.4151214 0.89905769 0.13917432 0.2293596 ] [ 0.09761205 -0.19611066 0.97571128 -0.13477484] [ 0. 0. 0. 1. ]] SLAMing on 85.592414037 meters Centerline goodness : 0.771416 Centerline is valid? [False, False] Translation: X:3.79, Y:0.23, Z:-0.14 [[ 0.90368272 -0.39417719 -0.16727789 3.79142218] [ 0.41708693 0.89871281 0.13547612 0.23065857] [ 0.09693318 -0.19219685 0.97655739 -0.13526689] [ 0. 0. 0. 1. ]] SLAMing on 85.62241403699998 meters Centerline goodness : 0.772092 Centerline is valid? [False, False] Translation: X:3.79, Y:0.23, Z:-0.14 [[ 0.90269984 -0.39714749 -0.16555022 3.78994407] [ 0.4193523 0.89819166 0.13189162 0.23199829] [ 0.0963154 -0.18848241 0.97734217 -0.13527675] [ 0. 0. 0. 1. ]] SLAMing on 85.65241403699999 meters Centerline goodness : 0.769515 Centerline is valid? [False, False] Translation: X:3.79, Y:0.23, Z:-0.13 [[ 0.90205982 -0.3984894 -0.16581397 3.79017086] [ 0.42070728 0.89760374 0.13157851 0.2323911 ] [ 0.0964026 -0.18845083 0.97733967 -0.13442567] [ 0. 0. 0. 1. ]] SLAMing on 85.68241403699999 meters Centerline goodness : 0.771927 Centerline is valid? [False, False] Translation: X:3.79, Y:0.23, Z:-0.13 [[ 0.90156377 -0.39954885 -0.16596232 3.79010369] [ 0.42174045 0.89719224 0.1310766 0.23315634] [ 0.0965286 -0.18816694 0.97738193 -0.13371015] [ 0. 0. 0. 1. ]] SLAMing on 85.71241403699999 meters Centerline goodness : 0.769820 Centerline is valid? [False, False] Translation: X:3.79, Y:0.23, Z:-0.13 [[ 0.90078298 -0.40111522 -0.16642297 3.79023176] [ 0.42335175 0.89648592 0.13071453 0.23428101] [ 0.09676427 -0.18820088 0.97735209 -0.1326067 ] [ 0. 0. 0. 1. ]] SLAMing on 85.74241403699999 meters Centerline goodness : 0.772243 Centerline is valid? [False, False] Translation: X:3.79, Y:0.24, Z:-0.13 [[ 0.90028377 -0.40213863 -0.16665427 3.79048075] [ 0.42436118 0.89608704 0.13017526 0.23503524] [ 0.09698823 -0.18791628 0.97738465 -0.1320799 ] [ 0. 0. 0. 1. ]] SLAMing on 85.77241403699999 meters Centerline goodness : 0.765843 Centerline is valid? [False, False] Translation: X:3.79, Y:0.24, Z:-0.13 [[ 0.89928392 -0.40502653 -0.16505136 3.7894314 ] [ 0.42659228 0.89552045 0.12673653 0.23636164] [ 0.09647521 -0.18438175 0.97810833 -0.13220424] [ 0. 0. 0. 1. ]] SLAMing on 85.80241403699999 meters Centerline goodness : 0.767423 Centerline is valid? [False, False] Translation: X:3.79, Y:0.24, Z:-0.13 [[ 0.89883512 -0.40598582 -0.16513918 3.78906693] [ 0.42753012 0.89512175 0.12639247 0.23665468] [ 0.09650612 -0.18420796 0.97813803 -0.13116371] [ 0. 0. 0. 1. ]] SLAMing on 85.83241403699999 meters Centerline goodness : 0.765242 Centerline is valid? [False, False] Translation: X:3.79, Y:0.24, Z:-0.13 [[ 0.89845641 -0.40669596 -0.16545232 3.78847975] [ 0.42827147 0.89480244 0.12614336 0.23767242] [ 0.09674514 -0.18419282 0.97811726 -0.13003932] [ 0. 0. 0. 1. ]] SLAMing on 85.862414037 meters Centerline goodness : 0.770241 Centerline is valid? [False, False] Translation: X:3.79, Y:0.24, Z:-0.13 [[ 0.89787906 -0.40791091 -0.16559552 3.78783173] [ 0.42943267 0.89435326 0.12537871 0.23968505] [ 0.09695755 -0.18368704 0.97819134 -0.12931579] [ 0. 0. 0. 1. ]] SLAMing on 85.892414037 meters Centerline goodness : 0.766776 Centerline is valid? [False, False] Translation: X:3.79, Y:0.24, Z:-0.13 [[ 0.89753658 -0.40866376 -0.16559598 3.78776365] [ 0.43011237 0.89412572 0.12466972 0.24084965] [ 0.09711563 -0.18312052 0.97828188 -0.1292275 ] [ 0. 0. 0. 1. ]] SLAMing on 85.922414037 meters Centerline goodness : 0.765523 Centerline is valid? [False, False] Translation: X:3.79, Y:0.24, Z:-0.13 [[ 0.89712772 -0.40949312 -0.16576257 3.78800009] [ 0.43091551 0.89381478 0.12412481 0.24165089] [ 0.09733278 -0.18278547 0.97832295 -0.1289065 ] [ 0. 0. 0. 1. ]] SLAMing on 85.952414037 meters Centerline goodness : 0.767636 Centerline is valid? [False, False] Translation: X:3.79, Y:0.24, Z:-0.13 [[ 0.89647867 -0.41089126 -0.16581425 3.78814451] [ 0.43221294 0.89333437 0.12306779 0.24327289] [ 0.09756009 -0.18199471 0.97844773 -0.12874923] [ 0. 0. 0. 1. ]] SLAMing on 85.98241403699998 meters Centerline goodness : 0.766826 Centerline is valid? [False, False] Translation: X:3.79, Y:0.25, Z:-0.13 [[ 0.89587317 -0.41218373 -0.16587895 3.78724567] [ 0.43341672 0.89288334 0.12210362 0.24557648] [ 0.09778142 -0.18128407 0.97855755 -0.12805669] [ 0. 0. 0. 1. ]] SLAMing on 86.01241403699999 meters Centerline goodness : 0.766043 Centerline is valid? [False, False] Translation: X:3.79, Y:0.25, Z:-0.13 [[ 0.89552105 -0.41293804 -0.16590428 3.78654132] [ 0.43411383 0.89262566 0.1215097 0.2468413 ] [ 0.09791444 -0.18083583 0.97862718 -0.12734297] [ 0. 0. 0. 1. ]] SLAMing on 86.04241403699999 meters Centerline goodness : 0.766793 Centerline is valid? [False, False] Translation: X:3.79, Y:0.25, Z:-0.13 [[ 0.89524456 -0.41350713 -0.165979 3.78580559] [ 0.43466715 0.89239399 0.12123296 0.2476566 ] [ 0.09798796 -0.18067877 0.97864883 -0.12648558] [ 0. 0. 0. 1. ]] SLAMing on 86.07241403699999 meters Centerline goodness : 0.763483 Centerline is valid? [False, False] Translation: X:3.78, Y:0.25, Z:-0.13 [[ 0.89461007 -0.41484772 -0.16605479 3.78475358] [ 0.43593436 0.89188804 0.12040335 0.24977835] [ 0.09815323 -0.18010303 0.97873839 -0.12554298] [ 0. 0. 0. 1. ]] SLAMing on 86.10241403699999 meters Centerline goodness : 0.762969 Centerline is valid? [False, False] Translation: X:3.78, Y:0.25, Z:-0.13 [[ 0.89413893 -0.41583252 -0.16612913 3.78489984] [ 0.43685304 0.89154143 0.11963818 0.25087232] [ 0.09836156 -0.17954717 0.9788196 -0.12542813] [ 0. 0. 0. 1. ]] SLAMing on 86.13241403699999 meters Centerline goodness : 0.764348 Centerline is valid? [False, False] Translation: X:3.78, Y:0.25, Z:-0.13 [[ 0.89355194 -0.41711522 -0.16607172 3.78476476] [ 0.4380202 0.89110345 0.11862941 0.25266233] [ 0.09850496 -0.17874431 0.97895212 -0.12543555] [ 0. 0. 0. 1. ]] SLAMing on 86.16241403699999 meters Centerline goodness : 0.766122 Centerline is valid? [False, False] Translation: X:3.78, Y:0.25, Z:-0.12 [[ 0.89324143 -0.41775081 -0.16614454 3.78379716] [ 0.43862182 0.89086754 0.11817749 0.25419215] [ 0.09864404 -0.17843565 0.97899442 -0.12472919] [ 0. 0. 0. 1. ]] SLAMing on 86.19241403699999 meters Centerline goodness : 0.763889 Centerline is valid? [False, False] Translation: X:3.78, Y:0.26, Z:-0.12 [[ 0.89308679 -0.41817314 -0.16591324 3.78244606] [ 0.43893288 0.89080387 0.11750058 0.25580864] [ 0.09866058 -0.17776299 0.97911512 -0.12422537] [ 0. 0. 0. 1. ]] SLAMing on 86.222414037 meters Centerline goodness : 0.765489 Centerline is valid? [False, False] Translation: X:3.78, Y:0.26, Z:-0.12 [[ 0.89380699 -0.41447832 -0.17122144 3.77641553] [ 0.43541586 0.89346953 0.11011465 0.25560072] [ 0.107341 -0.17297377 0.97905975 -0.1191672 ] [ 0. 0. 0. 1. ]] SLAMing on 86.252414037 meters Centerline goodness : 0.774439 Centerline is valid? [False, False] Translation: X:3.78, Y:0.26, Z:-0.12 [[ 0.89351153 -0.41527115 -0.17084209 3.77558263] [ 0.43601476 0.89331937 0.10895702 0.25777258] [ 0.10736984 -0.17184403 0.97925551 -0.11951598] [ 0. 0. 0. 1. ]] SLAMing on 86.282414037 meters Centerline goodness : 0.775907 Centerline is valid? [False, False] Translation: X:3.78, Y:0.26, Z:-0.12 [[ 0.89322618 -0.41594456 -0.17069595 3.77503642] [ 0.43655075 0.89318122 0.10793863 0.25992562] [ 0.10756593 -0.17093106 0.97939376 -0.11970443] [ 0. 0. 0. 1. ]] SLAMing on 86.312414037 meters Centerline goodness : 0.774165 Centerline is valid? [False, False] Translation: X:3.77, Y:0.26, Z:-0.12 [[ 0.89417784 -0.41173442 -0.17584301 3.76953944] [ 0.43244152 0.89597807 0.10108226 0.2598069 ] [ 0.11593244 -0.16642733 0.97921479 -0.11516885] [ 0. 0. 0. 1. ]] SLAMing on 86.342414037 meters Centerline goodness : 0.775235 Centerline is valid? [False, False] Translation: X:3.77, Y:0.26, Z:-0.12 [[ 0.89394535 -0.41232833 -0.17563333 3.76900924] [ 0.43288579 0.89587279 0.10010916 0.26162765] [ 0.11606728 -0.16552129 0.97935238 -0.11537712] [ 0. 0. 0. 1. ]] SLAMing on 86.37241403699998 meters Centerline goodness : 0.773882 Centerline is valid? [False, False] Translation: X:3.77, Y:0.27, Z:-0.12 [[ 0.89355256 -0.41338529 -0.17514686 3.76697768] [ 0.43366665 0.89567879 0.09845172 0.26541392] [ 0.11617684 -0.16392714 0.97960749 -0.11531814] [ 0. 0. 0. 1. ]] SLAMing on 86.40241403699999 meters Centerline goodness : 0.773170 Centerline is valid? [False, False] Translation: X:3.77, Y:0.27, Z:-0.12 [[ 0.89349225 -0.41362796 -0.17488144 3.76571265] [ 0.43379047 0.89568813 0.09781923 0.26701769] [ 0.11617846 -0.16326262 0.97971827 -0.1150656 ] [ 0. 0. 0. 1. ]] SLAMing on 86.43241403699999 meters Centerline goodness : 0.770240 Centerline is valid? [False, False] Translation: X:3.76, Y:0.27, Z:-0.12 [[ 0.8935225 -0.41379665 -0.17432693 3.76401664] [ 0.43376954 0.89578791 0.09699482 0.26869731] [ 0.11602383 -0.16228477 0.97989904 -0.11504296] [ 0. 0. 0. 1. ]] SLAMing on 86.46241403699999 meters Centerline goodness : 0.773190 Centerline is valid? [False, False] Translation: X:3.76, Y:0.27, Z:-0.11 [[ 0.89505939 -0.40774217 -0.18059627 3.75753383] [ 0.42821987 0.89889358 0.09283357 0.26785173] [ 0.12448466 -0.16042647 0.97916644 -0.10935756] [ 0. 0. 0. 1. ]] SLAMing on 86.49241403699999 meters Centerline goodness : 0.775737 Centerline is valid? [False, False] Translation: X:3.76, Y:0.27, Z:-0.11 [[ 0.89504863 -0.40792119 -0.180245 3.75573852] [ 0.42823768 0.89896949 0.0920128 0.26992581] [ 0.12450079 -0.15954363 0.97930863 -0.10896494] [ 0. 0. 0. 1. ]] SLAMing on 86.52241403699999 meters Centerline goodness : 0.774000 Centerline is valid? [False, False] Translation: X:3.75, Y:0.27, Z:-0.11 [[ 0.8950015 -0.40818981 -0.17987051 3.75259953] [ 0.42829643 0.89906145 0.09083326 0.27424974] [ 0.12463743 -0.1583338 0.97948758 -0.10834674] [ 0. 0. 0. 1. ]] SLAMing on 86.55241403699999 meters Centerline goodness : 0.774033 Centerline is valid? [False, False] Translation: X:3.75, Y:0.28, Z:-0.11 [[ 0.89480358 -0.40867543 -0.17975248 3.75166727] [ 0.42865603 0.89897625 0.08997621 0.27617378] [ 0.12482214 -0.15756302 0.97958835 -0.10804476] [ 0. 0. 0. 1. ]] SLAMing on 86.58241403699999 meters Centerline goodness : 0.773562 Centerline is valid? [False, False] Translation: X:3.75, Y:0.28, Z:-0.11 [[ 0.89452759 -0.40944663 -0.17937067 3.75102517] [ 0.42925503 0.89877978 0.08907876 0.27736733] [ 0.12474174 -0.15667917 0.97974034 -0.10819058] [ 0. 0. 0. 1. ]] SLAMing on 86.612414037 meters Centerline goodness : 0.774275 Centerline is valid? [False, False] Translation: X:3.74, Y:0.28, Z:-0.11 [[ 0.89385223 -0.41217014 -0.17647651 3.73651254] [ 0.42981275 0.8997485 0.07558859 0.27714823] [ 0.12762911 -0.14341688 0.98139819 -0.10660643] [ 0. 0. 0. 1. ]] SLAMing on 86.642414037 meters Centerline goodness : 0.772523 Centerline is valid? [False, False] Translation: X:3.70, Y:0.27, Z:-0.11 [[ 0.89408478 -0.41333804 -0.17252269 3.69945635] [ 0.42903478 0.90095427 0.06488879 0.26711163] [ 0.12861405 -0.13203431 0.98286589 -0.10960062] [ 0. 0. 0. 1. ]] SLAMing on 86.672414037 meters Centerline goodness : 0.770539 Centerline is valid? [False, False] Translation: X:3.68, Y:0.27, Z:-0.11 [[ 0.89377032 -0.41442741 -0.17153583 3.6837574 ] [ 0.42860891 0.90185311 0.05436339 0.26582452] [ 0.13217044 -0.12211017 0.98367682 -0.10796611] [ 0. 0. 0. 1. ]] SLAMing on 86.702414037 meters Centerline goodness : 0.770006 Centerline is valid? [False, False] Translation: X:3.64, Y:0.25, Z:-0.11 [[ 0.89388175 -0.41540545 -0.16856371 3.64199216] [ 0.42821482 0.90246571 0.04677307 0.25378663] [ 0.13269318 -0.11399107 0.9845804 -0.1126509 ] [ 0. 0. 0. 1. ]] SLAMing on 86.73241403699998 meters Centerline goodness : 0.768699 Centerline is valid? [False, False] Translation: X:3.60, Y:0.24, Z:-0.12 [[ 0.89425358 -0.41570932 -0.16582005 3.60076606] [ 0.42734698 0.90318605 0.04036732 0.2407878 ] [ 0.13298529 -0.10696132 0.98532948 -0.11778565] [ 0. 0. 0. 1. ]] SLAMing on 86.76241403699999 meters Centerline goodness : 0.768106 Centerline is valid? [False, False] Translation: X:3.58, Y:0.23, Z:-0.12 [[ 0.8956568 -0.41562114 -0.15829709 3.57627059] [ 0.42601897 0.90395558 0.0370426 0.23224938] [ 0.12769785 -0.10061502 0.98669645 -0.12038356] [ 0. 0. 0. 1. ]] SLAMing on 86.79241403699999 meters Centerline goodness : 0.768206 Centerline is valid? [False, False] Translation: X:3.53, Y:0.22, Z:-0.12 [[ 0.89586563 -0.41670898 -0.15420244 3.53462154] [ 0.42560508 0.90446154 0.02845427 0.21960266] [ 0.12761302 -0.09112054 0.98762947 -0.12336497] [ 0. 0. 0. 1. ]] SLAMing on 86.82241403699999 meters Centerline goodness : 0.768147 Centerline is valid? [False, False] Translation: X:3.50, Y:0.21, Z:-0.13 [[ 0.89645766 -0.41680386 -0.15045995 3.49559981] [ 0.42437768 0.90524685 0.0207779 0.2069087 ] [ 0.12754309 -0.08247835 0.98839773 -0.12764455] [ 0. 0. 0. 1. ]] SLAMing on 86.85241403699999 meters Centerline goodness : 0.768147 Centerline is valid? [False, False] Translation: X:3.46, Y:0.19, Z:-0.13 [[ 0.89712336 -0.41648075 -0.14735485 3.45752226] [ 0.42284041 0.90610612 0.01333009 0.19458512] [ 0.1279674 -0.07426632 0.98899386 -0.13242052] [ 0. 0. 0. 1. ]] SLAMing on 86.88241403699999 meters Centerline goodness : 0.771098 Centerline is valid? [False, False] Translation: X:3.46, Y:0.20, Z:-0.13 [[ 0.89707903 -0.41657341 -0.14736283 3.45719083] [ 0.42289801 0.90608335 0.01304748 0.19526136] [ 0.12808778 -0.07402407 0.98899644 -0.13203351] [ 0. 0. 0. 1. ]] SLAMing on 86.91241403699999 meters Centerline goodness : 0.772027 Centerline is valid? [False, False] Translation: X:3.41, Y:0.18, Z:-0.14 [[ 0.8977096 -0.41598559 -0.14516705 3.41198589] [ 0.42161111 0.90673276 0.00893163 0.18120022] [ 0.12791229 -0.06922205 0.98936685 -0.13674611] [ 0. 0. 0. 1. ]] SLAMing on 86.94241403699999 meters Centerline goodness : 0.770692 Centerline is valid? [False, False] Translation: X:3.40, Y:0.18, Z:-0.14 [[ 0.90039757 -0.41127833 -0.14189555 3.3964573 ] [ 0.41621993 0.90924604 0.00571004 0.17624864] [ 0.12666955 -0.06420106 0.98986517 -0.13696799] [ 0. 0. 0. 1. ]] SLAMing on 86.972414037 meters Centerline goodness : 0.773731 Centerline is valid? [False, False] Translation: X:3.36, Y:0.16, Z:-0.14 [[ 9.01523676e-01 -4.09702419e-01 -1.39280256e-01 3.35855957e+00] [ 4.13607911e-01 9.10454564e-01 -9.91620539e-04 1.64435699e-01] [ 1.27214614e-01 -5.67134461e-02 9.90252507e-01 -1.41783190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.002414037 meters Centerline goodness : 0.771673 Centerline is valid? [False, False] Translation: X:3.32, Y:0.15, Z:-0.15 [[ 0.90296773 -0.40704009 -0.13772304 3.32101734] [ 0.41016407 0.91199078 -0.00618554 0.15281793] [ 0.1281199 -0.0509037 0.99045146 -0.14896727] [ 0. 0. 0. 1. ]] SLAMing on 87.032414037 meters Centerline goodness : 0.766716 Centerline is valid? [False, False] Translation: X:3.28, Y:0.14, Z:-0.16 [[ 0.90450203 -0.40439986 -0.13541355 3.28391803] [ 0.40676984 0.9134652 -0.01093725 0.14033039] [ 0.12811859 -0.04518939 0.9907288 -0.15538747] [ 0. 0. 0. 1. ]] SLAMing on 87.062414037 meters Centerline goodness : 0.764965 Centerline is valid? [False, False] Translation: X:3.25, Y:0.13, Z:-0.17 [[ 0.90716998 -0.40099335 -0.12746354 3.2468106 ] [ 0.40311555 0.91509627 -0.0098318 0.126157 ] [ 0.1205839 -0.04246342 0.99179453 -0.16630374] [ 0. 0. 0. 1. ]] SLAMing on 87.092414037 meters Centerline goodness : 0.772277 Centerline is valid? [False, False] Translation: X:3.22, Y:0.12, Z:-0.17 [[ 0.9086966 -0.39825593 -0.12515072 3.21829505] [ 0.40076856 0.91616273 -0.00551504 0.11653189] [ 0.11685482 -0.04514497 0.99212241 -0.17182323] [ 0. 0. 0. 1. ]] SLAMing on 87.12241403699998 meters Centerline goodness : 0.770856 Centerline is valid? [False, False] Translation: X:3.20, Y:0.11, Z:-0.17 [[ 0.91060613 -0.39480589 -0.122167 3.19510561] [ 0.39733558 0.91766486 -0.00395584 0.10743739] [ 0.11367015 -0.04493908 0.99250168 -0.17442088] [ 0. 0. 0. 1. ]] SLAMing on 87.15241403699999 meters Centerline goodness : 0.772624 Centerline is valid? [False, False] Translation: X:3.16, Y:0.09, Z:-0.18 [[ 9.13377894e-01 -3.91154353e-01 -1.12867601e-01 3.15579444e+00] [ 3.93387682e-01 9.19368752e-01 -2.68878405e-03 9.27121174e-02] [ 1.04818675e-01 -4.19448482e-02 9.93606398e-01 -1.83161338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18241403699999 meters Centerline goodness : 0.771203 Centerline is valid? [False, False] Translation: X:3.12, Y:0.08, Z:-0.19 [[ 0.91435154 -0.38942858 -0.11093533 3.11558379] [ 0.39112512 0.92031136 -0.00693827 0.07889793] [ 0.10479701 -0.03704557 0.99380341 -0.18836278] [ 0. 0. 0. 1. ]] SLAMing on 87.21241403699999 meters Centerline goodness : 0.771093 Centerline is valid? [False, False] Translation: X:3.09, Y:0.07, Z:-0.19 [[ 0.91523681 -0.38778568 -0.10937941 3.09217952] [ 0.38942992 0.92103111 -0.00678444 0.07017896] [ 0.10337275 -0.03638624 0.99397692 -0.19127073] [ 0. 0. 0. 1. ]] SLAMing on 87.24241403699999 meters Centerline goodness : 0.769008 Centerline is valid? [False, False] Translation: X:3.07, Y:0.06, Z:-0.19 [[ 0.91650913 -0.38510995 -0.10817278 3.06913722] [ 0.3867766 0.92215408 -0.00597588 0.06180862] [ 0.10205335 -0.03636175 0.99411415 -0.19436378] [ 0. 0. 0. 1. ]] SLAMing on 87.27241403699999 meters Centerline goodness : 0.770114 Centerline is valid? [False, False] Translation: X:3.03, Y:0.05, Z:-0.20 [[ 0.9188036 -0.38211601 -0.09893082 3.03270323] [ 0.38360822 0.92348625 -0.00422792 0.04770567] [ 0.09297681 -0.03406605 0.99508533 -0.20467276] [ 0. 0. 0. 1. ]] SLAMing on 87.30241403699999 meters Centerline goodness : 0.769746 Centerline is valid? [False, False] Translation: X:3.00, Y:0.04, Z:-0.21 [[ 0.92173419 -0.37719604 -0.09016219 3.00111367] [ 0.37836466 0.92564608 -0.00441861 0.03540408] [ 0.08512496 -0.03004141 0.99591729 -0.21306407] [ 0. 0. 0. 1. ]] SLAMing on 87.33241403699999 meters Centerline goodness : 0.770197 Centerline is valid? [False, False] Translation: X:2.99, Y:0.03, Z:-0.21 [[ 0.92353103 -0.37272938 -0.09035062 2.98623248] [ 0.37352275 0.92758116 -0.00859877 0.03035855] [ 0.08701255 -0.02580679 0.9958729 -0.21178276] [ 0. 0. 0. 1. ]] SLAMing on 87.362414037 meters Centerline goodness : 0.771374 Centerline is valid? [False, False] Translation: X:2.97, Y:0.02, Z:-0.21 [[ 0.92554439 -0.36779436 -0.08997159 2.96926524] [ 0.36842148 0.92960354 -0.0101422 0.02395492] [ 0.08736816 -0.02376041 0.99589269 -0.21185173] [ 0. 0. 0. 1. ]] SLAMing on 87.392414037 meters Centerline goodness : 0.773027 Centerline is valid? [False, False] Translation: X:2.96, Y:0.02, Z:-0.21 [[ 0.92755608 -0.36280497 -0.08951124 2.95534335] [ 0.36301525 0.93167042 -0.01449713 0.01940528] [ 0.08865461 -0.01904704 0.9958803 -0.21074662] [ 0. 0. 0. 1. ]] SLAMing on 87.422414037 meters Centerline goodness : 0.772359 Centerline is valid? [False, False] Translation: X:2.92, Y:0.01, Z:-0.22 [[ 0.93079136 -0.35644381 -0.08108789 2.91953794] [ 0.35683442 0.93411286 -0.0101168 0.00588149] [ 0.07935131 -0.01951832 0.99665561 -0.22084033] [ 0. 0. 0. 1. ]] SLAMing on 87.452414037 meters Centerline goodness : 0.770644 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.00, Z:-0.22 [[ 0.9320132 -0.35379058 -0.078636 2.89317924] [ 0.35439575 0.9350723 -0.00659058 -0.00425937] [ 0.07586203 -0.02172576 0.99688161 -0.22464682] [ 0. 0. 0. 1. ]] SLAMing on 87.48241403699998 meters Centerline goodness : 0.771193 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.01, Z:-0.22 [[ 0.93425802 -0.34854336 -0.07536232 2.87212761] [ 0.34914736 0.93705207 -0.0054345 -0.01354606] [ 0.07251258 -0.02123533 0.99714141 -0.22420396] [ 0. 0. 0. 1. ]] SLAMing on 87.51241403699999 meters Centerline goodness : 0.770547 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.01, Z:-0.22 [[ 0.93434588 -0.34827517 -0.07551278 2.87223859] [ 0.34887991 0.93715155 -0.0054575 -0.0135035 ] [ 0.07266763 -0.0212457 0.9971299 -0.22376019] [ 0. 0. 0. 1. ]] SLAMing on 87.54241403699999 meters Centerline goodness : 0.767458 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.01, Z:-0.22 [[ 0.93441181 -0.34806791 -0.07565249 2.87237332] [ 0.34865708 0.93723301 -0.00570292 -0.01306255] [ 0.07288902 -0.0210479 0.99711794 -0.223235 ] [ 0. 0. 0. 1. ]] SLAMing on 87.57241403699999 meters Centerline goodness : 0.766912 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.02, Z:-0.22 [[ 0.93758076 -0.34042783 -0.07107189 2.86229534] [ 0.34076199 0.94011771 -0.00774363 -0.01820155] [ 0.06945208 -0.01695832 0.99744114 -0.22440147] [ 0. 0. 0. 1. ]] SLAMing on 87.60241403699999 meters Centerline goodness : 0.767923 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.02, Z:-0.22 [[ 0.93926147 -0.33252428 -0.08494402 2.86293795] [ 0.33326982 0.94281448 -0.00566497 -0.02348236] [ 0.08197019 -0.02298839 0.99636962 -0.22003824] [ 0. 0. 0. 1. ]] SLAMing on 87.63241403699999 meters Centerline goodness : 0.768188 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.03, Z:-0.21 [[ 0.9406207 -0.32501838 -0.09795793 2.86286629] [ 0.32602354 0.94534252 -0.00601492 -0.02803942] [ 0.09455876 -0.02627884 0.99517238 -0.21491817] [ 0. 0. 0. 1. ]] SLAMing on 87.66241403699999 meters Centerline goodness : 0.770757 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.03, Z:-0.21 [[ 0.94273179 -0.31474317 -0.11042423 2.86241347] [ 0.31616894 0.9486907 -0.00481237 -0.03331279] [ 0.1062731 -0.03037594 0.99387289 -0.21093198] [ 0. 0. 0. 1. ]] SLAMing on 87.69241403699999 meters Centerline goodness : 0.768352 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.04, Z:-0.20 [[ 0.94382898 -0.30627808 -0.12401854 2.86244765] [ 0.30830601 0.95128258 -0.00297422 -0.03860519] [ 0.11888761 -0.0354285 0.99227544 -0.20499237] [ 0. 0. 0. 1. ]] SLAMing on 87.722414037 meters Centerline goodness : 0.769156 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.04, Z:-0.20 [[ 0.94397584 -0.30570846 -0.12430586 2.86292704] [ 0.3077487 0.95146319 -0.00292028 -0.0382758 ] [ 0.1191652 -0.03549829 0.99223965 -0.20465071] [ 0. 0. 0. 1. ]] SLAMing on 87.752414037 meters Centerline goodness : 0.768180 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.04, Z:-0.20 [[ 9.45336226e-01 -2.96703361e-01 -1.35301645e-01 2.86147750e+00] [ 2.99143031e-01 9.54205256e-01 -2.40323564e-03 -4.46233893e-02] [ 1.29818589e-01 -3.82026784e-02 9.90801539e-01 -2.00010581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.782414037 meters Centerline goodness : 0.767571 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.05, Z:-0.19 [[ 9.45721781e-01 -2.89592496e-01 -1.47466940e-01 2.86253243e+00] [ 2.92502705e-01 9.56262528e-01 -2.03620704e-03 -4.96456591e-02] [ 1.41606779e-01 -4.12087935e-02 9.89064889e-01 -1.94411352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.812414037 meters Centerline goodness : 0.769160 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.05, Z:-0.19 [[ 9.46088299e-01 -2.88664250e-01 -1.46934955e-01 2.86179373e+00] [ 2.91649917e-01 9.56524277e-01 -1.27804088e-03 -5.27962061e-02] [ 1.40915777e-01 -4.16444280e-02 9.89145331e-01 -1.94106197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.842414037 meters Centerline goodness : 0.770542 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.05, Z:-0.19 [[ 9.46009687e-01 -2.88761833e-01 -1.47249028e-01 2.86320982e+00] [ 2.91780277e-01 9.56484682e-01 -1.14976470e-03 -5.41382105e-02] [ 1.41173448e-01 -4.18766736e-02 9.89098783e-01 -1.94377779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.87241403699998 meters Centerline goodness : 0.772451 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.06, Z:-0.19 [[ 0.94551693 -0.29091974 -0.14616236 2.86315762] [ 0.29358327 0.95592713 -0.00349011 -0.05655388] [ 0.1407359 -0.03961087 0.98925446 -0.19409511] [ 0. 0. 0. 1. ]] SLAMing on 87.90241403699999 meters Centerline goodness : 0.771220 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.06, Z:-0.19 [[ 9.45512425e-01 -2.90583880e-01 -1.46857971e-01 2.86520584e+00] [ 2.93419301e-01 9.55980686e-01 -2.45803962e-03 -5.81986918e-02] [ 1.41107650e-01 -4.07668560e-02 9.89154535e-01 -1.94484416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.93241403699999 meters Centerline goodness : 0.770912 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.06, Z:-0.19 [[ 9.45371051e-01 -2.90984137e-01 -1.46975536e-01 2.86580271e+00] [ 2.93870599e-01 9.55842759e-01 -2.16582540e-03 -5.97172553e-02] [ 1.41115723e-01 -4.11442802e-02 9.89137756e-01 -1.94233852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96241403699999 meters Centerline goodness : 0.770479 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.07, Z:-0.19 [[ 0.94511945 -0.2869502 -0.15623316 2.866753 ] [ 0.28958018 0.95713396 -0.00615698 -0.06589517] [ 0.15130281 -0.03942294 0.98770101 -0.18899736] [ 0. 0. 0. 1. ]] SLAMing on 87.99241403699999 meters Centerline goodness : 0.768440 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.07, Z:-0.19 [[ 0.94501399 -0.28711441 -0.15656908 2.86811688] [ 0.28982294 0.95706302 -0.00574731 -0.06798686] [ 0.15149661 -0.03994602 0.98765029 -0.18901267] [ 0. 0. 0. 1. ]] SLAMing on 88.02241403699999 meters Centerline goodness : 0.769412 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.07, Z:-0.19 [[ 0.94438617 -0.28944648 -0.15606249 2.86949539] [ 0.29196671 0.9564026 -0.00703592 -0.07123404] [ 0.15129509 -0.03892043 0.98772212 -0.18913477] [ 0. 0. 0. 1. ]] SLAMing on 88.05241403699999 meters Centerline goodness : 0.771391 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.07, Z:-0.19 [[ 0.94405993 -0.29006108 -0.15689299 2.87194954] [ 0.29272494 0.95617547 -0.00636997 -0.07297629] [ 0.15186491 -0.03991285 0.98759507 -0.18917843] [ 0. 0. 0. 1. ]] SLAMing on 88.08241403699999 meters Centerline goodness : 0.771669 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.08, Z:-0.19 [[ 0.94374247 -0.29062235 -0.15776183 2.87442593] [ 0.29349893 0.95594487 -0.00527087 -0.07550821] [ 0.15234344 -0.04132859 0.98746313 -0.18907084] [ 0. 0. 0. 1. ]] SLAMing on 88.112414037 meters Centerline goodness : 0.770780 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.08, Z:-0.19 [[ 0.94254655 -0.29473938 -0.15727266 2.87669979] [ 0.29730224 0.95475382 -0.00751783 -0.07901263] [ 0.15237248 -0.03967161 0.9875266 -0.18910658] [ 0. 0. 0. 1. ]] SLAMing on 88.142414037 meters Centerline goodness : 0.770549 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.08, Z:-0.19 [[ 0.94153259 -0.29812326 -0.15696785 2.87825595] [ 0.30038927 0.95376792 -0.00964597 -0.0817354 ] [ 0.15258659 -0.03806947 0.98755661 -0.18844817] [ 0. 0. 0. 1. ]] SLAMing on 88.172414037 meters Centerline goodness : 0.770067 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.08, Z:-0.19 [[ 0.94138679 -0.29810955 -0.15786578 2.88037163] [ 0.30055838 0.95372379 -0.008694 -0.08306682] [ 0.15315211 -0.03926346 0.98742231 -0.18838545] [ 0. 0. 0. 1. ]] SLAMing on 88.202414037 meters Centerline goodness : 0.769749 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.09, Z:-0.19 [[ 0.94131518 -0.29798182 -0.15853257 2.8827439 ] [ 0.3006662 0.95370118 -0.00734204 -0.08599816] [ 0.1533805 -0.04075421 0.98732645 -0.18869274] [ 0. 0. 0. 1. ]] SLAMing on 88.23241403699998 meters Centerline goodness : 0.769749 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.09, Z:-0.19 [[ 0.94131518 -0.29798182 -0.15853257 2.8827439 ] [ 0.3006662 0.95370118 -0.00734204 -0.08599816] [ 0.1533805 -0.04075421 0.98732645 -0.18869274] [ 0. 0. 0. 1. ]] SLAMing on 88.26241403699999 meters Centerline goodness : 0.770118 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.09, Z:-0.19 [[ 0.94151716 -0.29739838 -0.15842864 2.88471217] [ 0.30020251 0.95385339 -0.00649275 -0.09000828] [ 0.15304863 -0.04144764 0.98734908 -0.18987862] [ 0. 0. 0. 1. ]] SLAMing on 88.29241403699999 meters Centerline goodness : 0.768740 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.09, Z:-0.19 [[ 0.94167949 -0.29705811 -0.15810194 2.88505843] [ 0.29990488 0.95394962 -0.00609854 -0.0931957 ] [ 0.15263291 -0.04167267 0.98740396 -0.19007298] [ 0. 0. 0. 1. ]] SLAMing on 88.32241403699999 meters Centerline goodness : 0.768740 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.09, Z:-0.19 [[ 0.94167949 -0.29705811 -0.15810194 2.88505843] [ 0.29990488 0.95394962 -0.00609854 -0.0931957 ] [ 0.15263291 -0.04167267 0.98740396 -0.19007298] [ 0. 0. 0. 1. ]] SLAMing on 88.35241403699999 meters Centerline goodness : 0.767462 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.10, Z:-0.19 [[ 0.94191102 -0.29617036 -0.15838796 2.88659229] [ 0.2991897 0.95418062 -0.00498732 -0.0955112 ] [ 0.15260782 -0.04269043 0.98736436 -0.19071934] [ 0. 0. 0. 1. ]] SLAMing on 88.38241403699999 meters Centerline goodness : 0.769640 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.10, Z:-0.19 [[ 0.94203543 -0.2957893 -0.15836014 2.8869411 ] [ 0.29885782 0.95428642 -0.00462903 -0.0968307 ] [ 0.15249015 -0.04296645 0.98737057 -0.19085003] [ 0. 0. 0. 1. ]] SLAMing on 88.41241403699999 meters Centerline goodness : 0.768604 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.10, Z:-0.19 [[ 0.9424641 -0.29440916 -0.15838141 2.88841363] [ 0.29764173 0.95467139 -0.00345593 -0.09940835] [ 0.15221966 -0.04388383 0.98737196 -0.19218459] [ 0. 0. 0. 1. ]] SLAMing on 88.44241403699999 meters Centerline goodness : 0.768798 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.10, Z:-0.19 [[ 0.94252183 -0.29404687 -0.15871055 2.88976159] [ 0.29735822 0.95476124 -0.0030114 -0.10049299] [ 0.15241617 -0.04435557 0.98732056 -0.19265038] [ 0. 0. 0. 1. ]] SLAMing on 88.472414037 meters Centerline goodness : 0.769009 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.10, Z:-0.19 [[ 0.94241627 -0.29440667 -0.15867035 2.89036415] [ 0.29769975 0.95465436 -0.00314817 -0.10141682] [ 0.15240219 -0.04426924 0.9873266 -0.19280279] [ 0. 0. 0. 1. ]] SLAMing on 88.502414037 meters Centerline goodness : 0.766634 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.10, Z:-0.19 [[ 9.42222098e-01 -2.94693416e-01 -1.59290011e-01 2.89291885e+00] [ 2.98119853e-01 9.54525189e-01 -2.49341215e-03 -1.03128214e-01] [ 1.52781120e-01 -4.51381666e-02 9.87228684e-01 -1.93456187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.532414037 meters Centerline goodness : 0.766852 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.10, Z:-0.19 [[ 9.42193125e-01 -2.94477430e-01 -1.59859811e-01 2.89466032e+00] [ 2.98055024e-01 9.54547227e-01 -1.67158692e-03 -1.04505065e-01] [ 1.53085984e-01 -4.60720622e-02 9.87138312e-01 -1.93736829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.562414037 meters Centerline goodness : 0.767868 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.11, Z:-0.19 [[ 9.42134316e-01 -2.94242650e-01 -1.60636835e-01 2.89626029e+00] [ 2.98106277e-01 9.54532684e-01 -5.02546579e-05 -1.07688192e-01] [ 1.53347897e-01 -4.78395023e-02 9.87013579e-01 -1.92923330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.592414037 meters Centerline goodness : 0.770464 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.11, Z:-0.19 [[ 9.42060556e-01 -2.94109706e-01 -1.61311471e-01 2.89771677e+00] [ 2.98160847e-01 9.54515168e-01 9.50943602e-04 -1.08683753e-01] [ 1.53694564e-01 -4.89926111e-02 9.86903088e-01 -1.92769815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62241403699998 meters Centerline goodness : 0.773948 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.11, Z:-0.19 [[ 9.41938429e-01 -2.94192141e-01 -1.61873345e-01 2.89922467e+00] [ 2.98371173e-01 9.54448606e-01 1.58145204e-03 -1.09660062e-01] [ 1.54034538e-01 -4.97879703e-02 9.86810275e-01 -1.92789971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.65241403699999 meters Centerline goodness : 0.767738 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.11, Z:-0.19 [[ 9.41086861e-01 -2.97328995e-01 -1.61093107e-01 2.90088908e+00] [ 3.01044482e-01 9.53609061e-01 -1.40675009e-03 -1.10495280e-01] [ 1.54038114e-01 -4.71723170e-02 9.86938211e-01 -1.93792580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68241403699999 meters Centerline goodness : 0.767944 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.11, Z:-0.19 [[ 9.40819222e-01 -2.97786893e-01 -1.61809015e-01 2.90334533e+00] [ 3.01607437e-01 9.53431675e-01 -9.97359378e-04 -1.11687539e-01] [ 1.54570841e-01 -4.78644676e-02 9.86821589e-01 -1.94159431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.71241403699999 meters Centerline goodness : 0.768710 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.11, Z:-0.19 [[ 9.40437152e-01 -2.98599843e-01 -1.62530295e-01 2.90596493e+00] [ 3.02626686e-01 9.53109169e-01 1.92589750e-05 -1.14425112e-01] [ 1.54903364e-01 -4.92041164e-02 9.86703554e-01 -1.94245949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74241403699999 meters Centerline goodness : 0.768710 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.11, Z:-0.19 [[ 9.40437152e-01 -2.98599843e-01 -1.62530295e-01 2.90596493e+00] [ 3.02626686e-01 9.53109169e-01 1.92589750e-05 -1.14425112e-01] [ 1.54903364e-01 -4.92041164e-02 9.86703554e-01 -1.94245949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.77241403699999 meters Centerline goodness : 0.768957 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.12, Z:-0.19 [[ 9.40249071e-01 -2.98756832e-01 -1.63328011e-01 2.90842803e+00] [ 3.02943746e-01 9.53008133e-01 7.64626428e-04 -1.15778223e-01] [ 1.55424486e-01 -5.01981388e-02 9.86571526e-01 -1.94558224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.80241403699999 meters Centerline goodness : 0.770165 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.12, Z:-0.19 [[ 9.39944491e-01 -2.99134137e-01 -1.64387113e-01 2.91129510e+00] [ 3.03611347e-01 9.52793380e-01 2.21907609e-03 -1.18637927e-01] [ 1.55963152e-01 -5.19956013e-02 9.86393407e-01 -1.94283959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.83241403699999 meters Centerline goodness : 0.769123 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.12, Z:-0.19 [[ 0.93977113 -0.29926848 -0.1651321 2.91310018] [ 0.30390725 0.95269698 0.00297388 -0.11926699] [ 0.15643087 -0.05297961 0.98626697 -0.19433147] [ 0. 0. 0. 1. ]] SLAMing on 88.862414037 meters Centerline goodness : 0.774364 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.12, Z:-0.19 [[ 0.93957774 -0.29949268 -0.1658246 2.91482585] [ 0.30425317 0.95258484 0.00348151 -0.12003963] [ 0.15691931 -0.05372381 0.98614912 -0.19421413] [ 0. 0. 0. 1. ]] SLAMing on 88.892414037 meters Centerline goodness : 0.770151 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.12, Z:-0.19 [[ 0.93934066 -0.29975583 -0.16669002 2.91774655] [ 0.30472036 0.95243154 0.00443527 -0.12170651] [ 0.15743133 -0.05496008 0.98599937 -0.19476888] [ 0. 0. 0. 1. ]] SLAMing on 88.922414037 meters Centerline goodness : 0.776924 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.12, Z:-0.19 [[ 0.93924054 -0.29992399 -0.1669515 2.91872756] [ 0.30491823 0.95236784 0.0045139 -0.12224023] [ 0.15764542 -0.05514619 0.98595478 -0.19493048] [ 0. 0. 0. 1. ]] SLAMing on 88.952414037 meters Centerline goodness : 0.772014 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.12, Z:-0.20 [[ 0.93930524 -0.2994518 -0.16743442 2.9200494 ] [ 0.30463479 0.95245299 0.00556215 -0.12400462] [ 0.15780782 -0.05623091 0.98586753 -0.19501106] [ 0. 0. 0. 1. ]] SLAMing on 88.98241403699998 meters Centerline goodness : 0.772377 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.12, Z:-0.19 [[ 0.93934518 -0.29908239 -0.16787003 2.92092657] [ 0.30439607 0.95252504 0.00625192 -0.12475986] [ 0.15803056 -0.05697169 0.98578931 -0.19488842] [ 0. 0. 0. 1. ]] SLAMing on 89.01241403699999 meters Centerline goodness : 0.772449 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.13, Z:-0.19 [[ 0.93936577 -0.29872251 -0.16839479 2.92200659] [ 0.30417022 0.95259252 0.00692578 -0.12561565] [ 0.15834273 -0.05772652 0.9856953 -0.19474363] [ 0. 0. 0. 1. ]] SLAMing on 89.04241403699999 meters Centerline goodness : 0.772068 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.13, Z:-0.19 [[ 0.9390007 -0.29932213 -0.16936335 2.92438995] [ 0.30490656 0.95235381 0.00736229 -0.12548529] [ 0.15909014 -0.05855319 0.98552618 -0.19490894] [ 0. 0. 0. 1. ]] SLAMing on 89.07241403699999 meters Centerline goodness : 0.771068 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.13, Z:-0.20 [[ 0.93884586 -0.29956824 -0.16978613 2.92617881] [ 0.30519217 0.95226182 0.00742702 -0.12544092] [ 0.15945595 -0.05879023 0.98545295 -0.19568512] [ 0. 0. 0. 1. ]] SLAMing on 89.10241403699999 meters Centerline goodness : 0.774427 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.13, Z:-0.20 [[ 0.93866366 -0.29981292 -0.17036062 2.92782019] [ 0.30551401 0.95215672 0.00766615 -0.12539449] [ 0.1599116 -0.05924349 0.98535196 -0.19596591] [ 0. 0. 0. 1. ]] SLAMing on 89.13241403699999 meters Centerline goodness : 0.772313 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.13, Z:-0.20 [[ 0.93837373 -0.30035682 -0.17099863 2.9300729 ] [ 0.30617705 0.95194004 0.00811012 -0.12635798] [ 0.16034451 -0.05996618 0.98523789 -0.19636105] [ 0. 0. 0. 1. ]] SLAMing on 89.16241403699999 meters Centerline goodness : 0.769458 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.13, Z:-0.20 [[ 0.93841508 -0.29997328 -0.17144434 2.93098152] [ 0.30602789 0.95197601 0.00941308 -0.12855559] [ 0.16038723 -0.06130013 0.98514884 -0.19594418] [ 0. 0. 0. 1. ]] SLAMing on 89.19241403699999 meters Centerline goodness : 0.768112 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.13, Z:-0.20 [[ 0.93837905 -0.29976465 -0.17200557 2.93199442] [ 0.30598835 0.95198007 0.0102502 -0.12950962] [ 0.16067323 -0.06225027 0.98504265 -0.1955745 ] [ 0. 0. 0. 1. ]] SLAMing on 89.222414037 meters Centerline goodness : 0.770813 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.13, Z:-0.20 [[ 0.93832367 -0.29951165 -0.1727468 2.93321773] [ 0.30594075 0.95198424 0.01123656 -0.13049059] [ 0.16108675 -0.06339382 0.98490217 -0.1950911 ] [ 0. 0. 0. 1. ]] SLAMing on 89.252414037 meters Centerline goodness : 0.772037 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.13, Z:-0.19 [[ 0.93824928 -0.29932002 -0.17348145 2.93461646] [ 0.30593538 0.95197544 0.0120955 -0.13113844] [ 0.16152965 -0.06442271 0.98476286 -0.19481749] [ 0. 0. 0. 1. ]] SLAMing on 89.282414037 meters Centerline goodness : 0.771362 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.13, Z:-0.20 [[ 0.93782971 -0.30013426 -0.17434125 2.93773619] [ 0.30683309 0.95168538 0.01218184 -0.13138965] [ 0.16226183 -0.06491815 0.98460994 -0.19562417] [ 0. 0. 0. 1. ]] SLAMing on 89.312414037 meters Centerline goodness : 0.771690 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.13, Z:-0.20 [[ 0.93750893 -0.30077164 -0.17496692 2.94030581] [ 0.30752278 0.95146267 0.01218724 -0.13147322] [ 0.16280892 -0.06523196 0.98449888 -0.19649697] [ 0. 0. 0. 1. ]] SLAMing on 89.342414037 meters Centerline goodness : 0.767351 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.13, Z:-0.20 [[ 0.93726016 -0.30121151 -0.17554207 2.94234007] [ 0.30803127 0.95129636 0.01232764 -0.13194106] [ 0.16327931 -0.06562665 0.98439474 -0.19694655] [ 0. 0. 0. 1. ]] SLAMing on 89.37241403699998 meters Centerline goodness : 0.770587 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.13, Z:-0.20 [[ 0.93721903 -0.30095347 -0.17620302 2.94413407] [ 0.30793106 0.95131944 0.01303018 -0.13253657] [ 0.16370388 -0.06647051 0.9842676 -0.19730776] [ 0. 0. 0. 1. ]] SLAMing on 89.40241403699999 meters Centerline goodness : 0.768917 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.13, Z:-0.20 [[ 0.93739275 -0.30028585 -0.17641782 2.94467153] [ 0.30733743 0.95150559 0.01344653 -0.13276841] [ 0.16382474 -0.06682447 0.98422352 -0.19753754] [ 0. 0. 0. 1. ]] SLAMing on 89.43241403699999 meters Centerline goodness : 0.773354 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.13, Z:-0.20 [[ 0.93833507 -0.29667507 -0.17751393 2.94572409] [ 0.30435197 0.95240683 0.01706211 -0.13444624] [ 0.16400358 -0.07003669 0.98397037 -0.19792195] [ 0. 0. 0. 1. ]] SLAMing on 89.46241403699999 meters Centerline goodness : 0.768962 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.13, Z:-0.20 [[ 0.93846219 -0.29622033 -0.17760131 2.94596809] [ 0.30392591 0.95253972 0.01723717 -0.13424135] [ 0.1640663 -0.07015407 0.98395155 -0.19822542] [ 0. 0. 0. 1. ]] SLAMing on 89.49241403699999 meters Centerline goodness : 0.772204 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.13, Z:-0.20 [[ 0.9386553 -0.2955391 -0.1777157 2.94641199] [ 0.30330285 0.95273171 0.01759752 -0.134353 ] [ 0.16411463 -0.07041969 0.98392452 -0.19864145] [ 0. 0. 0. 1. ]] SLAMing on 89.52241403699999 meters Centerline goodness : 0.772390 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.13, Z:-0.20 [[ 0.93880001 -0.29487334 -0.17805688 2.94650153] [ 0.30276917 0.95288822 0.01829956 -0.13472821] [ 0.16427225 -0.07108976 0.98385003 -0.19819662] [ 0. 0. 0. 1. ]] SLAMing on 89.55241403699999 meters Centerline goodness : 0.773248 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.13, Z:-0.20 [[ 0.93879896 -0.29461723 -0.17848584 2.94715548] [ 0.30260244 0.95293402 0.01866859 -0.13460105] [ 0.16458514 -0.07153631 0.98376536 -0.1980444 ] [ 0. 0. 0. 1. ]] SLAMing on 89.58241403699999 meters Centerline goodness : 0.771326 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.13, Z:-0.20 [[ 0.93866614 -0.29472611 -0.17900391 2.94794067] [ 0.30277482 0.9528765 0.01880901 -0.13383149] [ 0.16502512 -0.07185326 0.98366855 -0.19787052] [ 0. 0. 0. 1. ]] SLAMing on 89.612414037 meters Centerline goodness : 0.772366 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.13, Z:-0.20 [[ 0.93845098 -0.29515973 -0.1794171 2.94990784] [ 0.30319947 0.95274685 0.01853412 -0.13308411] [ 0.16546855 -0.07179253 0.98359849 -0.19889856] [ 0. 0. 0. 1. ]] SLAMing on 89.642414037 meters Centerline goodness : 0.771594 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.13, Z:-0.20 [[ 0.93822903 -0.29565272 -0.17976582 2.95159759] [ 0.30368995 0.95259475 0.01832109 -0.13271673] [ 0.1658273 -0.07178245 0.98353881 -0.19968308] [ 0. 0. 0. 1. ]] SLAMing on 89.672414037 meters Centerline goodness : 0.773721 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.13, Z:-0.20 [[ 0.93801389 -0.29602764 -0.18027084 2.95359997] [ 0.30415628 0.95244043 0.01860603 -0.13321913] [ 0.16618934 -0.07228323 0.98344102 -0.20024482] [ 0. 0. 0. 1. ]] SLAMing on 89.702414037 meters Centerline goodness : 0.772761 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.13, Z:-0.20 [[ 0.93791662 -0.2959901 -0.18083767 2.95439249] [ 0.30425759 0.95239671 0.01917883 -0.13303216] [ 0.16655246 -0.07300938 0.98332594 -0.19992973] [ 0. 0. 0. 1. ]] SLAMing on 89.73241403699998 meters Centerline goodness : 0.773995 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.13, Z:-0.20 [[ 0.93779767 -0.29592595 -0.18155816 2.9552233 ] [ 0.30434695 0.95235612 0.01976758 -0.13264928] [ 0.16705828 -0.07379466 0.98318151 -0.19931949] [ 0. 0. 0. 1. ]] SLAMing on 89.76241403699999 meters Centerline goodness : 0.773240 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.13, Z:-0.20 [[ 0.93767929 -0.29591015 -0.1821942 2.95583931] [ 0.30445317 0.95231309 0.02019999 -0.13189366] [ 0.16752854 -0.07441072 0.98305505 -0.19881662] [ 0. 0. 0. 1. ]] SLAMing on 89.79241403699999 meters Centerline goodness : 0.773262 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.13, Z:-0.20 [[ 0.93763231 -0.29586588 -0.18250763 2.95693605] [ 0.30445623 0.95230913 0.0203401 -0.13205545] [ 0.16778574 -0.07463712 0.98299402 -0.19914589] [ 0. 0. 0. 1. ]] SLAMing on 89.82241403699999 meters Centerline goodness : 0.772200 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.13, Z:-0.20 [[ 0.93753831 -0.29589469 -0.1829433 2.95837413] [ 0.30457132 0.95226577 0.02064514 -0.1324654 ] [ 0.16810186 -0.07507489 0.98290667 -0.19946469] [ 0. 0. 0. 1. ]] SLAMing on 89.85241403699999 meters Centerline goodness : 0.774785 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.13, Z:-0.20 [[ 0.9372854 -0.29616763 -0.1837956 2.96021994] [ 0.30504065 0.95209936 0.02137771 -0.13293996] [ 0.16866028 -0.07610215 0.98273199 -0.19924422] [ 0. 0. 0. 1. ]] SLAMing on 89.88241403699999 meters Centerline goodness : 0.774435 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.13, Z:-0.20 [[ 0.93711064 -0.2962938 -0.18448209 2.9617124 ] [ 0.30528681 0.95201206 0.02174872 -0.13280279] [ 0.16918516 -0.0767009 0.98259521 -0.19921722] [ 0. 0. 0. 1. ]] SLAMing on 89.91241403699999 meters Centerline goodness : 0.774693 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.13, Z:-0.20 [[ 0.93685751 -0.296701 -0.18511218 2.962941 ] [ 0.30581342 0.95183464 0.0221126 -0.13283287] [ 0.16963536 -0.07732614 0.98246858 -0.19884027] [ 0. 0. 0. 1. ]] SLAMing on 89.94241403699999 meters Centerline goodness : 0.772375 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.13, Z:-0.20 [[ 0.93626055 -0.29796864 -0.18609373 2.96596637] [ 0.30726899 0.95135372 0.02262438 -0.13348083] [ 0.17029961 -0.07836315 0.98227148 -0.19897875] [ 0. 0. 0. 1. ]] SLAMing on 89.972414037 meters Centerline goodness : 0.773708 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.13, Z:-0.20 [[ 0.93602272 -0.29836717 -0.18665073 2.96764382] [ 0.30779096 0.95117507 0.0230373 -0.13431562] [ 0.17066395 -0.07901284 0.98215619 -0.19900273] [ 0. 0. 0. 1. ]] SLAMing on 90.002414037 meters Centerline goodness : 0.770521 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.14, Z:-0.20 [[ 0.93584344 -0.29840813 -0.18748237 2.96934928] [ 0.30803756 0.95107591 0.02382164 -0.13500161] [ 0.1712014 -0.08004494 0.98197907 -0.19869958] [ 0. 0. 0. 1. ]] SLAMing on 90.032414037 meters Centerline goodness : 0.773717 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.13, Z:-0.20 [[ 0.93558154 -0.29870442 -0.18831584 2.97097531] [ 0.30849799 0.95091363 0.02433634 -0.13486946] [ 0.17180273 -0.08086369 0.98180695 -0.19844701] [ 0. 0. 0. 1. ]] SLAMing on 90.062414037 meters Centerline goodness : 0.774287 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.13, Z:-0.20 [[ 0.93551655 -0.29867327 -0.18868774 2.9719601 ] [ 0.308498 0.95091355 0.02433929 -0.13416402] [ 0.17215623 -0.0809796 0.98173547 -0.19875512] [ 0. 0. 0. 1. ]] SLAMing on 90.092414037 meters Centerline goodness : 0.779559 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.13, Z:-0.20 [[ 0.93577269 -0.29780319 -0.18879283 2.97283042] [ 0.30762123 0.95119772 0.02433261 -0.13348942] [ 0.17233298 -0.08084647 0.98171543 -0.19995115] [ 0. 0. 0. 1. ]] SLAMing on 90.12241403699998 meters Centerline goodness : 0.778077 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.13, Z:-0.20 [[ 0.93605516 -0.29691829 -0.18878631 2.97290102] [ 0.30672771 0.95148527 0.02436977 -0.1330839 ] [ 0.17239156 -0.08071744 0.98171577 -0.2004703 ] [ 0. 0. 0. 1. ]] SLAMing on 90.15241403699999 meters Centerline goodness : 0.771359 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.13, Z:-0.20 [[ 0.9364482 -0.29569262 -0.18876082 2.97249564] [ 0.30555372 0.95185205 0.02479123 -0.13289545] [ 0.17234179 -0.08089227 0.98171011 -0.20065929] [ 0. 0. 0. 1. ]] SLAMing on 90.18241403699999 meters Centerline goodness : 0.772713 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.13, Z:-0.20 [[ 0.93780501 -0.2912034 -0.18900356 2.96987377] [ 0.30152719 0.95305425 0.02773005 -0.13266696] [ 0.17205556 -0.08299509 0.98158479 -0.20010627] [ 0. 0. 0. 1. ]] SLAMing on 90.21241403699999 meters Centerline goodness : 0.774874 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.13, Z:-0.20 [[ 0.9383399 -0.28974824 -0.18858471 2.96873971] [ 0.29999552 0.9535403 0.02763291 -0.13181545] [ 0.17181654 -0.08250363 0.98166808 -0.20065704] [ 0. 0. 0. 1. ]] SLAMing on 90.24241403699999 meters Centerline goodness : 0.775237 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.13, Z:-0.20 [[ 0.93878128 -0.28852249 -0.18826705 2.96830882] [ 0.29865966 0.95396996 0.02727142 -0.13060602] [ 0.17173269 -0.08182967 0.98173917 -0.20171859] [ 0. 0. 0. 1. ]] SLAMing on 90.27241403699999 meters Centerline goodness : 0.776047 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.13, Z:-0.20 [[ 0.93932544 -0.28688303 -0.18805809 2.96864394] [ 0.29692696 0.95451866 0.0269908 -0.12958252] [ 0.17176175 -0.08119266 0.98178697 -0.20334155] [ 0. 0. 0. 1. ]] SLAMing on 90.30241403699999 meters Centerline goodness : 0.775657 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.13, Z:-0.20 [[ 0.94102236 -0.28166958 -0.18745443 2.9666275 ] [ 0.29194193 0.95599415 0.02907056 -0.13007741] [ 0.17101705 -0.08208185 0.98184303 -0.20495137] [ 0. 0. 0. 1. ]] SLAMing on 90.33241403699999 meters Centerline goodness : 0.774358 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.13, Z:-0.21 [[ 0.94160128 -0.28034143 -0.1865361 2.96440738] [ 0.29044735 0.95646107 0.02868041 -0.12966311] [ 0.17037421 -0.08118443 0.98202939 -0.20530005] [ 0. 0. 0. 1. ]] SLAMing on 90.362414037 meters Centerline goodness : 0.772901 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.13, Z:-0.21 [[ 0.94303264 -0.27537555 -0.1867023 2.96284559] [ 0.28593503 0.9577257 0.03166445 -0.12975196] [ 0.17008997 -0.08324533 0.98190611 -0.20594271] [ 0. 0. 0. 1. ]] SLAMing on 90.392414037 meters Centerline goodness : 0.775626 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.13, Z:-0.21 [[ 0.94356743 -0.27399955 -0.18602354 2.96164242] [ 0.28445962 0.95816874 0.03154991 -0.12951203] [ 0.16959728 -0.08268565 0.98203862 -0.20677473] [ 0. 0. 0. 1. ]] SLAMing on 90.422414037 meters Centerline goodness : 0.773555 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.13, Z:-0.21 [[ 0.94397702 -0.27280669 -0.18569839 2.96118534] [ 0.2832369 0.95852777 0.03164453 -0.12940163] [ 0.16936423 -0.08246835 0.98209711 -0.20746249] [ 0. 0. 0. 1. ]] SLAMing on 90.452414037 meters Centerline goodness : 0.772891 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.13, Z:-0.21 [[ 0.94419054 -0.2724892 -0.18507798 2.96021185] [ 0.28276345 0.95868624 0.03107302 -0.12911098] [ 0.16896465 -0.08167214 0.98223246 -0.20798127] [ 0. 0. 0. 1. ]] SLAMing on 90.48241403699998 meters Centerline goodness : 0.771774 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.13, Z:-0.21 [[ 0.94433643 -0.27215769 -0.18482127 2.96010311] [ 0.28238677 0.95880073 0.03096573 -0.12946687] [ 0.16877921 -0.08143315 0.98228419 -0.20841177] [ 0. 0. 0. 1. ]] SLAMing on 90.51241403699999 meters Centerline goodness : 0.772818 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.13, Z:-0.21 [[ 0.94440527 -0.27209307 -0.18456448 2.96033244] [ 0.28227412 0.95883867 0.03081748 -0.13005416] [ 0.16858234 -0.08120197 0.98233713 -0.20896579] [ 0. 0. 0. 1. ]] SLAMing on 90.54241403699999 meters Centerline goodness : 0.773301 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.13, Z:-0.21 [[ 0.94433761 -0.27208698 -0.1849193 2.96228149] [ 0.28246369 0.95875132 0.03178326 -0.13244937] [ 0.16864381 -0.08224711 0.98223962 -0.20943722] [ 0. 0. 0. 1. ]] SLAMing on 90.57241403699999 meters Centerline goodness : 0.772203 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.13, Z:-0.21 [[ 0.94405617 -0.27277836 -0.18533731 2.96369662] [ 0.28325072 0.95850951 0.03207093 -0.13383812] [ 0.16889932 -0.08277368 0.98215148 -0.20920349] [ 0. 0. 0. 1. ]] SLAMing on 90.60241403699999 meters Centerline goodness : 0.771480 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.14, Z:-0.21 [[ 0.94373657 -0.27367936 -0.18563643 2.96467905] [ 0.28426063 0.9581969 0.0324744 -0.13546344] [ 0.16898868 -0.08341641 0.98208173 -0.20869416] [ 0. 0. 0. 1. ]] SLAMing on 90.63241403699999 meters Centerline goodness : 0.774735 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.14, Z:-0.21 [[ 0.94335135 -0.27432386 -0.18664046 2.96695496] [ 0.28518956 0.95788341 0.03356018 -0.1372763 ] [ 0.16957344 -0.08488695 0.9818549 -0.20801895] [ 0. 0. 0. 1. ]] SLAMing on 90.66241403699999 meters Centerline goodness : 0.774735 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.14, Z:-0.21 [[ 0.94335135 -0.27432386 -0.18664046 2.96695496] [ 0.28518956 0.95788341 0.03356018 -0.1372763 ] [ 0.16957344 -0.08488695 0.9818549 -0.20801895] [ 0. 0. 0. 1. ]] SLAMing on 90.69241403699999 meters Centerline goodness : 0.777229 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.14, Z:-0.21 [[ 0.94243663 -0.2765619 -0.18795404 2.9698478 ] [ 0.28791322 0.95699864 0.03549061 -0.14154152] [ 0.17005641 -0.08756211 0.9815364 -0.20601424] [ 0. 0. 0. 1. ]] SLAMing on 90.722414037 meters Centerline goodness : 0.778338 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.14, Z:-0.21 [[ 0.94191974 -0.27752898 -0.18911604 2.97242553] [ 0.28923707 0.95654808 0.03684667 -0.14358293] [ 0.17067257 -0.08940598 0.98126319 -0.20509278] [ 0. 0. 0. 1. ]] SLAMing on 90.752414037 meters Centerline goodness : 0.777917 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.15, Z:-0.20 [[ 0.94141201 -0.27860417 -0.19006089 2.97459704] [ 0.2906027 0.95609245 0.03791171 -0.14558275] [ 0.17115343 -0.09092275 0.98104004 -0.2041891 ] [ 0. 0. 0. 1. ]] SLAMing on 90.782414037 meters Centerline goodness : 0.776413 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.15, Z:-0.20 [[ 0.94091765 -0.28000104 -0.19045574 2.97555527] [ 0.29213412 0.95560839 0.03834389 -0.14736202] [ 0.17126478 -0.09171707 0.98094666 -0.20312893] [ 0. 0. 0. 1. ]] SLAMing on 90.812414037 meters Centerline goodness : 0.778829 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.15, Z:-0.20 [[ 0.94042035 -0.28081266 -0.19171283 2.9786407 ] [ 0.29325664 0.9552232 0.03935962 -0.14897342] [ 0.17207586 -0.09323565 0.98066152 -0.2026018 ] [ 0. 0. 0. 1. ]] SLAMing on 90.842414037 meters Centerline goodness : 0.781404 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.15, Z:-0.20 [[ 0.93912626 -0.285121 -0.19169738 2.98096268] [ 0.29725356 0.9540734 0.03720583 -0.15105032] [ 0.17228521 -0.0919237 0.98074861 -0.20189196] [ 0. 0. 0. 1. ]] SLAMing on 90.87241403699998 meters Centerline goodness : 0.782244 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.15, Z:-0.20 [[ 0.93861238 -0.28601423 -0.19287993 2.98371771] [ 0.2984788 0.95364485 0.0383653 -0.15297183] [ 0.17296593 -0.09358071 0.98047205 -0.20113176] [ 0. 0. 0. 1. ]] SLAMing on 90.90241403699999 meters Centerline goodness : 0.781454 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.15, Z:-0.20 [[ 0.93809068 -0.28689208 -0.19411033 2.9868453 ] [ 0.29966543 0.95323245 0.03935135 -0.15464329] [ 0.17374268 -0.09508329 0.98019011 -0.20067641] [ 0. 0. 0. 1. ]] SLAMing on 90.93241403699999 meters Centerline goodness : 0.780617 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.16, Z:-0.20 [[ 0.93752303 -0.28788871 -0.19537314 2.99030182] [ 0.30097565 0.95277911 0.04031899 -0.15620404] [ 0.17454007 -0.09660254 0.97989985 -0.20046513] [ 0. 0. 0. 1. ]] SLAMing on 90.96241403699999 meters Centerline goodness : 0.783274 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.16, Z:-0.20 [[ 0.93689834 -0.28950362 -0.19598255 2.99237046] [ 0.30269125 0.95223235 0.04039248 -0.1571462 ] [ 0.17492716 -0.09716585 0.97977512 -0.20013831] [ 0. 0. 0. 1. ]] SLAMing on 90.99241403699999 meters Centerline goodness : 0.782539 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.16, Z:-0.20 [[ 0.93560408 -0.29372325 -0.19588684 2.99432871] [ 0.3065499 0.95109431 0.03803635 -0.15789511] [ 0.1751347 -0.09563605 0.97988856 -0.19957084] [ 0. 0. 0. 1. ]] SLAMing on 91.02241403699999 meters Centerline goodness : 0.785719 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.16, Z:-0.20 [[ 0.93533195 -0.29392674 -0.19687866 2.99626773] [ 0.30704391 0.95089236 0.03908646 -0.15911289] [ 0.17572185 -0.09700921 0.97964843 -0.1988771 ] [ 0. 0. 0. 1. ]] SLAMing on 91.05241403699999 meters Centerline goodness : 0.782576 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.16, Z:-0.20 [[ 0.93504378 -0.29426159 -0.1977454 2.99808053] [ 0.30766159 0.95064876 0.04014075 -0.16062258] [ 0.17617454 -0.09837203 0.9794312 -0.1981264 ] [ 0. 0. 0. 1. ]] SLAMing on 91.08241403699999 meters Centerline goodness : 0.784594 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.16, Z:-0.20 [[ 0.93482549 -0.29492601 -0.19778763 2.99779666] [ 0.30856933 0.95030007 0.0414094 -0.16445547] [ 0.1757449 -0.09974176 0.97936986 -0.19631803] [ 0. 0. 0. 1. ]] SLAMing on 91.112414037 meters Centerline goodness : 0.786697 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.16, Z:-0.20 [[ 0.93450348 -0.29533629 -0.19869506 2.99958843] [ 0.30920304 0.95006421 0.04208898 -0.16488153] [ 0.17634266 -0.10076942 0.97915718 -0.19578586] [ 0. 0. 0. 1. ]] SLAMing on 91.142414037 meters Centerline goodness : 0.784298 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.17, Z:-0.20 [[ 0.9343381 -0.29534287 -0.19946154 3.00130049] [ 0.30942198 0.9499603 0.04281903 -0.16542096] [ 0.17683425 -0.10172523 0.97896968 -0.19563936] [ 0. 0. 0. 1. ]] SLAMing on 91.172414037 meters Centerline goodness : 0.782341 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.16, Z:-0.20 [[ 0.93382773 -0.29658993 -0.20000045 3.00353494] [ 0.31063308 0.94959312 0.04219005 -0.16457602] [ 0.17740591 -0.10152499 0.97888703 -0.19623497] [ 0. 0. 0. 1. ]] SLAMing on 91.202414037 meters Centerline goodness : 0.786713 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.16, Z:-0.20 [[ 0.93364627 -0.29675703 -0.20059889 3.00531166] [ 0.31090547 0.94949435 0.04240604 -0.16448003] [ 0.17788322 -0.10195953 0.97875524 -0.1966014 ] [ 0. 0. 0. 1. ]] SLAMing on 91.23241403699998 meters Centerline goodness : 0.782108 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.16, Z:-0.20 [[ 0.93353284 -0.29693136 -0.20086862 3.0066975 ] [ 0.31110528 0.94943039 0.04237265 -0.1645469 ] [ 0.178129 -0.10204755 0.97870136 -0.19720611] [ 0. 0. 0. 1. ]] SLAMing on 91.26241403699999 meters Centerline goodness : 0.785961 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.16, Z:-0.20 [[ 0.93329643 -0.2973035 -0.20141598 3.00834865] [ 0.31155332 0.94928066 0.04243525 -0.16412045] [ 0.17858415 -0.10235648 0.97858615 -0.19757202] [ 0. 0. 0. 1. ]] SLAMing on 91.29241403699999 meters Centerline goodness : 0.782841 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.16, Z:-0.20 [[ 0.93312761 -0.29745092 -0.20197973 3.00970841] [ 0.31179269 0.94919488 0.04259577 -0.1637955 ] [ 0.17904798 -0.10272309 0.97846297 -0.19767599] [ 0. 0. 0. 1. ]] SLAMing on 91.32241403699999 meters Centerline goodness : 0.782465 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.16, Z:-0.20 [[ 0.93269467 -0.29829519 -0.2027329 3.01066298] [ 0.31267202 0.94892022 0.04226836 -0.16135466] [ 0.1797689 -0.10281239 0.9783214 -0.19735964] [ 0. 0. 0. 1. ]] SLAMing on 91.35241403699999 meters Centerline goodness : 0.783854 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.16, Z:-0.20 [[ 0.93246268 -0.29863579 -0.20329786 3.01140803] [ 0.3130667 0.94879307 0.04220132 -0.15989219] [ 0.18028478 -0.10299694 0.97820705 -0.19722476] [ 0. 0. 0. 1. ]] SLAMing on 91.38241403699999 meters Centerline goodness : 0.782957 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.16, Z:-0.20 [[ 0.93235623 -0.29876527 -0.20359562 3.01175953] [ 0.31320379 0.94875422 0.04205731 -0.15880855] [ 0.18059694 -0.10297932 0.97815132 -0.19717136] [ 0. 0. 0. 1. ]] SLAMing on 91.41241403699999 meters Centerline goodness : 0.776693 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.16, Z:-0.20 [[ 0.93206184 -0.29942732 -0.20397061 3.01245453] [ 0.31376226 0.94860655 0.04121727 -0.15621594] [ 0.18114628 -0.10241533 0.97810895 -0.19752805] [ 0. 0. 0. 1. ]] SLAMing on 91.44241403699999 meters Centerline goodness : 0.779664 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.15, Z:-0.20 [[ 0.93187285 -0.29968808 -0.20445059 3.01315467] [ 0.31405567 0.94851487 0.04109235 -0.15497972] [ 0.18160954 -0.10250171 0.978014 -0.19743496] [ 0. 0. 0. 1. ]] SLAMing on 91.472414037 meters Centerline goodness : 0.780240 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.15, Z:-0.20 [[ 0.93163881 -0.30015045 -0.20483855 3.01363734] [ 0.31452376 0.94836997 0.0408559 -0.15352724] [ 0.18199981 -0.10248953 0.97794272 -0.19731681] [ 0. 0. 0. 1. ]] SLAMing on 91.502414037 meters Centerline goodness : 0.778521 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.15, Z:-0.20 [[ 0.93155177 -0.29901681 -0.20688219 3.01497551] [ 0.31402139 0.94843431 0.04316164 -0.15101014] [ 0.18330811 -0.10517273 0.97741334 -0.1962265 ] [ 0. 0. 0. 1. ]] SLAMing on 91.532414037 meters Centerline goodness : 0.778070 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.15, Z:-0.20 [[ 0.93137563 -0.29945431 -0.20704239 3.0148829 ] [ 0.31436217 0.94835082 0.0425107 -0.1489892 ] [ 0.18361881 -0.10467972 0.97740794 -0.19618137] [ 0. 0. 0. 1. ]] SLAMing on 91.562414037 meters Centerline goodness : 0.777610 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.15, Z:-0.20 [[ 0.93131434 -0.2994225 -0.20736384 3.01552029] [ 0.31430404 0.9483845 0.04218773 -0.14724813] [ 0.18402869 -0.10446533 0.97735379 -0.19662494] [ 0. 0. 0. 1. ]] SLAMing on 91.592414037 meters Centerline goodness : 0.777726 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.15, Z:-0.20 [[ 0.9313376 -0.299339 -0.20737994 3.01530375] [ 0.31415594 0.94844882 0.04184356 -0.14581632] [ 0.18416385 -0.10412012 0.97736517 -0.19688242] [ 0. 0. 0. 1. ]] SLAMing on 91.62241403699998 meters Centerline goodness : 0.778905 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.14, Z:-0.20 [[ 0.93211228 -0.29628554 -0.20828242 3.01412116] [ 0.31160205 0.94918114 0.04426419 -0.14386994] [ 0.1845829 -0.10616042 0.97706659 -0.19627855] [ 0. 0. 0. 1. ]] SLAMing on 91.65241403699999 meters Centerline goodness : 0.778949 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.14, Z:-0.20 [[ 0.93234107 -0.29537022 -0.20855829 3.01341761] [ 0.31072875 0.94946041 0.0444137 -0.14173417] [ 0.18489936 -0.10621377 0.97700095 -0.19614508] [ 0. 0. 0. 1. ]] SLAMing on 91.68241403699999 meters Centerline goodness : 0.777628 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.14, Z:-0.20 [[ 0.93253811 -0.29488978 -0.20835714 3.01196687] [ 0.31013483 0.94967485 0.04397806 -0.13964692] [ 0.18490285 -0.10563002 0.97706358 -0.19599656] [ 0. 0. 0. 1. ]] SLAMing on 91.71241403699999 meters Centerline goodness : 0.775717 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.14, Z:-0.20 [[ 0.9327634 -0.29414425 -0.20840248 3.01173403] [ 0.30930164 0.94996574 0.04356135 -0.13761413] [ 0.1851619 -0.10509167 0.97707257 -0.19656168] [ 0. 0. 0. 1. ]] SLAMing on 91.74241403699999 meters Centerline goodness : 0.773946 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.13, Z:-0.20 [[ 0.93293469 -0.29387353 -0.20801734 3.01019319] [ 0.30874145 0.95020576 0.0422815 -0.13400722] [ 0.18523386 -0.10366945 0.97721086 -0.19707035] [ 0. 0. 0. 1. ]] SLAMing on 91.77241403699999 meters Centerline goodness : 0.776001 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.13, Z:-0.20 [[ 0.93297656 -0.29381853 -0.20790723 3.01027967] [ 0.30860902 0.95026387 0.04194103 -0.13316682] [ 0.18524367 -0.10329204 0.97724896 -0.19763627] [ 0. 0. 0. 1. ]] SLAMing on 91.80241403699999 meters Centerline goodness : 0.776017 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.13, Z:-0.20 [[ 0.93293672 -0.29391917 -0.20794375 3.01111946] [ 0.30861575 0.95028474 0.04141538 -0.13204773] [ 0.185433 -0.10281264 0.97726361 -0.19863174] [ 0. 0. 0. 1. ]] SLAMing on 91.83241403699999 meters Centerline goodness : 0.778760 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.13, Z:-0.20 [[ 0.93270675 -0.29459829 -0.20801436 3.01177853] [ 0.30914598 0.95015078 0.04052484 -0.1300397 ] [ 0.18570645 -0.10210459 0.97728592 -0.19937729] [ 0. 0. 0. 1. ]] SLAMing on 91.862414037 meters Centerline goodness : 0.775318 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.13, Z:-0.20 [[ 0.93259007 -0.29468498 -0.20841431 3.01208695] [ 0.30926657 0.95011385 0.04047061 -0.12878752] [ 0.18609124 -0.10219806 0.97720295 -0.19918246] [ 0. 0. 0. 1. ]] SLAMing on 91.892414037 meters Centerline goodness : 0.774473 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.13, Z:-0.20 [[ 0.93250289 -0.29467892 -0.2088126 3.01205343] [ 0.30934683 0.95007787 0.04070108 -0.1279208 ] [ 0.18639448 -0.10254939 0.97710835 -0.19856915] [ 0. 0. 0. 1. ]] SLAMing on 91.922414037 meters Centerline goodness : 0.776023 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.13, Z:-0.20 [[ 0.93249948 -0.29481448 -0.20863638 3.00978483] [ 0.30936498 0.95009454 0.04017066 -0.12556192] [ 0.18638139 -0.10200391 0.97716794 -0.19740154] [ 0. 0. 0. 1. ]] SLAMing on 91.952414037 meters Centerline goodness : 0.775090 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.12, Z:-0.20 [[ 0.93253963 -0.29467591 -0.2086527 3.00908652] [ 0.30916879 0.95017092 0.03987325 -0.12411365] [ 0.18650604 -0.10169229 0.97717663 -0.19721763] [ 0. 0. 0. 1. ]] SLAMing on 91.98241403699998 meters Centerline goodness : 0.772672 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.12, Z:-0.20 [[ 0.932471 -0.29491595 -0.20862027 3.00867723] [ 0.30929956 0.95015245 0.0392951 -0.12256287] [ 0.18663231 -0.1011677 0.97720698 -0.1971674 ] [ 0. 0. 0. 1. ]] SLAMing on 92.01241403699999 meters Centerline goodness : 0.774555 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.12, Z:-0.20 [[ 0.93237189 -0.29509242 -0.20881361 3.00954965] [ 0.30940249 0.95013984 0.03878632 -0.12123424] [ 0.18695658 -0.10077072 0.97718601 -0.19784023] [ 0. 0. 0. 1. ]] SLAMing on 92.04241403699999 meters Centerline goodness : 0.775544 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.12, Z:-0.20 [[ 0.93220283 -0.29582849 -0.2085267 3.00946119] [ 0.30990936 0.95001949 0.03767165 -0.11966934] [ 0.18696008 -0.09974199 0.97729088 -0.19842264] [ 0. 0. 0. 1. ]] SLAMing on 92.07241403699999 meters Centerline goodness : 0.771717 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.12, Z:-0.20 [[ 0.93204338 -0.29627891 -0.20859997 3.00920883] [ 0.31022499 0.94994742 0.03688289 -0.11718779] [ 0.18723138 -0.09908937 0.97730533 -0.19854325] [ 0. 0. 0. 1. ]] SLAMing on 92.10241403699999 meters Centerline goodness : 0.776075 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.12, Z:-0.20 [[ 0.93195329 -0.296297 -0.20897642 3.00931102] [ 0.31028141 0.94992919 0.03687788 -0.11590507] [ 0.187586 -0.09920996 0.97722509 -0.19820621] [ 0. 0. 0. 1. ]] SLAMing on 92.13241403699999 meters Centerline goodness : 0.775226 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.11, Z:-0.20 [[ 0.93172683 -0.29663047 -0.20951249 3.00944298] [ 0.31061323 0.94983352 0.03654729 -0.11345246] [ 0.18816095 -0.09912944 0.97712272 -0.19780554] [ 0. 0. 0. 1. ]] SLAMing on 92.16241403699999 meters Centerline goodness : 0.775038 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.11, Z:-0.20 [[ 0.93150473 -0.29728211 -0.20957643 3.00955906] [ 0.31113651 0.94969142 0.03578103 -0.11181272] [ 0.18839588 -0.09853708 0.97713737 -0.19792503] [ 0. 0. 0. 1. ]] SLAMing on 92.19241403699999 meters Centerline goodness : 0.772870 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.11, Z:-0.20 [[ 0.93124809 -0.2980077 -0.20968645 3.00953477] [ 0.31175984 0.9495117 0.03511894 -0.11070588] [ 0.18863402 -0.09807626 0.97713779 -0.19762943] [ 0. 0. 0. 1. ]] SLAMing on 92.222414037 meters Centerline goodness : 0.774310 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.11, Z:-0.20 [[ 0.93102998 -0.29846151 -0.2100093 3.01028357] [ 0.31222101 0.94936677 0.03493979 -0.10975932] [ 0.18894766 -0.0980993 0.97707487 -0.19773289] [ 0. 0. 0. 1. ]] SLAMing on 92.252414037 meters Centerline goodness : 0.774951 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.11, Z:-0.20 [[ 0.93049202 -0.29948883 -0.21092901 3.01158356] [ 0.31336016 0.94899192 0.03492477 -0.10860869] [ 0.18971035 -0.09859397 0.97687728 -0.19699608] [ 0. 0. 0. 1. ]] SLAMing on 92.282414037 meters Centerline goodness : 0.776288 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.11, Z:-0.20 [[ 0.93023405 -0.29990362 -0.2114768 3.01224875] [ 0.313885 0.94880986 0.03515752 -0.1080738 ] [ 0.19010741 -0.09908412 0.97675049 -0.19645274] [ 0. 0. 0. 1. ]] SLAMing on 92.312414037 meters Centerline goodness : 0.774601 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.11, Z:-0.20 [[ 0.93001159 -0.30019459 -0.21204162 3.01280658] [ 0.31430032 0.94866092 0.03546504 -0.10779204] [ 0.19050918 -0.09962764 0.97661691 -0.19580613] [ 0. 0. 0. 1. ]] SLAMing on 92.342414037 meters Centerline goodness : 0.774380 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.11, Z:-0.20 [[ 0.92971239 -0.30088111 -0.21238038 3.01303814] [ 0.3149811 0.94844555 0.03518441 -0.10712175] [ 0.1908449 -0.09960719 0.97655344 -0.19518457] [ 0. 0. 0. 1. ]] SLAMing on 92.37241403699998 meters Centerline goodness : 0.772843 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.11, Z:-0.19 [[ 0.92919096 -0.30180453 -0.2133499 3.01471865] [ 0.31597208 0.94812572 0.03491805 -0.1052266 ] [ 0.1917441 -0.09985814 0.97635165 -0.19493473] [ 0. 0. 0. 1. ]] SLAMing on 92.40241403699999 meters Centerline goodness : 0.773394 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.10, Z:-0.20 [[ 0.92890235 -0.30249222 -0.21363256 3.0156384 ] [ 0.3165966 0.9479372 0.03437537 -0.1042255 ] [ 0.19211197 -0.09956671 0.9763091 -0.19508369] [ 0. 0. 0. 1. ]] SLAMing on 92.43241403699999 meters Centerline goodness : 0.772693 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.10, Z:-0.20 [[ 0.92866203 -0.30302353 -0.21392423 3.01640862] [ 0.31710933 0.94777677 0.03407159 -0.10326456] [ 0.19242792 -0.09947836 0.97625588 -0.19526598] [ 0. 0. 0. 1. ]] SLAMing on 92.46241403699999 meters Centerline goodness : 0.774258 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.10, Z:-0.20 [[ 0.92848622 -0.30329853 -0.2142973 3.01700074] [ 0.31740266 0.94768333 0.033939 -0.10252369] [ 0.19279233 -0.09953043 0.97617868 -0.19510388] [ 0. 0. 0. 1. ]] SLAMing on 92.49241403699999 meters Centerline goodness : 0.773584 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.10, Z:-0.19 [[ 0.92821024 -0.30367328 -0.21496113 3.01723018] [ 0.31779023 0.94756497 0.0336153 -0.09952383] [ 0.19348157 -0.09951461 0.97604391 -0.19471363] [ 0. 0. 0. 1. ]] SLAMing on 92.52241403699999 meters Centerline goodness : 0.769863 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.10, Z:-0.19 [[ 0.9280245 -0.30395681 -0.215362 3.01793501] [ 0.31804481 0.94749316 0.03322953 -0.0978258 ] [ 0.19395368 -0.09933259 0.97596875 -0.19488686] [ 0. 0. 0. 1. ]] SLAMing on 92.55241403699999 meters Centerline goodness : 0.769863 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.10, Z:-0.19 [[ 0.9280245 -0.30395681 -0.215362 3.01793501] [ 0.31804481 0.94749316 0.03322953 -0.0978258 ] [ 0.19395368 -0.09933259 0.97596875 -0.19488686] [ 0. 0. 0. 1. ]] SLAMing on 92.58241403699999 meters Centerline goodness : 0.772302 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.10, Z:-0.20 [[ 0.92787155 -0.3041195 -0.21579092 3.01883648] [ 0.31822046 0.94744035 0.03305338 -0.09663593] [ 0.19439685 -0.09933838 0.97587999 -0.19508234] [ 0. 0. 0. 1. ]] SLAMing on 92.612414037 meters Centerline goodness : 0.771451 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.10, Z:-0.20 [[ 0.92770852 -0.30448212 -0.21598042 3.01945834] [ 0.31852691 0.94735189 0.03263452 -0.09580079] [ 0.19467283 -0.0990709 0.97585216 -0.1952561 ] [ 0. 0. 0. 1. ]] SLAMing on 92.642414037 meters Centerline goodness : 0.772313 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.10, Z:-0.20 [[ 0.92769368 -0.30461229 -0.21586058 3.01987735] [ 0.31854772 0.94736198 0.03213465 -0.09522322] [ 0.1947095 -0.098573 0.97589527 -0.19593407] [ 0. 0. 0. 1. ]] SLAMing on 92.672414037 meters Centerline goodness : 0.772552 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.09, Z:-0.20 [[ 0.92761487 -0.30448455 -0.21637887 3.02054139] [ 0.31850063 0.94737273 0.03228394 -0.09434716] [ 0.19516148 -0.09886387 0.97577555 -0.19577043] [ 0. 0. 0. 1. ]] SLAMing on 92.702414037 meters Centerline goodness : 0.771496 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.09, Z:-0.20 [[ 0.92763477 -0.30422967 -0.21665188 3.02046718] [ 0.31825202 0.94745909 0.03220126 -0.09309392] [ 0.19547222 -0.09882091 0.97571771 -0.19557034] [ 0. 0. 0. 1. ]] SLAMing on 92.73241403699998 meters Centerline goodness : 0.768172 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.09, Z:-0.20 [[ 0.92772152 -0.30375674 -0.21694383 3.02016091] [ 0.31778737 0.94761704 0.0321425 -0.09115267] [ 0.19581617 -0.0987613 0.97565477 -0.19540346] [ 0. 0. 0. 1. ]] SLAMing on 92.76241403699999 meters Centerline goodness : 0.772929 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.09, Z:-0.20 [[ 0.92866455 -0.30029409 -0.21772828 3.01875922] [ 0.31474436 0.94856039 0.0341933 -0.08811082] [ 0.19626038 -0.10028285 0.97541028 -0.19533727] [ 0. 0. 0. 1. ]] SLAMing on 92.79241403699999 meters Centerline goodness : 0.771565 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.09, Z:-0.20 [[ 0.92956568 -0.29682365 -0.21863981 3.01898998] [ 0.31181676 0.94943025 0.0367765 -0.08729339] [ 0.19666711 -0.10236173 0.97511236 -0.19588563] [ 0. 0. 0. 1. ]] SLAMing on 92.82241403699999 meters Centerline goodness : 0.769673 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.09, Z:-0.20 [[ 0.93013203 -0.29545108 -0.21808959 3.01769282] [ 0.31027751 0.94994942 0.03638628 -0.08544631] [ 0.19642371 -0.10151234 0.97525021 -0.19689535] [ 0. 0. 0. 1. ]] SLAMing on 92.85241403699999 meters Centerline goodness : 0.768679 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.08, Z:-0.20 [[ 0.93055902 -0.29446958 -0.21759497 3.01648911] [ 0.30903979 0.95038717 0.03547718 -0.08289811] [ 0.19635252 -0.10025911 0.97539418 -0.1978096 ] [ 0. 0. 0. 1. ]] SLAMing on 92.88241403699999 meters Centerline goodness : 0.772368 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.08, Z:-0.20 [[ 0.93189297 -0.29029361 -0.21749737 3.01463921] [ 0.30508042 0.9516058 0.03704517 -0.08020305] [ 0.19621778 -0.10087632 0.97535765 -0.1991691 ] [ 0. 0. 0. 1. ]] SLAMing on 92.91241403699999 meters Centerline goodness : 0.772582 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.08, Z:-0.20 [[ 0.93238061 -0.28928417 -0.21675114 3.01307855] [ 0.30383992 0.95202782 0.03639138 -0.07897857] [ 0.19582566 -0.09978827 0.97554836 -0.19994972] [ 0. 0. 0. 1. ]] SLAMing on 92.94241403699999 meters Centerline goodness : 0.770271 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.08, Z:-0.20 [[ 0.93281722 -0.28849477 -0.21592314 3.01135095] [ 0.30281475 0.95237955 0.03572705 -0.0781787 ] [ 0.19533372 -0.09871152 0.97575651 -0.20049623] [ 0. 0. 0. 1. ]] SLAMing on 92.972414037 meters Centerline goodness : 0.772831 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.07, Z:-0.21 [[ 0.93510777 -0.29094137 -0.20230317 3.01034184] [ 0.3039213 0.95202947 0.03566139 -0.0728354 ] [ 0.18222321 -0.09483148 0.97867343 -0.20667184] [ 0. 0. 0. 1. ]] SLAMing on 93.002414037 meters Centerline goodness : 0.772248 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.07, Z:-0.21 [[ 0.93559143 -0.28981649 -0.20168064 3.00847464] [ 0.30265529 0.95244465 0.03534068 -0.07171913] [ 0.18184734 -0.09410415 0.97881354 -0.20688859] [ 0. 0. 0. 1. ]] SLAMing on 93.032414037 meters Centerline goodness : 0.773805 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.07, Z:-0.21 [[ 0.93594339 -0.28894583 -0.2012965 3.0065693 ] [ 0.30168195 0.95276326 0.03507387 -0.07027773] [ 0.18165346 -0.09355468 0.97890221 -0.20659417] [ 0. 0. 0. 1. ]] SLAMing on 93.062414037 meters Centerline goodness : 0.771787 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.07, Z:-0.21 [[ 0.93634097 -0.28805393 -0.20072499 3.00449816] [ 0.30065661 0.95309957 0.03473922 -0.06911519] [ 0.18130414 -0.09287705 0.97903149 -0.20643797] [ 0. 0. 0. 1. ]] SLAMing on 93.092414037 meters Centerline goodness : 0.772662 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.07, Z:-0.21 [[ 0.93698613 -0.28668778 -0.19966748 3.00191563] [ 0.29904147 0.95363162 0.03407256 -0.06756099] [ 0.18064104 -0.09163438 0.97927114 -0.20703536] [ 0. 0. 0. 1. ]] SLAMing on 93.12241403699998 meters Centerline goodness : 0.772837 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.06, Z:-0.21 [[ 0.93819911 -0.29218743 -0.18549644 3.00062042] [ 0.30305347 0.95241708 0.03256235 -0.0631677 ] [ 0.16715567 -0.08676531 0.98210527 -0.21191667] [ 0. 0. 0. 1. ]] SLAMing on 93.15241403699999 meters Centerline goodness : 0.773286 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.06, Z:-0.21 [[ 0.93847117 -0.29151719 -0.18517447 2.99958829] [ 0.30236566 0.95263135 0.0326883 -0.06357207] [ 0.1668738 -0.08666742 0.98216185 -0.21164536] [ 0. 0. 0. 1. ]] SLAMing on 93.18241403699999 meters Centerline goodness : 0.773470 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.06, Z:-0.21 [[ 0.93843844 -0.29182754 -0.18485123 2.9992066 ] [ 0.30255076 0.95259282 0.03209307 -0.06323401] [ 0.16672231 -0.08604425 0.98224236 -0.21178567] [ 0. 0. 0. 1. ]] SLAMing on 93.21241403699999 meters Centerline goodness : 0.774165 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.06, Z:-0.21 [[ 0.93836368 -0.29182418 -0.18523565 3.00031472] [ 0.30260034 0.95257334 0.03220346 -0.06298654] [ 0.1670528 -0.08627093 0.98216633 -0.21202901] [ 0. 0. 0. 1. ]] SLAMing on 93.24241403699999 meters Centerline goodness : 0.772428 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.06, Z:-0.21 [[ 0.93824418 -0.29235252 -0.18500776 2.9997895 ] [ 0.30302322 0.95245728 0.03165537 -0.0623483 ] [ 0.16695746 -0.08576212 0.9822271 -0.21194709] [ 0. 0. 0. 1. ]] SLAMing on 93.27241403699999 meters Centerline goodness : 0.773820 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.06, Z:-0.21 [[ 0.93818849 -0.29232989 -0.18532562 3.00025249] [ 0.30305613 0.95244139 0.031818 -0.06206215] [ 0.16721044 -0.08601535 0.98216192 -0.21176124] [ 0. 0. 0. 1. ]] SLAMing on 93.30241403699999 meters Centerline goodness : 0.775281 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.06, Z:-0.21 [[ 0.93830198 -0.29223173 -0.18490543 2.99945807] [ 0.30287468 0.95250782 0.03155613 -0.06231875] [ 0.16690217 -0.08561235 0.98224956 -0.21178759] [ 0. 0. 0. 1. ]] SLAMing on 93.33241403699999 meters Centerline goodness : 0.776540 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.06, Z:-0.21 [[ 0.93833302 -0.2923942 -0.18449058 2.99917286] [ 0.30288909 0.95252523 0.03088493 -0.06211216] [ 0.16670135 -0.08486053 0.98234889 -0.21223639] [ 0. 0. 0. 1. ]] SLAMing on 93.362414037 meters Centerline goodness : 0.775820 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.06, Z:-0.21 [[ 0.93865187 -0.29187681 -0.18368615 2.99819772] [ 0.30220415 0.95275976 0.03035617 -0.06264979] [ 0.16614851 -0.08400459 0.98251611 -0.21281258] [ 0. 0. 0. 1. ]] SLAMing on 93.392414037 meters Centerline goodness : 0.776852 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.06, Z:-0.21 [[ 0.93887557 -0.29124972 -0.18353817 2.99794517] [ 0.30157121 0.95295719 0.03045319 -0.06272368] [ 0.16603453 -0.08394158 0.98254076 -0.21300717] [ 0. 0. 0. 1. ]] SLAMing on 93.422414037 meters Centerline goodness : 0.776534 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.06, Z:-0.21 [[ 0.93904116 -0.29075312 -0.18347838 2.99794937] [ 0.30105444 0.953122 0.03040857 -0.06277931] [ 0.16603589 -0.08379188 0.98255331 -0.21329059] [ 0. 0. 0. 1. ]] SLAMing on 93.452414037 meters Centerline goodness : 0.777544 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.06, Z:-0.21 [[ 0.93910133 -0.2908671 -0.18298916 2.99711056] [ 0.30100922 0.95315846 0.02970518 -0.06252502] [ 0.1657774 -0.0829776 0.98266605 -0.21334943] [ 0. 0. 0. 1. ]] SLAMing on 93.48241403699998 meters Centerline goodness : 0.775244 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.06, Z:-0.21 [[ 0.93956441 -0.28940379 -0.18293216 2.99705439] [ 0.29965605 0.9535591 0.03051702 -0.06350149] [ 0.16560488 -0.08348943 0.98265179 -0.21369784] [ 0. 0. 0. 1. ]] SLAMing on 93.51241403699999 meters Centerline goodness : 0.773440 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.06, Z:-0.21 [[ 0.93955684 -0.28953128 -0.18276918 2.99666658] [ 0.29973498 0.95354119 0.03030081 -0.06357913] [ 0.16550491 -0.08325165 0.9826888 -0.21343964] [ 0. 0. 0. 1. ]] SLAMing on 93.54241403699999 meters Centerline goodness : 0.776745 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.06, Z:-0.21 [[ 0.9396181 -0.28936222 -0.18272201 2.9965479 ] [ 0.29956567 0.9535932 0.03033833 -0.06377094] [ 0.1654637 -0.08324369 0.98269642 -0.21334336] [ 0. 0. 0. 1. ]] SLAMing on 93.57241403699999 meters Centerline goodness : 0.773279 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.06, Z:-0.21 [[ 0.93950852 -0.28965729 -0.18281794 2.99682945] [ 0.29992511 0.95347039 0.0306455 -0.06486884] [ 0.1654348 -0.0836234 0.98266905 -0.21299172] [ 0. 0. 0. 1. ]] SLAMing on 93.60241403699999 meters Centerline goodness : 0.776313 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.07, Z:-0.21 [[ 0.93927816 -0.29033781 -0.18292207 2.99740562] [ 0.30059947 0.95326281 0.03049538 -0.06553803] [ 0.16551885 -0.08362992 0.98265434 -0.21275055] [ 0. 0. 0. 1. ]] SLAMing on 93.63241403699999 meters Centerline goodness : 0.772803 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.07, Z:-0.21 [[ 0.93907434 -0.29077269 -0.18327744 2.99896237] [ 0.30111121 0.95309374 0.03073039 -0.06684614] [ 0.16574503 -0.08404501 0.9825808 -0.21282489] [ 0. 0. 0. 1. ]] SLAMing on 93.66241403699999 meters Centerline goodness : 0.773371 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.07, Z:-0.21 [[ 0.9382394 -0.29381644 -0.18269845 3.00039687] [ 0.30381195 0.95229902 0.02872077 -0.06903702] [ 0.16554492 -0.08245293 0.98274941 -0.21290831] [ 0. 0. 0. 1. ]] SLAMing on 93.69241403699999 meters Centerline goodness : 0.775059 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.07, Z:-0.21 [[ 0.93786443 -0.29477466 -0.18307981 3.00133542] [ 0.30485198 0.95196033 0.02892752 -0.07030609] [ 0.16575762 -0.08294233 0.98267237 -0.21211165] [ 0. 0. 0. 1. ]] SLAMing on 93.722414037 meters Centerline goodness : 0.774507 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.07, Z:-0.21 [[ 0.93751231 -0.2957371 -0.18333095 3.00184283] [ 0.30585123 0.95163961 0.02893213 -0.07095514] [ 0.16590869 -0.08319623 0.98262541 -0.21138506] [ 0. 0. 0. 1. ]] SLAMing on 93.752414037 meters Centerline goodness : 0.773701 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.07, Z:-0.21 [[ 0.93726383 -0.29594908 -0.18425705 3.00356502] [ 0.30626427 0.95148534 0.02962825 -0.07133611] [ 0.16654943 -0.08420084 0.98243143 -0.2108989 ] [ 0. 0. 0. 1. ]] SLAMing on 93.782414037 meters Centerline goodness : 0.775216 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.07, Z:-0.21 [[ 0.93713104 -0.29594035 -0.1849452 3.00478486] [ 0.30642708 0.95141225 0.03028493 -0.07148435] [ 0.1669966 -0.08505317 0.98228209 -0.21058518] [ 0. 0. 0. 1. ]] SLAMing on 93.812414037 meters Centerline goodness : 0.776070 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.07, Z:-0.21 [[ 0.93711274 -0.29603744 -0.18488252 3.00490678] [ 0.30651133 0.95138676 0.03023313 -0.0721557 ] [ 0.16694464 -0.08500043 0.98229548 -0.2104453 ] [ 0. 0. 0. 1. ]] SLAMing on 93.842414037 meters Centerline goodness : 0.775905 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.07, Z:-0.21 [[ 0.93726974 -0.29574613 -0.1845526 3.00509 ] [ 0.30618745 0.95149089 0.03023791 -0.07350338] [ 0.16665737 -0.08484876 0.98235737 -0.21094221] [ 0. 0. 0. 1. ]] SLAMing on 93.87241403699998 meters Centerline goodness : 0.776246 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.08, Z:-0.21 [[ 0.93754716 -0.29503147 -0.18428713 3.0053856 ] [ 0.30558013 0.95165921 0.03107303 -0.07651574] [ 0.16621103 -0.08544691 0.98238115 -0.21119667] [ 0. 0. 0. 1. ]] SLAMing on 93.90241403699999 meters Centerline goodness : 0.776990 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.08, Z:-0.21 [[ 0.93754825 -0.294785 -0.18467563 3.00625198] [ 0.30545614 0.95168116 0.03161507 -0.0769895 ] [ 0.16643267 -0.08605096 0.98229089 -0.2111298 ] [ 0. 0. 0. 1. ]] SLAMing on 93.93241403699999 meters Centerline goodness : 0.777567 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.08, Z:-0.21 [[ 0.93735466 -0.29525303 -0.18491049 3.00640973] [ 0.30592185 0.95153747 0.03143657 -0.07649998] [ 0.16666752 -0.08603538 0.98225244 -0.21067329] [ 0. 0. 0. 1. ]] SLAMing on 93.96241403699999 meters Centerline goodness : 0.777839 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.08, Z:-0.21 [[ 0.93721219 -0.29563583 -0.18502099 3.00650245] [ 0.30630284 0.95141829 0.03133387 -0.07585911] [ 0.16676894 -0.08603894 0.98223491 -0.21050281] [ 0. 0. 0. 1. ]] SLAMing on 93.99241403699999 meters Centerline goodness : 0.779368 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.08, Z:-0.21 [[ 0.93705009 -0.29573206 -0.18568706 3.00740444] [ 0.30651955 0.95133689 0.03168425 -0.07531907] [ 0.1672809 -0.08660645 0.98209797 -0.21009927] [ 0. 0. 0. 1. ]] SLAMing on 94.02241403699999 meters Centerline goodness : 0.771579 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.08, Z:-0.21 [[ 0.9368876 -0.29644586 -0.18536846 3.00723641] [ 0.30710013 0.95117203 0.03100467 -0.07519909] [ 0.16712609 -0.08597457 0.98217984 -0.21022787] [ 0. 0. 0. 1. ]] SLAMing on 94.05241403699999 meters Centerline goodness : 0.771645 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.08, Z:-0.21 [[ 0.93688173 -0.29657537 -0.1851909 3.00846105] [ 0.30716308 0.95116176 0.03069445 -0.07597449] [ 0.16704329 -0.08564088 0.98222308 -0.21139964] [ 0. 0. 0. 1. ]] SLAMing on 94.08241403699999 meters Centerline goodness : 0.774054 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.08, Z:-0.21 [[ 0.93680982 -0.29681473 -0.1851712 3.01006295] [ 0.30736685 0.95110302 0.03047393 -0.07703078] [ 0.16707177 -0.08546376 0.98223366 -0.21241358] [ 0. 0. 0. 1. ]] SLAMing on 94.112414037 meters Centerline goodness : 0.769793 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.08, Z:-0.21 [[ 0.93671748 -0.29712526 -0.18514031 3.00971532] [ 0.30769271 0.95099514 0.0305523 -0.07767707] [ 0.16698968 -0.0855852 0.98223705 -0.21172641] [ 0. 0. 0. 1. ]] SLAMing on 94.142414037 meters Centerline goodness : 0.776481 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.08, Z:-0.21 [[ 0.93673519 -0.2969526 -0.18532764 3.00874904] [ 0.30760649 0.95100925 0.03097838 -0.0772395 ] [ 0.16704919 -0.08602653 0.98218838 -0.21067794] [ 0. 0. 0. 1. ]] SLAMing on 94.172414037 meters Centerline goodness : 0.773817 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.08, Z:-0.21 [[ 0.93672526 -0.29678559 -0.1856451 3.00840521] [ 0.30751524 0.95102914 0.03127231 -0.07683502] [ 0.16727273 -0.08638226 0.98211911 -0.2097942 ] [ 0. 0. 0. 1. ]] SLAMing on 94.202414037 meters Centerline goodness : 0.769390 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.08, Z:-0.21 [[ 0.93671857 -0.29682279 -0.18561937 3.00873748] [ 0.30745461 0.95106712 0.03070825 -0.07583335] [ 0.16742157 -0.08583452 0.98214177 -0.21031839] [ 0. 0. 0. 1. ]] SLAMing on 94.23241403699998 meters Centerline goodness : 0.759588 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.08, Z:-0.21 [[ 0.93683385 -0.29639242 -0.18572525 3.00955725] [ 0.3070398 0.9511987 0.03078309 -0.07607786] [ 0.16753774 -0.08586369 0.98211941 -0.21097392] [ 0. 0. 0. 1. ]] SLAMing on 94.26241403699999 meters Centerline goodness : 0.771113 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.08, Z:-0.21 [[ 0.9370417 -0.29606972 -0.18519065 3.00904769] [ 0.3065781 0.95136395 0.03027371 -0.07638379] [ 0.16722058 -0.08514312 0.98223619 -0.21142486] [ 0. 0. 0. 1. ]] SLAMing on 94.29241403699999 meters Centerline goodness : 0.766441 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.08, Z:-0.21 [[ 0.93737674 -0.29539133 -0.18457737 3.00846494] [ 0.30580304 0.95161944 0.03008237 -0.07716058] [ 0.16676134 -0.08464283 0.98235749 -0.2121011 ] [ 0. 0. 0. 1. ]] SLAMing on 94.32241403699999 meters Centerline goodness : 0.773059 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.08, Z:-0.21 [[ 0.93796027 -0.29408343 -0.18369941 3.00704527] [ 0.3043338 0.9521024 0.02969788 -0.07735337] [ 0.16616699 -0.08376137 0.98253375 -0.21279594] [ 0. 0. 0. 1. ]] SLAMing on 94.35241403699999 meters Centerline goodness : 0.768537 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.08, Z:-0.21 [[ 0.93837943 -0.29255891 -0.18399276 3.00704744] [ 0.3029441 0.95252079 0.03047983 -0.07714288] [ 0.16633979 -0.08434116 0.98245491 -0.21288929] [ 0. 0. 0. 1. ]] SLAMing on 94.38241403699999 meters Centerline goodness : 0.773932 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.08, Z:-0.21 [[ 0.93875471 -0.29156392 -0.18365751 3.00524716] [ 0.30195612 0.95282472 0.0307824 -0.07709248] [ 0.16601838 -0.08435363 0.9825082 -0.21220172] [ 0. 0. 0. 1. ]] SLAMing on 94.41241403699999 meters Centerline goodness : 0.770715 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.08, Z:-0.21 [[ 0.93958615 -0.28968028 -0.18238202 3.00236412] [ 0.29994109 0.95345955 0.03082576 -0.07809292] [ 0.16496426 -0.08366732 0.98274441 -0.21228143] [ 0. 0. 0. 1. ]] SLAMing on 94.44241403699999 meters Centerline goodness : 0.760378 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.08, Z:-0.21 [[ 0.93987551 -0.28922975 -0.18160445 3.00188716] [ 0.29931812 0.95367421 0.03023508 -0.07888865] [ 0.1644466 -0.08277472 0.98290674 -0.2131802 ] [ 0. 0. 0. 1. ]] SLAMing on 94.472414037 meters Centerline goodness : 0.760378 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.08, Z:-0.21 [[ 0.93987551 -0.28922975 -0.18160445 3.00188716] [ 0.29931812 0.95367421 0.03023508 -0.07888865] [ 0.1644466 -0.08277472 0.98290674 -0.2131802 ] [ 0. 0. 0. 1. ]] SLAMing on 94.502414037 meters Centerline goodness : 0.772611 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.08, Z:-0.21 [[ 0.94021838 -0.28856809 -0.1808808 3.00149892] [ 0.29850826 0.95394251 0.0297742 -0.0798653 ] [ 0.163958 -0.08198866 0.98305424 -0.21409915] [ 0. 0. 0. 1. ]] SLAMing on 94.532414037 meters Centerline goodness : 0.771662 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.08, Z:-0.21 [[ 0.9407919 -0.28702861 -0.18034739 3.00002731] [ 0.29696021 0.95441445 0.03012797 -0.080344 ] [ 0.16347857 -0.08190015 0.98314146 -0.21408946] [ 0. 0. 0. 1. ]] SLAMing on 94.562414037 meters Centerline goodness : 0.770916 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.08, Z:-0.21 [[ 0.94097785 -0.28652005 -0.18018589 2.99911337] [ 0.29644442 0.95457216 0.03021085 -0.07996917] [ 0.16334442 -0.08184284 0.98316852 -0.21374817] [ 0. 0. 0. 1. ]] SLAMing on 94.592414037 meters Centerline goodness : 0.770522 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.08, Z:-0.21 [[ 0.94119536 -0.28572966 -0.18030491 2.99960666] [ 0.29571423 0.95478682 0.03058128 -0.08036333] [ 0.16341477 -0.08210168 0.98313525 -0.21411626] [ 0. 0. 0. 1. ]] SLAMing on 94.62241403699998 meters Centerline goodness : 0.770703 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.08, Z:-0.22 [[ 0.94116222 -0.28735014 -0.17788639 2.99847 ] [ 0.29649637 0.95466401 0.02658071 -0.08133604] [ 0.16218376 -0.07775943 0.98369197 -0.21620227] [ 0. 0. 0. 1. ]] SLAMing on 94.65241403699999 meters Centerline goodness : 0.770083 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.08, Z:-0.22 [[ 0.94142163 -0.28656912 -0.17777362 2.99958858] [ 0.29578952 0.95486713 0.02715372 -0.08334061] [ 0.16196876 -0.07814667 0.98369671 -0.21719908] [ 0. 0. 0. 1. ]] SLAMing on 94.68241403699999 meters Centerline goodness : 0.772507 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.09, Z:-0.22 [[ 0.9419071 -0.28575257 -0.17651199 2.998429 ] [ 0.29487599 0.95514687 0.02725096 -0.08736498] [ 0.16080784 -0.07771702 0.98392119 -0.21757317] [ 0. 0. 0. 1. ]] SLAMing on 94.71241403699999 meters Centerline goodness : 0.773384 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.09, Z:-0.22 [[ 0.94196442 -0.28559945 -0.17645394 2.99889492] [ 0.29478662 0.95516203 0.02768289 -0.08927731] [ 0.16063589 -0.07809256 0.98391954 -0.21758094] [ 0. 0. 0. 1. ]] SLAMing on 94.74241403699999 meters Centerline goodness : 0.773670 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.09, Z:-0.22 [[ 0.94197055 -0.28532316 -0.17686769 3.00035248] [ 0.2947209 0.95514957 0.02879053 -0.0916669 ] [ 0.16072049 -0.07924644 0.98381346 -0.21755916] [ 0. 0. 0. 1. ]] SLAMing on 94.77241403699999 meters Centerline goodness : 0.772649 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.09, Z:-0.22 [[ 0.94159694 -0.28728008 -0.17568539 3.00009512] [ 0.29621094 0.95475921 0.02634258 -0.09288796] [ 0.16016955 -0.07684403 0.98409385 -0.21793576] [ 0. 0. 0. 1. ]] SLAMing on 94.80241403699999 meters Centerline goodness : 0.773146 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.10, Z:-0.22 [[ 0.94099926 -0.28969789 -0.17491576 3.00168006] [ 0.29837564 0.95412238 0.02494927 -0.09682927] [ 0.15966329 -0.07566784 0.98426725 -0.21831131] [ 0. 0. 0. 1. ]] SLAMing on 94.83241403699999 meters Centerline goodness : 0.773713 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.10, Z:-0.22 [[ 0.94086231 -0.28969651 -0.17565318 3.00420886] [ 0.2986304 0.95400998 0.02616934 -0.09940504] [ 0.15999372 -0.07707712 0.98410423 -0.21860304] [ 0. 0. 0. 1. ]] SLAMing on 94.862414037 meters Centerline goodness : 0.777426 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.10, Z:-0.22 [[ 0.94030778 -0.29196365 -0.1748671 3.00504212] [ 0.3005419 0.95346246 0.02416408 -0.10112225] [ 0.15967418 -0.07527657 0.98429548 -0.21903787] [ 0. 0. 0. 1. ]] SLAMing on 94.892414037 meters Centerline goodness : 0.774878 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.10, Z:-0.22 [[ 0.94016543 -0.2920164 -0.17554313 3.00750348] [ 0.30084098 0.95333732 0.02535081 -0.1039281 ] [ 0.15994896 -0.07664452 0.98414529 -0.21924331] [ 0. 0. 0. 1. ]] SLAMing on 94.922414037 meters Centerline goodness : 0.776631 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.11, Z:-0.22 [[ 0.9394732 -0.29457489 -0.17497352 3.00963045] [ 0.30320502 0.95261782 0.02420768 -0.10816427] [ 0.15955192 -0.07579532 0.9842755 -0.21971041] [ 0. 0. 0. 1. ]] SLAMing on 94.952414037 meters Centerline goodness : 0.778375 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.11, Z:-0.22 [[ 0.93925915 -0.29510991 -0.17522095 3.01067148] [ 0.30388009 0.95238469 0.02490567 -0.11068119] [ 0.15952784 -0.07663903 0.98421407 -0.21916617] [ 0. 0. 0. 1. ]] SLAMing on 94.98241403699998 meters Centerline goodness : 0.777752 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.11, Z:-0.22 [[ 0.93900491 -0.29544467 -0.17601765 3.01298307] [ 0.30445801 0.95217128 0.02598395 -0.11287251] [ 0.15992213 -0.07798904 0.98404401 -0.21903355] [ 0. 0. 0. 1. ]] SLAMing on 95.01241403699999 meters Centerline goodness : 0.780562 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.12, Z:-0.22 [[ 0.93860421 -0.29602097 -0.17718273 3.01612295] [ 0.30549645 0.95177586 0.02818921 -0.11751905] [ 0.16029365 -0.0805872 0.98377419 -0.21826007] [ 0. 0. 0. 1. ]] SLAMing on 95.04241403699999 meters Centerline goodness : 0.780641 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.12, Z:-0.22 [[ 0.93841218 -0.29608714 -0.178087 3.01875615] [ 0.3058499 0.95162325 0.02947924 -0.12009445] [ 0.16074331 -0.08213157 0.98357308 -0.21821472] [ 0. 0. 0. 1. ]] SLAMing on 95.07241403699999 meters Centerline goodness : 0.779061 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.12, Z:-0.22 [[ 0.93825943 -0.29611415 -0.17884532 3.02090324] [ 0.30612437 0.95149982 0.03059356 -0.12244092] [ 0.1611121 -0.08345361 0.98340144 -0.21805403] [ 0. 0. 0. 1. ]] SLAMing on 95.10241403699999 meters Centerline goodness : 0.779202 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.12, Z:-0.22 [[ 0.93809392 -0.29611763 -0.17970569 3.0232208 ] [ 0.30641954 0.95136137 0.03191571 -0.12460511] [ 0.16151425 -0.08500527 0.98320255 -0.21793929] [ 0. 0. 0. 1. ]] SLAMing on 95.13241403699999 meters Centerline goodness : 0.779496 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.13, Z:-0.22 [[ 0.93728608 -0.29895802 -0.17921748 3.02472703] [ 0.30899645 0.95057962 0.03032448 -0.12786755] [ 0.16129474 -0.08380028 0.98334202 -0.21759613] [ 0. 0. 0. 1. ]] SLAMing on 95.16241403699999 meters Centerline goodness : 0.781731 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.13, Z:-0.22 [[ 0.93707361 -0.29914067 -0.18002197 3.02696171] [ 0.30941226 0.95041268 0.03130159 -0.12977102] [ 0.16173159 -0.0850329 0.98316443 -0.21740921] [ 0. 0. 0. 1. ]] SLAMing on 95.19241403699999 meters Centerline goodness : 0.782531 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.13, Z:-0.22 [[ 0.93686509 -0.29940271 -0.18067047 3.02890631] [ 0.30984623 0.95024885 0.03197554 -0.13119021] [ 0.16210834 -0.08593683 0.98302378 -0.21739484] [ 0. 0. 0. 1. ]] SLAMing on 95.222414037 meters Centerline goodness : 0.782522 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.13, Z:-0.22 [[ 0.93656851 -0.2998871 -0.18140332 3.03132873] [ 0.310584 0.94997044 0.03307169 -0.13435559] [ 0.16241002 -0.08731487 0.98285253 -0.21706428] [ 0. 0. 0. 1. ]] SLAMing on 95.252414037 meters Centerline goodness : 0.784087 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.14, Z:-0.22 [[ 0.93649266 -0.29976428 -0.1819969 3.03322586] [ 0.31061022 0.94994126 0.0336584 -0.13534209] [ 0.16279678 -0.08805094 0.98272287 -0.2174772 ] [ 0. 0. 0. 1. ]] SLAMing on 95.282414037 meters Centerline goodness : 0.784999 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.14, Z:-0.22 [[ 0.93652039 -0.29950662 -0.18227819 3.03449059] [ 0.31045728 0.94997343 0.03415796 -0.13659524] [ 0.1629289 -0.08857922 0.9826535 -0.2178244 ] [ 0. 0. 0. 1. ]] SLAMing on 95.312414037 meters Centerline goodness : 0.784410 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.14, Z:-0.22 [[ 0.9366261 -0.29911361 -0.18238038 3.03552573] [ 0.31012698 0.95006845 0.03451373 -0.13771624] [ 0.16295032 -0.08888753 0.9826221 -0.21840597] [ 0. 0. 0. 1. ]] SLAMing on 95.342414037 meters Centerline goodness : 0.783631 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.14, Z:-0.22 [[ 0.93677906 -0.29850687 -0.18258875 3.03643121] [ 0.30959393 0.95022836 0.03489489 -0.13839885] [ 0.16308464 -0.08921717 0.98256994 -0.21889307] [ 0. 0. 0. 1. ]] SLAMing on 95.37241403699998 meters Centerline goodness : 0.785373 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.14, Z:-0.22 [[ 0.937401 -0.29663968 -0.18243978 3.03628873] [ 0.3079079 0.95072603 0.0362317 -0.1407572 ] [ 0.16270249 -0.09013828 0.98254923 -0.21916128] [ 0. 0. 0. 1. ]] SLAMing on 95.40241403699999 meters Centerline goodness : 0.785121 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.14, Z:-0.22 [[ 0.93756739 -0.29585677 -0.18285556 3.03689827] [ 0.30729674 0.95089024 0.03710076 -0.14149064] [ 0.16289906 -0.09097538 0.9824395 -0.21899787] [ 0. 0. 0. 1. ]] SLAMing on 95.43241403699999 meters Centerline goodness : 0.783201 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.14, Z:-0.22 [[ 0.93771565 -0.29526186 -0.1830568 3.03734175] [ 0.30681634 0.95102068 0.03772791 -0.14232971] [ 0.16295119 -0.09154287 0.98237814 -0.21900596] [ 0. 0. 0. 1. ]] SLAMing on 95.46241403699999 meters Centerline goodness : 0.784026 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.14, Z:-0.22 [[ 0.93799313 -0.2942435 -0.18327481 3.03747046] [ 0.30600223 0.95123486 0.0389214 -0.14419361] [ 0.16288502 -0.0925905 0.98229093 -0.21857192] [ 0. 0. 0. 1. ]] SLAMing on 95.49241403699999 meters Centerline goodness : 0.784845 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.14, Z:-0.22 [[ 0.93798613 -0.29388029 -0.18389232 3.03817024] [ 0.30581661 0.95126385 0.03966474 -0.14447681] [ 0.16327343 -0.0934423 0.98214577 -0.21800044] [ 0. 0. 0. 1. ]] SLAMing on 95.52241403699999 meters Centerline goodness : 0.786797 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.14, Z:-0.22 [[ 0.93793133 -0.29365711 -0.18452729 3.03900801] [ 0.30576295 0.95125302 0.04033244 -0.14472545] [ 0.16368823 -0.09425067 0.98199948 -0.21749598] [ 0. 0. 0. 1. ]] SLAMing on 95.55241403699999 meters Centerline goodness : 0.783182 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.15, Z:-0.22 [[ 0.93787073 -0.29336034 -0.18530574 3.04038515] [ 0.30567319 0.95124723 0.04114138 -0.14517496] [ 0.16420232 -0.0952283 0.98181932 -0.21725433] [ 0. 0. 0. 1. ]] SLAMing on 95.58241403699999 meters Centerline goodness : 0.785656 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.15, Z:-0.22 [[ 0.93746376 -0.29405751 -0.18625756 3.04250854] [ 0.30653287 0.95095539 0.0414903 -0.1456764 ] [ 0.1649221 -0.09598971 0.98162451 -0.21685535] [ 0. 0. 0. 1. ]] SLAMing on 95.612414037 meters Centerline goodness : 0.783029 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.15, Z:-0.22 [[ 0.93733773 -0.29400601 -0.18697176 3.04350212] [ 0.30668733 0.95087011 0.04229562 -0.14653838] [ 0.16535069 -0.09698716 0.98145435 -0.21606342] [ 0. 0. 0. 1. ]] SLAMing on 95.642414037 meters Centerline goodness : 0.786656 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.15, Z:-0.21 [[ 0.93714516 -0.2940602 -0.18784981 3.04445325] [ 0.30699052 0.95072972 0.0432415 -0.14702532] [ 0.16587879 -0.09819167 0.98124544 -0.21497991] [ 0. 0. 0. 1. ]] SLAMing on 95.672414037 meters Centerline goodness : 0.787753 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.15, Z:-0.21 [[ 0.93698855 -0.29390678 -0.18886835 3.04554614] [ 0.3071561 0.95061709 0.04452278 -0.14817105] [ 0.16645593 -0.0997294 0.98099259 -0.21364266] [ 0. 0. 0. 1. ]] SLAMing on 95.702414037 meters Centerline goodness : 0.788122 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.15, Z:-0.21 [[ 0.93653322 -0.29456673 -0.19009465 3.04744942] [ 0.30817582 0.9502248 0.04583126 -0.14998907] [ 0.16713228 -0.10150507 0.98069543 -0.21208413] [ 0. 0. 0. 1. ]] SLAMing on 95.73241403699998 meters Centerline goodness : 0.786961 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.15, Z:-0.21 [[ 0.93616599 -0.29504825 -0.19115378 3.04993322] [ 0.30887783 0.94996794 0.04642622 -0.15066362] [ 0.16789198 -0.10250582 0.98046154 -0.21182628] [ 0. 0. 0. 1. ]] SLAMing on 95.76241403699999 meters Centerline goodness : 0.786428 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.15, Z:-0.21 [[ 0.93571689 -0.2957613 -0.19224763 3.05246465] [ 0.30978947 0.94965061 0.04684243 -0.15077614] [ 0.1687139 -0.10338754 0.98022785 -0.21161269] [ 0. 0. 0. 1. ]] SLAMing on 95.79241403699999 meters Centerline goodness : 0.783705 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.15, Z:-0.21 [[ 0.93493236 -0.29729663 -0.19369098 3.05633736] [ 0.31160086 0.94902974 0.04740739 -0.15179016] [ 0.16972444 -0.10467698 0.9799165 -0.21138169] [ 0. 0. 0. 1. ]] SLAMing on 95.82241403699999 meters Centerline goodness : 0.783306 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.15, Z:-0.21 [[ 0.9343813 -0.29828919 -0.19482082 3.0593432 ] [ 0.31275964 0.94864035 0.04756985 -0.15182599] [ 0.17062532 -0.10538047 0.97968462 -0.21137222] [ 0. 0. 0. 1. ]] SLAMing on 95.85241403699999 meters Centerline goodness : 0.786055 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.15, Z:-0.21 [[ 0.93400654 -0.29888075 -0.19570916 3.06192628] [ 0.31354088 0.94835839 0.0480466 -0.15235057] [ 0.17124222 -0.10623866 0.97948428 -0.21156294] [ 0. 0. 0. 1. ]] SLAMing on 95.88241403699999 meters Centerline goodness : 0.781769 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.15, Z:-0.21 [[ 0.93364838 -0.29969768 -0.19616831 3.06335527] [ 0.31442821 0.94806249 0.04808757 -0.1528221 ] [ 0.17156809 -0.10657774 0.97939041 -0.21132808] [ 0. 0. 0. 1. ]] SLAMing on 95.91241403699999 meters Centerline goodness : 0.784530 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.15, Z:-0.21 [[ 0.93314584 -0.30064602 -0.19710609 3.0664646 ] [ 0.31554209 0.94767877 0.04835436 -0.15337694] [ 0.17225571 -0.10731694 0.97918897 -0.21171842] [ 0. 0. 0. 1. ]] SLAMing on 95.94241403699999 meters Centerline goodness : 0.782431 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.15, Z:-0.21 [[ 0.93294468 -0.30091821 -0.19764227 3.06826244] [ 0.3159183 0.94754181 0.04858128 -0.1536432 ] [ 0.17265532 -0.10776246 0.97906966 -0.2120813 ] [ 0. 0. 0. 1. ]] SLAMing on 95.972414037 meters Centerline goodness : 0.783347 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.15, Z:-0.21 [[ 0.93282935 -0.30087918 -0.1982451 3.06965212] [ 0.31604684 0.94746957 0.04915079 -0.1540732 ] [ 0.17304275 -0.10850403 0.97891934 -0.21201729] [ 0. 0. 0. 1. ]] SLAMing on 96.002414037 meters Centerline goodness : 0.781685 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.15, Z:-0.21 [[ 0.93283676 -0.30062767 -0.19859153 3.06872214] [ 0.3160039 0.94743253 0.05013114 -0.15478101] [ 0.17308127 -0.10951986 0.9787994 -0.21031969] [ 0. 0. 0. 1. ]] SLAMing on 96.032414037 meters Centerline goodness : 0.786073 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.15, Z:-0.21 [[ 0.93271225 -0.30061552 -0.19919377 3.06888329] [ 0.31616119 0.94734971 0.05070133 -0.15420183] [ 0.17346456 -0.11026709 0.97864765 -0.20940919] [ 0. 0. 0. 1. ]] SLAMing on 96.062414037 meters Centerline goodness : 0.781645 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.15, Z:-0.21 [[ 0.93213299 -0.30167518 -0.20030022 3.07024395] [ 0.31744319 0.94689717 0.05114268 -0.15350879] [ 0.17423523 -0.11125572 0.97839882 -0.20815692] [ 0. 0. 0. 1. ]] SLAMing on 96.092414037 meters Centerline goodness : 0.781779 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.15, Z:-0.21 [[ 0.93168777 -0.30244471 -0.20120909 3.07202097] [ 0.31835941 0.94658067 0.05130607 -0.15315417] [ 0.17494339 -0.11185804 0.97820376 -0.20767449] [ 0. 0. 0. 1. ]] SLAMing on 96.12241403699998 meters Centerline goodness : 0.783481 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.15, Z:-0.21 [[ 0.93131021 -0.30316619 -0.20187015 3.07339502] [ 0.31918631 0.94629705 0.05140033 -0.15303652] [ 0.17544629 -0.11230384 0.9780626 -0.20727786] [ 0. 0. 0. 1. ]] SLAMing on 96.15241403699999 meters Centerline goodness : 0.783261 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.15, Z:-0.21 [[ 0.93079612 -0.30404745 -0.2029131 3.07542483] [ 0.32025689 0.94591922 0.05169474 -0.15282144] [ 0.17622175 -0.11310158 0.97783124 -0.20663711] [ 0. 0. 0. 1. ]] SLAMing on 96.18241403699999 meters Centerline goodness : 0.782570 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.15, Z:-0.21 [[ 0.92975703 -0.30634258 -0.20422067 3.07794407] [ 0.32270544 0.94509827 0.05148258 -0.15228761] [ 0.1772373 -0.11376941 0.97757018 -0.20540311] [ 0. 0. 0. 1. ]] SLAMing on 96.21241403699999 meters Centerline goodness : 0.785229 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.15, Z:-0.20 [[ 0.92922934 -0.30749163 -0.20489442 3.07924043] [ 0.32392791 0.9446876 0.05134249 -0.15188534] [ 0.17777383 -0.11407997 0.97743656 -0.20477497] [ 0. 0. 0. 1. ]] SLAMing on 96.24241403699999 meters Centerline goodness : 0.781449 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.15, Z:-0.20 [[ 0.92832835 -0.30934349 -0.20618701 3.08080596] [ 0.32592314 0.94401342 0.05111519 -0.14971968] [ 0.17883115 -0.1146528 0.97717662 -0.20350771] [ 0. 0. 0. 1. ]] SLAMing on 96.27241403699999 meters Centerline goodness : 0.786966 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.15, Z:-0.20 [[ 0.92775402 -0.31052879 -0.20698877 3.08184249] [ 0.32713002 0.94362358 0.05060129 -0.1477362 ] [ 0.17960633 -0.1146578 0.97703386 -0.20287935] [ 0. 0. 0. 1. ]] SLAMing on 96.30241403699999 meters Centerline goodness : 0.781676 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.15, Z:-0.20 [[ 0.92749866 -0.31092834 -0.20753267 3.08278584] [ 0.32756678 0.94348211 0.05041339 -0.14615323] [ 0.18012841 -0.11473916 0.97692819 -0.20294751] [ 0. 0. 0. 1. ]] SLAMing on 96.33241403699999 meters Centerline goodness : 0.785422 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.14, Z:-0.20 [[ 0.92715911 -0.3115375 -0.20813547 3.08362283] [ 0.32818852 0.9432862 0.05003449 -0.14441344] [ 0.18074369 -0.11469761 0.97681942 -0.20270603] [ 0. 0. 0. 1. ]] SLAMing on 96.362414037 meters Centerline goodness : 0.785422 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.14, Z:-0.20 [[ 0.92715911 -0.3115375 -0.20813547 3.08362283] [ 0.32818852 0.9432862 0.05003449 -0.14441344] [ 0.18074369 -0.11469761 0.97681942 -0.20270603] [ 0. 0. 0. 1. ]] SLAMing on 96.392414037 meters Centerline goodness : 0.785603 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.14, Z:-0.20 [[ 0.92656866 -0.3129511 -0.20864354 3.08433198] [ 0.32940285 0.94294298 0.04850051 -0.14015321] [ 0.18156067 -0.11366683 0.9767884 -0.20300512] [ 0. 0. 0. 1. ]] SLAMing on 96.422414037 meters Centerline goodness : 0.783211 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.14, Z:-0.20 [[ 0.92614542 -0.31374465 -0.20932977 3.08541811] [ 0.33015584 0.94271683 0.04777129 -0.13709783] [ 0.18235071 -0.11335461 0.97667751 -0.20326791] [ 0. 0. 0. 1. ]] SLAMing on 96.452414037 meters Centerline goodness : 0.781283 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.13, Z:-0.20 [[ 0.92554048 -0.31410524 -0.2114538 3.08718034] [ 0.33090377 0.94241968 0.04845444 -0.13168192] [ 0.18405843 -0.11481741 0.97618618 -0.2026809 ] [ 0. 0. 0. 1. ]] SLAMing on 96.48241403699998 meters Centerline goodness : 0.777179 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.13, Z:-0.20 [[ 0.92521248 -0.31477067 -0.21189923 3.08736006] [ 0.33150116 0.9422458 0.04774753 -0.12887449] [ 0.18463164 -0.11442145 0.97612442 -0.20247808] [ 0. 0. 0. 1. ]] SLAMing on 96.51241403699999 meters Centerline goodness : 0.776086 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.13, Z:-0.20 [[ 0.92520114 -0.31359026 -0.21369136 3.08810845] [ 0.33093302 0.94233138 0.04994897 -0.12695153] [ 0.18570456 -0.11693037 0.97562344 -0.20122547] [ 0. 0. 0. 1. ]] SLAMing on 96.54241403699999 meters Centerline goodness : 0.775190 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.12, Z:-0.20 [[ 0.92496341 -0.3139275 -0.21422467 3.08796983] [ 0.33126407 0.94223652 0.04954236 -0.12428713] [ 0.1862976 -0.11678981 0.97552721 -0.20067474] [ 0. 0. 0. 1. ]] SLAMing on 96.57241403699999 meters Centerline goodness : 0.775149 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.12, Z:-0.20 [[ 0.92479131 -0.31421643 -0.21454387 3.08782574] [ 0.33144937 0.94221171 0.04876902 -0.12139622] [ 0.18682172 -0.11621159 0.97549603 -0.20060647] [ 0. 0. 0. 1. ]] SLAMing on 96.60241403699999 meters Centerline goodness : 0.776729 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.12, Z:-0.20 [[ 0.92494284 -0.31231034 -0.21666333 3.08945873] [ 0.3301213 0.94258072 0.05061138 -0.11692196] [ 0.18841622 -0.11833781 0.97493358 -0.20075289] [ 0. 0. 0. 1. ]] SLAMing on 96.63241403699999 meters Centerline goodness : 0.774950 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.11, Z:-0.20 [[ 0.9246495 -0.31278261 -0.21723339 3.0908655 ] [ 0.33045321 0.94252464 0.04947711 -0.11313171] [ 0.18927225 -0.11753445 0.97486495 -0.2017708 ] [ 0. 0. 0. 1. ]] SLAMing on 96.66241403699999 meters Centerline goodness : 0.774304 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.11, Z:-0.20 [[ 0.9243855 -0.31314654 -0.2178318 3.09261489] [ 0.3306746 0.94250642 0.04833168 -0.10909118] [ 0.19017297 -0.11670855 0.97478888 -0.20316068] [ 0. 0. 0. 1. ]] SLAMing on 96.69241403699999 meters Centerline goodness : 0.772631 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.10, Z:-0.20 [[ 0.92435761 -0.3133313 -0.21768444 3.09212268] [ 0.33040252 0.94271527 0.04606613 -0.10242735] [ 0.19078048 -0.11450506 0.97493148 -0.20485525] [ 0. 0. 0. 1. ]] SLAMing on 96.722414037 meters Centerline goodness : 0.777156 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.10, Z:-0.20 [[ 0.92472202 -0.31138734 -0.21892261 3.09277613] [ 0.32887129 0.94317407 0.04760615 -0.09991398] [ 0.19165818 -0.11601981 0.97458019 -0.20499366] [ 0. 0. 0. 1. ]] SLAMing on 96.752414037 meters Centerline goodness : 0.773308 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.10, Z:-0.20 [[ 0.92545805 -0.30807816 -0.22048864 3.09302496] [ 0.32626556 0.94392648 0.050533 -0.09835719] [ 0.19255696 -0.11870402 0.97407966 -0.20453165] [ 0. 0. 0. 1. ]] SLAMing on 96.782414037 meters Centerline goodness : 0.772947 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.10, Z:-0.20 [[ 0.9260934 -0.30525987 -0.22173729 3.09196012] [ 0.32401249 0.9445738 0.05287949 -0.09574424] [ 0.19330525 -0.120817 0.97367157 -0.20363172] [ 0. 0. 0. 1. ]] SLAMing on 96.812414037 meters Centerline goodness : 0.772307 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.09, Z:-0.20 [[ 0.92676749 -0.30254089 -0.22264551 3.08995817] [ 0.32175124 0.94523289 0.05487193 -0.09257057] [ 0.19385086 -0.12248999 0.97335402 -0.20269773] [ 0. 0. 0. 1. ]] SLAMing on 96.842414037 meters Centerline goodness : 0.777843 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.09, Z:-0.20 [[ 0.92753849 -0.2992675 -0.22385557 3.08908313] [ 0.31906912 0.94599308 0.05737589 -0.08980216] [ 0.19459508 -0.12464375 0.97293201 -0.20223161] [ 0. 0. 0. 1. ]] SLAMing on 96.87241403699998 meters Centerline goodness : 0.769758 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.08, Z:-0.20 [[ 0.92815279 -0.29658775 -0.22487354 3.08781418] [ 0.31659374 0.94678652 0.05799736 -0.08236159] [ 0.19570592 -0.12502397 0.97266037 -0.20294267] [ 0. 0. 0. 1. ]] SLAMing on 96.90241403699999 meters Centerline goodness : 0.767743 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.08, Z:-0.20 [[ 0.92792107 -0.29745951 -0.22467825 3.08759385] [ 0.31707654 0.94673901 0.05610458 -0.0786491 ] [ 0.19602283 -0.12330082 0.97281651 -0.20374756] [ 0. 0. 0. 1. ]] SLAMing on 96.93241403699999 meters Centerline goodness : 0.769888 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.08, Z:-0.20 [[ 0.92765434 -0.29848126 -0.22442453 3.08744163] [ 0.31774836 0.94661167 0.0544272 -0.07547088] [ 0.19619738 -0.12180015 0.97297035 -0.20464042] [ 0. 0. 0. 1. ]] SLAMing on 96.96241403699999 meters Centerline goodness : 0.768790 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.07, Z:-0.21 [[ 0.92684132 -0.30054252 -0.22503193 3.08801865] [ 0.31948684 0.94614971 0.05223877 -0.06889779] [ 0.19721392 -0.12031179 0.97295002 -0.20520748] [ 0. 0. 0. 1. ]] SLAMing on 96.99241403699999 meters Centerline goodness : 0.767369 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.07, Z:-0.20 [[ 0.92626795 -0.30211236 -0.22529048 3.08758066] [ 0.32081822 0.9457806 0.05074172 -0.06501515] [ 0.19774566 -0.11927772 0.97296941 -0.2047613 ] [ 0. 0. 0. 1. ]] SLAMing on 97.02241403699999 meters Centerline goodness : 0.766362 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.06, Z:-0.20 [[ 0.92570804 -0.30360335 -0.22558728 3.08669204] [ 0.32208604 0.94542545 0.04930821 -0.06134936] [ 0.19830581 -0.11830352 0.97297435 -0.20380762] [ 0. 0. 0. 1. ]] SLAMing on 97.05241403699999 meters Centerline goodness : 0.767166 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.06, Z:-0.20 [[ 0.92528526 -0.3043676 -0.22629085 3.08648771] [ 0.32286861 0.94518021 0.0488899 -0.05881202] [ 0.19900514 -0.11829932 0.97283207 -0.20268485] [ 0. 0. 0. 1. ]] SLAMing on 97.08241403699999 meters Centerline goodness : 0.763593 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.05, Z:-0.20 [[ 0.924393 -0.30638241 -0.22721665 3.08590899] [ 0.32476567 0.9445988 0.04754338 -0.05392218] [ 0.20006212 -0.11774093 0.972683 -0.20106009] [ 0. 0. 0. 1. ]] SLAMing on 97.112414037 meters Centerline goodness : 0.773105 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.05, Z:-0.20 [[ 0.92394565 -0.30750805 -0.22751533 3.08600075] [ 0.32572326 0.94432449 0.04642853 -0.05135964] [ 0.20057115 -0.11700447 0.97266704 -0.20074324] [ 0. 0. 0. 1. ]] SLAMing on 97.142414037 meters Centerline goodness : 0.765700 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.05, Z:-0.20 [[ 0.92357494 -0.3084028 -0.22780924 3.08655264] [ 0.32648065 0.94410847 0.04549269 -0.04915653] [ 0.20104656 -0.11639121 0.97264247 -0.20082334] [ 0. 0. 0. 1. ]] SLAMing on 97.172414037 meters Centerline goodness : 0.772271 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.05, Z:-0.20 [[ 0.92304627 -0.30967494 -0.22822582 3.08660743] [ 0.3275391 0.94380891 0.04407817 -0.04526016] [ 0.20175166 -0.11543907 0.97260994 -0.2006736 ] [ 0. 0. 0. 1. ]] SLAMing on 97.202414037 meters Centerline goodness : 0.762785 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.04, Z:-0.20 [[ 0.9227219 -0.31068611 -0.22816318 3.08572876] [ 0.32828574 0.94361147 0.04273024 -0.04219226] [ 0.2020217 -0.11433085 0.97268478 -0.20037067] [ 0. 0. 0. 1. ]] SLAMing on 97.23241403699998 meters Centerline goodness : 0.771808 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.04, Z:-0.20 [[ 0.92253871 -0.31075175 -0.22881365 3.08685319] [ 0.32833864 0.94361306 0.04228636 -0.03906795] [ 0.20277098 -0.11413917 0.97255138 -0.2009531 ] [ 0. 0. 0. 1. ]] SLAMing on 97.26241403699999 meters Centerline goodness : 0.765681 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.03, Z:-0.20 [[ 0.92243018 -0.31139545 -0.22837566 3.08513984] [ 0.32843015 0.94368858 0.03981837 -0.03242412] [ 0.20311624 -0.11173511 0.97275848 -0.20166765] [ 0. 0. 0. 1. ]] SLAMing on 97.29241403699999 meters Centerline goodness : 0.771337 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.03, Z:-0.20 [[ 0.92325866 -0.307573 -0.23020058 3.0857461 ] [ 0.3254989 0.94454328 0.04345632 -0.03187403] [ 0.20406842 -0.11505145 0.97217243 -0.20101208] [ 0. 0. 0. 1. ]] SLAMing on 97.32241403699999 meters Centerline goodness : 0.766738 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.03, Z:-0.20 [[ 0.92456194 -0.30634179 -0.22658314 3.07991354] [ 0.32376169 0.9451498 0.04324618 -0.03049176] [ 0.2009069 -0.11334271 0.97303127 -0.20230258] [ 0. 0. 0. 1. ]] SLAMing on 97.35241403699999 meters Centerline goodness : 0.766718 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.03, Z:-0.21 [[ 0.92665093 -0.30409518 -0.22100719 3.07226716] [ 0.32064019 0.94625155 0.04240129 -0.02986868] [ 0.19623436 -0.11015498 0.97435002 -0.20526475] [ 0. 0. 0. 1. ]] SLAMing on 97.38241403699999 meters Centerline goodness : 0.773315 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.03, Z:-0.21 [[ 0.92945396 -0.30022186 -0.21443455 3.06331611] [ 0.31563795 0.94799977 0.04085487 -0.0262826 ] [ 0.19101837 -0.1056564 0.97588355 -0.20876357] [ 0. 0. 0. 1. ]] SLAMing on 97.41241403699999 meters Centerline goodness : 0.774624 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.02, Z:-0.21 [[ 0.9301272 -0.29894296 -0.2132991 3.06198084] [ 0.3143185 0.9484136 0.04141891 -0.02407253] [ 0.18991387 -0.1055687 0.97610858 -0.21019036] [ 0. 0. 0. 1. ]] SLAMing on 97.44241403699999 meters Centerline goodness : 0.769045 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.02, Z:-0.21 [[ 0.93042395 -0.29829785 -0.21290763 3.06171118] [ 0.31360655 0.94865174 0.04136191 -0.02129762] [ 0.18963703 -0.10525334 0.97619646 -0.2112347 ] [ 0. 0. 0. 1. ]] SLAMing on 97.472414037 meters Centerline goodness : 0.766477 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.02, Z:-0.21 [[ 0.93076068 -0.29692207 -0.21335848 3.05481338] [ 0.30993567 0.95029718 0.02958278 -0.01857916] [ 0.19397019 -0.09366189 0.97652599 -0.21108345] [ 0. 0. 0. 1. ]] SLAMing on 97.502414037 meters Centerline goodness : 0.772097 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.02, Z:-0.22 [[ 0.93262 -0.29489685 -0.20798025 3.04927721] [ 0.30726869 0.95117571 0.02916724 -0.01896502] [ 0.18922443 -0.09110777 0.97769806 -0.21546621] [ 0. 0. 0. 1. ]] SLAMing on 97.532414037 meters Centerline goodness : 0.769900 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.02, Z:-0.22 [[ 0.93337377 -0.29429523 -0.20543546 3.04451456] [ 0.30635768 0.95147863 0.02886844 -0.01575403] [ 0.18697161 -0.08988178 0.9782448 -0.21598057] [ 0. 0. 0. 1. ]] SLAMing on 97.562414037 meters Centerline goodness : 0.771758 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.01, Z:-0.21 [[ 0.93324693 -0.29501278 -0.20498201 3.04221945] [ 0.30679525 0.9513767 0.02755091 -0.01251577] [ 0.18688724 -0.08859931 0.9783779 -0.21484082] [ 0. 0. 0. 1. ]] SLAMing on 97.592414037 meters Centerline goodness : 0.771422 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.01, Z:-0.21 [[ 0.93314404 -0.29567588 -0.20449445 3.03981399] [ 0.30719884 0.95128025 0.0263584 -0.0093621 ] [ 0.18673799 -0.08741665 0.97851278 -0.21378942] [ 0. 0. 0. 1. ]] SLAMing on 97.62241403699998 meters Centerline goodness : 0.768420 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.01, Z:-0.21 [[ 0.93351958 -0.29543625 -0.20312219 3.03650033] [ 0.30681759 0.95140509 0.02629293 -0.0080024 ] [ 0.1854836 -0.08686642 0.97880032 -0.21345369] [ 0. 0. 0. 1. ]] SLAMing on 97.65241403699999 meters Centerline goodness : 0.770719 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.00, Z:-0.21 [[ 0.9336179 -0.295239 -0.20295701 3.03642672] [ 0.30650536 0.95151963 0.02578472 -0.00477225] [ 0.18550492 -0.08628049 0.9788481 -0.21410814] [ 0. 0. 0. 1. ]] SLAMing on 97.68241403699999 meters Centerline goodness : 0.771082 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.00, Z:-0.21 [[ 0.93362365 -0.29514482 -0.20306754 3.03702485] [ 0.30636963 0.95157041 0.0255228 -0.00322464] [ 0.18570014 -0.08604242 0.97883204 -0.21459855] [ 0. 0. 0. 1. ]] SLAMing on 97.71241403699999 meters Centerline goodness : 0.768933 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.00, Z:-0.22 [[ 9.33592845e-01 -2.95176375e-01 -2.03163252e-01 3.03764956e+00] [ 3.06341007e-01 9.51589348e-01 2.51574952e-02 -1.48369063e-03] [ 1.85902088e-01 -8.57240928e-02 9.78821635e-01 -2.15168781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74241403699999 meters Centerline goodness : 0.772226 Centerline is valid? [False, False] Translation: X:3.04, Y:0.00, Z:-0.22 [[ 9.33575315e-01 -2.95393533e-01 -2.02928046e-01 3.03740015e+00] [ 3.06470400e-01 9.51557498e-01 2.47835071e-02 8.36924093e-06] [ 1.85776816e-01 -8.53287098e-02 9.78879965e-01 -2.15630831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.77241403699999 meters Centerline goodness : 0.771168 Centerline is valid? [False, False] Translation: X:3.04, Y:0.00, Z:-0.22 [[ 9.33478557e-01 -2.95976526e-01 -2.02523283e-01 3.03622354e+00] [ 3.06857689e-01 9.51455751e-01 2.38812271e-02 2.47263229e-03] [ 1.85623660e-01 -8.44384399e-02 9.78986214e-01 -2.15549883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.80241403699999 meters Centerline goodness : 0.774196 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.00, Z:-0.22 [[ 9.35934288e-01 -2.93537315e-01 -1.94583794e-01 3.02598998e+00] [ 3.03287998e-01 9.52652272e-01 2.16803596e-02 -2.56007730e-04] [ 1.79006699e-01 -7.93063212e-02 9.80646271e-01 -2.19497801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.83241403699999 meters Centerline goodness : 0.773233 Centerline is valid? [False, False] Translation: X:3.02, Y:0.00, Z:-0.22 [[ 9.35862519e-01 -2.94110351e-01 -1.94062996e-01 3.02416850e+00] [ 3.03710004e-01 9.52532397e-01 2.10301357e-02 6.06766576e-04] [ 1.78666110e-01 -7.86201890e-02 9.80763624e-01 -2.18697499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.862414037 meters Centerline goodness : 0.775685 Centerline is valid? [False, False] Translation: X:3.02, Y:0.00, Z:-0.22 [[ 9.36028116e-01 -2.94162363e-01 -1.93183515e-01 3.02212425e+00] [ 3.03663371e-01 9.52550654e-01 2.08760147e-02 1.35730098e-03] [ 1.77876146e-01 -7.82032943e-02 9.80940529e-01 -2.18544294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.892414037 meters Centerline goodness : 0.772326 Centerline is valid? [False, False] Translation: X:3.02, Y:0.00, Z:-0.22 [[ 9.36002851e-01 -2.94278754e-01 -1.93128655e-01 3.02192322e+00] [ 3.03744508e-01 9.52528740e-01 2.06947791e-02 1.96628028e-03] [ 1.77870560e-01 -7.80321404e-02 9.80955172e-01 -2.18501845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.922414037 meters Centerline goodness : 0.772631 Centerline is valid? [False, False] Translation: X:3.02, Y:0.00, Z:-0.22 [[ 9.35920043e-01 -2.94683219e-01 -1.92913126e-01 3.02095783e+00] [ 3.04054099e-01 9.52439990e-01 2.02279828e-02 2.81015836e-03] [ 1.77777329e-01 -7.75878013e-02 9.81007316e-01 -2.18025588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.952414037 meters Centerline goodness : 0.776210 Centerline is valid? [False, False] Translation: X:3.02, Y:0.00, Z:-0.22 [[ 0.9357924 -0.29546817 -0.19233083 3.01836249] [ 0.30464159 0.95227113 0.01931814 0.00438278] [ 0.1774432 -0.07666974 0.98113998 -0.21671471] [ 0. 0. 0. 1. ]] SLAMing on 97.98241403699998 meters Centerline goodness : 0.776914 Centerline is valid? [False, False] Translation: X:3.02, Y:0.01, Z:-0.22 [[ 0.93574185 -0.29571701 -0.19219428 3.01770843] [ 0.3048192 0.95222149 0.01895994 0.00502412] [ 0.17740475 -0.07632611 0.98117373 -0.21635859] [ 0. 0. 0. 1. ]] SLAMing on 98.01241403699999 meters Centerline goodness : 0.773948 Centerline is valid? [False, False] Translation: X:3.02, Y:0.01, Z:-0.22 [[ 0.93573077 -0.29573486 -0.19222074 3.01787178] [ 0.30482678 0.95222046 0.01888983 0.00509266] [ 0.17745014 -0.07626982 0.9811699 -0.21637785] [ 0. 0. 0. 1. ]] SLAMing on 98.04241403699999 meters Centerline goodness : 0.775480 Centerline is valid? [False, False] Translation: X:3.02, Y:0.00, Z:-0.22 [[ 0.93571277 -0.29579964 -0.19220869 3.01815591] [ 0.30488431 0.95220286 0.01884865 0.00466313] [ 0.17744625 -0.07623833 0.98117305 -0.21645036] [ 0. 0. 0. 1. ]] SLAMing on 98.07241403699999 meters Centerline goodness : 0.776060 Centerline is valid? [False, False] Translation: X:3.02, Y:0.00, Z:-0.22 [[ 0.93569951 -0.29590369 -0.19211308 3.01810566] [ 0.30498221 0.95217155 0.01884638 0.00412299] [ 0.17734789 -0.07622562 0.98119182 -0.21642651] [ 0. 0. 0. 1. ]] SLAMing on 98.10241403699999 meters Centerline goodness : 0.776720 Centerline is valid? [False, False] Translation: X:3.01, Y:0.00, Z:-0.22 [[ 9.37693368e-01 -2.93703115e-01 -1.85659980e-01 3.01159532e+00] [ 3.02141138e-01 9.53088236e-01 1.82632660e-02 1.42374050e-03] [ 1.71586365e-01 -7.32208612e-02 9.82444311e-01 -2.21316935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.13241403699999 meters Centerline goodness : 0.776908 Centerline is valid? [False, False] Translation: X:3.01, Y:0.00, Z:-0.22 [[ 9.37675131e-01 -2.93760698e-01 -1.85660983e-01 3.01153375e+00] [ 3.02162275e-01 9.53085621e-01 1.80487790e-02 2.28478965e-03] [ 1.71648791e-01 -7.30236361e-02 9.82448086e-01 -2.21341774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.16241403699999 meters Centerline goodness : 0.776430 Centerline is valid? [False, False] Translation: X:3.01, Y:0.00, Z:-0.22 [[ 0.93765892 -0.29373548 -0.1857827 3.011537 ] [ 0.30205295 0.95313018 0.01751776 0.00434177] [ 0.17192951 -0.0725419 0.98243469 -0.22112374] [ 0. 0. 0. 1. ]] SLAMing on 98.19241403699999 meters Centerline goodness : 0.777552 Centerline is valid? [False, False] Translation: X:3.01, Y:0.01, Z:-0.22 [[ 0.93763684 -0.29373444 -0.18589578 3.01158895] [ 0.30201585 0.95314658 0.01726348 0.00513492] [ 0.17211505 -0.07233035 0.9824178 -0.22088604] [ 0. 0. 0. 1. ]] SLAMing on 98.222414037 meters Centerline goodness : 0.777669 Centerline is valid? [False, False] Translation: X:3.01, Y:0.01, Z:-0.22 [[ 0.93765653 -0.29358555 -0.1860316 3.01194649] [ 0.30185761 0.95319846 0.01716629 0.00546726] [ 0.17228526 -0.07225114 0.98239379 -0.22078823] [ 0. 0. 0. 1. ]] SLAMing on 98.252414037 meters Centerline goodness : 0.777306 Centerline is valid? [False, False] Translation: X:3.01, Y:0.00, Z:-0.23 [[ 9.39752061e-01 -2.90562942e-01 -1.80108968e-01 3.00692119e+00] [ 2.98297715e-01 9.54324150e-01 1.68490241e-02 2.55197343e-03] [ 1.66986636e-01 -6.95599987e-02 9.83502349e-01 -2.25619031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.282414037 meters Centerline goodness : 0.777306 Centerline is valid? [False, False] Translation: X:3.01, Y:0.00, Z:-0.23 [[ 9.39752061e-01 -2.90562942e-01 -1.80108968e-01 3.00692119e+00] [ 2.98297715e-01 9.54324150e-01 1.68490241e-02 2.55197343e-03] [ 1.66986636e-01 -6.95599987e-02 9.83502349e-01 -2.25619031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.312414037 meters Centerline goodness : 0.778574 Centerline is valid? [False, False] Translation: X:3.01, Y:0.00, Z:-0.23 [[ 9.39791658e-01 -2.90348203e-01 -1.80248610e-01 3.00761646e+00] [ 2.98094664e-01 9.54387076e-01 1.68783909e-02 2.77798139e-03] [ 1.67126333e-01 -6.95933197e-02 9.83476262e-01 -2.25931484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.342414037 meters Centerline goodness : 0.774674 Centerline is valid? [False, False] Translation: X:3.01, Y:0.00, Z:-0.23 [[ 0.93980376 -0.29018176 -0.18045341 3.00822597] [ 0.29793039 0.95443941 0.0168198 0.00329827] [ 0.16735105 -0.06956987 0.98343971 -0.2260621 ] [ 0. 0. 0. 1. ]] SLAMing on 98.37241403699998 meters Centerline goodness : 0.777268 Centerline is valid? [False, False] Translation: X:3.01, Y:0.00, Z:-0.23 [[ 0.93976174 -0.29031924 -0.18045111 3.0080336 ] [ 0.29803137 0.95441184 0.01659376 0.00436837] [ 0.16740719 -0.06937427 0.98344397 -0.22606892] [ 0. 0. 0. 1. ]] SLAMing on 98.40241403699999 meters Centerline goodness : 0.777268 Centerline is valid? [False, False] Translation: X:3.01, Y:0.00, Z:-0.23 [[ 0.93976174 -0.29031924 -0.18045111 3.0080336 ] [ 0.29803137 0.95441184 0.01659376 0.00436837] [ 0.16740719 -0.06937427 0.98344397 -0.22606892] [ 0. 0. 0. 1. ]] SLAMing on 98.43241403699999 meters Centerline goodness : 0.775058 Centerline is valid? [False, False] Translation: X:3.01, Y:0.00, Z:-0.23 [[ 0.93967693 -0.29071902 -0.18024905 3.00734712] [ 0.29839177 0.95430238 0.01641068 0.00369717] [ 0.1672412 -0.06920557 0.9834841 -0.22559889] [ 0. 0. 0. 1. ]] SLAMing on 98.46241403699999 meters Centerline goodness : 0.777690 Centerline is valid? [False, False] Translation: X:3.01, Y:0.00, Z:-0.23 [[ 9.39629248e-01 -2.91010803e-01 -1.80026632e-01 3.00679049e+00] [ 2.98656593e-01 9.54221115e-01 1.63187909e-02 2.92166919e-03] [ 1.67036270e-01 -6.90997538e-02 9.83526364e-01 -2.25275823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.49241403699999 meters Centerline goodness : 0.777603 Centerline is valid? [False, False] Translation: X:3.01, Y:0.00, Z:-0.22 [[ 9.39564831e-01 -2.91399306e-01 -1.79734173e-01 3.00585951e+00] [ 2.98995557e-01 9.54118437e-01 1.61141312e-02 2.22833532e-03] [ 1.66792041e-01 -6.88799900e-02 9.83583226e-01 -2.24724796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.52241403699999 meters Centerline goodness : 0.777203 Centerline is valid? [False, False] Translation: X:3.00, Y:0.00, Z:-0.22 [[ 9.39453634e-01 -2.92764954e-01 -1.78088605e-01 3.00131334e+00] [ 3.00125223e-01 9.53777429e-01 1.52796229e-02 1.18216855e-03] [ 1.65383553e-01 -6.78033796e-02 9.83895819e-01 -2.22948904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.55241403699999 meters Centerline goodness : 0.778743 Centerline is valid? [False, False] Translation: X:3.00, Y:0.00, Z:-0.22 [[ 9.39389426e-01 -2.93069916e-01 -1.77925631e-01 3.00048209e+00] [ 3.00354586e-01 9.53711703e-01 1.48697737e-02 1.73234530e-03] [ 1.65331874e-01 -6.74092875e-02 9.83931583e-01 -2.22338300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.58241403699999 meters Centerline goodness : 0.777205 Centerline is valid? [False, False] Translation: X:3.00, Y:0.00, Z:-0.22 [[ 9.39344870e-01 -2.93146419e-01 -1.78034805e-01 3.00044750e+00] [ 3.00387149e-01 9.53706282e-01 1.45564042e-02 2.65906596e-03] [ 1.65525754e-01 -6.71528511e-02 9.83916521e-01 -2.22090121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.612414037 meters Centerline goodness : 0.777701 Centerline is valid? [False, False] Translation: X:3.00, Y:0.00, Z:-0.22 [[ 0.9394092 -0.29266583 -0.17848548 3.0019956 ] [ 0.29995165 0.95384141 0.01468215 0.00316161] [ 0.16594988 -0.06732957 0.983833 -0.22257006] [ 0. 0. 0. 1. ]] SLAMing on 98.642414037 meters Centerline goodness : 0.777472 Centerline is valid? [False, False] Translation: X:3.00, Y:0.00, Z:-0.22 [[ 0.93948882 -0.29220537 -0.17882055 3.00339305] [ 0.29954276 0.95396666 0.01489144 0.00342263] [ 0.16623748 -0.06755474 0.98376901 -0.22321142] [ 0. 0. 0. 1. ]] SLAMing on 98.672414037 meters Centerline goodness : 0.775267 Centerline is valid? [False, False] Translation: X:3.00, Y:0.00, Z:-0.22 [[ 0.93958928 -0.29178874 -0.17897297 3.00437351] [ 0.29916657 0.95408133 0.01510568 0.00376033] [ 0.1663471 -0.06773586 0.98373802 -0.22390138] [ 0. 0. 0. 1. ]] SLAMing on 98.702414037 meters Centerline goodness : 0.775780 Centerline is valid? [False, False] Translation: X:3.00, Y:0.00, Z:-0.22 [[ 0.93955676 -0.29188563 -0.17898568 3.00428777] [ 0.29922911 0.95406513 0.01488855 0.00436781] [ 0.16641825 -0.06754636 0.98373902 -0.22380572] [ 0. 0. 0. 1. ]] SLAMing on 98.73241403699998 meters Centerline goodness : 0.776564 Centerline is valid? [False, False] Translation: X:3.00, Y:0.01, Z:-0.22 [[ 0.93950866 -0.29207237 -0.17893352 3.00391224] [ 0.29936846 0.95402568 0.01461281 0.00502017] [ 0.16643917 -0.06729591 0.98375264 -0.22355716] [ 0. 0. 0. 1. ]] SLAMing on 98.76241403699999 meters Centerline goodness : 0.775837 Centerline is valid? [False, False] Translation: X:3.00, Y:0.01, Z:-0.22 [[ 0.93944971 -0.29241575 -0.17868202 3.00296255] [ 0.29964636 0.95394321 0.01429731 0.00535139] [ 0.16627174 -0.06697302 0.98380299 -0.22306775] [ 0. 0. 0. 1. ]] SLAMing on 98.79241403699999 meters Centerline goodness : 0.776818 Centerline is valid? [False, False] Translation: X:3.00, Y:0.01, Z:-0.22 [[ 0.93931441 -0.29330169 -0.17793974 3.00007561] [ 0.30037527 0.95372431 0.01358816 0.00594226] [ 0.16572003 -0.06621226 0.98394756 -0.22173266] [ 0. 0. 0. 1. ]] SLAMing on 98.82241403699999 meters Centerline goodness : 0.777547 Centerline is valid? [False, False] Translation: X:3.00, Y:0.01, Z:-0.22 [[ 0.93928152 -0.29343624 -0.17789154 2.99998499] [ 0.30048122 0.95369324 0.01342562 0.00601443] [ 0.1657144 -0.0660635 0.98395851 -0.22161581] [ 0. 0. 0. 1. ]] SLAMing on 98.85241403699999 meters Centerline goodness : 0.774194 Centerline is valid? [False, False] Translation: X:3.00, Y:0.01, Z:-0.22 [[ 0.9392937 -0.29333327 -0.17799703 3.00052787] [ 0.30038793 0.95372229 0.01344972 0.00599587] [ 0.16581448 -0.06610139 0.98393911 -0.22180358] [ 0. 0. 0. 1. ]] SLAMing on 98.88241403699999 meters Centerline goodness : 0.776082 Centerline is valid? [False, False] Translation: X:3.00, Y:0.01, Z:-0.22 [[ 0.93926973 -0.29355625 -0.17775571 3.00014579] [ 0.30054169 0.95367849 0.01311593 0.00674201] [ 0.16567153 -0.0657424 0.98398724 -0.22187212] [ 0. 0. 0. 1. ]] SLAMing on 98.91241403699999 meters Centerline goodness : 0.778295 Centerline is valid? [False, False] Translation: X:3.00, Y:0.01, Z:-0.22 [[ 0.93922627 -0.29378618 -0.17760545 2.99974659] [ 0.30070654 0.95363124 0.01276874 0.0080058 ] [ 0.16561883 -0.06539986 0.98401893 -0.22194191] [ 0. 0. 0. 1. ]] SLAMing on 98.94241403699999 meters Centerline goodness : 0.776502 Centerline is valid? [False, False] Translation: X:3.00, Y:0.01, Z:-0.22 [[ 0.93917584 -0.29395992 -0.17758464 2.9996575 ] [ 0.30083512 0.95359434 0.012493 0.00944352] [ 0.16567126 -0.06515681 0.98402623 -0.22220393] [ 0. 0. 0. 1. ]] SLAMing on 98.972414037 meters Centerline goodness : 0.777096 Centerline is valid? [False, False] Translation: X:3.00, Y:0.01, Z:-0.22 [[ 0.93917013 -0.29394546 -0.17763875 3.00007444] [ 0.30080385 0.95360577 0.01237287 0.01049866] [ 0.16576039 -0.06505465 0.98401798 -0.22266802] [ 0. 0. 0. 1. ]] SLAMing on 99.002414037 meters Centerline goodness : 0.778054 Centerline is valid? [False, False] Translation: X:2.99, Y:0.01, Z:-0.23 [[ 0.94092161 -0.29246259 -0.17068148 2.99278132] [ 0.29865555 0.95429496 0.0112249 0.0077737 ] [ 0.15959761 -0.06153672 0.98526232 -0.22774537] [ 0. 0. 0. 1. ]] SLAMing on 99.032414037 meters Centerline goodness : 0.777847 Centerline is valid? [False, False] Translation: X:2.99, Y:0.01, Z:-0.23 [[ 0.94078381 -0.29320547 -0.17016573 2.99102989] [ 0.29927812 0.95410685 0.01061706 0.00773623] [ 0.15924331 -0.06091524 0.98535826 -0.2268247 ] [ 0. 0. 0. 1. ]] SLAMing on 99.062414037 meters Centerline goodness : 0.778475 Centerline is valid? [False, False] Translation: X:2.99, Y:0.01, Z:-0.23 [[ 0.94060427 -0.29409126 -0.16962885 2.98893114] [ 0.30002586 0.95387978 0.00989161 0.00807229] [ 0.1588965 -0.06019713 0.98545837 -0.22571455] [ 0. 0. 0. 1. ]] SLAMing on 99.092414037 meters Centerline goodness : 0.781391 Centerline is valid? [False, False] Translation: X:2.99, Y:0.01, Z:-0.22 [[ 0.9403966 -0.29506486 -0.16908865 2.98655729] [ 0.30085632 0.95362583 0.00912412 0.0083825 ] [ 0.1585551 -0.05945168 0.98555861 -0.22430942] [ 0. 0. 0. 1. ]] SLAMing on 99.12241403699998 meters Centerline goodness : 0.779826 Centerline is valid? [False, False] Translation: X:2.98, Y:0.01, Z:-0.22 [[ 0.94006123 -0.29652956 -0.16838973 2.98405043] [ 0.30218061 0.9532138 0.00838651 0.00830397] [ 0.15802457 -0.05876794 0.98568482 -0.2234685 ] [ 0. 0. 0. 1. ]] SLAMing on 99.15241403699999 meters Centerline goodness : 0.780866 Centerline is valid? [False, False] Translation: X:2.98, Y:0.01, Z:-0.22 [[ 0.9399787 -0.29684492 -0.1682948 2.98408246] [ 0.30250251 0.95311126 0.00843568 0.00764113] [ 0.15789958 -0.05883896 0.98570061 -0.22370602] [ 0. 0. 0. 1. ]] SLAMing on 99.18241403699999 meters Centerline goodness : 0.778322 Centerline is valid? [False, False] Translation: X:2.98, Y:0.01, Z:-0.22 [[ 0.93991735 -0.29711702 -0.16815719 2.98431668] [ 0.3028056 0.95301302 0.00865768 0.00674844] [ 0.15768365 -0.05905644 0.98572217 -0.22433843] [ 0. 0. 0. 1. ]] SLAMing on 99.21241403699999 meters Centerline goodness : 0.777984 Centerline is valid? [False, False] Translation: X:2.97, Y:0.00, Z:-0.23 [[ 9.40617524e-01 -2.97595503e-01 -1.63326633e-01 2.96822311e+00] [ 3.01892865e-01 9.53340571e-01 1.56650408e-03 2.19990385e-03] [ 1.55239721e-01 -5.07806263e-02 9.86570807e-01 -2.25766942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24241403699999 meters Centerline goodness : 0.776747 Centerline is valid? [False, False] Translation: X:2.97, Y:0.00, Z:-0.23 [[ 9.40498267e-01 -2.98201658e-01 -1.62907277e-01 2.96695631e+00] [ 3.02421902e-01 9.53173459e-01 1.16243558e-03 2.42287699e-03] [ 1.54932253e-01 -5.03599972e-02 9.86640698e-01 -2.25356390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.27241403699999 meters Centerline goodness : 0.777814 Centerline is valid? [False, False] Translation: X:2.97, Y:0.00, Z:-0.22 [[ 9.40402179e-01 -2.98576423e-01 -1.62775492e-01 2.96621625e+00] [ 3.02730967e-01 9.53075753e-01 7.55104780e-04 3.19355577e-03] [ 1.54911919e-01 -4.99872844e-02 9.86662845e-01 -2.24919533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.30241403699999 meters Centerline goodness : 0.779272 Centerline is valid? [False, False] Translation: X:2.97, Y:0.00, Z:-0.22 [[ 9.40343941e-01 -2.98759821e-01 -1.62775433e-01 2.96598252e+00] [ 3.02874562e-01 9.53030306e-01 4.85920118e-04 3.90722176e-03] [ 1.54984747e-01 -4.97574701e-02 9.86663024e-01 -2.24685991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.33241403699999 meters Centerline goodness : 0.779886 Centerline is valid? [False, False] Translation: X:2.97, Y:0.00, Z:-0.22 [[ 9.40304903e-01 -2.98828630e-01 -1.62874609e-01 2.96622334e+00] [ 3.02925078e-01 9.53014316e-01 3.31381182e-04 4.35769078e-03] [ 1.55122808e-01 -4.96504031e-02 9.86646721e-01 -2.24711676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.362414037 meters Centerline goodness : 0.778057 Centerline is valid? [False, False] Translation: X:2.97, Y:0.00, Z:-0.22 [[ 9.40317728e-01 -2.98750210e-01 -1.62944415e-01 2.96675973e+00] [ 3.02858010e-01 9.53035611e-01 3.87660927e-04 4.13328900e-03] [ 1.55176016e-01 -4.97135456e-02 9.86635174e-01 -2.24985074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.392414037 meters Centerline goodness : 0.778219 Centerline is valid? [False, False] Translation: X:2.96, Y:0.00, Z:-0.23 [[ 9.42060944e-01 -2.95918901e-01 -1.57965764e-01 2.95975563e+00] [ 2.98614448e-01 9.54348576e-01 -6.94311034e-03 1.04108896e-03] [ 1.52808999e-01 -4.06300262e-02 9.87420179e-01 -2.28433596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.422414037 meters Centerline goodness : 0.776989 Centerline is valid? [False, False] Translation: X:2.96, Y:0.00, Z:-0.23 [[ 9.42094153e-01 -2.95719251e-01 -1.58141492e-01 2.96047476e+00] [ 2.98438610e-01 9.54404466e-01 -6.81986824e-03 1.05632200e-03] [ 1.52947712e-01 -4.07705690e-02 9.87392910e-01 -2.28758182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.452414037 meters Centerline goodness : 0.777891 Centerline is valid? [False, False] Translation: X:2.96, Y:0.00, Z:-0.23 [[ 9.42059355e-01 -2.95856821e-01 -1.58091468e-01 2.96008058e+00] [ 2.98539801e-01 9.54371125e-01 -7.05284682e-03 1.62899720e-03] [ 1.52964565e-01 -4.05523950e-02 9.87399284e-01 -2.28440427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48241403699998 meters Centerline goodness : 0.782066 Centerline is valid? [False, False] Translation: X:2.96, Y:0.00, Z:-0.23 [[ 9.42708686e-01 -2.93741418e-01 -1.58165459e-01 2.95540839e+00] [ 2.96762867e-01 9.54939606e-01 -4.70634343e-03 1.83310641e-03] [ 1.52420909e-01 -4.25009243e-02 9.87401407e-01 -2.26129510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.51241403699999 meters Centerline goodness : 0.782347 Centerline is valid? [False, False] Translation: X:2.95, Y:0.00, Z:-0.23 [[ 9.42654243e-01 -2.93964470e-01 -1.58075514e-01 2.95462317e+00] [ 2.96918321e-01 9.54889059e-01 -5.13767859e-03 2.56497702e-03] [ 1.52454874e-01 -4.20924617e-02 9.87413660e-01 -2.25370224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54241403699999 meters Centerline goodness : 0.780120 Centerline is valid? [False, False] Translation: X:2.96, Y:0.00, Z:-0.23 [[ 9.42688672e-01 -2.93768366e-01 -1.58234680e-01 2.95509383e+00] [ 2.96722766e-01 9.54949712e-01 -5.16212078e-03 2.38431754e-03] [ 1.52622630e-01 -4.20855590e-02 9.87388039e-01 -2.25199522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.57241403699999 meters Centerline goodness : 0.780411 Centerline is valid? [False, False] Translation: X:2.96, Y:0.00, Z:-0.23 [[ 9.42751803e-01 -2.93547946e-01 -1.58267628e-01 2.95574281e+00] [ 2.96540791e-01 9.55007597e-01 -4.90405301e-03 1.52627058e-03] [ 1.52586361e-01 -4.23095027e-02 9.87384073e-01 -2.25571047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60241403699999 meters Centerline goodness : 0.782107 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.00, Z:-0.23 [[ 9.44452039e-01 -2.90872725e-01 -1.52981712e-01 2.95039552e+00] [ 2.93652272e-01 9.55901198e-01 -4.60904380e-03 -2.09610574e-03] [ 1.47576047e-01 -4.05704065e-02 9.88218272e-01 -2.29094435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.63241403699999 meters Centerline goodness : 0.781705 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.00, Z:-0.23 [[ 9.44444119e-01 -2.90872474e-01 -1.53031074e-01 2.95008837e+00] [ 2.93592637e-01 9.55917445e-01 -5.02010842e-03 -9.15970003e-04] [ 1.47745285e-01 -4.01875847e-02 9.88208626e-01 -2.28493792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.66241403699999 meters Centerline goodness : 0.782005 Centerline is valid? [False, False] Translation: X:2.95, Y:0.00, Z:-0.23 [[ 9.44489893e-01 -2.90573490e-01 -1.53316305e-01 2.95027239e+00] [ 2.93255283e-01 9.56019313e-01 -5.33027130e-03 4.73537495e-04] [ 1.48122184e-01 -3.99264290e-02 9.88162790e-01 -2.27883616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.69241403699999 meters Centerline goodness : 0.781838 Centerline is valid? [False, False] Translation: X:2.95, Y:0.00, Z:-0.23 [[ 9.44567091e-01 -2.90165556e-01 -1.53613021e-01 2.95059833e+00] [ 2.92821252e-01 9.56151084e-01 -5.55156421e-03 1.82556486e-03] [ 1.48488129e-01 -3.97373321e-02 9.88115489e-01 -2.27384086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.722414037 meters Centerline goodness : 0.784057 Centerline is valid? [False, False] Translation: X:2.95, Y:0.00, Z:-0.23 [[ 0.94462685 -0.28976936 -0.15399295 2.95116147] [ 0.29238779 0.95628183 -0.00586916 0.00303747] [ 0.14896136 -0.03948149 0.98805451 -0.22679399] [ 0. 0. 0. 1. ]] SLAMing on 99.752414037 meters Centerline goodness : 0.783294 Centerline is valid? [False, False] Translation: X:2.95, Y:0.00, Z:-0.23 [[ 0.94470276 -0.28933267 -0.154348 2.95182959] [ 0.29193759 0.95641844 -0.00601786 0.00375057] [ 0.14936244 -0.03937489 0.98799822 -0.22641454] [ 0. 0. 0. 1. ]] SLAMing on 99.782414037 meters Centerline goodness : 0.780960 Centerline is valid? [False, False] Translation: X:2.95, Y:0.00, Z:-0.23 [[ 0.94488287 -0.28846281 -0.15487277 2.95376282] [ 0.29113878 0.95666434 -0.00561777 0.003466 ] [ 0.14978177 -0.03978133 0.98791845 -0.22697463] [ 0. 0. 0. 1. ]] SLAMing on 99.812414037 meters Centerline goodness : 0.779699 Centerline is valid? [False, False] Translation: X:2.96, Y:0.00, Z:-0.23 [[ 9.44990597e-01 -2.87911534e-01 -1.55240843e-01 2.95554927e+00] [ 2.90666906e-01 9.56810452e-01 -5.14859092e-03 2.95521512e-03] [ 1.50018400e-01 -4.02580057e-02 9.87863236e-01 -2.27943453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.842414037 meters Centerline goodness : 0.779947 Centerline is valid? [False, False] Translation: X:2.96, Y:0.00, Z:-0.23 [[ 0.94505314 -0.28753526 -0.15555721 2.95705964] [ 0.29034783 0.956909 -0.00482748 0.00310364] [ 0.15024216 -0.04060347 0.98781509 -0.22891303] [ 0. 0. 0. 1. ]] SLAMing on 99.87241403699998 meters Centerline goodness : 0.779399 Centerline is valid? [False, False] Translation: X:2.96, Y:0.00, Z:-0.23 [[ 0.94508747 -0.28736401 -0.15566506 2.95794805] [ 0.29020576 0.95695297 -0.00465109 0.00359557] [ 0.15030069 -0.04077921 0.98779895 -0.22978866] [ 0. 0. 0. 1. ]] SLAMing on 99.90241403699999 meters Centerline goodness : 0.781066 Centerline is valid? [False, False] Translation: X:2.96, Y:0.00, Z:-0.23 [[ 0.94505223 -0.28758511 -0.15547057 2.95773185] [ 0.29041939 0.95688809 -0.00466501 0.0042954 ] [ 0.15010952 -0.04074299 0.98782951 -0.23031899] [ 0. 0. 0. 1. ]] SLAMing on 99.93241403699999 meters Centerline goodness : 0.780752 Centerline is valid? [False, False] Translation: X:2.96, Y:0.00, Z:-0.23 [[ 0.94495979 -0.28812241 -0.15503697 2.95633587] [ 0.2908843 0.95674482 -0.00506754 0.00411524] [ 0.14979089 -0.04030919 0.98789567 -0.22961402] [ 0. 0. 0. 1. ]] SLAMing on 99.96241403699999 meters Centerline goodness : 0.783729 Centerline is valid? [False, False] Translation: X:2.95, Y:0.00, Z:-0.23 [[ 0.94484122 -0.28873912 -0.15461177 2.9548479 ] [ 0.29142327 0.9565783 -0.00551611 0.00378149] [ 0.14949098 -0.03984562 0.98795991 -0.22874897] [ 0. 0. 0. 1. ]] SLAMing on 99.99241403699999 meters Centerline goodness : 0.781910 Centerline is valid? [False, False] Translation: X:2.95, Y:0.00, Z:-0.23 [[ 0.94469462 -0.28946492 -0.15414973 2.95313415] [ 0.29205058 0.9563834 -0.00610338 0.00417163] [ 0.14919296 -0.03925369 0.98802865 -0.22788737] [ 0. 0. 0. 1. ]] SLAMing on 100.02241403699999 meters Centerline goodness : 0.784492 Centerline is valid? [False, False] Translation: X:2.95, Y:0.00, Z:-0.23 [[ 0.94457922 -0.28997652 -0.15389514 2.95187131] [ 0.29247292 0.95625055 -0.00666926 0.00498012] [ 0.14909624 -0.03871052 0.98806468 -0.22704065] [ 0. 0. 0. 1. ]] SLAMing on 100.05241403699999 meters Centerline goodness : 0.786058 Centerline is valid? [False, False] Translation: X:2.95, Y:0.01, Z:-0.23 [[ 0.94444065 -0.29055599 -0.15365247 2.95050255] [ 0.29293265 0.95610408 -0.00744709 0.00615376] [ 0.14907155 -0.03797649 0.98809689 -0.22598037] [ 0. 0. 0. 1. ]] SLAMing on 100.08241403699999 meters Centerline goodness : 0.787052 Centerline is valid? [False, False] Translation: X:2.93, Y:0.00, Z:-0.23 [[ 9.45766069e-01 -2.88782833e-01 -1.48764976e-01 2.92998783e+00] [ 2.90474078e-01 9.56822906e-01 -1.07115471e-02 1.78329614e-03] [ 1.45435048e-01 -3.30817516e-02 9.88814565e-01 -2.27498274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.112414037 meters Centerline goodness : 0.787449 Centerline is valid? [False, False] Translation: X:2.93, Y:0.00, Z:-0.23 [[ 9.45679361e-01 -2.89158380e-01 -1.48586601e-01 2.92956056e+00] [ 2.90817110e-01 9.56716325e-01 -1.09216033e-02 1.49294039e-03] [ 1.45313300e-01 -3.28831910e-02 9.88839087e-01 -2.27322368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.142414037 meters Centerline goodness : 0.785480 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.00, Z:-0.23 [[ 0.94736583 -0.28651586 -0.14285182 2.91614468] [ 0.28724189 0.95772506 -0.01596252 -0.0032124 ] [ 0.14138628 -0.02591068 0.98961536 -0.22985966] [ 0. 0. 0. 1. ]] SLAMing on 100.172414037 meters Centerline goodness : 0.785480 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.00, Z:-0.23 [[ 0.94736583 -0.28651586 -0.14285182 2.91614468] [ 0.28724189 0.95772506 -0.01596252 -0.0032124 ] [ 0.14138628 -0.02591068 0.98961536 -0.22985966] [ 0. 0. 0. 1. ]] SLAMing on 100.202414037 meters Centerline goodness : 0.786462 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.00, Z:-0.23 [[ 0.94732289 -0.28672022 -0.14272648 2.91566295] [ 0.287413 0.95766994 -0.01618776 -0.00309451] [ 0.14132622 -0.02568641 0.98962978 -0.2294997 ] [ 0. 0. 0. 1. ]] SLAMing on 100.23241403699998 meters Centerline goodness : 0.785682 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.00, Z:-0.23 [[ 9.47282878e-01 -2.86897029e-01 -1.42636755e-01 2.91522290e+00] [ 2.87554679e-01 9.57623273e-01 -1.64308831e-02 -2.42091269e-03] [ 1.41306248e-01 -2.54511721e-02 9.89638713e-01 -2.29285081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26241403699999 meters Centerline goodness : 0.786008 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.00, Z:-0.23 [[ 9.47248591e-01 -2.87028498e-01 -1.42599959e-01 2.91487161e+00] [ 2.87645882e-01 9.57590943e-01 -1.67162294e-02 -1.26351687e-03] [ 1.41350464e-01 -2.51838663e-02 9.89639237e-01 -2.29099727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.29241403699999 meters Centerline goodness : 0.787582 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.00, Z:-0.23 [[ 9.48073401e-01 -2.84087108e-01 -1.43008185e-01 2.91249086e+00] [ 2.85144278e-01 9.58389741e-01 -1.34849887e-02 -1.15031330e-03] [ 1.40888489e-01 -2.79932066e-02 9.89629635e-01 -2.28726693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32241403699999 meters Centerline goodness : 0.784702 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.00, Z:-0.23 [[ 9.48074511e-01 -2.84165052e-01 -1.42845877e-01 2.91213218e+00] [ 2.85199631e-01 9.58371401e-01 -1.36171856e-02 -9.98276273e-04] [ 1.40768932e-01 -2.78294850e-02 9.89651266e-01 -2.28600521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.35241403699999 meters Centerline goodness : 0.786793 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.00, Z:-0.23 [[ 9.48052768e-01 -2.84295613e-01 -1.42730354e-01 2.91193232e+00] [ 2.85312362e-01 9.58336244e-01 -1.37294953e-02 -1.24139431e-03] [ 1.40686906e-01 -2.77064482e-02 9.89666382e-01 -2.28435974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38241403699999 meters Centerline goodness : 0.787974 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.00, Z:-0.23 [[ 9.48018746e-01 -2.84510759e-01 -1.42527487e-01 2.91158202e+00] [ 2.85508531e-01 9.58276242e-01 -1.38391687e-02 -1.42537625e-03] [ 1.40518097e-01 -2.75730220e-02 9.89694091e-01 -2.28426567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.41241403699999 meters Centerline goodness : 0.786433 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.00, Z:-0.23 [[ 9.47950307e-01 -2.84866598e-01 -1.42271700e-01 2.91120322e+00] [ 2.85851215e-01 9.58173075e-01 -1.39083008e-02 -1.54119332e-03] [ 1.40282923e-01 -2.74841603e-02 9.89729924e-01 -2.28744667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.44241403699999 meters Centerline goodness : 0.787489 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.00, Z:-0.23 [[ 9.47870448e-01 -2.85250434e-01 -1.42034512e-01 2.91070151e+00] [ 2.86207121e-01 9.58064203e-01 -1.40878278e-02 -1.18487033e-03] [ 1.40096741e-01 -2.72978532e-02 9.89761451e-01 -2.28888000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.472414037 meters Centerline goodness : 0.784001 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.00, Z:-0.23 [[ 9.47763129e-01 -2.85640663e-01 -1.41966416e-01 2.91025575e+00] [ 2.86555429e-01 9.57955436e-01 -1.44002768e-02 -5.63873976e-04] [ 1.40110805e-01 -2.70331960e-02 9.89766724e-01 -2.28665911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.502414037 meters Centerline goodness : 0.785947 Centerline is valid? [False, False] Translation: X:2.91, Y:0.00, Z:-0.23 [[ 9.47661347e-01 -2.86026161e-01 -1.41869682e-01 2.90969629e+00] [ 2.86894364e-01 9.57848821e-01 -1.47397309e-02 1.58477450e-04] [ 1.40105656e-01 -2.67333390e-02 9.89775598e-01 -2.28376599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.532414037 meters Centerline goodness : 0.785619 Centerline is valid? [False, False] Translation: X:2.91, Y:0.00, Z:-0.23 [[ 9.47598628e-01 -2.86334445e-01 -1.41666602e-01 2.90918403e+00] [ 2.87172056e-01 9.57762495e-01 -1.49403358e-02 4.19268313e-04] [ 1.39960891e-01 -2.65252478e-02 9.89801677e-01 -2.28336322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.562414037 meters Centerline goodness : 0.786343 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.00, Z:-0.23 [[ 0.9495074 -0.283944 -0.13345978 2.89975062] [ 0.28421508 0.95860226 -0.01742124 -0.00303501] [ 0.1328815 -0.02138969 0.9909011 -0.23341389] [ 0. 0. 0. 1. ]] SLAMing on 100.59241403699998 meters Centerline goodness : 0.783546 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.00, Z:-0.23 [[ 9.49440764e-01 -2.84236240e-01 -1.33311649e-01 2.89942171e+00] [ 2.84474972e-01 9.58520805e-01 -1.76594805e-02 -2.54646133e-03] [ 1.32801453e-01 -2.11571969e-02 9.90916821e-01 -2.33435971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62241403699998 meters Centerline goodness : 0.786920 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.00, Z:-0.23 [[ 9.49374176e-01 -2.84522611e-01 -1.33174914e-01 2.89906512e+00] [ 2.84720259e-01 9.58442301e-01 -1.79646787e-02 -1.48277302e-03] [ 1.32751828e-01 -2.08623940e-02 9.90929721e-01 -2.33515461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.65241403699999 meters Centerline goodness : 0.787295 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.00, Z:-0.23 [[ 9.49337932e-01 -2.84731154e-01 -1.32987449e-01 2.89875384e+00] [ 2.84902999e-01 9.58384644e-01 -1.81426310e-02 -3.66779939e-04] [ 1.32618901e-01 -2.06650352e-02 9.90951655e-01 -2.33864699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68241403699999 meters Centerline goodness : 0.785609 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.00, Z:-0.23 [[ 9.49942998e-01 -2.82729152e-01 -1.32938060e-01 2.89484846e+00] [ 2.83231635e-01 9.58926039e-01 -1.55142742e-02 -9.29759599e-05] [ 1.31864105e-01 -2.29145878e-02 9.91002916e-01 -2.32870235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.71241403699999 meters Centerline goodness : 0.786045 Centerline is valid? [False, False] Translation: X:2.89, Y:0.00, Z:-0.23 [[ 9.49768075e-01 -2.83545106e-01 -1.32449144e-01 2.89258158e+00] [ 2.83900397e-01 9.58710154e-01 -1.65953471e-02 1.61088461e-03] [ 1.31685868e-01 -2.18406335e-02 9.91050866e-01 -2.31331913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74241403699999 meters Centerline goodness : 0.788478 Centerline is valid? [False, False] Translation: X:2.89, Y:0.00, Z:-0.23 [[ 0.9496068 -0.28433403 -0.13191317 2.89023868] [ 0.28454796 0.95849971 -0.01762833 0.00328234] [ 0.13145106 -0.02079565 0.99110451 -0.22981812] [ 0. 0. 0. 1. ]] SLAMing on 100.77241403699999 meters Centerline goodness : 0.788189 Centerline is valid? [False, False] Translation: X:2.89, Y:0.00, Z:-0.23 [[ 0.94944521 -0.28509853 -0.13142533 2.8882344 ] [ 0.28519203 0.95829156 -0.01851472 0.0045993 ] [ 0.1312223 -0.01990274 0.99115316 -0.2286527 ] [ 0. 0. 0. 1. ]] SLAMing on 100.80241403699999 meters Centerline goodness : 0.788214 Centerline is valid? [False, False] Translation: X:2.89, Y:0.00, Z:-0.23 [[ 0.94930208 -0.28573352 -0.13107981 2.88809087] [ 0.2858131 0.95810462 -0.01861186 0.0037545 ] [ 0.13090621 -0.01979605 0.99119709 -0.22930808] [ 0. 0. 0. 1. ]] SLAMing on 100.83241403699999 meters Centerline goodness : 0.784450 Centerline is valid? [False, False] Translation: X:2.89, Y:0.00, Z:-0.23 [[ 0.94844789 -0.28868693 -0.13079164 2.89149984] [ 0.28836266 0.95727241 -0.02182925 0.00467924] [ 0.13150505 -0.01701151 0.99116953 -0.23083489] [ 0. 0. 0. 1. ]] SLAMing on 100.862414037 meters Centerline goodness : 0.784745 Centerline is valid? [False, False] Translation: X:2.89, Y:0.00, Z:-0.23 [[ 0.94843344 -0.28875057 -0.13075595 2.89274684] [ 0.28850236 0.95724323 -0.02125524 0.00346852] [ 0.13130271 -0.01756422 0.99118671 -0.23252162] [ 0. 0. 0. 1. ]] SLAMing on 100.892414037 meters Centerline goodness : 0.782511 Centerline is valid? [False, False] Translation: X:2.89, Y:0.00, Z:-0.23 [[ 0.94829706 -0.28932483 -0.13047542 2.89274058] [ 0.28908945 0.95706819 -0.02116039 0.00428133] [ 0.1309961 -0.01765274 0.99122571 -0.23399716] [ 0. 0. 0. 1. ]] SLAMing on 100.922414037 meters Centerline goodness : 0.786572 Centerline is valid? [False, False] Translation: X:2.89, Y:0.01, Z:-0.23 [[ 0.94824605 -0.28958596 -0.13026665 2.89184237] [ 0.28929223 0.95699727 -0.02159229 0.00612782] [ 0.13091765 -0.01721033 0.99124385 -0.23372575] [ 0. 0. 0. 1. ]] SLAMing on 100.952414037 meters Centerline goodness : 0.786470 Centerline is valid? [False, False] Translation: X:2.87, Y:0.00, Z:-0.24 [[ 9.50176417e-01 -2.85290305e-01 -1.25595455e-01 2.87258060e+00] [ 2.84663156e-01 9.58344446e-01 -2.32983133e-02 2.41627735e-03] [ 1.27010489e-01 -1.36148906e-02 9.91807930e-01 -2.35412603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98241403699998 meters Centerline goodness : 0.787075 Centerline is valid? [False, False] Translation: X:2.87, Y:0.00, Z:-0.23 [[ 0.9501037 -0.28566387 -0.12529611 2.87125014] [ 0.28494646 0.95824301 -0.02399693 0.00384168] [ 0.12691918 -0.01290311 0.99182913 -0.23446132] [ 0. 0. 0. 1. ]] SLAMing on 101.01241403699999 meters Centerline goodness : 0.785971 Centerline is valid? [False, False] Translation: X:2.87, Y:0.00, Z:-0.23 [[ 0.95001518 -0.28608428 -0.12500779 2.86993646] [ 0.28526788 0.95812769 -0.02477015 0.00473684] [ 0.12685978 -0.01212869 0.99184651 -0.23328587] [ 0. 0. 0. 1. ]] SLAMing on 101.04241403699999 meters Centerline goodness : 0.785531 Centerline is valid? [False, False] Translation: X:2.87, Y:0.00, Z:-0.23 [[ 0.95007445 -0.2857874 -0.12523614 2.87078435] [ 0.28499111 0.95821404 -0.02461538 0.00471036] [ 0.12703779 -0.01230474 0.99182155 -0.23361693] [ 0. 0. 0. 1. ]] SLAMing on 101.07241403699999 meters Centerline goodness : 0.783742 Centerline is valid? [False, False] Translation: X:2.87, Y:0.00, Z:-0.23 [[ 0.95016138 -0.28533891 -0.12559878 2.87237857] [ 0.28458545 0.95834297 -0.02428708 0.00483581] [ 0.12729675 -0.01266694 0.99178379 -0.23458305] [ 0. 0. 0. 1. ]] SLAMing on 101.10241403699999 meters Centerline goodness : 0.783888 Centerline is valid? [False, False] Translation: X:2.86, Y:0.00, Z:-0.23 [[ 0.95031821 -0.2835043 -0.12853251 2.86001846] [ 0.28158853 0.95895984 -0.03322525 0.00445137] [ 0.13267701 -0.00461872 0.99114856 -0.23263154] [ 0. 0. 0. 1. ]] SLAMing on 101.13241403699999 meters Centerline goodness : 0.786057 Centerline is valid? [False, False] Translation: X:2.86, Y:0.00, Z:-0.23 [[ 0.95130924 -0.27995219 -0.12898645 2.85852033] [ 0.27853592 0.95997987 -0.02926406 0.00427936] [ 0.13201693 -0.00808818 0.99121446 -0.23332297] [ 0. 0. 0. 1. ]] SLAMing on 101.16241403699999 meters Centerline goodness : 0.789495 Centerline is valid? [False, False] Translation: X:2.86, Y:0.00, Z:-0.23 [[ 0.9512914 -0.28000505 -0.12900325 2.85823439] [ 0.27856098 0.95996607 -0.02947737 0.00446097] [ 0.13209255 -0.0078937 0.99120596 -0.23275617] [ 0. 0. 0. 1. ]] SLAMing on 101.19241403699999 meters Centerline goodness : 0.786501 Centerline is valid? [False, False] Translation: X:2.86, Y:0.00, Z:-0.23 [[ 0.95123528 -0.28021805 -0.1289546 2.85776434] [ 0.27873272 0.9599063 -0.02979865 0.00416761] [ 0.13213445 -0.00759834 0.99120268 -0.23199812] [ 0. 0. 0. 1. ]] SLAMing on 101.222414037 meters Centerline goodness : 0.786315 Centerline is valid? [False, False] Translation: X:2.86, Y:0.00, Z:-0.23 [[ 9.51347042e-01 -2.80292114e-01 -1.27965375e-01 2.85653609e+00] [ 2.78847492e-01 9.59884061e-01 -2.94391808e-02 1.97489941e-03] [ 1.31083494e-01 -7.67594623e-03 9.91341615e-01 -2.32364814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.252414037 meters Centerline goodness : 0.786233 Centerline is valid? [False, False] Translation: X:2.86, Y:0.00, Z:-0.23 [[ 9.51367751e-01 -2.80118871e-01 -1.28190559e-01 2.85738325e+00] [ 2.78703526e-01 9.59932579e-01 -2.92196545e-02 1.55131472e-03] [ 1.31239271e-01 -7.92852380e-03 9.91319016e-01 -2.32790149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.282414037 meters Centerline goodness : 0.784800 Centerline is valid? [False, False] Translation: X:2.86, Y:0.00, Z:-0.23 [[ 9.51469521e-01 -2.79612014e-01 -1.28541323e-01 2.85892165e+00] [ 2.78254934e-01 9.60076366e-01 -2.87673889e-02 1.38459138e-03] [ 1.31453194e-01 -8.39596345e-03 9.91286823e-01 -2.33711387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.312414037 meters Centerline goodness : 0.785033 Centerline is valid? [False, False] Translation: X:2.86, Y:0.00, Z:-0.23 [[ 9.51552546e-01 -2.79190402e-01 -1.28842813e-01 2.86011154e+00] [ 2.77863278e-01 9.60196797e-01 -2.85325978e-02 1.67693041e-03] [ 1.31680484e-01 -8.65042032e-03 9.91254468e-01 -2.34341897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34241403699998 meters Centerline goodness : 0.785367 Centerline is valid? [False, False] Translation: X:2.86, Y:0.00, Z:-0.23 [[ 9.51604709e-01 -2.78937085e-01 -1.29006123e-01 2.86066155e+00] [ 2.77611843e-01 9.60270136e-01 -2.85119485e-02 2.40728918e-03] [ 1.31833767e-01 -8.68152305e-03 9.91233822e-01 -2.34585189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.37241403699998 meters Centerline goodness : 0.784593 Centerline is valid? [False, False] Translation: X:2.86, Y:0.00, Z:-0.23 [[ 9.52606955e-01 -2.75200887e-01 -1.29632020e-01 2.85941925e+00] [ 2.74352693e-01 9.61311552e-01 -2.47123257e-02 8.98995674e-04] [ 1.31417612e-01 -1.20237604e-02 9.91254175e-01 -2.34361438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40241403699999 meters Centerline goodness : 0.782187 Centerline is valid? [False, False] Translation: X:2.86, Y:0.00, Z:-0.23 [[ 9.52667279e-01 -2.74898608e-01 -1.29829933e-01 2.85989175e+00] [ 2.74034670e-01 9.61399269e-01 -2.48283065e-02 6.85361370e-04] [ 1.31643670e-01 -1.19247877e-02 9.91225375e-01 -2.33912831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.43241403699999 meters Centerline goodness : 0.783301 Centerline is valid? [False, False] Translation: X:2.86, Y:0.00, Z:-0.23 [[ 9.52721843e-01 -2.74663517e-01 -1.29927064e-01 2.85993768e+00] [ 2.73781674e-01 9.61468049e-01 -2.49556539e-02 5.51847968e-04] [ 1.31775128e-01 -1.17958525e-02 9.91209450e-01 -2.33301011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46241403699999 meters Centerline goodness : 0.782662 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.00, Z:-0.23 [[ 9.53585150e-01 -2.71432335e-01 -1.30383472e-01 2.85745239e+00] [ 2.70955537e-01 9.62346633e-01 -2.17268154e-02 -8.79184439e-04] [ 1.31371456e-01 -1.46097552e-02 9.91225552e-01 -2.31753521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.49241403699999 meters Centerline goodness : 0.783918 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.00, Z:-0.23 [[ 9.53594519e-01 -2.71299188e-01 -1.30591899e-01 2.85764924e+00] [ 2.70805283e-01 9.62385687e-01 -2.18698231e-02 -5.21496791e-04] [ 1.31613040e-01 -1.45100328e-02 9.91194969e-01 -2.31274443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52241403699999 meters Centerline goodness : 0.784576 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.00, Z:-0.23 [[ 9.53662485e-01 -2.70847800e-01 -1.31031804e-01 2.85904110e+00] [ 2.70402821e-01 9.62506729e-01 -2.15199952e-02 -8.60901149e-04] [ 1.31947636e-01 -1.49085574e-02 9.91144569e-01 -2.31696547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.55241403699999 meters Centerline goodness : 0.784496 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.00, Z:-0.23 [[ 9.53748131e-01 -2.70292221e-01 -1.31554621e-01 2.86081148e+00] [ 2.69911160e-01 9.62654841e-01 -2.10623555e-02 -1.73876723e-03] [ 1.32334684e-01 -1.54198782e-02 9.91085142e-01 -2.32216765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.58241403699999 meters Centerline goodness : 0.783184 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.00, Z:-0.23 [[ 0.95384276 -0.26975876 -0.13196288 2.86249424] [ 0.26943881 0.96279681 -0.02061649 -0.00292962] [ 0.13261492 -0.01589103 0.99104024 -0.23278425] [ 0. 0. 0. 1. ]] SLAMing on 101.612414037 meters Centerline goodness : 0.781829 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.01, Z:-0.24 [[ 0.955704 -0.26611679 -0.12574468 2.8579991 ] [ 0.26569519 0.96384071 -0.02042425 -0.00800891] [ 0.12663308 -0.01389022 0.99185237 -0.23881821] [ 0. 0. 0. 1. ]] SLAMing on 101.642414037 meters Centerline goodness : 0.778474 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.01, Z:-0.24 [[ 0.95572949 -0.26603905 -0.1257154 2.85789807] [ 0.26562212 0.9638618 -0.02037922 -0.00815346] [ 0.12659394 -0.01391577 0.99185701 -0.23869376] [ 0. 0. 0. 1. ]] SLAMing on 101.672414037 meters Centerline goodness : 0.778780 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.01, Z:-0.24 [[ 0.95573733 -0.26599927 -0.12573997 2.85738201] [ 0.26554637 0.96387668 -0.02066098 -0.00771454] [ 0.12669363 -0.01364333 0.99184806 -0.23777011] [ 0. 0. 0. 1. ]] SLAMing on 101.702414037 meters Centerline goodness : 0.779761 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.01, Z:-0.24 [[ 0.95658585 -0.2628407 -0.12592966 2.854185 ] [ 0.26276743 0.9647006 -0.01749366 -0.00896227] [ 0.12608246 -0.01635602 0.99188492 -0.2359663 ] [ 0. 0. 0. 1. ]] SLAMing on 101.73241403699998 meters Centerline goodness : 0.780769 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.01, Z:-0.24 [[ 0.95661146 -0.26265556 -0.1261213 2.85430689] [ 0.26255679 0.96475407 -0.01770662 -0.00915439] [ 0.12632677 -0.01617565 0.99185679 -0.2351685 ] [ 0. 0. 0. 1. ]] SLAMing on 101.76241403699999 meters Centerline goodness : 0.783690 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.01, Z:-0.23 [[ 0.95664464 -0.2624775 -0.12624023 2.85441926] [ 0.26236471 0.96480423 -0.01782012 -0.00978311] [ 0.12647448 -0.01607346 0.99183963 -0.23447963] [ 0. 0. 0. 1. ]] SLAMing on 101.79241403699999 meters Centerline goodness : 0.782960 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.01, Z:-0.23 [[ 0.95665374 -0.26243824 -0.12625285 2.85422425] [ 0.26230599 0.96481739 -0.01797165 -0.01010961] [ 0.12652739 -0.01592423 0.99183529 -0.23386224] [ 0. 0. 0. 1. ]] SLAMing on 101.82241403699999 meters Centerline goodness : 0.782868 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.01, Z:-0.23 [[ 0.95673517 -0.26206973 -0.12640125 2.85480918] [ 0.2619455 0.9649166 -0.01790305 -0.00984507] [ 0.12665851 -0.01598176 0.99181763 -0.23393776] [ 0. 0. 0. 1. ]] SLAMing on 101.85241403699999 meters Centerline goodness : 0.781801 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.01, Z:-0.23 [[ 0.95679876 -0.26172059 -0.12664309 2.85594155] [ 0.26163415 0.96500637 -0.01761493 -0.01014021] [ 0.12682158 -0.01628021 0.99179193 -0.23452365] [ 0. 0. 0. 1. ]] SLAMing on 101.88241403699999 meters Centerline goodness : 0.782127 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.01, Z:-0.24 [[ 0.95683986 -0.26145212 -0.12688682 2.85695091] [ 0.26141512 0.96507245 -0.01724238 -0.010559 ] [ 0.12696303 -0.01667194 0.99176733 -0.23514844] [ 0. 0. 0. 1. ]] SLAMing on 101.91241403699999 meters Centerline goodness : 0.780801 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.01, Z:-0.24 [[ 0.95682606 -0.26153873 -0.12681239 2.85746756] [ 0.26156269 0.96504093 -0.01676164 -0.01178657] [ 0.12676297 -0.01713142 0.99178509 -0.23610826] [ 0. 0. 0. 1. ]] SLAMing on 101.94241403699999 meters Centerline goodness : 0.777713 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.01, Z:-0.24 [[ 0.95678703 -0.26171367 -0.12674596 2.85740582] [ 0.26175548 0.96499103 -0.01662458 -0.01297019] [ 0.1266596 -0.01727027 0.99179589 -0.23608633] [ 0. 0. 0. 1. ]] SLAMing on 101.972414037 meters Centerline goodness : 0.778380 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.01, Z:-0.24 [[ 0.95673073 -0.26199309 -0.12659354 2.8570637 ] [ 0.26205815 0.96491204 -0.01644003 -0.0145486 ] [ 0.12645881 -0.01744618 0.99181843 -0.2359755 ] [ 0. 0. 0. 1. ]] SLAMing on 102.002414037 meters Centerline goodness : 0.779622 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.02, Z:-0.24 [[ 0.95663896 -0.26246694 -0.12630521 2.85620636] [ 0.26252396 0.96478448 -0.01649482 -0.01578771] [ 0.12618665 -0.01737856 0.99185428 -0.23557636] [ 0. 0. 0. 1. ]] SLAMing on 102.032414037 meters Centerline goodness : 0.780308 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.02, Z:-0.23 [[ 0.95639588 -0.26356686 -0.12585479 2.85399126] [ 0.26355202 0.9644941 -0.01707218 -0.01637586] [ 0.12588587 -0.01684152 0.99190176 -0.23409466] [ 0. 0. 0. 1. ]] SLAMing on 102.062414037 meters Centerline goodness : 0.778847 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.02, Z:-0.23 [[ 0.95635893 -0.26369334 -0.12587064 2.85412731] [ 0.26369063 0.96445772 -0.01698722 -0.01703681] [ 0.12587633 -0.01694503 0.99190121 -0.23410849] [ 0. 0. 0. 1. ]] SLAMing on 102.09241403699998 meters Centerline goodness : 0.778847 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.02, Z:-0.23 [[ 0.95635893 -0.26369334 -0.12587064 2.85412731] [ 0.26369063 0.96445772 -0.01698722 -0.01703681] [ 0.12587633 -0.01694503 0.99190121 -0.23410849] [ 0. 0. 0. 1. ]] SLAMing on 102.12241403699998 meters Centerline goodness : 0.777744 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.02, Z:-0.23 [[ 0.95635971 -0.2636872 -0.12587755 2.8547223 ] [ 0.26372598 0.96445375 -0.0166607 -0.01796047] [ 0.12579629 -0.01726355 0.99190587 -0.23478195] [ 0. 0. 0. 1. ]] SLAMing on 102.15241403699999 meters Centerline goodness : 0.773893 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.02, Z:-0.24 [[ 0.95640885 -0.26347122 -0.12595646 2.85577831] [ 0.26357471 0.96450383 -0.01614698 -0.0193254 ] [ 0.12573976 -0.01775582 0.99190435 -0.23573206] [ 0. 0. 0. 1. ]] SLAMing on 102.18241403699999 meters Centerline goodness : 0.776595 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.02, Z:-0.24 [[ 0.95645483 -0.26333367 -0.12589495 2.85634333] [ 0.26348244 0.96453526 -0.01577152 -0.0210438 ] [ 0.12558329 -0.01808637 0.9919182 -0.2362597 ] [ 0. 0. 0. 1. ]] SLAMing on 102.21241403699999 meters Centerline goodness : 0.773835 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.02, Z:-0.24 [[ 0.95646594 -0.26332392 -0.12583094 2.85616494] [ 0.26346889 0.96453863 -0.01579166 -0.02114776] [ 0.12552712 -0.01804835 0.991926 -0.23611693] [ 0. 0. 0. 1. ]] SLAMing on 102.24241403699999 meters Centerline goodness : 0.772954 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.02, Z:-0.24 [[ 0.9564671 -0.2633432 -0.12578172 2.85594071] [ 0.26346996 0.96453607 -0.01592966 -0.02085746] [ 0.12551598 -0.01790351 0.99193004 -0.23586791] [ 0. 0. 0. 1. ]] SLAMing on 102.27241403699999 meters Centerline goodness : 0.775946 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.02, Z:-0.24 [[ 0.95649253 -0.26319049 -0.12590793 2.85591391] [ 0.26329654 0.96458058 -0.01610112 -0.02039464] [ 0.12568601 -0.01775052 0.99191126 -0.23534869] [ 0. 0. 0. 1. ]] SLAMing on 102.30241403699999 meters Centerline goodness : 0.775920 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.02, Z:-0.24 [[ 0.95652986 -0.26295336 -0.12611965 2.85637507] [ 0.26307479 0.96464286 -0.01599422 -0.02075074] [ 0.12586616 -0.01787995 0.99188609 -0.23519911] [ 0. 0. 0. 1. ]] SLAMing on 102.33241403699999 meters Centerline goodness : 0.774498 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.02, Z:-0.24 [[ 0.95655474 -0.26285401 -0.12613805 2.85660183] [ 0.26299047 0.96466787 -0.01587181 -0.021108 ] [ 0.1258533 -0.01799085 0.99188572 -0.23530897] [ 0. 0. 0. 1. ]] SLAMing on 102.362414037 meters Centerline goodness : 0.777532 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.02, Z:-0.24 [[ 0.95658616 -0.26266669 -0.12628985 2.85720878] [ 0.26283086 0.96471478 -0.01566296 -0.02148257] [ 0.12594782 -0.0182099 0.99186972 -0.23559082] [ 0. 0. 0. 1. ]] SLAMing on 102.392414037 meters Centerline goodness : 0.776342 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.02, Z:-0.24 [[ 0.95660029 -0.26253627 -0.12645388 2.85749485] [ 0.26270232 0.96474979 -0.01566332 -0.02162214] [ 0.12610854 -0.0182362 0.99184882 -0.2353451 ] [ 0. 0. 0. 1. ]] SLAMing on 102.422414037 meters Centerline goodness : 0.778170 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.02, Z:-0.23 [[ 0.95659198 -0.26254972 -0.12648883 2.85721971] [ 0.26268211 0.96475086 -0.01593398 -0.0208305 ] [ 0.12621367 -0.01798404 0.99184005 -0.2349013 ] [ 0. 0. 0. 1. ]] SLAMing on 102.452414037 meters Centerline goodness : 0.776150 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.02, Z:-0.23 [[ 0.95662606 -0.26235273 -0.12663972 2.85725655] [ 0.26244487 0.96481001 -0.01625826 -0.01956183] [ 0.12644867 -0.01768287 0.99181553 -0.23439183] [ 0. 0. 0. 1. ]] SLAMing on 102.48241403699998 meters Centerline goodness : 0.777544 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.02, Z:-0.23 [[ 0.95759598 -0.2583848 -0.12746459 2.85667097] [ 0.25891963 0.96581609 -0.0126451 -0.02006463] [ 0.12637466 -0.02089419 0.99176251 -0.23413027] [ 0. 0. 0. 1. ]] SLAMing on 102.51241403699999 meters Centerline goodness : 0.778831 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.02, Z:-0.23 [[ 0.95765639 -0.25801814 -0.12775319 2.85786351] [ 0.25856869 0.96591141 -0.0125453 -0.01982465] [ 0.12663518 -0.02101889 0.99172664 -0.23465344] [ 0. 0. 0. 1. ]] SLAMing on 102.54241403699999 meters Centerline goodness : 0.781300 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.02, Z:-0.24 [[ 0.95766659 -0.25789187 -0.1279316 2.85862894] [ 0.25845454 0.96594291 -0.01247189 -0.01974042] [ 0.12679102 -0.02112059 0.99170457 -0.23510155] [ 0. 0. 0. 1. ]] SLAMing on 102.57241403699999 meters Centerline goodness : 0.778090 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.02, Z:-0.24 [[ 0.95764985 -0.25796453 -0.12791038 2.85879436] [ 0.25851393 0.96592565 -0.01257702 -0.0189749 ] [ 0.12679634 -0.02102223 0.99170598 -0.23545504] [ 0. 0. 0. 1. ]] SLAMing on 102.60241403699999 meters Centerline goodness : 0.776975 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.02, Z:-0.24 [[ 0.95763237 -0.25804448 -0.12787996 2.8588088 ] [ 0.25857009 0.96590818 -0.0127634 -0.01818543] [ 0.12681382 -0.02084329 0.99170752 -0.23558054] [ 0. 0. 0. 1. ]] SLAMing on 102.63241403699999 meters Centerline goodness : 0.779209 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.02, Z:-0.24 [[ 0.95759317 -0.25828371 -0.12769039 2.85836408] [ 0.25875435 0.96585326 -0.01317846 -0.01633809] [ 0.12673396 -0.02042084 0.99172652 -0.23581123] [ 0. 0. 0. 1. ]] SLAMing on 102.66241403699999 meters Centerline goodness : 0.779637 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.02, Z:-0.24 [[ 0.95754188 -0.25862994 -0.12737389 2.85765112] [ 0.25906657 0.96576627 -0.013417 -0.01561618] [ 0.12648344 -0.02015097 0.99176402 -0.23595676] [ 0. 0. 0. 1. ]] SLAMing on 102.69241403699999 meters Centerline goodness : 0.779010 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.02, Z:-0.24 [[ 0.95745218 -0.25910971 -0.12707273 2.85668754] [ 0.25949047 0.9656465 -0.01383983 -0.01507565] [ 0.12629337 -0.01972318 0.99179684 -0.23560281] [ 0. 0. 0. 1. ]] SLAMing on 102.722414037 meters Centerline goodness : 0.777508 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.02, Z:-0.24 [[ 0.9573702 -0.25962536 -0.12663714 2.85553629] [ 0.25997258 0.96551349 -0.01407005 -0.01512231] [ 0.12592281 -0.01945194 0.99184932 -0.2354392 ] [ 0. 0. 0. 1. ]] SLAMing on 102.752414037 meters Centerline goodness : 0.779840 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.02, Z:-0.24 [[ 0.95719238 -0.26054511 -0.12609117 2.85397255] [ 0.26083687 0.96527422 -0.01448488 -0.01519885] [ 0.12548652 -0.0190244 0.9919129 -0.23515389] [ 0. 0. 0. 1. ]] SLAMing on 102.782414037 meters Centerline goodness : 0.781725 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.01, Z:-0.23 [[ 0.95707139 -0.26115576 -0.12574585 2.8527095 ] [ 0.26138965 0.96511787 -0.01493122 -0.01444357] [ 0.12525894 -0.01857842 0.99195012 -0.23468942] [ 0. 0. 0. 1. ]] SLAMing on 102.812414037 meters Centerline goodness : 0.780822 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.01, Z:-0.23 [[ 0.95697625 -0.26162483 -0.12549464 2.85152905] [ 0.26179758 0.96499978 -0.0154097 -0.01330546] [ 0.12513386 -0.01810747 0.99197461 -0.23407354] [ 0. 0. 0. 1. ]] SLAMing on 102.84241403699998 meters Centerline goodness : 0.782133 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.01, Z:-0.23 [[ 0.95689101 -0.26192175 -0.12552524 2.85111554] [ 0.26200464 0.96493155 -0.01614554 -0.01084067] [ 0.12535214 -0.01743867 0.99195904 -0.23365106] [ 0. 0. 0. 1. ]] SLAMing on 102.87241403699998 meters Centerline goodness : 0.784484 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.01, Z:-0.23 [[ 0.95691484 -0.26171441 -0.12577581 2.8523022 ] [ 0.26180245 0.96498675 -0.01612628 -0.00994019] [ 0.12559247 -0.01749694 0.99192761 -0.2344745 ] [ 0. 0. 0. 1. ]] SLAMing on 102.90241403699999 meters Centerline goodness : 0.784811 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.01, Z:-0.24 [[ 0.95695065 -0.26149038 -0.12596921 2.85352077] [ 0.26159672 0.96504474 -0.01599413 -0.0091164 ] [ 0.12574824 -0.01764754 0.99190521 -0.23561969] [ 0. 0. 0. 1. ]] SLAMing on 102.93241403699999 meters Centerline goodness : 0.784984 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.01, Z:-0.24 [[ 0.95694815 -0.26148959 -0.12598979 2.85463635] [ 0.26160958 0.96504298 -0.01588932 -0.00822385] [ 0.12574046 -0.01775488 0.99190428 -0.23724928] [ 0. 0. 0. 1. ]] SLAMing on 102.96241403699999 meters Centerline goodness : 0.784655 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.01, Z:-0.24 [[ 0.95686836 -0.26189057 -0.12576277 2.85425841] [ 0.26197409 0.9649394 -0.01617185 -0.0077835 ] [ 0.12558871 -0.01747226 0.99192852 -0.23742312] [ 0. 0. 0. 1. ]] SLAMing on 102.99241403699999 meters Centerline goodness : 0.786439 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.01, Z:-0.24 [[ 0.95675308 -0.26248766 -0.12539447 2.85311241] [ 0.26251218 0.96478542 -0.01662694 -0.00688214] [ 0.12534312 -0.0170097 0.99196763 -0.2372269 ] [ 0. 0. 0. 1. ]] SLAMing on 103.02241403699999 meters Centerline goodness : 0.788420 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.01, Z:-0.24 [[ 0.95656985 -0.26336505 -0.1249519 2.85116752] [ 0.26327167 0.96456191 -0.01755997 -0.00519104] [ 0.12514853 -0.01609896 0.99200739 -0.23615758] [ 0. 0. 0. 1. ]] SLAMing on 103.05241403699999 meters Centerline goodness : 0.791838 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.00, Z:-0.23 [[ 0.95678079 -0.26288235 -0.12435186 2.84410895] [ 0.2629428 0.96467502 -0.01622345 -0.00398052] [ 0.12422399 -0.01717515 0.99210555 -0.23280883] [ 0. 0. 0. 1. ]] SLAMing on 103.08241403699999 meters Centerline goodness : 0.793705 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.00, Z:-0.23 [[ 0.95660204 -0.26371344 -0.12396675 2.84226805] [ 0.2636798 0.96446085 -0.01697759 -0.0034663 ] [ 0.1240383 -0.01644673 0.99214112 -0.23160083] [ 0. 0. 0. 1. ]] SLAMing on 103.112414037 meters Centerline goodness : 0.793354 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.00, Z:-0.23 [[ 0.95645876 -0.26442306 -0.12356002 2.84086699] [ 0.26432883 0.96427463 -0.0174557 -0.00350492] [ 0.12376148 -0.01596482 0.99218356 -0.23096062] [ 0. 0. 0. 1. ]] SLAMing on 103.142414037 meters Centerline goodness : 0.790525 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.00, Z:-0.23 [[ 0.95633546 -0.26493023 -0.12342798 2.84072245] [ 0.26479386 0.96414056 -0.01780975 -0.00298945] [ 0.12372026 -0.01565088 0.9921937 -0.23122038] [ 0. 0. 0. 1. ]] SLAMing on 103.172414037 meters Centerline goodness : 0.794635 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.00, Z:-0.23 [[ 9.56337334e-01 -2.64870715e-01 -1.23541120e-01 2.84123288e+00] [ 2.64724324e-01 9.64157975e-01 -1.79005850e-02 -1.62680615e-03] [ 1.23854497e-01 -1.55853416e-02 9.92177988e-01 -2.31758861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.202414037 meters Centerline goodness : 0.794686 Centerline is valid? [False, False] Translation: X:2.84, Y:0.00, Z:-0.23 [[ 9.56356043e-01 -2.64679027e-01 -1.23806836e-01 2.84188489e+00] [ 2.64501855e-01 9.64214034e-01 -1.81676960e-02 5.02765082e-04] [ 1.24184897e-01 -1.53723519e-02 9.92140011e-01 -2.32034877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.23241403699998 meters Centerline goodness : 0.795544 Centerline is valid? [False, False] Translation: X:2.84, Y:0.00, Z:-0.23 [[ 9.57374157e-01 -2.60611839e-01 -1.24564012e-01 2.84186276e+00] [ 2.60913224e-01 9.65258133e-01 -1.41784039e-02 1.90626777e-03] [ 1.23931485e-01 -1.89263604e-02 9.92110266e-01 -2.33598865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26241403699999 meters Centerline goodness : 0.792370 Centerline is valid? [False, False] Translation: X:2.84, Y:0.00, Z:-0.23 [[ 0.95739479 -0.26046268 -0.12471732 2.84232861] [ 0.26071969 0.96530494 -0.01454682 0.00333177] [ 0.12417915 -0.01858921 0.99208567 -0.23355986] [ 0. 0. 0. 1. ]] SLAMing on 103.29241403699999 meters Centerline goodness : 0.794833 Centerline is valid? [False, False] Translation: X:2.84, Y:0.00, Z:-0.23 [[ 0.95829948 -0.25688003 -0.12519888 2.84072842] [ 0.25753549 0.96620392 -0.01120104 0.00371389] [ 0.12384497 -0.02150921 0.99206843 -0.23323256] [ 0. 0. 0. 1. ]] SLAMing on 103.32241403699999 meters Centerline goodness : 0.796966 Centerline is valid? [False, False] Translation: X:2.84, Y:0.01, Z:-0.23 [[ 0.95835224 -0.25653922 -0.12549345 2.84144854] [ 0.25715641 0.96630094 -0.01153585 0.00598531] [ 0.12422384 -0.02121603 0.99202738 -0.23333041] [ 0. 0. 0. 1. ]] SLAMing on 103.35241403699999 meters Centerline goodness : 0.796170 Centerline is valid? [False, False] Translation: X:2.84, Y:0.01, Z:-0.23 [[ 0.95841452 -0.25609562 -0.12592318 2.84273821] [ 0.25668779 0.96642259 -0.01177931 0.00803904] [ 0.12471164 -0.02103348 0.99197006 -0.23369206] [ 0. 0. 0. 1. ]] SLAMing on 103.38241403699999 meters Centerline goodness : 0.795031 Centerline is valid? [False, False] Translation: X:2.84, Y:0.01, Z:-0.23 [[ 0.95849561 -0.25559965 -0.126313 2.84424356] [ 0.25619802 0.96655274 -0.01176333 0.00936885] [ 0.12509488 -0.02108604 0.99192069 -0.23445154] [ 0. 0. 0. 1. ]] SLAMing on 103.41241403699999 meters Centerline goodness : 0.796601 Centerline is valid? [False, False] Translation: X:2.85, Y:0.01, Z:-0.24 [[ 0.95875319 -0.25442774 -0.12672348 2.84618493] [ 0.25505117 0.96685849 -0.01155668 0.01196 ] [ 0.12546401 -0.02124097 0.99187076 -0.23563759] [ 0. 0. 0. 1. ]] SLAMing on 103.44241403699999 meters Centerline goodness : 0.795575 Centerline is valid? [False, False] Translation: X:2.84, Y:0.01, Z:-0.24 [[ 0.95958059 -0.25113794 -0.12702292 2.84401893] [ 0.25217675 0.96764728 -0.00810112 0.01145185] [ 0.12494788 -0.02425855 0.9918667 -0.23517269] [ 0. 0. 0. 1. ]] SLAMing on 103.472414037 meters Centerline goodness : 0.798920 Centerline is valid? [False, False] Translation: X:2.84, Y:0.01, Z:-0.23 [[ 0.96037758 -0.24797983 -0.12720421 2.84140735] [ 0.24941427 0.96838508 -0.00478049 0.01106688] [ 0.12436812 -0.02713547 0.99186503 -0.23444031] [ 0. 0. 0. 1. ]] SLAMing on 103.502414037 meters Centerline goodness : 0.797963 Centerline is valid? [False, False] Translation: X:2.84, Y:0.01, Z:-0.23 [[ 9.61116247e-01 -2.45168993e-01 -1.27073696e-01 2.83725709e+00] [ 2.46891607e-01 9.69040468e-01 -2.25963411e-03 1.17704298e-02] [ 1.23693546e-01 -2.92016581e-02 9.91890705e-01 -2.32343185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.532414037 meters Centerline goodness : 0.796413 Centerline is valid? [False, False] Translation: X:2.84, Y:0.01, Z:-0.23 [[ 9.61063980e-01 -2.45484684e-01 -1.26859358e-01 2.83617139e+00] [ 2.47135822e-01 9.68976794e-01 -2.80329847e-03 1.25263096e-02] [ 1.23611941e-01 -2.86573425e-02 9.91916753e-01 -2.31446640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.562414037 meters Centerline goodness : 0.798548 Centerline is valid? [False, False] Translation: X:2.84, Y:0.01, Z:-0.23 [[ 0.96101034 -0.24569556 -0.12685746 2.83578385] [ 0.24730774 0.96893193 -0.00312925 0.01272859] [ 0.12368509 -0.02836559 0.99191602 -0.23085593] [ 0. 0. 0. 1. ]] SLAMing on 103.59241403699998 meters Centerline goodness : 0.798630 Centerline is valid? [False, False] Translation: X:2.84, Y:0.01, Z:-0.23 [[ 9.61008341e-01 -2.45609724e-01 -1.27038706e-01 2.83710657e+00] [ 2.47283525e-01 9.68939482e-01 -2.67184867e-03 1.13448396e-02] [ 1.23749050e-01 -2.88469101e-02 9.91894162e-01 -2.31936238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62241403699998 meters Centerline goodness : 0.799340 Centerline is valid? [False, False] Translation: X:2.84, Y:0.01, Z:-0.23 [[ 9.61020088e-01 -2.45470509e-01 -1.27218787e-01 2.83803282e+00] [ 2.47180369e-01 9.68966474e-01 -2.41625986e-03 1.10857510e-02] [ 1.23863860e-01 -2.91239124e-02 9.91871737e-01 -2.32606737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.65241403699999 meters Centerline goodness : 0.799025 Centerline is valid? [False, False] Translation: X:2.84, Y:0.01, Z:-0.23 [[ 9.61019718e-01 -2.45329087e-01 -1.27494077e-01 2.83906280e+00] [ 2.47066579e-01 9.68995891e-01 -2.25126666e-03 1.12745504e-02] [ 1.24093538e-01 -2.93360138e-02 9.91836777e-01 -2.33218282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68241403699999 meters Centerline goodness : 0.797853 Centerline is valid? [False, False] Translation: X:2.84, Y:0.01, Z:-0.23 [[ 9.61030896e-01 -2.45277829e-01 -1.27508448e-01 2.83959187e+00] [ 2.47053829e-01 9.68999808e-01 -1.94344821e-03 1.12829018e-02] [ 1.24032347e-01 -2.96337366e-02 9.91835580e-01 -2.34100225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.71241403699999 meters Centerline goodness : 0.798883 Centerline is valid? [False, False] Translation: X:2.84, Y:0.01, Z:-0.23 [[ 9.60976740e-01 -2.45628842e-01 -1.27240627e-01 2.83895950e+00] [ 2.47386037e-01 9.68914823e-01 -2.05278797e-03 1.05389413e-02] [ 1.23789553e-01 -2.95048729e-02 9.91869754e-01 -2.33868999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74241403699999 meters Centerline goodness : 0.796613 Centerline is valid? [False, False] Translation: X:2.84, Y:0.01, Z:-0.23 [[ 9.60923991e-01 -2.45961152e-01 -1.26996833e-01 2.83829812e+00] [ 2.47714405e-01 9.68830935e-01 -2.04775271e-03 9.25296034e-03] [ 1.23542128e-01 -2.94912102e-02 9.91901009e-01 -2.33544916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.77241403699999 meters Centerline goodness : 0.797835 Centerline is valid? [False, False] Translation: X:2.84, Y:0.01, Z:-0.23 [[ 9.60820444e-01 -2.46490261e-01 -1.26754192e-01 2.83713766e+00] [ 2.48218917e-01 9.68701415e-01 -2.22206079e-03 7.91160813e-03] [ 1.23334682e-01 -2.93277868e-02 9.91931670e-01 -2.32597525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.80241403699999 meters Centerline goodness : 0.799043 Centerline is valid? [False, False] Translation: X:2.84, Y:0.01, Z:-0.23 [[ 9.60740026e-01 -2.46901626e-01 -1.26562983e-01 2.83627138e+00] [ 2.48606232e-01 9.68601670e-01 -2.39698348e-03 7.57964963e-03] [ 1.23180936e-01 -2.91614684e-02 9.91955677e-01 -2.32092639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.83241403699999 meters Centerline goodness : 0.799433 Centerline is valid? [False, False] Translation: X:2.83, Y:0.01, Z:-0.23 [[ 0.96050036 -0.24821449 -0.12581185 2.83316064] [ 0.24981794 0.96828779 -0.00312245 0.00658362] [ 0.12259712 -0.02843094 0.99204921 -0.23026914] [ 0. 0. 0. 1. ]] SLAMing on 103.862414037 meters Centerline goodness : 0.798820 Centerline is valid? [False, False] Translation: X:2.83, Y:0.01, Z:-0.23 [[ 0.9604109 -0.24869548 -0.12554468 2.83205001] [ 0.2502674 0.96817097 -0.00334705 0.00562932] [ 0.12238111 -0.0282052 0.99208232 -0.22946484] [ 0. 0. 0. 1. ]] SLAMing on 103.892414037 meters Centerline goodness : 0.797973 Centerline is valid? [False, False] Translation: X:2.83, Y:0.00, Z:-0.23 [[ 0.96040288 -0.24871619 -0.12556501 2.83234076] [ 0.25031342 0.96815974 -0.00314798 0.00428319] [ 0.12234994 -0.02840728 0.9920804 -0.2295305 ] [ 0. 0. 0. 1. ]] SLAMing on 103.922414037 meters Centerline goodness : 0.796507 Centerline is valid? [False, False] Translation: X:2.84, Y:0.00, Z:-0.23 [[ 0.95965627 -0.25158438 -0.12555933 2.83597296] [ 0.25283876 0.96748915 -0.00610753 0.00338425] [ 0.12301385 -0.02588513 0.99206731 -0.2306879 ] [ 0. 0. 0. 1. ]] SLAMing on 103.952414037 meters Centerline goodness : 0.798203 Centerline is valid? [False, False] Translation: X:2.84, Y:0.00, Z:-0.23 [[ 9.59595700e-01 -2.51918119e-01 -1.25352919e-01 2.83562129e+00] [ 2.53182617e-01 9.67399874e-01 -6.00389558e-03 2.63106144e-03] [ 1.22778888e-01 -2.59758678e-02 9.92094047e-01 -2.30890009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98241403699998 meters Centerline goodness : 0.798203 Centerline is valid? [False, False] Translation: X:2.84, Y:0.00, Z:-0.23 [[ 9.59595700e-01 -2.51918119e-01 -1.25352919e-01 2.83562129e+00] [ 2.53182617e-01 9.67399874e-01 -6.00389558e-03 2.63106144e-03] [ 1.22778888e-01 -2.59758678e-02 9.92094047e-01 -2.30890009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.01241403699999 meters Centerline goodness : 0.793117 Centerline is valid? [False, False] Translation: X:2.84, Y:0.00, Z:-0.23 [[ 9.59526502e-01 -2.52275551e-01 -1.25163649e-01 2.83503708e+00] [ 2.53540604e-01 9.67306245e-01 -5.98246497e-03 2.08830913e-03] [ 1.22580809e-01 -2.59937336e-02 9.92118073e-01 -2.30779580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04241403699999 meters Centerline goodness : 0.794648 Centerline is valid? [False, False] Translation: X:2.83, Y:0.00, Z:-0.23 [[ 9.59425379e-01 -2.52809592e-01 -1.24860930e-01 2.83420299e+00] [ 2.54060613e-01 9.67169273e-01 -6.06650514e-03 1.80171931e-03] [ 1.22295326e-01 -2.59018854e-02 9.92155706e-01 -2.30756398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.07241403699999 meters Centerline goodness : 0.793633 Centerline is valid? [False, False] Translation: X:2.84, Y:0.00, Z:-0.23 [[ 9.58412674e-01 -2.56978640e-01 -1.24125440e-01 2.83518213e+00] [ 2.57777743e-01 9.66153963e-01 -9.85677208e-03 1.89351763e-03] [ 1.22457265e-01 -2.25499203e-02 9.92217577e-01 -2.31026669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10241403699999 meters Centerline goodness : 0.792937 Centerline is valid? [False, False] Translation: X:2.83, Y:0.00, Z:-0.23 [[ 9.58309323e-01 -2.57508523e-01 -1.23824880e-01 2.83467857e+00] [ 2.58318538e-01 9.66010627e-01 -9.74688408e-03 5.84457783e-04] [ 1.22126056e-01 -2.26457321e-02 9.92256216e-01 -2.31286701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.13241403699999 meters Centerline goodness : 0.789852 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.00, Z:-0.23 [[ 0.95879383 -0.2585533 -0.11774798 2.8134366 ] [ 0.25861351 0.96586387 -0.01503426 -0.00487025] [ 0.11761568 -0.01603646 0.9929297 -0.23286476] [ 0. 0. 0. 1. ]] SLAMing on 104.16241403699999 meters Centerline goodness : 0.788790 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.01, Z:-0.23 [[ 0.95854568 -0.25978528 -0.11705465 2.81119981] [ 0.25978074 0.96554218 -0.01556481 -0.0058426 ] [ 0.11706471 -0.01548896 0.9930035 -0.23203421] [ 0. 0. 0. 1. ]] SLAMing on 104.19241403699999 meters Centerline goodness : 0.793092 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.01, Z:-0.23 [[ 0.95811149 -0.26185394 -0.11599516 2.80706877] [ 0.26171237 0.96500104 -0.0167222 -0.00622505] [ 0.11631422 -0.01433564 0.993109 -0.23002229] [ 0. 0. 0. 1. ]] SLAMing on 104.222414037 meters Centerline goodness : 0.791197 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.01, Z:-0.23 [[ 0.95795331 -0.26261062 -0.11559028 2.80541641] [ 0.26241303 0.96480238 -0.01719794 -0.00622582] [ 0.11603814 -0.01385757 0.99314808 -0.2291226 ] [ 0. 0. 0. 1. ]] SLAMing on 104.252414037 meters Centerline goodness : 0.792867 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.01, Z:-0.23 [[ 0.95786914 -0.26306125 -0.11526268 2.80449888] [ 0.26284366 0.96468229 -0.0173577 -0.00666485] [ 0.115758 -0.01366966 0.99318338 -0.2288397 ] [ 0. 0. 0. 1. ]] SLAMing on 104.282414037 meters Centerline goodness : 0.791100 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.01, Z:-0.23 [[ 0.95789893 -0.26291348 -0.11535227 2.80539537] [ 0.26273008 0.96471843 -0.0170662 -0.00755003] [ 0.1157694 -0.01395882 0.99317803 -0.22947711] [ 0. 0. 0. 1. ]] SLAMing on 104.312414037 meters Centerline goodness : 0.790567 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.01, Z:-0.23 [[ 0.95796233 -0.26252966 -0.11569937 2.80686006] [ 0.26238722 0.96481755 -0.01673435 -0.00779383] [ 0.11602204 -0.01432716 0.9931433 -0.23027311] [ 0. 0. 0. 1. ]] SLAMing on 104.34241403699998 meters Centerline goodness : 0.791893 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.01, Z:-0.23 [[ 0.95800128 -0.26227812 -0.11594709 2.80800649] [ 0.2621706 0.9648813 -0.01645136 -0.00768269] [ 0.11619001 -0.01463749 0.99311914 -0.23113018] [ 0. 0. 0. 1. ]] SLAMing on 104.37241403699998 meters Centerline goodness : 0.791182 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.01, Z:-0.23 [[ 0.95802844 -0.26207324 -0.1161857 2.80874798] [ 0.26197625 0.96493532 -0.01637919 -0.00735487] [ 0.11640424 -0.01474616 0.99309244 -0.23137625] [ 0. 0. 0. 1. ]] SLAMing on 104.40241403699999 meters Centerline goodness : 0.794704 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.01, Z:-0.23 [[ 0.95805591 -0.26196245 -0.11620909 2.80853364] [ 0.26184492 0.96496804 -0.01655048 -0.00621628] [ 0.11647367 -0.01457247 0.99308687 -0.23112215] [ 0. 0. 0. 1. ]] SLAMing on 104.43241403699999 meters Centerline goodness : 0.792817 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.01, Z:-0.23 [[ 0.9580868 -0.26177848 -0.11636886 2.80895682] [ 0.2616543 0.96501862 -0.01661592 -0.00581265] [ 0.11664781 -0.01452891 0.99306707 -0.23109939] [ 0. 0. 0. 1. ]] SLAMing on 104.46241403699999 meters Centerline goodness : 0.789657 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.01, Z:-0.23 [[ 0.95815715 -0.26143376 -0.11656445 2.80981442] [ 0.26131706 0.96511103 -0.01655563 -0.00539588] [ 0.11682584 -0.01459738 0.99304513 -0.23154233] [ 0. 0. 0. 1. ]] SLAMing on 104.49241403699999 meters Centerline goodness : 0.794083 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.01, Z:-0.23 [[ 0.95811749 -0.26165495 -0.11639401 2.80927756] [ 0.26151452 0.9650542 -0.01674979 -0.00530137] [ 0.1167092 -0.01439045 0.99306187 -0.23129353] [ 0. 0. 0. 1. ]] SLAMing on 104.52241403699999 meters Centerline goodness : 0.792948 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.01, Z:-0.23 [[ 0.95804259 -0.26202333 -0.11618165 2.80832324] [ 0.26184215 0.96495933 -0.01709325 -0.00507856] [ 0.1165894 -0.01404519 0.99308089 -0.2306599 ] [ 0. 0. 0. 1. ]] SLAMing on 104.55241403699999 meters Centerline goodness : 0.791356 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.00, Z:-0.23 [[ 0.95787096 -0.26295507 -0.11548961 2.80565922] [ 0.26267023 0.96471862 -0.01795378 -0.00452445] [ 0.11613601 -0.01313828 0.99314642 -0.22909352] [ 0. 0. 0. 1. ]] SLAMing on 104.58241403699999 meters Centerline goodness : 0.797228 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.00, Z:-0.23 [[ 0.95780944 -0.26319548 -0.11545227 2.80496276] [ 0.26285577 0.96465904 -0.01843319 -0.00388564] [ 0.1162236 -0.01269181 0.99314198 -0.22815118] [ 0. 0. 0. 1. ]] SLAMing on 104.612414037 meters Centerline goodness : 0.794770 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.00, Z:-0.23 [[ 0.95779368 -0.26318247 -0.11561254 2.80495873] [ 0.26281292 0.96466549 -0.01870458 -0.00312821] [ 0.11645014 -0.01246935 0.99311826 -0.22766238] [ 0. 0. 0. 1. ]] SLAMing on 104.642414037 meters Centerline goodness : 0.796715 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.00, Z:-0.23 [[ 0.95788256 -0.26273825 -0.11588618 2.80647181] [ 0.2624208 0.96478069 -0.01826342 -0.00344256] [ 0.11660325 -0.01291673 0.99309458 -0.22877118] [ 0. 0. 0. 1. ]] SLAMing on 104.672414037 meters Centerline goodness : 0.794069 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.00, Z:-0.23 [[ 0.95790166 -0.26265018 -0.11592796 2.80708874] [ 0.26235861 0.96480176 -0.01804236 -0.00345858] [ 0.11658633 -0.01313189 0.99309374 -0.22954288] [ 0. 0. 0. 1. ]] SLAMing on 104.702414037 meters Centerline goodness : 0.793570 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.00, Z:-0.23 [[ 9.57844312e-01 -2.62955128e-01 -1.15710310e-01 2.80674505e+00] [ 2.62650097e-01 9.64720406e-01 -1.81511556e-02 -2.64040754e-03] [ 1.16401036e-01 -1.30053429e-02 9.93117143e-01 -2.30091114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.73241403699998 meters Centerline goodness : 0.794252 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.00, Z:-0.23 [[ 9.57741518e-01 -2.63450720e-01 -1.15433546e-01 2.80587196e+00] [ 2.63106247e-01 9.64589713e-01 -1.84875002e-02 -2.16782056e-03] [ 1.16216556e-01 -1.26650407e-02 9.93143146e-01 -2.29882910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76241403699999 meters Centerline goodness : 0.799735 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.00, Z:-0.23 [[ 9.57610989e-01 -2.64080567e-01 -1.15076703e-01 2.80477094e+00] [ 2.63677849e-01 9.64423939e-01 -1.89857315e-02 -1.92432343e-03] [ 1.15996490e-01 -1.21622324e-02 9.93175158e-01 -2.29388913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.79241403699999 meters Centerline goodness : 0.797002 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.00, Z:-0.23 [[ 9.57491077e-01 -2.64663371e-01 -1.14735073e-01 2.80368178e+00] [ 2.64223748e-01 9.64268245e-01 -1.93018829e-02 -2.33725454e-03] [ 1.15743888e-01 -1.18343503e-02 9.93208589e-01 -2.28892910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82241403699999 meters Centerline goodness : 0.797434 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.00, Z:-0.23 [[ 0.95716701 -0.26613865 -0.11402427 2.80134597] [ 0.26561958 0.96387038 -0.02000333 -0.00371253] [ 0.11522827 -0.01114055 0.99327656 -0.22780925] [ 0. 0. 0. 1. ]] SLAMing on 104.85241403699999 meters Centerline goodness : 0.793306 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.00, Z:-0.23 [[ 0.95704631 -0.26665707 -0.11382602 2.80070723] [ 0.26611522 0.9637293 -0.02021192 -0.00383089] [ 0.11508712 -0.01094709 0.99329508 -0.22764214] [ 0. 0. 0. 1. ]] SLAMing on 104.88241403699999 meters Centerline goodness : 0.790767 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.00, Z:-0.23 [[ 0.9568995 -0.26732756 -0.11348708 2.80001279] [ 0.26678407 0.9635439 -0.02023391 -0.00342554] [ 0.11475887 -0.01091472 0.99333341 -0.22831663] [ 0. 0. 0. 1. ]] SLAMing on 104.91241403699999 meters Centerline goodness : 0.792663 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.00, Z:-0.23 [[ 0.95684384 -0.26762045 -0.11326585 2.79966409] [ 0.26707255 0.96346325 -0.02026861 -0.00365902] [ 0.11455178 -0.01085631 0.99335796 -0.22851279] [ 0. 0. 0. 1. ]] SLAMing on 104.94241403699999 meters Centerline goodness : 0.791547 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.00, Z:-0.23 [[ 0.95667614 -0.26848621 -0.11263175 2.79767284] [ 0.26788487 0.96322798 -0.02072562 -0.00476011] [ 0.11405459 -0.01034463 0.99342063 -0.22752846] [ 0. 0. 0. 1. ]] SLAMing on 104.972414037 meters Centerline goodness : 0.790841 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.01, Z:-0.23 [[ 0.95858835 -0.26494097 -0.10447322 2.78647386] [ 0.26404402 0.96424632 -0.02257829 -0.00906214] [ 0.10671983 -0.00594224 0.99427137 -0.23124339] [ 0. 0. 0. 1. ]] SLAMing on 105.002414037 meters Centerline goodness : 0.791766 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.01, Z:-0.23 [[ 0.95851141 -0.26531274 -0.10423543 2.78531893] [ 0.2643682 0.96414682 -0.02302956 -0.00875875] [ 0.10660829 -0.00548244 0.99428598 -0.23029529] [ 0. 0. 0. 1. ]] SLAMing on 105.032414037 meters Centerline goodness : 0.793129 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.01, Z:-0.23 [[ 0.95925468 -0.2625402 -0.10441792 2.7820878 ] [ 0.26192908 0.96488461 -0.01976955 -0.00873521] [ 0.10594155 -0.00838606 0.994337 -0.22927289] [ 0. 0. 0. 1. ]] SLAMing on 105.062414037 meters Centerline goodness : 0.793575 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.01, Z:-0.23 [[ 0.95929818 -0.26228545 -0.10465825 2.78286397] [ 0.26168908 0.96495245 -0.0196366 -0.00821037] [ 0.10614063 -0.00855057 0.99431436 -0.2296675 ] [ 0. 0. 0. 1. ]] SLAMing on 105.09241403699998 meters Centerline goodness : 0.790587 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.01, Z:-0.23 [[ 0.9589655 -0.26348341 -0.10469797 2.7877699 ] [ 0.26271259 0.9646382 -0.02133613 -0.00860159] [ 0.10661737 -0.00704486 0.99427517 -0.23250704] [ 0. 0. 0. 1. ]] SLAMing on 105.12241403699998 meters Centerline goodness : 0.788660 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.01, Z:-0.23 [[ 0.95899663 -0.26339762 -0.10462871 2.78853059] [ 0.26267001 0.96465884 -0.02092341 -0.01019287] [ 0.10644218 -0.00741735 0.99429123 -0.23337967] [ 0. 0. 0. 1. ]] SLAMing on 105.15241403699999 meters Centerline goodness : 0.787686 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.01, Z:-0.23 [[ 0.95901861 -0.26334563 -0.10455806 2.78898044] [ 0.26266108 0.96467009 -0.02051291 -0.0113424 ] [ 0.10626601 -0.00779107 0.99430721 -0.23411213] [ 0. 0. 0. 1. ]] SLAMing on 105.18241403699999 meters Centerline goodness : 0.788927 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.01, Z:-0.23 [[ 0.95894061 -0.26369425 -0.1043947 2.78806721] [ 0.26298181 0.96457696 -0.02078131 -0.01112882] [ 0.10617663 -0.00752587 0.9943188 -0.233446 ] [ 0. 0. 0. 1. ]] SLAMing on 105.21241403699999 meters Centerline goodness : 0.790571 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.01, Z:-0.23 [[ 0.9588958 -0.26386299 -0.10437995 2.78737198] [ 0.26310551 0.96453386 -0.02121117 -0.01042159] [ 0.10627484 -0.00712364 0.99431128 -0.23246015] [ 0. 0. 0. 1. ]] SLAMing on 105.24241403699999 meters Centerline goodness : 0.792200 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.01, Z:-0.23 [[ 0.95969168 -0.26081339 -0.10472945 2.78454259] [ 0.26039813 0.96533609 -0.01786176 -0.0117384 ] [ 0.10575771 -0.01012957 0.99434033 -0.23091395] [ 0. 0. 0. 1. ]] SLAMing on 105.27241403699999 meters Centerline goodness : 0.793113 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.01, Z:-0.23 [[ 0.95978479 -0.26026514 -0.10523887 2.78575897] [ 0.25986203 0.9654823 -0.01776684 -0.01158619] [ 0.10623036 -0.01029525 0.99428825 -0.23075493] [ 0. 0. 0. 1. ]] SLAMing on 105.30241403699999 meters Centerline goodness : 0.789436 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.01, Z:-0.23 [[ 0.96004328 -0.25897571 -0.10605885 2.78934576] [ 0.25868745 0.96581659 -0.01670668 -0.0128195 ] [ 0.10676002 -0.01139695 0.9942195 -0.23266103] [ 0. 0. 0. 1. ]] SLAMing on 105.33241403699999 meters Centerline goodness : 0.787249 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.01, Z:-0.23 [[ 9.60003510e-01 -2.57721670e-01 -1.09420297e-01 2.77763754e+00] [ 2.56366881e-01 9.66215716e-01 -2.65181384e-02 -1.31615851e-02] [ 1.12557910e-01 -2.59423435e-03 9.93641780e-01 -2.30324733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.362414037 meters Centerline goodness : 0.789022 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.01, Z:-0.23 [[ 0.96007524 -0.25741944 -0.10950238 2.77840176] [ 0.25609756 0.96629548 -0.02621229 -0.01325673] [ 0.1125592 -0.00287752 0.99364085 -0.23106408] [ 0. 0. 0. 1. ]] SLAMing on 105.392414037 meters Centerline goodness : 0.789318 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.01, Z:-0.23 [[ 9.60001790e-01 -2.57868601e-01 -1.09088719e-01 2.77637897e+00] [ 2.56456426e-01 9.66177862e-01 -2.70266786e-02 -1.26916140e-02] [ 1.12368437e-01 -2.03084302e-03 9.93664536e-01 -2.29213187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.422414037 meters Centerline goodness : 0.791210 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.01, Z:-0.23 [[ 0.9602877 -0.25688907 -0.10888311 2.77232442] [ 0.25559709 0.96643637 -0.02590115 -0.01393223] [ 0.11188232 -0.00295765 0.99371706 -0.22632725] [ 0. 0. 0. 1. ]] SLAMing on 105.452414037 meters Centerline goodness : 0.796436 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.02, Z:-0.22 [[ 0.96044686 -0.25642354 -0.10857618 2.76681381] [ 0.25519226 0.96655859 -0.02532575 -0.01556557] [ 0.11143936 -0.00338377 0.99376547 -0.22174105] [ 0. 0. 0. 1. ]] SLAMing on 105.48241403699998 meters Centerline goodness : 0.793489 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.02, Z:-0.22 [[ 0.96045078 -0.25633962 -0.10873961 2.76693438] [ 0.25509882 0.96658103 -0.02541081 -0.01600069] [ 0.11161944 -0.00333351 0.99374543 -0.22114423] [ 0. 0. 0. 1. ]] SLAMing on 105.51241403699999 meters Centerline goodness : 0.792893 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.02, Z:-0.22 [[ 0.96071446 -0.25492985 -0.10972011 2.77084217] [ 0.25382553 0.96694839 -0.02415374 -0.01695194] [ 0.1122512 -0.00464492 0.99366901 -0.22331545] [ 0. 0. 0. 1. ]] SLAMing on 105.54241403699999 meters Centerline goodness : 0.791794 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.02, Z:-0.22 [[ 0.96086786 -0.25408843 -0.11032688 2.77336356] [ 0.25306806 0.96716567 -0.02339078 -0.01745477] [ 0.1126477 -0.00544476 0.99362007 -0.22477165] [ 0. 0. 0. 1. ]] SLAMing on 105.57241403699999 meters Centerline goodness : 0.792963 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.02, Z:-0.23 [[ 0.96099311 -0.25344635 -0.11071219 2.77511387] [ 0.25249447 0.96733038 -0.02276991 -0.01782598] [ 0.11286622 -0.00607249 0.99359164 -0.22592578] [ 0. 0. 0. 1. ]] SLAMing on 105.60241403699999 meters Centerline goodness : 0.792168 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.02, Z:-0.23 [[ 0.96118723 -0.25260326 -0.11095359 2.77649096] [ 0.25170436 0.96754795 -0.02226835 -0.01763099] [ 0.11297797 -0.00652345 0.99357608 -0.22686597] [ 0. 0. 0. 1. ]] SLAMing on 105.63241403699999 meters Centerline goodness : 0.788628 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.02, Z:-0.23 [[ 0.96123219 -0.25241339 -0.11099623 2.77660042] [ 0.25150134 0.96759827 -0.02237536 -0.01725821] [ 0.1130476 -0.00640778 0.99356891 -0.22667375] [ 0. 0. 0. 1. ]] SLAMing on 105.66241403699999 meters Centerline goodness : 0.791045 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.02, Z:-0.23 [[ 0.96121103 -0.25257712 -0.11080681 2.77557129] [ 0.25161918 0.96755824 -0.02277794 -0.01671347] [ 0.11296523 -0.00598671 0.99358091 -0.22573782] [ 0. 0. 0. 1. ]] SLAMing on 105.69241403699999 meters Centerline goodness : 0.792087 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.02, Z:-0.22 [[ 0.96111625 -0.25303865 -0.11057574 2.77430868] [ 0.25201397 0.96744112 -0.0233801 -0.01586722] [ 0.11289159 -0.00539563 0.99359266 -0.2247528 ] [ 0. 0. 0. 1. ]] SLAMing on 105.722414037 meters Centerline goodness : 0.794885 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.02, Z:-0.22 [[ 0.96108843 -0.25312721 -0.11061482 2.77395473] [ 0.25206003 0.96741985 -0.02376093 -0.01505821] [ 0.11302552 -0.00504522 0.99357928 -0.22408201] [ 0. 0. 0. 1. ]] SLAMing on 105.752414037 meters Centerline goodness : 0.794869 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.01, Z:-0.22 [[ 0.96111521 -0.25298323 -0.11071155 2.77415928] [ 0.25188075 0.96745898 -0.02406682 -0.01346001] [ 0.11319738 -0.00475512 0.99356114 -0.22405399] [ 0. 0. 0. 1. ]] SLAMing on 105.782414037 meters Centerline goodness : 0.791136 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.01, Z:-0.22 [[ 0.96113927 -0.2528129 -0.1108916 2.77473106] [ 0.25169398 0.96750405 -0.02420865 -0.01284999] [ 0.11340833 -0.00464286 0.99353762 -0.22411173] [ 0. 0. 0. 1. ]] SLAMing on 105.812414037 meters Centerline goodness : 0.793110 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.01, Z:-0.22 [[ 0.96119702 -0.25255893 -0.11096975 2.77537672] [ 0.25141191 0.96757149 -0.02444308 -0.01148593] [ 0.11354448 -0.0044045 0.99352315 -0.22447751] [ 0. 0. 0. 1. ]] SLAMing on 105.84241403699998 meters Centerline goodness : 0.793988 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.01, Z:-0.22 [[ 0.96123827 -0.25234743 -0.11109348 2.77573664] [ 0.25117729 0.96762749 -0.02463765 -0.01043014] [ 0.11371436 -0.0042215 0.99350452 -0.22443287] [ 0. 0. 0. 1. ]] SLAMing on 105.87241403699998 meters Centerline goodness : 0.796506 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.01, Z:-0.22 [[ 0.96125805 -0.2521657 -0.11133469 2.77605659] [ 0.25095417 0.96767616 -0.02499685 -0.00886398] [ 0.11403927 -0.00391148 0.99346854 -0.22408253] [ 0. 0. 0. 1. ]] SLAMing on 105.90241403699999 meters Centerline goodness : 0.796506 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.01, Z:-0.22 [[ 0.96125805 -0.2521657 -0.11133469 2.77605659] [ 0.25095417 0.96767616 -0.02499685 -0.00886398] [ 0.11403927 -0.00391148 0.99346854 -0.22408253] [ 0. 0. 0. 1. ]] SLAMing on 105.93241403699999 meters Centerline goodness : 0.798435 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.01, Z:-0.22 [[ 0.9621377 -0.24859316 -0.11176979 2.77388279] [ 0.24772743 0.96858467 -0.02179143 -0.00736834] [ 0.11367571 -0.00672209 0.99349517 -0.22326508] [ 0. 0. 0. 1. ]] SLAMing on 105.96241403699999 meters Centerline goodness : 0.798827 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.01, Z:-0.22 [[ 0.96298204 -0.24512777 -0.11215155 2.77225678] [ 0.24465613 0.96943976 -0.0181642 -0.00798013] [ 0.11317672 -0.00994677 0.99352508 -0.22311974] [ 0. 0. 0. 1. ]] SLAMing on 105.99241403699999 meters Centerline goodness : 0.795243 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.01, Z:-0.22 [[ 0.96388823 -0.24135557 -0.11254766 2.77093874] [ 0.24127845 0.97034742 -0.01451204 -0.00815795] [ 0.11271289 -0.01316734 0.99354035 -0.22315845] [ 0. 0. 0. 1. ]] SLAMing on 106.02241403699999 meters Centerline goodness : 0.798888 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.01, Z:-0.22 [[ 0.9639553 -0.24098839 -0.11275981 2.77174131] [ 0.24090171 0.97043971 -0.0145994 -0.00764072] [ 0.11294488 -0.01309086 0.99351501 -0.22320749] [ 0. 0. 0. 1. ]] SLAMing on 106.05241403699999 meters Centerline goodness : 0.794364 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.01, Z:-0.22 [[ 0.96418551 -0.23974887 -0.11343188 2.77445815] [ 0.23972128 0.97073954 -0.01408705 -0.00702316] [ 0.11349016 -0.0136095 0.9934459 -0.22438005] [ 0. 0. 0. 1. ]] SLAMing on 106.08241403699999 meters Centerline goodness : 0.795301 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.01, Z:-0.23 [[ 0.96431648 -0.2390213 -0.11385316 2.77627757] [ 0.23902696 0.9709148 -0.01380446 -0.00588793] [ 0.11384127 -0.01390211 0.99340168 -0.2254311 ] [ 0. 0. 0. 1. ]] SLAMing on 106.112414037 meters Centerline goodness : 0.796036 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.00, Z:-0.23 [[ 0.96446476 -0.23816497 -0.11439047 2.77839066] [ 0.23821895 0.97111904 -0.01339931 -0.00448258] [ 0.114278 -0.01432682 0.9933455 -0.22668729] [ 0. 0. 0. 1. ]] SLAMing on 106.142414037 meters Centerline goodness : 0.794401 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.00, Z:-0.23 [[ 9.64676566e-01 -2.37090000e-01 -1.14836643e-01 2.78050664e+00] [ 2.37190767e-01 9.71376298e-01 -1.29856751e-02 -2.36132005e-03] [ 1.14628367e-01 -1.47112150e-02 9.93299511e-01 -2.28175762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.172414037 meters Centerline goodness : 0.796723 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.00, Z:-0.23 [[ 9.64687453e-01 -2.37064852e-01 -1.14797097e-01 2.78050536e+00] [ 2.37152893e-01 9.71384154e-01 -1.30893591e-02 -2.39494147e-03] [ 1.14615108e-01 -1.45973231e-02 9.93302721e-01 -2.28053397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.202414037 meters Centerline goodness : 0.793332 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.00, Z:-0.23 [[ 0.96461215 -0.2376279 -0.11426454 2.77845748] [ 0.23764544 0.9712558 -0.01366823 -0.00324279] [ 0.11422805 -0.01396991 0.99335633 -0.226434 ] [ 0. 0. 0. 1. ]] SLAMing on 106.23241403699998 meters Centerline goodness : 0.794530 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.00, Z:-0.23 [[ 0.96455519 -0.23793599 -0.11410413 2.7773546 ] [ 0.23788695 0.97118836 -0.01424641 -0.00278651] [ 0.11420634 -0.01340244 0.99336664 -0.2252001 ] [ 0. 0. 0. 1. ]] SLAMing on 106.26241403699999 meters Centerline goodness : 0.793582 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.00, Z:-0.22 [[ 9.64525765e-01 -2.38029365e-01 -1.14158093e-01 2.77689147e+00] [ 2.37919411e-01 9.71172322e-01 -1.47876451e-02 -1.82013387e-03] [ 1.14387074e-01 -1.28973617e-02 9.93352533e-01 -2.24157301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.29241403699999 meters Centerline goodness : 0.793338 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.00, Z:-0.22 [[ 9.65339577e-01 -2.34393257e-01 -1.14801139e-01 2.77560510e+00] [ 2.34679648e-01 9.72008158e-01 -1.12072609e-02 -2.43483700e-03] [ 1.14214550e-01 -1.61226784e-02 9.93325272e-01 -2.23527762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32241403699999 meters Centerline goodness : 0.796260 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.00, Z:-0.22 [[ 0.96626385 -0.23005262 -0.11580139 2.77615432] [ 0.23080175 0.97297503 -0.00708166 -0.00351774] [ 0.11430102 -0.01988441 0.99324714 -0.22395481] [ 0. 0. 0. 1. ]] SLAMing on 106.35241403699999 meters Centerline goodness : 0.793165 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.00, Z:-0.22 [[ 0.96638405 -0.22918577 -0.11651502 2.77822625] [ 0.22995791 0.97317572 -0.00695505 -0.00280662] [ 0.11498359 -0.0200723 0.99316458 -0.22415354] [ 0. 0. 0. 1. ]] SLAMing on 106.38241403699999 meters Centerline goodness : 0.795061 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.00, Z:-0.22 [[ 9.66466635e-01 -2.28577433e-01 -1.17023928e-01 2.77955638e+00] [ 2.29334520e-01 9.73321501e-01 -7.13672957e-03 -1.44266256e-03] [ 1.15533201e-01 -1.99402155e-02 9.93103452e-01 -2.24030661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.41241403699999 meters Centerline goodness : 0.796753 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.00, Z:-0.22 [[ 9.67327058e-01 -2.24743239e-01 -1.17340699e-01 2.77786413e+00] [ 2.25901307e-01 9.74143872e-01 -3.50945962e-03 -1.13317456e-03] [ 1.15095450e-01 -2.31126219e-02 9.93085517e-01 -2.23774841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.44241403699999 meters Centerline goodness : 0.796509 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.00, Z:-0.22 [[ 9.67350058e-01 -2.24637484e-01 -1.17353595e-01 2.77786577e+00] [ 2.25771634e-01 9.74173183e-01 -3.71194126e-03 -5.60990036e-04] [ 1.15156566e-01 -2.29043664e-02 9.93083257e-01 -2.23533835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.472414037 meters Centerline goodness : 0.797074 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.00, Z:-0.22 [[ 9.67368637e-01 -2.24696283e-01 -1.17087575e-01 2.77754567e+00] [ 2.25837663e-01 9.74158299e-01 -3.59967202e-03 -2.16367028e-03] [ 1.14870666e-01 -2.29605745e-02 9.93115070e-01 -2.23465199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.502414037 meters Centerline goodness : 0.795838 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.00, Z:-0.22 [[ 0.96737216 -0.22469097 -0.11706863 2.77743898] [ 0.22583888 0.97415824 -0.00353899 -0.0035233 ] [ 0.11483855 -0.02301513 0.99311752 -0.22297341] [ 0. 0. 0. 1. ]] SLAMing on 106.532414037 meters Centerline goodness : 0.797843 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.00, Z:-0.22 [[ 0.96734885 -0.22483066 -0.11699304 2.77700183] [ 0.22596664 0.97412826 -0.00363547 -0.00427905] [ 0.11478359 -0.02291975 0.99312608 -0.22238887] [ 0. 0. 0. 1. ]] SLAMing on 106.562414037 meters Centerline goodness : 0.794093 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.01, Z:-0.22 [[ 0.96739984 -0.22443979 -0.11732145 2.77771425] [ 0.22562584 0.97420863 -0.00324558 -0.00548071] [ 0.115024 -0.02333098 0.99308869 -0.22211751] [ 0. 0. 0. 1. ]] SLAMing on 106.59241403699998 meters Centerline goodness : 0.792718 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.01, Z:-0.22 [[ 0.96742107 -0.22424938 -0.11751037 2.77815948] [ 0.22546478 0.97424664 -0.00301956 -0.00583388] [ 0.11516122 -0.02357326 0.99306706 -0.22216261] [ 0. 0. 0. 1. ]] SLAMing on 106.62241403699998 meters Centerline goodness : 0.793610 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.01, Z:-0.22 [[ 9.67558914e-01 -2.23294763e-01 -1.18191354e-01 2.78015906e+00] [ 2.24609496e-01 9.74446261e-01 -2.24912309e-03 -7.49267697e-03] [ 1.15673341e-01 -2.43707414e-02 9.92988291e-01 -2.22379508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.65241403699999 meters Centerline goodness : 0.794494 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.01, Z:-0.22 [[ 9.67654861e-01 -2.22665104e-01 -1.18593087e-01 2.78179309e+00] [ 2.24045245e-01 9.74577198e-01 -1.73587972e-03 -8.43476503e-03] [ 1.15964639e-01 -2.48904848e-02 9.92941421e-01 -2.23051365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68241403699999 meters Centerline goodness : 0.791201 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.01, Z:-0.22 [[ 9.67773640e-01 -2.21860656e-01 -1.19130313e-01 2.78392866e+00] [ 2.23319517e-01 9.74744640e-01 -1.13105265e-03 -9.42788998e-03] [ 1.16372571e-01 -2.55095212e-02 9.92877983e-01 -2.23902170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.71241403699999 meters Centerline goodness : 0.791416 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.01, Z:-0.23 [[ 9.67983691e-01 -2.20659504e-01 -1.19653492e-01 2.78650893e+00] [ 2.22232372e-01 9.74993708e-01 -2.03220901e-04 -1.11771462e-02] [ 1.16706245e-01 -2.63941649e-02 9.92815693e-01 -2.25023491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74241403699999 meters Centerline goodness : 0.799121 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.09, Z:-0.27 [[ 0.96834035 -0.19826802 -0.15167981 2.50738636] [ 0.21197997 0.97398043 0.08016617 -0.09442514] [ 0.13183878 -0.10978122 0.9851734 -0.26504839] [ 0. 0. 0. 1. ]] SLAMing on 106.77241403699999 meters Centerline goodness : 0.792631 Centerline is valid? [False, False] Translation: X:2.70, Y:0.00, Z:-0.18 [[ 9.69293149e-01 -2.24998243e-01 -9.92299438e-02 2.70490658e+00] [ 2.20100426e-01 9.73753953e-01 -5.79572408e-02 9.00436660e-04] [ 1.09665827e-01 3.43370035e-02 9.93375245e-01 -1.82253874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.80241403699999 meters Centerline goodness : 0.793767 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.00, Z:-0.18 [[ 0.97007581 -0.22129832 -0.09989988 2.70389869] [ 0.21684734 0.97473598 -0.05354438 -0.00339806] [ 0.10922528 0.03027908 0.99355574 -0.18183081] [ 0. 0. 0. 1. ]] SLAMing on 106.83241403699999 meters Centerline goodness : 0.791313 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.01, Z:-0.18 [[ 0.9707693 -0.21793764 -0.10054919 2.70334868] [ 0.21390804 0.97560467 -0.04938506 -0.00711713] [ 0.10885912 0.02643322 0.99370568 -0.1820154 ] [ 0. 0. 0. 1. ]] SLAMing on 106.862414037 meters Centerline goodness : 0.793019 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.01, Z:-0.18 [[ 0.97093778 -0.21680982 -0.10135747 2.70595752] [ 0.21288885 0.97588921 -0.04815166 -0.0101136 ] [ 0.10935341 0.02517439 0.9936841 -0.18288234] [ 0. 0. 0. 1. ]] SLAMing on 106.892414037 meters Centerline goodness : 0.790900 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.01, Z:-0.18 [[ 0.97102562 -0.2162573 -0.10169579 2.70735731] [ 0.21241399 0.9760322 -0.04734375 -0.01177175] [ 0.1094968 0.02437038 0.99368835 -0.18371374] [ 0. 0. 0. 1. ]] SLAMing on 106.922414037 meters Centerline goodness : 0.791351 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.01, Z:-0.18 [[ 0.97107665 -0.21593258 -0.10189824 2.70817456] [ 0.21215454 0.97612004 -0.04669166 -0.0136366 ] [ 0.10954717 0.023723 0.99369846 -0.18418248] [ 0. 0. 0. 1. ]] SLAMing on 106.952414037 meters Centerline goodness : 0.791151 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.02, Z:-0.18 [[ 0.97107582 -0.21593141 -0.10190867 2.70782401] [ 0.21220801 0.97613212 -0.04619348 -0.01744277] [ 0.10945095 0.02323154 0.99372068 -0.18339175] [ 0. 0. 0. 1. ]] SLAMing on 106.98241403699998 meters Centerline goodness : 0.785764 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.02, Z:-0.18 [[ 0.97101839 -0.21623257 -0.10181734 2.70683067] [ 0.21255345 0.97607434 -0.04582476 -0.021009 ] [ 0.1092901 0.02285506 0.99374711 -0.18219375] [ 0. 0. 0. 1. ]] SLAMing on 107.01241403699999 meters Centerline goodness : 0.787172 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.02, Z:-0.18 [[ 0.97101871 -0.2161554 -0.10197798 2.70722695] [ 0.21252992 0.97610395 -0.04530017 -0.02340698] [ 0.10933298 0.02231394 0.99375469 -0.18215298] [ 0. 0. 0. 1. ]] SLAMing on 107.04241403699999 meters Centerline goodness : 0.789196 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.03, Z:-0.18 [[ 0.97103328 -0.2160403 -0.10208306 2.70776921] [ 0.21248685 0.97614473 -0.04461848 -0.02577627] [ 0.10928723 0.02163473 0.99377474 -0.18259174] [ 0. 0. 0. 1. ]] SLAMing on 107.07241403699999 meters Centerline goodness : 0.791696 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.03, Z:-0.18 [[ 0.9711138 -0.2155412 -0.10237181 2.70929894] [ 0.2121206 0.97628239 -0.04333066 -0.03033721] [ 0.10928334 0.02036383 0.99380203 -0.18359657] [ 0. 0. 0. 1. ]] SLAMing on 107.10241403699999 meters Centerline goodness : 0.782807 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.03, Z:-0.18 [[ 0.97117455 -0.21517137 -0.10257324 2.71004515] [ 0.21182334 0.97637839 -0.04261574 -0.03268059] [ 0.10931998 0.01965991 0.99381217 -0.18386625] [ 0. 0. 0. 1. ]] SLAMing on 107.13241403699999 meters Centerline goodness : 0.783921 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.04, Z:-0.18 [[ 0.971216 -0.21479833 -0.1029619 2.71097602] [ 0.21153101 0.97647721 -0.04179575 -0.0363814 ] [ 0.10951761 0.01881306 0.9938068 -0.18371967] [ 0. 0. 0. 1. ]] SLAMing on 107.16241403699999 meters Centerline goodness : 0.783144 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.04, Z:-0.18 [[ 0.97130953 -0.21417826 -0.10337056 2.71222368] [ 0.21096789 0.9766252 -0.04117968 -0.03780356] [ 0.10977409 0.01819035 0.9937901 -0.1839711 ] [ 0. 0. 0. 1. ]] SLAMing on 107.19241403699999 meters Centerline goodness : 0.781998 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.04, Z:-0.18 [[ 0.97136406 -0.21382644 -0.10358628 2.71257753] [ 0.21065125 0.97670913 -0.04080837 -0.03914232] [ 0.10989958 0.01781921 0.99378295 -0.18363594] [ 0. 0. 0. 1. ]] SLAMing on 107.222414037 meters Centerline goodness : 0.779228 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.04, Z:-0.18 [[ 0.97148487 -0.21307645 -0.10399797 2.71335209] [ 0.20998198 0.97688765 -0.03997617 -0.04229691] [ 0.11011232 0.01699854 0.99377378 -0.18310513] [ 0. 0. 0. 1. ]] SLAMing on 107.252414037 meters Centerline goodness : 0.779406 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.04, Z:-0.18 [[ 0.97158116 -0.21249386 -0.10429002 2.71447757] [ 0.20946801 0.97702608 -0.03928345 -0.04417072] [ 0.11024156 0.01632164 0.9937708 -0.18349865] [ 0. 0. 0. 1. ]] SLAMing on 107.282414037 meters Centerline goodness : 0.775595 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.05, Z:-0.18 [[ 0.97165018 -0.21201677 -0.10461751 2.71570607] [ 0.20909106 0.97714549 -0.03830966 -0.04768043] [ 0.11034882 0.015349 0.99377439 -0.18397291] [ 0. 0. 0. 1. ]] SLAMing on 107.312414037 meters Centerline goodness : 0.777992 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.05, Z:-0.18 [[ 0.97167023 -0.21185136 -0.10476629 2.71631346] [ 0.20897978 0.9771894 -0.03779338 -0.04923966] [ 0.11038308 0.01482866 0.99377849 -0.18432929] [ 0. 0. 0. 1. ]] SLAMing on 107.34241403699998 meters Centerline goodness : 0.776736 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.05, Z:-0.18 [[ 0.97166294 -0.21183138 -0.10487424 2.71676864] [ 0.20900623 0.9772004 -0.03735998 -0.05101073] [ 0.11039717 0.01438193 0.99378349 -0.1845861 ] [ 0. 0. 0. 1. ]] SLAMing on 107.37241403699998 meters Centerline goodness : 0.776306 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.06, Z:-0.18 [[ 0.97142041 -0.21299313 -0.10476787 2.71725303] [ 0.2101594 0.97694727 -0.03751085 -0.05525324] [ 0.11034224 0.01442085 0.99378903 -0.18489447] [ 0. 0. 0. 1. ]] SLAMing on 107.40241403699999 meters Centerline goodness : 0.775980 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.06, Z:-0.19 [[ 0.97136709 -0.21333902 -0.10455829 2.71699761] [ 0.21055752 0.97687781 -0.03708468 -0.05775192] [ 0.11005228 0.0140073 0.99382709 -0.18512471] [ 0. 0. 0. 1. ]] SLAMing on 107.43241403699999 meters Centerline goodness : 0.773948 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.06, Z:-0.18 [[ 0.97100579 -0.21526174 -0.10397183 2.714857 ] [ 0.21245466 0.97645148 -0.03749027 -0.06180421] [ 0.10959366 0.01431397 0.9938734 -0.18407233] [ 0. 0. 0. 1. ]] SLAMing on 107.46241403699999 meters Centerline goodness : 0.774740 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.06, Z:-0.18 [[ 0.97086898 -0.21604224 -0.10362995 2.71351421] [ 0.2132476 0.97627971 -0.03746197 -0.06363311] [ 0.10926519 0.01427183 0.99391017 -0.18348127] [ 0. 0. 0. 1. ]] SLAMing on 107.49241403699999 meters Centerline goodness : 0.774612 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.07, Z:-0.18 [[ 0.97074065 -0.21675969 -0.10333355 2.71220475] [ 0.21397999 0.97612178 -0.03740101 -0.06542347] [ 0.10897316 0.01419537 0.99394333 -0.18284991] [ 0. 0. 0. 1. ]] SLAMing on 107.52241403699999 meters Centerline goodness : 0.774244 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.07, Z:-0.18 [[ 0.97025927 -0.21905807 -0.10300731 2.71048601] [ 0.21622451 0.97560187 -0.03805192 -0.0689161 ] [ 0.10882971 0.01464752 0.99395249 -0.18182181] [ 0. 0. 0. 1. ]] SLAMing on 107.55241403699999 meters Centerline goodness : 0.771822 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.07, Z:-0.18 [[ 0.96934053 -0.22338072 -0.10237186 2.71155401] [ 0.22022904 0.97457499 -0.04126453 -0.07125899] [ 0.10898676 0.01745413 0.99388995 -0.182536 ] [ 0. 0. 0. 1. ]] SLAMing on 107.58241403699999 meters Centerline goodness : 0.773393 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.07, Z:-0.18 [[ 0.96921628 -0.22403619 -0.10211558 2.71118876] [ 0.22092158 0.97442943 -0.0409992 -0.07304042] [ 0.10868973 0.01717756 0.9939273 -0.18298889] [ 0. 0. 0. 1. ]] SLAMing on 107.612414037 meters Centerline goodness : 0.772803 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.07, Z:-0.18 [[ 0.96914247 -0.22448075 -0.10183939 2.71090959] [ 0.22140912 0.97433252 -0.04067102 -0.07452834] [ 0.1083553 0.01686784 0.99396912 -0.18356337] [ 0. 0. 0. 1. ]] SLAMing on 107.642414037 meters Centerline goodness : 0.774627 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.08, Z:-0.18 [[ 0.9690716 -0.2248573 -0.10168298 2.71089079] [ 0.22180556 0.97424817 -0.04053138 -0.07528123] [ 0.10817823 0.01672396 0.99399083 -0.18408289] [ 0. 0. 0. 1. ]] SLAMing on 107.672414037 meters Centerline goodness : 0.769973 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.07, Z:-0.18 [[ 0.96895786 -0.2254799 -0.1013878 2.71034098] [ 0.22242712 0.97410287 -0.04061741 -0.0745235 ] [ 0.10792055 0.01680516 0.99401748 -0.18466879] [ 0. 0. 0. 1. ]] SLAMing on 107.702414037 meters Centerline goodness : 0.771307 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.07, Z:-0.18 [[ 0.96930564 -0.22410041 -0.10112167 2.70632767] [ 0.22129631 0.97445464 -0.03828971 -0.07485742] [ 0.10711922 0.01473658 0.99413696 -0.18332126] [ 0. 0. 0. 1. ]] SLAMing on 107.73241403699998 meters Centerline goodness : 0.772600 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.07, Z:-0.18 [[ 0.96922683 -0.22452127 -0.10094331 2.7059459 ] [ 0.22169874 0.97435462 -0.03850644 -0.07468853] [ 0.10700009 0.01494247 0.99414672 -0.18342416] [ 0. 0. 0. 1. ]] SLAMing on 107.76241403699999 meters Centerline goodness : 0.773245 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.07, Z:-0.18 [[ 0.96917513 -0.22483471 -0.10074183 2.70595579] [ 0.22200855 0.97428101 -0.038584 -0.07433368] [ 0.10682587 0.01502911 0.99416415 -0.18408442] [ 0. 0. 0. 1. ]] SLAMing on 107.79241403699999 meters Centerline goodness : 0.773245 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.07, Z:-0.18 [[ 0.96917513 -0.22483471 -0.10074183 2.70595579] [ 0.22200855 0.97428101 -0.038584 -0.07433368] [ 0.10682587 0.01502911 0.99416415 -0.18408442] [ 0. 0. 0. 1. ]] SLAMing on 107.82241403699999 meters Centerline goodness : 0.772777 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.07, Z:-0.18 [[ 0.96902636 -0.22562895 -0.1003967 2.70542797] [ 0.2227564 0.97408953 -0.03910462 -0.07156432] [ 0.10661851 0.0155294 0.99417872 -0.1849717 ] [ 0. 0. 0. 1. ]] SLAMing on 107.85241403699999 meters Centerline goodness : 0.771774 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.07, Z:-0.18 [[ 0.96954848 -0.22343336 -0.10026604 2.70249304] [ 0.22088088 0.9746355 -0.03601777 -0.07155153] [ 0.10577041 0.01277413 0.99430852 -0.18475387] [ 0. 0. 0. 1. ]] SLAMing on 107.88241403699999 meters Centerline goodness : 0.771694 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.07, Z:-0.18 [[ 0.97001633 -0.22165005 -0.09969744 2.69837918] [ 0.21936639 0.97506889 -0.03345213 -0.06937978] [ 0.10462654 0.01057884 0.99445532 -0.18457034] [ 0. 0. 0. 1. ]] SLAMing on 107.91241403699999 meters Centerline goodness : 0.774405 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.07, Z:-0.18 [[ 0.96995766 -0.2220141 -0.09945787 2.69769569] [ 0.21967661 0.97497985 -0.03400696 -0.06739255] [ 0.10451944 0.01113674 0.99446049 -0.18451071] [ 0. 0. 0. 1. ]] SLAMing on 107.94241403699999 meters Centerline goodness : 0.775735 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.06, Z:-0.18 [[ 0.96979688 -0.2229304 -0.09897498 2.69593161] [ 0.22046935 0.97475554 -0.03528317 -0.06429566] [ 0.1043421 0.01239656 0.9944642 -0.18371837] [ 0. 0. 0. 1. ]] SLAMing on 107.972414037 meters Centerline goodness : 0.774194 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.06, Z:-0.18 [[ 0.9697346 -0.22322209 -0.09892778 2.69564767] [ 0.22071336 0.97468304 -0.03575742 -0.06253606] [ 0.10440507 0.01284052 0.99445196 -0.18364781] [ 0. 0. 0. 1. ]] SLAMing on 108.002414037 meters Centerline goodness : 0.776719 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.06, Z:-0.18 [[ 0.97034721 -0.22054899 -0.09891627 2.69314937] [ 0.21836754 0.9753253 -0.032499 -0.06227581] [ 0.10364317 0.00993521 0.99456492 -0.18357616] [ 0. 0. 0. 1. ]] SLAMing on 108.032414037 meters Centerline goodness : 0.779403 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.06, Z:-0.18 [[ 0.97097878 -0.2178295 -0.09874467 2.69052305] [ 0.2159625 0.97596049 -0.0293482 -0.05887315] [ 0.1027638 0.00717133 0.99467993 -0.18437203] [ 0. 0. 0. 1. ]] SLAMing on 108.062414037 meters Centerline goodness : 0.779837 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.06, Z:-0.18 [[ 0.9709608 -0.21794417 -0.09866848 2.6906247 ] [ 0.21604671 0.97593261 -0.02965418 -0.05678122] [ 0.10275674 0.00747604 0.99467842 -0.18490949] [ 0. 0. 0. 1. ]] SLAMing on 108.09241403699998 meters Centerline goodness : 0.781078 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.05, Z:-0.19 [[ 0.97080596 -0.21899113 -0.09787066 2.68904412] [ 0.21703208 0.97569207 -0.03036537 -0.05477988] [ 0.10214137 0.00823781 0.99473578 -0.1854961 ] [ 0. 0. 0. 1. ]] SLAMing on 108.12241403699998 meters Centerline goodness : 0.777847 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.05, Z:-0.19 [[ 0.97072809 -0.21950605 -0.09748881 2.68837505] [ 0.21753138 0.97557435 -0.03057429 -0.05470549] [ 0.10181882 0.00847244 0.99476688 -0.18580762] [ 0. 0. 0. 1. ]] SLAMing on 108.15241403699999 meters Centerline goodness : 0.777445 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.05, Z:-0.19 [[ 0.97064599 -0.21998258 -0.09723182 2.68797994] [ 0.2179799 0.97546418 -0.03089328 -0.05396302] [ 0.10164214 0.00879185 0.99478218 -0.18609661] [ 0. 0. 0. 1. ]] SLAMing on 108.18241403699999 meters Centerline goodness : 0.779566 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.05, Z:-0.19 [[ 0.97119513 -0.21756548 -0.09718685 2.68586048] [ 0.21590388 0.97602935 -0.02742658 -0.0528381 ] [ 0.1008243 0.00565354 0.99488818 -0.18726909] [ 0. 0. 0. 1. ]] SLAMing on 108.21241403699999 meters Centerline goodness : 0.779547 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.05, Z:-0.19 [[ 0.97118918 -0.21756758 -0.09724155 2.68617372] [ 0.21588577 0.97602783 -0.02762278 -0.05093416] [ 0.10092028 0.00583388 0.99487741 -0.18771769] [ 0. 0. 0. 1. ]] SLAMing on 108.24241403699999 meters Centerline goodness : 0.781401 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.05, Z:-0.19 [[ 0.97112872 -0.21790209 -0.09709627 2.68550775] [ 0.21617591 0.9759504 -0.02808547 -0.04929379] [ 0.10088103 0.00628474 0.99487865 -0.18748329] [ 0. 0. 0. 1. ]] SLAMing on 108.27241403699999 meters Centerline goodness : 0.782444 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.05, Z:-0.19 [[ 0.97167544 -0.2153707 -0.09727436 2.68313581] [ 0.21392825 0.97652564 -0.02514727 -0.04901945] [ 0.1004069 0.00362525 0.99493985 -0.1869329 ] [ 0. 0. 0. 1. ]] SLAMing on 108.30241403699999 meters Centerline goodness : 0.781519 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.05, Z:-0.19 [[ 0.97168226 -0.21524368 -0.09748713 2.68371147] [ 0.21378907 0.97655337 -0.02525354 -0.04799349] [ 0.10063705 0.00369674 0.99491634 -0.18712547] [ 0. 0. 0. 1. ]] SLAMing on 108.33241403699999 meters Centerline goodness : 0.784130 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.05, Z:-0.19 [[ 9.72424009e-01 -2.11682290e-01 -9.78884771e-02 2.68281419e+00] [ 2.10566700e-01 9.77338406e-01 -2.17095728e-02 -4.71752604e-02] [ 1.00265700e-01 4.98856215e-04 9.94960572e-01 -1.87629583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.362414037 meters Centerline goodness : 0.784426 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.05, Z:-0.19 [[ 9.72452852e-01 -2.11436994e-01 -9.81317867e-02 2.68349925e+00] [ 2.10294628e-01 9.77391365e-01 -2.19610992e-02 -4.54409004e-02] [ 1.00556550e-01 7.19546030e-04 9.94931084e-01 -1.87757978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.392414037 meters Centerline goodness : 0.783651 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.04, Z:-0.19 [[ 9.73059306e-01 -2.08688634e-01 -9.80032673e-02 2.68063887e+00] [ 2.07854286e-01 9.77979849e-01 -1.87619379e-02 -4.44627869e-02] [ 9.97606237e-02 -2.11392092e-03 9.95009221e-01 -1.87609078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.422414037 meters Centerline goodness : 0.786025 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.04, Z:-0.19 [[ 9.73018883e-01 -2.08939343e-01 -9.78703478e-02 2.68009985e+00] [ 2.08062437e-01 9.77927151e-01 -1.91965919e-02 -4.33236611e-02] [ 9.97209937e-02 -1.68449666e-03 9.95014013e-01 -1.87296742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.452414037 meters Centerline goodness : 0.786210 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.04, Z:-0.19 [[ 9.73000553e-01 -2.09049309e-01 -9.78177392e-02 2.67983646e+00] [ 2.08147621e-01 9.77904045e-01 -1.94485656e-02 -4.29193712e-02] [ 9.97220720e-02 -1.43706457e-03 9.95014293e-01 -1.87009460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48241403699998 meters Centerline goodness : 0.787068 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.04, Z:-0.19 [[ 9.72926116e-01 -2.09376850e-01 -9.78575871e-02 2.67922602e+00] [ 2.08397537e-01 9.77834772e-01 -2.02391883e-02 -4.10183648e-02] [ 9.99261689e-02 -7.02045246e-04 9.94994607e-01 -1.86035259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.51241403699999 meters Centerline goodness : 0.788062 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.04, Z:-0.19 [[ 9.72895889e-01 -2.09525203e-01 -9.78405729e-02 2.67870891e+00] [ 2.08511375e-01 9.77803177e-01 -2.05901234e-02 -3.98018084e-02] [ 9.99829729e-02 -3.68826018e-04 9.94989080e-01 -1.85501980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54241403699999 meters Centerline goodness : 0.791478 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.04, Z:-0.19 [[ 9.72864549e-01 -2.09685263e-01 -9.78093005e-02 2.67850191e+00] [ 2.08632992e-01 9.77768935e-01 -2.09805638e-02 -3.86294774e-02] [ 1.00034211e-01 4.99975595e-06 9.94983998e-01 -1.85274443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.57241403699999 meters Centerline goodness : 0.788228 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.04, Z:-0.19 [[ 9.72910915e-01 -2.09401504e-01 -9.79559157e-02 2.67938444e+00] [ 2.08370770e-01 9.77829720e-01 -2.07523701e-02 -3.84607099e-02] [ 1.00129783e-01 -2.20942193e-04 9.94974360e-01 -1.85964576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60241403699999 meters Centerline goodness : 0.789561 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.04, Z:-0.19 [[ 9.72953838e-01 -2.09115459e-01 -9.81404821e-02 2.68044309e+00] [ 2.08120377e-01 9.77890779e-01 -2.03846545e-02 -3.82811016e-02] [ 1.00233419e-01 -5.91706283e-04 9.94963774e-01 -1.86957973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.63241403699999 meters Centerline goodness : 0.788635 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.04, Z:-0.19 [[ 9.73125159e-01 -2.08080643e-01 -9.86401092e-02 2.68358963e+00] [ 2.07198939e-01 9.78110125e-01 -1.92141288e-02 -3.85919880e-02] [ 1.00478978e-01 -1.74037380e-03 9.94937659e-01 -1.89787546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.66241403699999 meters Centerline goodness : 0.790159 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.04, Z:-0.19 [[ 9.73165205e-01 -2.07855271e-01 -9.87201646e-02 2.68441236e+00] [ 2.06998557e-01 9.78157574e-01 -1.89567517e-02 -3.84886855e-02] [ 1.00504137e-01 -1.98688053e-03 9.94934656e-01 -1.90625897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.69241403699999 meters Centerline goodness : 0.790624 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.04, Z:-0.19 [[ 0.97373245 -0.2052667 -0.09854289 2.68090472] [ 0.20470901 0.97869459 -0.015847 -0.03822656] [ 0.09969626 -0.00474188 0.99500662 -0.18964221] [ 0. 0. 0. 1. ]] SLAMing on 108.722414037 meters Centerline goodness : 0.793060 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.04, Z:-0.19 [[ 0.9742776 -0.20270607 -0.09845507 2.67737001] [ 0.20243157 0.97921177 -0.01287515 -0.03828143] [ 0.09901823 -0.00738645 0.9950582 -0.1881718 ] [ 0. 0. 0. 1. ]] SLAMing on 108.752414037 meters Centerline goodness : 0.793868 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.04, Z:-0.19 [[ 0.9742203 -0.20299437 -0.09842809 2.67644546] [ 0.20264531 0.97915725 -0.01363667 -0.03669666] [ 0.09914475 -0.00666087 0.99505073 -0.18690787] [ 0. 0. 0. 1. ]] SLAMing on 108.782414037 meters Centerline goodness : 0.792219 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.04, Z:-0.19 [[ 0.97419658 -0.20315779 -0.09832563 2.67574216] [ 0.20275283 0.97912699 -0.01419933 -0.03689658] [ 0.09915798 -0.00610286 0.99505299 -0.18571096] [ 0. 0. 0. 1. ]] SLAMing on 108.812414037 meters Centerline goodness : 0.794916 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.04, Z:-0.19 [[ 0.9741769 -0.20325755 -0.09831447 2.67571579] [ 0.2028354 0.97910731 -0.01437618 -0.03706585] [ 0.09918248 -0.00593671 0.99505155 -0.18549357] [ 0. 0. 0. 1. ]] SLAMing on 108.84241403699998 meters Centerline goodness : 0.796378 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.04, Z:-0.19 [[ 0.97421818 -0.20290172 -0.09863989 2.67694431] [ 0.20249626 0.97917992 -0.01421083 -0.03683025] [ 0.0994696 -0.00612976 0.99502172 -0.18604657] [ 0. 0. 0. 1. ]] SLAMing on 108.87241403699998 meters Centerline goodness : 0.793775 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.04, Z:-0.19 [[ 0.9742634 -0.20253622 -0.09894392 2.67793103] [ 0.20214356 0.97925464 -0.01408338 -0.03650763] [ 0.09974368 -0.00627996 0.99499335 -0.18636259] [ 0. 0. 0. 1. ]] SLAMing on 108.90241403699999 meters Centerline goodness : 0.795412 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.04, Z:-0.19 [[ 0.97431118 -0.20213103 -0.09930142 2.67885814] [ 0.20173453 0.9793384 -0.01412341 -0.03595792] [ 0.10010447 -0.00627193 0.99495716 -0.1862815 ] [ 0. 0. 0. 1. ]] SLAMing on 108.93241403699999 meters Centerline goodness : 0.798588 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.04, Z:-0.19 [[ 0.97510077 -0.19802937 -0.09981414 2.67821509] [ 0.19801623 0.98014631 -0.01013861 -0.03577704] [ 0.0998402 -0.00987865 0.99495444 -0.18656197] [ 0. 0. 0. 1. ]] SLAMing on 108.96241403699999 meters Centerline goodness : 0.795432 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.04, Z:-0.19 [[ 0.97591543 -0.19352906 -0.10067564 2.67909011] [ 0.19394446 0.98099572 -0.00573911 -0.03623835] [ 0.09987306 -0.01392459 0.99490275 -0.18773868] [ 0. 0. 0. 1. ]] SLAMing on 108.99241403699999 meters Centerline goodness : 0.794181 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.04, Z:-0.19 [[ 0.97597649 -0.19309679 -0.10091342 2.6800866 ] [ 0.19352903 0.98107867 -0.00558259 -0.03610098] [ 0.10008198 -0.0140812 0.99487955 -0.18809168] [ 0. 0. 0. 1. ]] SLAMing on 109.02241403699999 meters Centerline goodness : 0.793076 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.04, Z:-0.19 [[ 0.97599402 -0.19304059 -0.10085143 2.68002912] [ 0.19345304 0.98109258 -0.00576771 -0.035789 ] [ 0.10005799 -0.01388076 0.99488478 -0.18794008] [ 0. 0. 0. 1. ]] SLAMing on 109.05241403699999 meters Centerline goodness : 0.798036 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.03, Z:-0.19 [[ 0.9760231 -0.1928699 -0.10089652 2.68003232] [ 0.19324584 0.98113123 -0.00612788 -0.0342315 ] [ 0.10017461 -0.01351688 0.99487805 -0.18760705] [ 0. 0. 0. 1. ]] SLAMing on 109.08241403699999 meters Centerline goodness : 0.796299 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.03, Z:-0.19 [[ 0.97600019 -0.19305449 -0.10076507 2.67962924] [ 0.19340523 0.98109828 -0.00637017 -0.03373868] [ 0.10009023 -0.01327121 0.99488985 -0.18743377] [ 0. 0. 0. 1. ]] SLAMing on 109.112414037 meters Centerline goodness : 0.797164 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.03, Z:-0.19 [[ 0.97594315 -0.1934356 -0.10058643 2.67882088] [ 0.19373889 0.9810293 -0.0068383 -0.03340157] [ 0.10000101 -0.01281372 0.99490482 -0.18676313] [ 0. 0. 0. 1. ]] SLAMing on 109.142414037 meters Centerline goodness : 0.800390 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.03, Z:-0.19 [[ 0.97590896 -0.1936095 -0.10058364 2.67851206] [ 0.19386597 0.98100077 -0.00731264 -0.03214816] [ 0.10008842 -0.01236327 0.99490173 -0.1862772 ] [ 0. 0. 0. 1. ]] SLAMing on 109.172414037 meters Centerline goodness : 0.801561 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.03, Z:-0.19 [[ 0.97592242 -0.19338069 -0.10089276 2.67912838] [ 0.19361359 0.98104864 -0.0075726 -0.03094657] [ 0.1004451 -0.01214394 0.99486849 -0.18601029] [ 0. 0. 0. 1. ]] SLAMing on 109.202414037 meters Centerline goodness : 0.798931 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.03, Z:-0.19 [[ 0.97596057 -0.19296856 -0.10131189 2.68016512] [ 0.19319561 0.98113036 -0.00765963 -0.03008135] [ 0.10087824 -0.01209751 0.99482523 -0.1859462 ] [ 0. 0. 0. 1. ]] SLAMing on 109.23241403699998 meters Centerline goodness : 0.801863 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.03, Z:-0.19 [[ 0.97610225 -0.19204112 -0.10170848 2.68211766] [ 0.19231 0.98130746 -0.00724772 -0.02955945] [ 0.10119915 -0.01248504 0.99478784 -0.18697683] [ 0. 0. 0. 1. ]] SLAMing on 109.26241403699999 meters Centerline goodness : 0.801262 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.03, Z:-0.19 [[ 0.9761848 -0.19146098 -0.10200948 2.68336518] [ 0.19175109 0.98141829 -0.00704644 -0.0288087 ] [ 0.10146308 -0.0126818 0.99475847 -0.18753987] [ 0. 0. 0. 1. ]] SLAMing on 109.29241403699999 meters Centerline goodness : 0.802406 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.03, Z:-0.19 [[ 0.97620444 -0.19130407 -0.10211583 2.68358628] [ 0.19158925 0.98144952 -0.00709984 -0.0284033 ] [ 0.10157976 -0.0126334 0.99474718 -0.18738666] [ 0. 0. 0. 1. ]] SLAMing on 109.32241403699999 meters Centerline goodness : 0.802400 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.03, Z:-0.19 [[ 0.97619414 -0.1913174 -0.10218934 2.68326175] [ 0.19156711 0.98145119 -0.00745673 -0.02771229] [ 0.10172045 -0.0122969 0.99473702 -0.18659683] [ 0. 0. 0. 1. ]] SLAMing on 109.35241403699999 meters Centerline goodness : 0.801936 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.03, Z:-0.18 [[ 0.97679071 -0.18825885 -0.10216907 2.68000126] [ 0.18881448 0.98200339 -0.00429289 -0.0287217 ] [ 0.10113855 -0.01509774 0.99475779 -0.18477586] [ 0. 0. 0. 1. ]] SLAMing on 109.38241403699999 meters Centerline goodness : 0.798692 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.03, Z:-0.18 [[ 0.97683529 -0.1878497 -0.10249537 2.68055523] [ 0.1883862 0.98208468 -0.00450772 -0.02815237] [ 0.10150591 -0.01490541 0.99472327 -0.18413093] [ 0. 0. 0. 1. ]] SLAMing on 109.41241403699999 meters Centerline goodness : 0.799931 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.03, Z:-0.18 [[ 9.77644380e-01 -1.83125770e-01 -1.03326755e-01 2.68133381e+00] [ 1.84085450e-01 9.82910211e-01 -2.52438439e-04 -2.93312203e-02] [ 1.01607151e-01 -1.87741572e-02 9.94647434e-01 -1.84568432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.44241403699999 meters Centerline goodness : 0.798835 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.03, Z:-0.18 [[ 9.77801132e-01 -1.81874016e-01 -1.04051852e-01 2.68364778e+00] [ 1.82868776e-01 9.83137330e-01 2.07813215e-05 -2.82170468e-02] [ 1.02293481e-01 -1.90481549e-02 9.94571874e-01 -1.84949410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.472414037 meters Centerline goodness : 0.800854 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.03, Z:-0.19 [[ 9.77945796e-01 -1.80623682e-01 -1.04867090e-01 2.68624673e+00] [ 1.81655183e-01 9.83362248e-01 2.90012449e-04 -2.70998445e-02] [ 1.03069954e-01 -1.93332668e-02 9.94486204e-01 -1.85435322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.502414037 meters Centerline goodness : 0.797934 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.03, Z:-0.19 [[ 0.97887013 -0.17475472 -0.10617935 2.68970606] [ 0.17633566 0.98431408 0.00561489 -0.02867181] [ 0.1035326 -0.02421946 0.99433114 -0.18790211] [ 0. 0. 0. 1. ]] SLAMing on 109.532414037 meters Centerline goodness : 0.799585 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.03, Z:-0.19 [[ 0.97958339 -0.17038546 -0.10670138 2.68977019] [ 0.17240763 0.98497539 0.00995454 -0.03013066] [ 0.10340212 -0.02814743 0.99424128 -0.18848086] [ 0. 0. 0. 1. ]] SLAMing on 109.562414037 meters Centerline goodness : 0.799803 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.03, Z:-0.19 [[ 0.98033741 -0.16555384 -0.10738014 2.68928094] [ 0.167968 0.98569615 0.01377846 -0.02996796] [ 0.10356312 -0.03154397 0.99412256 -0.18739728] [ 0. 0. 0. 1. ]] SLAMing on 109.59241403699998 meters Centerline goodness : 0.801661 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.03, Z:-0.19 [[ 0.98042195 -0.16484628 -0.10769633 2.6899848 ] [ 0.16725717 0.98581828 0.0136878 -0.02912715] [ 0.10391263 -0.03143281 0.99408961 -0.18682323] [ 0. 0. 0. 1. ]] SLAMing on 109.62241403699998 meters Centerline goodness : 0.798340 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.03, Z:-0.19 [[ 0.98047476 -0.16428291 -0.10807573 2.69083686] [ 0.16669763 0.98591373 0.01363896 -0.02901126] [ 0.10431269 -0.03138863 0.9940491 -0.18631458] [ 0. 0. 0. 1. ]] SLAMing on 109.65241403699999 meters Centerline goodness : 0.798063 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.03, Z:-0.19 [[ 0.98059879 -0.16305263 -0.10881113 2.69332265] [ 0.1655839 0.98608783 0.01458636 -0.03139713] [ 0.10491899 -0.03232074 0.99395542 -0.18678887] [ 0. 0. 0. 1. ]] SLAMing on 109.68241403699999 meters Centerline goodness : 0.796677 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.03, Z:-0.19 [[ 0.98065668 -0.16259283 -0.10897732 2.69433692] [ 0.16519314 0.98614391 0.0152126 -0.03332455] [ 0.10499386 -0.03292065 0.99392782 -0.18729671] [ 0. 0. 0. 1. ]] SLAMing on 109.71241403699999 meters Centerline goodness : 0.796677 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.03, Z:-0.19 [[ 0.98065668 -0.16259283 -0.10897732 2.69433692] [ 0.16519314 0.98614391 0.0152126 -0.03332455] [ 0.10499386 -0.03292065 0.99392782 -0.18729671] [ 0. 0. 0. 1. ]] SLAMing on 109.74241403699999 meters Centerline goodness : 0.796698 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.04, Z:-0.19 [[ 0.98066177 -0.16243727 -0.10916329 2.69483009] [ 0.16508547 0.98615565 0.01561486 -0.03536263] [ 0.10511556 -0.03333417 0.99390118 -0.18720026] [ 0. 0. 0. 1. ]] SLAMing on 109.77241403699999 meters Centerline goodness : 0.798049 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.04, Z:-0.19 [[ 0.98061249 -0.16275356 -0.10913492 2.6942679 ] [ 0.16543114 0.9860934 0.01588522 -0.03842047] [ 0.10503184 -0.03363156 0.99390001 -0.18640683] [ 0. 0. 0. 1. ]] SLAMing on 109.80241403699999 meters Centerline goodness : 0.793778 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.04, Z:-0.19 [[ 0.98051492 -0.16329503 -0.10920272 2.69384565] [ 0.16600636 0.98599236 0.01615398 -0.04190744] [ 0.10503518 -0.03396756 0.99388823 -0.18561975] [ 0. 0. 0. 1. ]] SLAMing on 109.83241403699999 meters Centerline goodness : 0.794177 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.05, Z:-0.18 [[ 0.98044587 -0.16371627 -0.10919196 2.69350137] [ 0.16644739 0.98591523 0.01632261 -0.04528189] [ 0.10498174 -0.03417815 0.99388666 -0.18492295] [ 0. 0. 0. 1. ]] SLAMing on 109.862414037 meters Centerline goodness : 0.791148 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.05, Z:-0.18 [[ 0.9798326 -0.16748921 -0.10897446 2.69445987] [ 0.1698444 0.98538989 0.0126352 -0.04694788] [ 0.10526608 -0.03088908 0.99396424 -0.18418572] [ 0. 0. 0. 1. ]] SLAMing on 109.892414037 meters Centerline goodness : 0.789934 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.05, Z:-0.18 [[ 0.9790154 -0.17266494 -0.10823896 2.69288268] [ 0.17460607 0.98460039 0.00864804 -0.05225263] [ 0.10507891 -0.02736574 0.99408729 -0.18167038] [ 0. 0. 0. 1. ]] SLAMing on 109.922414037 meters Centerline goodness : 0.790464 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.06, Z:-0.18 [[ 0.97885761 -0.17374436 -0.10793834 2.69135884] [ 0.17566857 0.9844126 0.00850831 -0.05510465] [ 0.10477759 -0.0272898 0.99412118 -0.18062442] [ 0. 0. 0. 1. ]] SLAMing on 109.952414037 meters Centerline goodness : 0.791688 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.06, Z:-0.18 [[ 0.97814958 -0.17773945 -0.10785217 2.69255582] [ 0.17937776 0.9837643 0.00560548 -0.05899817] [ 0.1051048 -0.02482927 0.99415114 -0.18029915] [ 0. 0. 0. 1. ]] SLAMing on 109.98241403699998 meters Centerline goodness : 0.786830 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.06, Z:-0.18 [[ 0.97807287 -0.17813524 -0.10789487 2.69259347] [ 0.1798154 0.98368226 0.00596963 -0.06214986] [ 0.10507087 -0.02523989 0.99414439 -0.18009989] [ 0. 0. 0. 1. ]] SLAMing on 110.01241403699999 meters Centerline goodness : 0.786166 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.07, Z:-0.18 [[ 0.97799894 -0.17857717 -0.10783445 2.69233219] [ 0.18029813 0.98359153 0.00634673 -0.06537779] [ 0.10493167 -0.02564944 0.99414861 -0.17988266] [ 0. 0. 0. 1. ]] SLAMing on 110.04241403699999 meters Centerline goodness : 0.784597 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.07, Z:-0.18 [[ 0.97735969 -0.18215111 -0.10765223 2.69351597] [ 0.18355653 0.98300392 0.00320936 -0.06932968] [ 0.10523797 -0.02289697 0.99418343 -0.1790771 ] [ 0. 0. 0. 1. ]] SLAMing on 110.07241403699999 meters Centerline goodness : 0.783855 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.07, Z:-0.18 [[ 0.97734745 -0.18215578 -0.10775542 2.69364068] [ 0.18359423 0.98299589 0.0034984 -0.07165362] [ 0.10528588 -0.02320243 0.99417128 -0.17864694] [ 0. 0. 0. 1. ]] SLAMing on 110.10241403699999 meters Centerline goodness : 0.780423 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.08, Z:-0.18 [[ 0.9773622 -0.1819335 -0.10799694 2.69365868] [ 0.18342876 0.9830249 0.00399246 -0.07537327] [ 0.10543731 -0.02371182 0.99414321 -0.17746692] [ 0. 0. 0. 1. ]] SLAMing on 110.13241403699999 meters Centerline goodness : 0.784288 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.08, Z:-0.18 [[ 0.9774035 -0.18159766 -0.1081882 2.69404521] [ 0.18313245 0.98307867 0.00433975 -0.0768172 ] [ 0.10556942 -0.02405446 0.99412096 -0.17713491] [ 0. 0. 0. 1. ]] SLAMing on 110.16241403699999 meters Centerline goodness : 0.785161 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.08, Z:-0.18 [[ 0.97744589 -0.18116973 -0.10852217 2.6947726 ] [ 0.18275158 0.98314775 0.00472868 -0.07804138] [ 0.10583663 -0.02445463 0.99408278 -0.17689901] [ 0. 0. 0. 1. ]] SLAMing on 110.19241403699999 meters Centerline goodness : 0.785453 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.08, Z:-0.18 [[ 0.97754347 -0.18030823 -0.10907658 2.69615234] [ 0.18199042 0.98328444 0.00558565 -0.0806877 ] [ 0.10624617 -0.02531111 0.99401766 -0.17668164] [ 0. 0. 0. 1. ]] SLAMing on 110.222414037 meters Centerline goodness : 0.784669 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.08, Z:-0.18 [[ 0.97757413 -0.1801369 -0.10908494 2.69573751] [ 0.18186132 0.98330596 0.00598826 -0.08416901] [ 0.10618517 -0.02569229 0.99401439 -0.17556138] [ 0. 0. 0. 1. ]] SLAMing on 110.252414037 meters Centerline goodness : 0.782798 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.09, Z:-0.18 [[ 0.97757321 -0.1801883 -0.10900823 2.69537856] [ 0.18192594 0.98329314 0.00612799 -0.0858342 ] [ 0.10608286 -0.02582198 0.99402196 -0.17502689] [ 0. 0. 0. 1. ]] SLAMing on 110.282414037 meters Centerline goodness : 0.784199 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.09, Z:-0.17 [[ 0.9775888 -0.17996067 -0.10924422 2.69599408] [ 0.18174272 0.98332465 0.00649818 -0.08782905] [ 0.10625312 -0.02620689 0.9939937 -0.17484583] [ 0. 0. 0. 1. ]] SLAMing on 110.312414037 meters Centerline goodness : 0.785207 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.09, Z:-0.18 [[ 0.97760807 -0.17972088 -0.10946631 2.69692887] [ 0.18156161 0.98335463 0.00700431 -0.08983754] [ 0.10638539 -0.02672235 0.99396583 -0.17513892] [ 0. 0. 0. 1. ]] SLAMing on 110.34241403699998 meters Centerline goodness : 0.782945 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.09, Z:-0.18 [[ 0.97765433 -0.17925344 -0.10981902 2.69790605] [ 0.18117819 0.98341995 0.0077239 -0.09224391] [ 0.10661368 -0.02744812 0.99392159 -0.17510036] [ 0. 0. 0. 1. ]] SLAMing on 110.37241403699998 meters Centerline goodness : 0.778825 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.09, Z:-0.17 [[ 0.97762539 -0.1793501 -0.10991876 2.69771561] [ 0.1813101 0.98339326 0.00802125 -0.09423928] [ 0.10665475 -0.02777116 0.99390821 -0.17447465] [ 0. 0. 0. 1. ]] SLAMing on 110.40241403699999 meters Centerline goodness : 0.777888 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.10, Z:-0.17 [[ 0.97761112 -0.17940476 -0.10995652 2.69831341] [ 0.18140326 0.9833732 0.00836701 -0.09611852] [ 0.10662722 -0.02812615 0.99390118 -0.17490397] [ 0. 0. 0. 1. ]] SLAMing on 110.43241403699999 meters Centerline goodness : 0.780575 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.10, Z:-0.18 [[ 0.9770267 -0.18257028 -0.10994054 2.70090509] [ 0.18424212 0.98286735 0.00515826 -0.0965446 ] [ 0.10711522 -0.02529543 0.99392478 -0.17578291] [ 0. 0. 0. 1. ]] SLAMing on 110.46241403699999 meters Centerline goodness : 0.781799 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.10, Z:-0.17 [[ 9.76240973e-01 -1.87293277e-01 -1.08971512e-01 2.70004772e+00] [ 1.88549585e-01 9.82062877e-01 1.24854065e-03 -9.84586077e-02] [ 1.06783033e-01 -2.17654098e-02 9.94044089e-01 -1.74960236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.49241403699999 meters Centerline goodness : 0.778834 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.10, Z:-0.17 [[ 9.76115094e-01 -1.88175718e-01 -1.08578186e-01 2.69829857e+00] [ 1.89383060e-01 9.81902938e-01 8.23123798e-04 -9.94182102e-02] [ 1.06458348e-01 -2.13663326e-02 9.94087572e-01 -1.73791867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52241403699999 meters Centerline goodness : 0.776622 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.10, Z:-0.17 [[ 9.75885730e-01 -1.89698996e-01 -1.07987654e-01 2.69561258e+00] [ 1.90818055e-01 9.81625422e-01 3.01908806e-05 -1.01182687e-01] [ 1.05997699e-01 -2.06354570e-02 9.94152235e-01 -1.71911555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.55241403699999 meters Centerline goodness : 0.779052 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.10, Z:-0.17 [[ 9.75831395e-01 -1.90020579e-01 -1.07913241e-01 2.69502807e+00] [ 1.91133061e-01 9.81564135e-01 -3.46890673e-05 -1.02560424e-01] [ 1.05930358e-01 -2.05919373e-02 9.94160315e-01 -1.71171312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.58241403699999 meters Centerline goodness : 0.781913 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.10, Z:-0.17 [[ 9.75793137e-01 -1.90247338e-01 -1.07859651e-01 2.69448453e+00] [ 1.91350036e-01 9.81521853e-01 -1.28564653e-04 -1.03556376e-01] [ 1.05891063e-01 -2.05134956e-02 9.94166123e-01 -1.70437055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.612414037 meters Centerline goodness : 0.776862 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.10, Z:-0.17 [[ 9.75789593e-01 -1.90204181e-01 -1.07967769e-01 2.69442839e+00] [ 1.91310444e-01 9.81529572e-01 -1.13817824e-04 -1.04239292e-01] [ 1.05995207e-01 -2.05442996e-02 9.94154388e-01 -1.69858823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.642414037 meters Centerline goodness : 0.778100 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.10, Z:-0.17 [[ 9.75918342e-01 -1.89169567e-01 -1.08619816e-01 2.69602866e+00] [ 1.90327917e-01 9.81720527e-01 3.02505718e-04 -1.04404108e-01] [ 1.06577078e-01 -2.09686042e-02 9.94083318e-01 -1.69755837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.672414037 meters Centerline goodness : 0.776849 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.11, Z:-0.17 [[ 0.97675038 -0.18412871 -0.10979672 2.69790122] [ 0.18579269 0.98257608 0.00503307 -0.10614829] [ 0.10695689 -0.02531548 0.99394132 -0.17082644] [ 0. 0. 0. 1. ]] SLAMing on 110.702414037 meters Centerline goodness : 0.775640 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.11, Z:-0.17 [[ 0.97688751 -0.18308146 -0.11032665 2.69966589] [ 0.1847991 0.98276114 0.00546185 -0.10581823] [ 0.10742478 -0.02572388 0.99388037 -0.17132821] [ 0. 0. 0. 1. ]] SLAMing on 110.73241403699998 meters Centerline goodness : 0.775109 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.11, Z:-0.17 [[ 0.97700537 -0.18222121 -0.11070649 2.70100592] [ 0.18398024 0.98291283 0.00580011 -0.10539595] [ 0.10775793 -0.02603454 0.99383622 -0.17178466] [ 0. 0. 0. 1. ]] SLAMing on 110.76241403699999 meters Centerline goodness : 0.772389 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.11, Z:-0.17 [[ 0.97734039 -0.18005156 -0.11129777 2.7042547 ] [ 0.18197218 0.98327686 0.00726188 -0.10671925] [ 0.10812901 -0.02735042 0.99376057 -0.17359477] [ 0. 0. 0. 1. ]] SLAMing on 110.79241403699999 meters Centerline goodness : 0.773818 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.11, Z:-0.17 [[ 0.97744498 -0.17925194 -0.11166935 2.70601007] [ 0.18123713 0.98340846 0.00780379 -0.1069179 ] [ 0.10841774 -0.02786641 0.99371478 -0.17460424] [ 0. 0. 0. 1. ]] SLAMing on 110.82241403699999 meters Centerline goodness : 0.771273 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.11, Z:-0.17 [[ 0.97782418 -0.17758125 -0.11101702 2.70387542] [ 0.17967172 0.98368511 0.00903753 -0.10714432] [ 0.10760089 -0.02878373 0.99377741 -0.1736665 ] [ 0. 0. 0. 1. ]] SLAMing on 110.85241403699999 meters Centerline goodness : 0.774647 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.11, Z:-0.17 [[ 0.97778509 -0.17798836 -0.11070893 2.70200706] [ 0.18001691 0.98362658 0.00852471 -0.10716073] [ 0.10737894 -0.02826482 0.99381631 -0.17194043] [ 0. 0. 0. 1. ]] SLAMing on 110.88241403699999 meters Centerline goodness : 0.775816 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.11, Z:-0.17 [[ 0.97772356 -0.17853043 -0.11037898 2.700134 ] [ 0.18050724 0.98354028 0.00810224 -0.10873762] [ 0.10711568 -0.02784596 0.99385655 -0.17001699] [ 0. 0. 0. 1. ]] SLAMing on 110.91241403699999 meters Centerline goodness : 0.777424 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.11, Z:-0.17 [[ 0.97706748 -0.18217511 -0.11023328 2.70048298] [ 0.18380777 0.98295074 0.00474845 -0.11242449] [ 0.10748883 -0.02490128 0.9938944 -0.16811659] [ 0. 0. 0. 1. ]] SLAMing on 110.94241403699999 meters Centerline goodness : 0.777565 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.11, Z:-0.17 [[ 0.97697091 -0.18276914 -0.11010574 2.69968849] [ 0.1844016 0.98283953 0.00474332 -0.1146013 ] [ 0.10734935 -0.02493776 0.99390856 -0.16726871] [ 0. 0. 0. 1. ]] SLAMing on 110.972414037 meters Centerline goodness : 0.777479 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.12, Z:-0.17 [[ 9.75937141e-01 -1.87770423e-01 -1.10855608e-01 2.70220809e+00] [ 1.89172510e-01 9.81941464e-01 2.17322214e-03 -1.15726309e-01] [ 1.08445651e-01 -2.30917618e-02 9.93834147e-01 -1.66248035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.002414037 meters Centerline goodness : 0.774787 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.12, Z:-0.17 [[ 9.75480147e-01 -1.89690562e-01 -1.11606328e-01 2.70424814e+00] [ 1.91099719e-01 9.81568654e-01 1.96827687e-03 -1.16413643e-01] [ 1.09175910e-01 -2.32479530e-02 9.93750549e-01 -1.66086569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.032414037 meters Centerline goodness : 0.777454 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.12, Z:-0.17 [[ 9.75096509e-01 -1.90907796e-01 -1.12876090e-01 2.70783930e+00] [ 1.92402769e-01 9.81313106e-01 2.40039004e-03 -1.17256086e-01] [ 1.10308533e-01 -2.40582842e-02 9.93606173e-01 -1.66767516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.062414037 meters Centerline goodness : 0.772631 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.12, Z:-0.17 [[ 9.74376679e-01 -1.94601074e-01 -1.12785236e-01 2.71004133e+00] [ 1.95780501e-01 9.80647540e-01 -6.30485008e-04 -1.18020587e-01] [ 1.10725258e-01 -2.14668202e-02 9.93619189e-01 -1.67638267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.09241403699998 meters Centerline goodness : 0.777077 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.12, Z:-0.17 [[ 9.74140624e-01 -1.95270524e-01 -1.13663833e-01 2.71252693e+00] [ 1.96557613e-01 9.80492270e-01 1.18914087e-04 -1.19539338e-01] [ 1.11423289e-01 -2.24573307e-02 9.93519259e-01 -1.67961361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12241403699998 meters Centerline goodness : 0.773584 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.12, Z:-0.17 [[ 9.73478108e-01 -1.98628385e-01 -1.13521527e-01 2.71405419e+00] [ 1.99668153e-01 9.79860989e-01 -2.25182332e-03 -1.21772540e-01] [ 1.11682592e-01 -2.04745329e-02 9.93532985e-01 -1.67981153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.15241403699999 meters Centerline goodness : 0.776204 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.12, Z:-0.17 [[ 9.73304280e-01 -1.99097930e-01 -1.14187535e-01 2.71534932e+00] [ 2.00250325e-01 9.79743759e-01 -1.40519534e-03 -1.23619987e-01] [ 1.12154297e-01 -2.14984084e-02 9.93458219e-01 -1.67343894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18241403699999 meters Centerline goodness : 0.778377 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.13, Z:-0.17 [[ 9.73081892e-01 -1.99627835e-01 -1.15153629e-01 2.71713840e+00] [ 2.00947901e-01 9.79601919e-01 -1.48027936e-04 -1.25780868e-01] [ 1.12834266e-01 -2.29958367e-02 9.93347683e-01 -1.66673511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.21241403699999 meters Centerline goodness : 0.775691 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.13, Z:-0.17 [[ 9.73095972e-01 -1.99250238e-01 -1.15687387e-01 2.71825444e+00] [ 2.00674570e-01 9.79657724e-01 6.79250169e-04 -1.26316955e-01] [ 1.13198702e-01 -2.38764922e-02 9.93285441e-01 -1.66712700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24241403699999 meters Centerline goodness : 0.778207 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.13, Z:-0.17 [[ 9.73266569e-01 -1.98282334e-01 -1.15915059e-01 2.71849620e+00] [ 1.99803766e-01 9.79834724e-01 1.53914328e-03 -1.26689661e-01] [ 1.13272415e-01 -2.46582621e-02 9.93257937e-01 -1.66646825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.27241403699999 meters Centerline goodness : 0.776186 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.13, Z:-0.17 [[ 0.97396364 -0.19440735 -0.11662164 2.71873106] [ 0.19638212 0.98051158 0.00557694 -0.12926684] [ 0.11326467 -0.02833414 0.99316076 -0.16637245] [ 0. 0. 0. 1. ]] SLAMing on 111.30241403699999 meters Centerline goodness : 0.778033 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.13, Z:-0.17 [[ 0.9740649 -0.19378834 -0.11680605 2.71963147] [ 0.1957881 0.98062916 0.00578583 -0.12931911] [ 0.1134222 -0.02850501 0.99313789 -0.16713601] [ 0. 0. 0. 1. ]] SLAMing on 111.33241403699999 meters Centerline goodness : 0.778617 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.13, Z:-0.17 [[ 0.97435685 -0.19249817 -0.11650397 2.72000213] [ 0.19446954 0.98089206 0.00568909 -0.12959174] [ 0.11318268 -0.02819968 0.99317393 -0.16852973] [ 0. 0. 0. 1. ]] SLAMing on 111.362414037 meters Centerline goodness : 0.777727 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.13, Z:-0.17 [[ 0.97466218 -0.19014487 -0.11780729 2.72207382] [ 0.19250654 0.98125535 0.00889736 -0.12999666] [ 0.11390724 -0.03135059 0.99299662 -0.16891161] [ 0. 0. 0. 1. ]] SLAMing on 111.392414037 meters Centerline goodness : 0.777659 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.13, Z:-0.17 [[ 0.97508655 -0.18735419 -0.11876288 2.72165155] [ 0.19016491 0.98167013 0.01269115 -0.13044435] [ 0.11420823 -0.0349595 0.99284154 -0.16740022] [ 0. 0. 0. 1. ]] SLAMing on 111.422414037 meters Centerline goodness : 0.778636 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.13, Z:-0.17 [[ 0.97524245 -0.1862401 -0.11923421 2.72168097] [ 0.18923266 0.98182978 0.01418763 -0.13109816] [ 0.1144254 -0.03639938 0.99276478 -0.16652474] [ 0. 0. 0. 1. ]] SLAMing on 111.452414037 meters Centerline goodness : 0.778152 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.13, Z:-0.16 [[ 0.9749676 -0.18701806 -0.1202598 2.72250224] [ 0.19020346 0.98162272 0.01547511 -0.13199119] [ 0.11515563 -0.03796156 0.99262183 -0.16474474] [ 0. 0. 0. 1. ]] SLAMing on 111.48241403699998 meters Centerline goodness : 0.777631 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.13, Z:-0.16 [[ 0.97455808 -0.18873666 -0.12089256 2.72437327] [ 0.19190773 0.9812977 0.01504129 -0.13216272] [ 0.11579275 -0.03785883 0.99255163 -0.16478588] [ 0. 0. 0. 1. ]] SLAMing on 111.51241403699999 meters Centerline goodness : 0.778846 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.13, Z:-0.17 [[ 0.97412308 -0.19040321 -0.12178196 2.72729311] [ 0.19360741 0.98096544 0.01493229 -0.13293327] [ 0.11662074 -0.03812377 0.99244455 -0.16533728] [ 0. 0. 0. 1. ]] SLAMing on 111.54241403699999 meters Centerline goodness : 0.778488 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.13, Z:-0.17 [[ 0.97315382 -0.19510465 -0.12208937 2.73018587] [ 0.19797013 0.98013848 0.01167837 -0.13298605] [ 0.11738598 -0.0355349 0.9924504 -0.16604599] [ 0. 0. 0. 1. ]] SLAMing on 111.57241403699999 meters Centerline goodness : 0.777035 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.13, Z:-0.17 [[ 0.97286715 -0.19634575 -0.12238408 2.73062607] [ 0.19919732 0.97989314 0.01139588 -0.13295168] [ 0.11768579 -0.03546526 0.99241739 -0.16543574] [ 0. 0. 0. 1. ]] SLAMing on 111.60241403699999 meters Centerline goodness : 0.777035 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.13, Z:-0.17 [[ 0.97286715 -0.19634575 -0.12238408 2.73062607] [ 0.19919732 0.97989314 0.01139588 -0.13295168] [ 0.11768579 -0.03546526 0.99241739 -0.16543574] [ 0. 0. 0. 1. ]] SLAMing on 111.63241403699999 meters Centerline goodness : 0.774794 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.13, Z:-0.16 [[ 0.97232108 -0.1981345 -0.12383229 2.73233566] [ 0.20111852 0.97949398 0.01195346 -0.13238434] [ 0.11892459 -0.03652757 0.99223116 -0.1636113 ] [ 0. 0. 0. 1. ]] SLAMing on 111.66241403699999 meters Centerline goodness : 0.777662 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.13, Z:-0.16 [[ 0.97203546 -0.19886761 -0.1248949 2.73372274] [ 0.20196104 0.97931396 0.01248623 -0.13207105] [ 0.11982821 -0.03736096 0.99209141 -0.16260852] [ 0. 0. 0. 1. ]] SLAMing on 111.69241403699999 meters Centerline goodness : 0.778384 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.13, Z:-0.16 [[ 0.97172746 -0.19974086 -0.12589416 2.73498588] [ 0.20293209 0.97910754 0.01292279 -0.13174298] [ 0.12068271 -0.0381054 0.99195951 -0.16161107] [ 0. 0. 0. 1. ]] SLAMing on 111.722414037 meters Centerline goodness : 0.779064 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.13, Z:-0.16 [[ 0.97116662 -0.20171883 -0.12706259 2.73731071] [ 0.20495007 0.97868932 0.0127544 -0.13146559] [ 0.121782 -0.03842813 0.9918127 -0.16109697] [ 0. 0. 0. 1. ]] SLAMing on 111.752414037 meters Centerline goodness : 0.776808 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.13, Z:-0.16 [[ 0.97092267 -0.20238867 -0.12785927 2.73863223] [ 0.20567538 0.97853514 0.01290839 -0.13097119] [ 0.12250227 -0.03883055 0.99170831 -0.16068629] [ 0. 0. 0. 1. ]] SLAMing on 111.782414037 meters Centerline goodness : 0.779743 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.13, Z:-0.16 [[ 0.97097215 -0.20084257 -0.12990511 2.73953342] [ 0.20464266 0.97869837 0.01645833 -0.12958178] [ 0.12383239 -0.04256471 0.99138983 -0.1586582 ] [ 0. 0. 0. 1. ]] SLAMing on 111.812414037 meters Centerline goodness : 0.778148 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.13, Z:-0.16 [[ 0.97086215 -0.20144336 -0.12979697 2.73857059] [ 0.20510486 0.97861966 0.01534794 -0.12633944] [ 0.12393012 -0.04152272 0.9914218 -0.15802576] [ 0. 0. 0. 1. ]] SLAMing on 111.84241403699998 meters Centerline goodness : 0.779023 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.12, Z:-0.16 [[ 0.97079109 -0.20184129 -0.12971026 2.73794179] [ 0.2053829 0.97857586 0.01439266 -0.12291602] [ 0.12402629 -0.04061254 0.99144748 -0.15778316] [ 0. 0. 0. 1. ]] SLAMing on 111.87241403699998 meters Centerline goodness : 0.779300 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.12, Z:-0.16 [[ 0.97135358 -0.19892201 -0.1300087 2.7363449 ] [ 0.20270765 0.97910147 0.01642946 -0.1184503 ] [ 0.12402352 -0.04231257 0.99137673 -0.1575227 ] [ 0. 0. 0. 1. ]] SLAMing on 111.90241403699999 meters Centerline goodness : 0.778261 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.12, Z:-0.16 [[ 0.97132605 -0.19904192 -0.13003082 2.73643715] [ 0.20274276 0.97910557 0.01573688 -0.11593994] [ 0.1241816 -0.04164845 0.99138506 -0.1576619 ] [ 0. 0. 0. 1. ]] SLAMing on 111.93241403699999 meters Centerline goodness : 0.778185 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.11, Z:-0.16 [[ 0.9712532 -0.19943745 -0.12996894 2.73719179] [ 0.20301832 0.97906346 0.01477485 -0.11279716] [ 0.12430118 -0.04073619 0.99140798 -0.15873762] [ 0. 0. 0. 1. ]] SLAMing on 111.96241403699999 meters Centerline goodness : 0.779187 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.11, Z:-0.16 [[ 0.97115974 -0.20006404 -0.12970402 2.73676749] [ 0.20355541 0.97896179 0.01410724 -0.111151 ] [ 0.12415293 -0.04010234 0.9914524 -0.15904368] [ 0. 0. 0. 1. ]] SLAMing on 111.99241403699999 meters Centerline goodness : 0.778293 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.11, Z:-0.16 [[ 0.97105648 -0.20075747 -0.12940535 2.73598448] [ 0.20414226 0.97885078 0.01330748 -0.10866465] [ 0.12399695 -0.03933942 0.99150248 -0.15916932] [ 0. 0. 0. 1. ]] SLAMing on 112.02241403699999 meters Centerline goodness : 0.778493 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.10, Z:-0.16 [[ 0.97085094 -0.2021748 -0.12873927 2.73331964] [ 0.20533981 0.97862121 0.01166542 -0.1016297 ] [ 0.12362853 -0.03776068 0.99160986 -0.1590005 ] [ 0. 0. 0. 1. ]] SLAMing on 112.05241403699999 meters Centerline goodness : 0.782134 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.09, Z:-0.16 [[ 0.97059132 -0.20407636 -0.12769231 2.72932946] [ 0.20692224 0.97831328 0.00929043 -0.09482857] [ 0.12302712 -0.03543959 0.99177032 -0.15768896] [ 0. 0. 0. 1. ]] SLAMing on 112.08241403699999 meters Centerline goodness : 0.781859 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.09, Z:-0.16 [[ 0.97046125 -0.20503327 -0.12714686 2.72754824] [ 0.20772813 0.97815251 0.0081661 -0.09189083] [ 0.12269469 -0.03433687 0.99185029 -0.15729533] [ 0. 0. 0. 1. ]] SLAMing on 112.112414037 meters Centerline goodness : 0.779462 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.09, Z:-0.16 [[ 0.97031728 -0.20597137 -0.1267287 2.72594686] [ 0.20851112 0.97799518 0.00696722 -0.08923131] [ 0.12250501 -0.03318475 0.99191295 -0.15662055] [ 0. 0. 0. 1. ]] SLAMing on 112.142414037 meters Centerline goodness : 0.778350 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.08, Z:-0.16 [[ 0.97009902 -0.20754836 -0.12582353 2.72339539] [ 0.20984002 0.97772247 0.00509362 -0.08438916] [ 0.12196332 -0.03134412 0.99203956 -0.15640356] [ 0. 0. 0. 1. ]] SLAMing on 112.172414037 meters Centerline goodness : 0.778236 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.08, Z:-0.16 [[ 0.9699861 -0.20825444 -0.12552713 2.7226738 ] [ 0.21043389 0.97759902 0.00421111 -0.08188928] [ 0.12183822 -0.03049988 0.99208125 -0.15652251] [ 0. 0. 0. 1. ]] SLAMing on 112.202414037 meters Centerline goodness : 0.781782 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.08, Z:-0.16 [[ 0.96980951 -0.20933354 -0.12509587 2.7220807 ] [ 0.21133457 0.97740978 0.00279485 -0.0757489 ] [ 0.12168487 -0.02914756 0.99214072 -0.15770165] [ 0. 0. 0. 1. ]] SLAMing on 112.23241403699998 meters Centerline goodness : 0.783777 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.07, Z:-0.16 [[ 9.69743160e-01 -2.09589137e-01 -1.25182259e-01 2.72257578e+00] [ 2.11511229e-01 9.77373279e-01 2.11487820e-03 -7.21206809e-02] [ 1.21906540e-01 -2.85283422e-02 9.92131508e-01 -1.58396830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26241403699999 meters Centerline goodness : 0.783895 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.07, Z:-0.16 [[ 9.69679309e-01 -2.09868545e-01 -1.25208751e-01 2.72283973e+00] [ 2.11704230e-01 9.77332795e-01 1.38808085e-03 -6.82950622e-02] [ 1.22079304e-01 -2.78532156e-02 9.92129448e-01 -1.59074293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.29241403699999 meters Centerline goodness : 0.783994 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.06, Z:-0.16 [[ 9.69628011e-01 -2.10392472e-01 -1.24725812e-01 2.72199540e+00] [ 2.12062427e-01 9.77256115e-01 1.14966733e-04 -6.29544945e-02] [ 1.21864874e-01 -2.65611334e-02 9.92191241e-01 -1.59629224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32241403699999 meters Centerline goodness : 0.785086 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.06, Z:-0.16 [[ 9.69550929e-01 -2.11084927e-01 -1.24153736e-01 2.72019872e+00] [ 2.12559117e-01 9.77147202e-01 -1.40275038e-03 -5.79523329e-02] [ 1.21612576e-01 -2.50299706e-02 9.92262003e-01 -1.59099327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.35241403699999 meters Centerline goodness : 0.785598 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.05, Z:-0.16 [[ 9.69474927e-01 -2.11544955e-01 -1.23964098e-01 2.71899143e+00] [ 2.12884773e-01 9.77074139e-01 -2.48987119e-03 -5.44511040e-02] [ 1.21648834e-01 -2.39762012e-02 9.92283580e-01 -1.58286527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38241403699999 meters Centerline goodness : 0.788709 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.05, Z:-0.16 [[ 9.70103913e-01 -2.08696753e-01 -1.23871155e-01 2.71620269e+00] [ 2.10368644e-01 9.77622039e-01 4.27049581e-04 -5.31095264e-02] [ 1.21010047e-01 -2.64728894e-02 9.92298219e-01 -1.57859011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.41241403699999 meters Centerline goodness : 0.789169 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.05, Z:-0.16 [[ 9.70064410e-01 -2.08861934e-01 -1.23902110e-01 2.71613596e+00] [ 2.10441662e-01 9.77606356e-01 -3.45336184e-04 -5.00797034e-02] [ 1.21199618e-01 -2.57391677e-02 9.92294386e-01 -1.57749100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.44241403699999 meters Centerline goodness : 0.787925 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.05, Z:-0.16 [[ 9.70178480e-01 -2.08293928e-01 -1.23965141e-01 2.71774539e+00] [ 2.09858042e-01 9.77731763e-01 -4.50398477e-04 -4.62365119e-02] [ 1.21298471e-01 -2.55781147e-02 9.92286471e-01 -1.59728459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.472414037 meters Centerline goodness : 0.789725 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.04, Z:-0.16 [[ 9.70144633e-01 -2.08447755e-01 -1.23971470e-01 2.71815326e+00] [ 2.09977491e-01 9.77705938e-01 -7.42685881e-04 -4.47371803e-02] [ 1.21362454e-01 -2.53107056e-02 9.92285505e-01 -1.60297438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.502414037 meters Centerline goodness : 0.790773 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.04, Z:-0.16 [[ 9.69989961e-01 -2.09543067e-01 -1.23333607e-01 2.71585633e+00] [ 2.10886643e-01 9.77508034e-01 -2.20625044e-03 -4.11302778e-02] [ 1.21021896e-01 -2.38693695e-02 9.92362814e-01 -1.59378151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.532414037 meters Centerline goodness : 0.792321 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.04, Z:-0.16 [[ 0.96987696 -0.21022877 -0.12305507 2.7143039 ] [ 0.21144265 0.97738497 -0.00325947 -0.03859425] [ 0.12095741 -0.02285781 0.99239449 -0.15833779] [ 0. 0. 0. 1. ]] SLAMing on 112.562414037 meters Centerline goodness : 0.791725 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.04, Z:-0.16 [[ 0.96980172 -0.21067469 -0.12288531 2.71333055] [ 0.21178476 0.9773077 -0.00410771 -0.0362334 ] [ 0.12096215 -0.02204158 0.99241238 -0.15762483] [ 0. 0. 0. 1. ]] SLAMing on 112.59241403699998 meters Centerline goodness : 0.795041 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.03, Z:-0.16 [[ 0.96970119 -0.21136076 -0.12249989 2.7120451 ] [ 0.21233917 0.97718239 -0.00516301 -0.03270199] [ 0.12079599 -0.02100495 0.9924551 -0.1573451 ] [ 0. 0. 0. 1. ]] SLAMing on 112.62241403699998 meters Centerline goodness : 0.794930 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.03, Z:-0.16 [[ 0.96969473 -0.21142819 -0.12243465 2.71254851] [ 0.21235911 0.97717596 -0.00554615 -0.03015851] [ 0.1208128 -0.02062204 0.99246108 -0.15828839] [ 0. 0. 0. 1. ]] SLAMing on 112.65241403699999 meters Centerline goodness : 0.793561 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.03, Z:-0.16 [[ 0.96971239 -0.21129396 -0.12252653 2.71331602] [ 0.21220315 0.97720877 -0.00573167 -0.02815653] [ 0.12094507 -0.02044244 0.99244869 -0.15909856] [ 0. 0. 0. 1. ]] SLAMing on 112.68241403699999 meters Centerline goodness : 0.792375 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.03, Z:-0.16 [[ 0.96971088 -0.21123383 -0.12264207 2.71394676] [ 0.2121064 0.97722787 -0.00604763 -0.0260938 ] [ 0.12112671 -0.02014871 0.99243254 -0.15965174] [ 0. 0. 0. 1. ]] SLAMing on 112.71241403699999 meters Centerline goodness : 0.794033 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.02, Z:-0.16 [[ 0.96969387 -0.2113285 -0.12261351 2.71413111] [ 0.21215415 0.97721504 -0.00643333 -0.02434631] [ 0.12117931 -0.0197746 0.99243365 -0.1600203 ] [ 0. 0. 0. 1. ]] SLAMing on 112.74241403699999 meters Centerline goodness : 0.792411 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.02, Z:-0.16 [[ 0.96971465 -0.21140645 -0.1223144 2.71335653] [ 0.21213421 0.97721408 -0.00719216 -0.02111471] [ 0.12104782 -0.01897273 0.99246535 -0.15980693] [ 0. 0. 0. 1. ]] SLAMing on 112.77241403699999 meters Centerline goodness : 0.792688 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.02, Z:-0.16 [[ 0.97029021 -0.208814 -0.12220317 2.70985099] [ 0.20985865 0.97772182 -0.00440428 -0.02039312] [ 0.12040038 -0.02137196 0.99249533 -0.15862728] [ 0. 0. 0. 1. ]] SLAMing on 112.80241403699999 meters Centerline goodness : 0.795302 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.02, Z:-0.16 [[ 9.70916483e-01 -2.05982388e-01 -1.22034583e-01 2.70635811e+00] [ 2.07349023e-01 9.78265831e-01 -1.53192250e-03 -1.91788447e-02] [ 1.19697812e-01 -2.38163828e-02 9.92524667e-01 -1.57587652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.83241403699999 meters Centerline goodness : 0.796892 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.02, Z:-0.16 [[ 9.71600363e-01 -2.02542392e-01 -1.22349146e-01 2.70413687e+00] [ 2.04199455e-01 9.78928765e-01 1.02731137e-03 -1.57309941e-02] [ 1.19563025e-01 -2.59817651e-02 9.92486590e-01 -1.56444693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.862414037 meters Centerline goodness : 0.796024 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.01, Z:-0.16 [[ 9.71569206e-01 -2.02644125e-01 -1.22428087e-01 2.70419783e+00] [ 2.04224835e-01 9.78923939e-01 3.70630982e-04 -1.36367785e-02] [ 1.19772679e-01 -2.53629496e-02 9.92477318e-01 -1.56152275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.892414037 meters Centerline goodness : 0.798830 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.01, Z:-0.16 [[ 9.71679143e-01 -2.01925292e-01 -1.22742898e-01 2.70621995e+00] [ 2.03510510e-01 9.79072686e-01 3.86010961e-04 -1.13586696e-02] [ 1.20096274e-01 -2.53545486e-02 9.92438427e-01 -1.57608655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.922414037 meters Centerline goodness : 0.796300 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.01, Z:-0.16 [[ 9.71755541e-01 -2.01262315e-01 -1.23226009e-01 2.70883490e+00] [ 2.02911411e-01 9.79196729e-01 8.51175628e-04 -1.10639218e-02] [ 1.20491196e-01 -2.58310980e-02 9.92378268e-01 -1.59369399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.952414037 meters Centerline goodness : 0.796627 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.01, Z:-0.16 [[ 9.71811792e-01 -2.00973158e-01 -1.23254334e-01 2.71067702e+00] [ 2.02659943e-01 9.79248472e-01 1.17370748e-03 -1.03348313e-02] [ 1.20460735e-01 -2.61193390e-02 9.92374421e-01 -1.61558015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98241403699998 meters Centerline goodness : 0.797186 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.01, Z:-0.16 [[ 9.71686271e-01 -2.01834814e-01 -1.22835249e-01 2.70848199e+00] [ 2.03382956e-01 9.79099264e-01 6.60073821e-05 -8.50744316e-03] [ 1.20254579e-01 -2.50467345e-02 9.92427074e-01 -1.59958119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.01241403699999 meters Centerline goodness : 0.798519 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.01, Z:-0.16 [[ 9.72057065e-01 -2.00115045e-01 -1.22715240e-01 2.70400797e+00] [ 2.01910624e-01 9.79401375e-01 2.24664555e-03 -8.54031774e-03] [ 1.19737888e-01 -2.69613784e-02 9.92439380e-01 -1.57565148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04241403699999 meters Centerline goodness : 0.796583 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.01, Z:-0.16 [[ 0.9725927 -0.19741616 -0.12284257 2.70072305] [ 0.19952381 0.97988035 0.00497536 -0.00922096] [ 0.11938881 -0.02934901 0.9924137 -0.1554114 ] [ 0. 0. 0. 1. ]] SLAMing on 113.07241403699999 meters Centerline goodness : 0.799224 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.01, Z:-0.16 [[ 0.97265039 -0.19689062 -0.12322863 2.70205292] [ 0.19902434 0.97998113 0.00512877 -0.00895725] [ 0.11975192 -0.029514 0.99236505 -0.15571246] [ 0. 0. 0. 1. ]] SLAMing on 113.10241403699999 meters Centerline goodness : 0.799294 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.01, Z:-0.16 [[ 0.97269431 -0.19639918 -0.12366545 2.70359317] [ 0.19855773 0.9800751 0.00525634 -0.00833059] [ 0.12016909 -0.02966754 0.99231005 -0.1562536 ] [ 0. 0. 0. 1. ]] SLAMing on 113.13241403699999 meters Centerline goodness : 0.797155 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.01, Z:-0.16 [[ 0.97285507 -0.19525062 -0.12421839 2.70613514] [ 0.19750385 0.98028393 0.00596993 -0.00783161] [ 0.12060366 -0.03034149 0.99223694 -0.1577154 ] [ 0. 0. 0. 1. ]] SLAMing on 113.16241403699999 meters Centerline goodness : 0.796954 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.01, Z:-0.16 [[ 0.97291942 -0.19464823 -0.12465899 2.70786356] [ 0.19693069 0.98039821 0.00613612 -0.00735217] [ 0.12102106 -0.03051913 0.99218067 -0.15831325] [ 0. 0. 0. 1. ]] SLAMing on 113.19241403699999 meters Centerline goodness : 0.798042 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.01, Z:-0.16 [[ 0.97303944 -0.1937273 -0.12515584 2.70992056] [ 0.19605621 0.98057146 0.00644763 -0.00630728] [ 0.12147516 -0.03081138 0.99211614 -0.15920216] [ 0. 0. 0. 1. ]] SLAMing on 113.222414037 meters Centerline goodness : 0.800752 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.01, Z:-0.16 [[ 0.97302216 -0.19373758 -0.12527423 2.71004817] [ 0.19605644 0.98057215 0.00633479 -0.00605269] [ 0.12161313 -0.03072471 0.99210193 -0.15898065] [ 0. 0. 0. 1. ]] SLAMing on 113.252414037 meters Centerline goodness : 0.795621 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.01, Z:-0.16 [[ 0.9729868 -0.19397673 -0.12517872 2.70962092] [ 0.19626217 0.98053266 0.00607118 -0.00579191] [ 0.12156416 -0.03047502 0.99211563 -0.1586721 ] [ 0. 0. 0. 1. ]] SLAMing on 113.282414037 meters Centerline goodness : 0.798346 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.01, Z:-0.16 [[ 0.97305711 -0.19360043 -0.12521479 2.7100839 ] [ 0.19591355 0.98060086 0.00631177 -0.00590949] [ 0.12156376 -0.03067299 0.99210958 -0.15893723] [ 0. 0. 0. 1. ]] SLAMing on 113.312414037 meters Centerline goodness : 0.798287 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.00, Z:-0.16 [[ 0.97318348 -0.19279503 -0.12547503 2.71160771] [ 0.19514307 0.98075271 0.00658108 -0.00489766] [ 0.12179118 -0.03089018 0.99207495 -0.15980942] [ 0. 0. 0. 1. ]] SLAMing on 113.34241403699998 meters Centerline goodness : 0.799183 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.00, Z:-0.16 [[ 0.97318904 -0.19277638 -0.12546057 2.71140349] [ 0.19508118 0.98076729 0.00623386 -0.00363741] [ 0.12184588 -0.03054172 0.99207902 -0.15946875] [ 0. 0. 0. 1. ]] SLAMing on 113.37241403699998 meters Centerline goodness : 0.796909 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.00, Z:-0.16 [[ 9.73125427e-01 -1.93387896e-01 -1.25012102e-01 2.70932155e+00] [ 1.95542424e-01 9.80682078e-01 5.08159304e-03 -1.44336842e-03] [ 1.21614409e-01 -2.93901967e-02 9.92142203e-01 -1.57796038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40241403699999 meters Centerline goodness : 0.800600 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.00, Z:-0.16 [[ 9.73093924e-01 -1.93598050e-01 -1.24932022e-01 2.70893731e+00] [ 1.95723041e-01 9.80647236e-01 4.84670993e-03 -1.66293030e-03] [ 1.21575928e-01 -2.91683792e-02 9.92153466e-01 -1.57376240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.43241403699999 meters Centerline goodness : 0.802031 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.00, Z:-0.16 [[ 9.73080021e-01 -1.93708295e-01 -1.24869409e-01 2.70899677e+00] [ 1.95827051e-01 9.80626681e-01 4.80396753e-03 -2.35746036e-03] [ 1.21519706e-01 -2.91274529e-02 9.92161556e-01 -1.57377066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46241403699999 meters Centerline goodness : 0.799078 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.00, Z:-0.16 [[ 0.97299765 -0.19420725 -0.12473621 2.70885392] [ 0.19629658 0.98053395 0.0045641 -0.00371405] [ 0.12142171 -0.02892615 0.99217944 -0.15724383] [ 0. 0. 0. 1. ]] SLAMing on 113.49241403699999 meters Centerline goodness : 0.799839 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.00, Z:-0.16 [[ 0.97292149 -0.19474463 -0.12449216 2.70849371] [ 0.19683268 0.9804264 0.00457838 -0.00472972] [ 0.12116379 -0.02895853 0.99221003 -0.15755693] [ 0. 0. 0. 1. ]] SLAMing on 113.52241403699999 meters Centerline goodness : 0.799839 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.00, Z:-0.16 [[ 0.97292149 -0.19474463 -0.12449216 2.70849371] [ 0.19683268 0.9804264 0.00457838 -0.00472972] [ 0.12116379 -0.02895853 0.99221003 -0.15755693] [ 0. 0. 0. 1. ]] SLAMing on 113.55241403699999 meters Centerline goodness : 0.800978 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.00, Z:-0.16 [[ 0.97289993 -0.19480932 -0.12455946 2.70869453] [ 0.19689634 0.98041376 0.00454965 -0.00447464] [ 0.1212335 -0.02895166 0.99220171 -0.15768227] [ 0. 0. 0. 1. ]] SLAMing on 113.58241403699999 meters Centerline goodness : 0.800344 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.00, Z:-0.16 [[ 0.97289463 -0.19482136 -0.12458202 2.70898102] [ 0.19692158 0.98040821 0.00465145 -0.00450682] [ 0.12123503 -0.02905826 0.99219841 -0.15799666] [ 0. 0. 0. 1. ]] SLAMing on 113.612414037 meters Centerline goodness : 0.800719 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.01, Z:-0.16 [[ 0.97291284 -0.19464897 -0.12470922 2.70974269] [ 0.19678602 0.98043405 0.00493279 -0.00539205] [ 0.121309 -0.02934021 0.99218107 -0.15844746] [ 0. 0. 0. 1. ]] SLAMing on 113.642414037 meters Centerline goodness : 0.801992 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.01, Z:-0.16 [[ 0.97290041 -0.19462405 -0.12484497 2.70991198] [ 0.19674803 0.98044236 0.00479454 -0.00527699] [ 0.12147017 -0.02922761 0.99216468 -0.15814029] [ 0. 0. 0. 1. ]] SLAMing on 113.672414037 meters Centerline goodness : 0.802021 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.00, Z:-0.16 [[ 0.97287405 -0.1947712 -0.12482088 2.70942017] [ 0.19684781 0.98042417 0.00440416 -0.00491494] [ 0.12151961 -0.02885541 0.99216952 -0.15737632] [ 0. 0. 0. 1. ]] SLAMing on 113.702414037 meters Centerline goodness : 0.799136 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.01, Z:-0.16 [[ 0.97284691 -0.19494378 -0.12476306 2.70932038] [ 0.19700337 0.98039352 0.00426814 -0.00514639] [ 0.12148485 -0.02873099 0.99217738 -0.15726803] [ 0. 0. 0. 1. ]] SLAMing on 113.73241403699998 meters Centerline goodness : 0.798787 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.01, Z:-0.16 [[ 0.97277786 -0.19545292 -0.12450459 2.7085121 ] [ 0.1974759 0.98029959 0.00399803 -0.00572116] [ 0.12127037 -0.02847585 0.99221098 -0.15689228] [ 0. 0. 0. 1. ]] SLAMing on 113.76241403699999 meters Centerline goodness : 0.798950 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.01, Z:-0.16 [[ 0.9726594 -0.19612659 -0.12437063 2.70820454] [ 0.19815871 0.98016153 0.00406201 -0.00797802] [ 0.12110664 -0.02859608 0.99222752 -0.15692368] [ 0. 0. 0. 1. ]] SLAMing on 113.79241403699999 meters Centerline goodness : 0.796248 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.01, Z:-0.16 [[ 0.97261648 -0.19640193 -0.12427178 2.70827251] [ 0.19846494 0.98009846 0.00432151 -0.0094498 ] [ 0.12094983 -0.02886676 0.99223881 -0.1573326 ] [ 0. 0. 0. 1. ]] SLAMing on 113.82241403699999 meters Centerline goodness : 0.798402 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.01, Z:-0.16 [[ 0.97255958 -0.19679433 -0.12409619 2.70808542] [ 0.19887314 0.98001505 0.00446888 -0.01069466] [ 0.12073669 -0.02902565 0.99226013 -0.15762951] [ 0. 0. 0. 1. ]] SLAMing on 113.85241403699999 meters Centerline goodness : 0.795539 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.01, Z:-0.16 [[ 0.97240842 -0.1978211 -0.12364739 2.70697434] [ 0.19991034 0.9798034 0.00459948 -0.01224377] [ 0.12024026 -0.02919097 0.99231556 -0.15810657] [ 0. 0. 0. 1. ]] SLAMing on 113.88241403699999 meters Centerline goodness : 0.796323 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.01, Z:-0.16 [[ 0.97234067 -0.1983541 -0.12332591 2.70610655] [ 0.20043687 0.97969586 0.00459134 -0.0130884 ] [ 0.11991117 -0.02918341 0.9923556 -0.15807619] [ 0. 0. 0. 1. ]] SLAMing on 113.91241403699999 meters Centerline goodness : 0.792190 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.01, Z:-0.16 [[ 0.9721957 -0.19952085 -0.12258444 2.70357394] [ 0.20153937 0.97947155 0.00416621 -0.01420117] [ 0.11923673 -0.02875597 0.99244934 -0.15715821] [ 0. 0. 0. 1. ]] SLAMing on 113.94241403699999 meters Centerline goodness : 0.793415 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.01, Z:-0.16 [[ 0.97212265 -0.19998589 -0.12240586 2.70260588] [ 0.20195137 0.97938842 0.00373863 -0.01428272] [ 0.11913521 -0.02835444 0.99247309 -0.15632405] [ 0. 0. 0. 1. ]] SLAMing on 113.972414037 meters Centerline goodness : 0.793132 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.01, Z:-0.16 [[ 0.97206448 -0.20039673 -0.12219573 2.70167189] [ 0.20231324 0.97931512 0.003355 -0.01439608] [ 0.1189958 -0.02798309 0.99250035 -0.15560831] [ 0. 0. 0. 1. ]] SLAMing on 114.002414037 meters Centerline goodness : 0.794169 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.01, Z:-0.15 [[ 0.97201461 -0.20076348 -0.12199027 2.7008043 ] [ 0.20263537 0.97924964 0.00300821 -0.01440306] [ 0.11885499 -0.02764357 0.99252674 -0.15497645] [ 0. 0. 0. 1. ]] SLAMing on 114.032414037 meters Centerline goodness : 0.794467 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.01, Z:-0.16 [[ 0.97204034 -0.20047443 -0.12226034 2.70213435] [ 0.20239396 0.97929842 0.00336005 -0.01499214] [ 0.11905575 -0.02801086 0.99249238 -0.15577004] [ 0. 0. 0. 1. ]] SLAMing on 114.062414037 meters Centerline goodness : 0.792100 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.02, Z:-0.16 [[ 0.97206787 -0.20025404 -0.12240255 2.70311673] [ 0.20221429 0.97933439 0.00367922 -0.01503736] [ 0.11913625 -0.02832799 0.99247372 -0.15661802] [ 0. 0. 0. 1. ]] SLAMing on 114.09241403699998 meters Centerline goodness : 0.793405 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.01, Z:-0.16 [[ 0.97209322 -0.19999362 -0.12262675 2.7039422 ] [ 0.20196885 0.9793847 0.00376637 -0.01462771] [ 0.11934551 -0.02842805 0.99244571 -0.1569426 ] [ 0. 0. 0. 1. ]] SLAMing on 114.12241403699998 meters Centerline goodness : 0.792806 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.01, Z:-0.16 [[ 0.97214082 -0.19957241 -0.12293526 2.7048026 ] [ 0.20154602 0.97947204 0.00370535 -0.01380369] [ 0.11967216 -0.02837923 0.99240778 -0.15691185] [ 0. 0. 0. 1. ]] SLAMing on 114.15241403699999 meters Centerline goodness : 0.794652 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.01, Z:-0.16 [[ 0.97299511 -0.1949234 -0.12363404 2.7046742 ] [ 0.1973507 0.98030365 0.00758 -0.01365681] [ 0.11972138 -0.03177456 0.99229893 -0.15673789] [ 0. 0. 0. 1. ]] SLAMing on 114.18241403699999 meters Centerline goodness : 0.794217 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.01, Z:-0.16 [[ 0.97376408 -0.19070905 -0.12415142 2.70406679] [ 0.19360271 0.98101187 0.01156271 -0.01469321] [ 0.11958891 -0.03529541 0.99219591 -0.15663011] [ 0. 0. 0. 1. ]] SLAMing on 114.21241403699999 meters Centerline goodness : 0.793162 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.01, Z:-0.16 [[ 0.97459446 -0.18598266 -0.12480422 2.703824 ] [ 0.18933178 0.98179197 0.0154276 -0.0146197 ] [ 0.11966251 -0.03866506 0.99206144 -0.15629232] [ 0. 0. 0. 1. ]] SLAMing on 114.24241403699999 meters Centerline goodness : 0.789643 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.01, Z:-0.16 [[ 0.97466974 -0.18524451 -0.1253131 2.70507223] [ 0.18857745 0.98194108 0.0151743 -0.01327706] [ 0.12023913 -0.03842115 0.99200119 -0.15584203] [ 0. 0. 0. 1. ]] SLAMing on 114.27241403699999 meters Centerline goodness : 0.792567 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.01, Z:-0.16 [[ 0.97476489 -0.18436085 -0.12587491 2.70675469] [ 0.18772461 0.9821025 0.01530174 -0.01241975] [ 0.12080102 -0.03854541 0.9919281 -0.15597851] [ 0. 0. 0. 1. ]] SLAMing on 114.30241403699999 meters Centerline goodness : 0.790488 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.01, Z:-0.16 [[ 0.9751247 -0.18174547 -0.12688733 2.71114541] [ 0.18529674 0.98254124 0.0166684 -0.01215169] [ 0.12164263 -0.03976557 0.99177708 -0.15768686] [ 0. 0. 0. 1. ]] SLAMing on 114.33241403699999 meters Centerline goodness : 0.792930 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.01, Z:-0.16 [[ 0.97539085 -0.17977979 -0.12763982 2.71460354] [ 0.18346875 0.9828669 0.01766016 -0.01191144] [ 0.12227801 -0.04064348 0.99166335 -0.15908512] [ 0. 0. 0. 1. ]] SLAMing on 114.362414037 meters Centerline goodness : 0.791019 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.01, Z:-0.16 [[ 0.97543461 -0.17931958 -0.12795239 2.71567339] [ 0.18303341 0.9829458 0.01778545 -0.01175527] [ 0.12258098 -0.0407681 0.99162083 -0.15928864] [ 0. 0. 0. 1. ]] SLAMing on 114.392414037 meters Centerline goodness : 0.790119 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.01, Z:-0.16 [[ 0.97548938 -0.17888382 -0.12814461 2.7163881 ] [ 0.18262863 0.98301721 0.01799852 -0.01201429] [ 0.12274872 -0.04096024 0.99159216 -0.15934817] [ 0. 0. 0. 1. ]] SLAMing on 114.422414037 meters Centerline goodness : 0.790418 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.01, Z:-0.16 [[ 0.97552974 -0.17859874 -0.12823498 2.71679237] [ 0.1823628 0.98306393 0.01814138 -0.01241359] [ 0.12282316 -0.04108275 0.99157787 -0.1593817 ] [ 0. 0. 0. 1. ]] SLAMing on 114.452414037 meters Centerline goodness : 0.791832 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.01, Z:-0.16 [[ 0.9755479 -0.17863218 -0.12805012 2.71577056] [ 0.18237092 0.98306508 0.01799695 -0.01311678] [ 0.12266677 -0.0409095 0.9916044 -0.15823697] [ 0. 0. 0. 1. ]] SLAMing on 114.48241403699998 meters Centerline goodness : 0.797041 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.01, Z:-0.16 [[ 0.97550264 -0.17902507 -0.12784612 2.71424202] [ 0.1827026 0.98301165 0.01754561 -0.01338255] [ 0.12253312 -0.0404736 0.99163881 -0.15670738] [ 0. 0. 0. 1. ]] SLAMing on 114.51241403699999 meters Centerline goodness : 0.793521 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.01, Z:-0.15 [[ 0.97536622 -0.18013276 -0.12733001 2.7108733 ] [ 0.18366489 0.98285096 0.016468 -0.01482863] [ 0.12217999 -0.03944838 0.99172369 -0.15334002] [ 0. 0. 0. 1. ]] SLAMing on 114.54241403699999 meters Centerline goodness : 0.793418 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.02, Z:-0.15 [[ 0.97534761 -0.18016332 -0.12742926 2.71109674] [ 0.18370506 0.98284272 0.01651179 -0.01604458] [ 0.1222681 -0.03951414 0.99171021 -0.15301626] [ 0. 0. 0. 1. ]] SLAMing on 114.57241403699999 meters Centerline goodness : 0.791035 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.02, Z:-0.15 [[ 0.97479466 -0.18282405 -0.12787 2.71530267] [ 0.18605703 0.98244329 0.01371029 -0.0171528 ] [ 0.12311845 -0.03715583 0.99169617 -0.15425443] [ 0. 0. 0. 1. ]] SLAMing on 114.60241403699999 meters Centerline goodness : 0.790623 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.02, Z:-0.15 [[ 0.97476884 -0.18295594 -0.12787817 2.71548408] [ 0.18622854 0.98240644 0.01401867 -0.01916033] [ 0.12306354 -0.03747953 0.9916908 -0.15430618] [ 0. 0. 0. 1. ]] SLAMing on 114.63241403699999 meters Centerline goodness : 0.790927 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.02, Z:-0.15 [[ 0.974737 -0.18324971 -0.12770015 2.71500515] [ 0.18653098 0.98234754 0.01412485 -0.0208232 ] [ 0.12285755 -0.03758805 0.99171224 -0.15402276] [ 0. 0. 0. 1. ]] SLAMing on 114.66241403699999 meters Centerline goodness : 0.788922 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.02, Z:-0.15 [[ 0.97476525 -0.18291931 -0.12795791 2.71615856] [ 0.18628953 0.98238367 0.01478318 -0.02375264] [ 0.12299963 -0.03824735 0.99166942 -0.15428804] [ 0. 0. 0. 1. ]] SLAMing on 114.69241403699999 meters Centerline goodness : 0.787331 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.02, Z:-0.15 [[ 0.97481048 -0.18258722 -0.12808759 2.71706983] [ 0.18601321 0.98242947 0.01521276 -0.02494626] [ 0.12305936 -0.03865554 0.99164618 -0.15481994] [ 0. 0. 0. 1. ]] SLAMing on 114.722414037 meters Centerline goodness : 0.787285 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.03, Z:-0.15 [[ 0.97488825 -0.18209079 -0.12820237 2.71783576] [ 0.18560154 0.9824966 0.01589029 -0.0275476 ] [ 0.12306492 -0.03928581 0.99162072 -0.15495344] [ 0. 0. 0. 1. ]] SLAMing on 114.752414037 meters Centerline goodness : 0.788677 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.03, Z:-0.15 [[ 0.97490353 -0.18204023 -0.12815797 2.7174543 ] [ 0.18554864 0.98250661 0.01588894 -0.02827328] [ 0.12302363 -0.03926972 0.99162648 -0.15434294] [ 0. 0. 0. 1. ]] SLAMing on 114.782414037 meters Centerline goodness : 0.789082 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.03, Z:-0.15 [[ 0.97503304 -0.18100445 -0.12863891 2.71866652] [ 0.18458295 0.98268072 0.01636279 -0.02886288] [ 0.12344924 -0.03969881 0.9915565 -0.15392924] [ 0. 0. 0. 1. ]] SLAMing on 114.812414037 meters Centerline goodness : 0.788245 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.03, Z:-0.15 [[ 0.97505179 -0.18069338 -0.12893376 2.71942998] [ 0.18430101 0.982731 0.01652049 -0.0290024 ] [ 0.12372206 -0.03987095 0.99151559 -0.15392005] [ 0. 0. 0. 1. ]] SLAMing on 114.84241403699998 meters Centerline goodness : 0.789436 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.03, Z:-0.15 [[ 0.97505462 -0.18066442 -0.12895291 2.71968098] [ 0.18429218 0.98273 0.01667736 -0.03027983] [ 0.12371289 -0.04002635 0.99151047 -0.15385925] [ 0. 0. 0. 1. ]] SLAMing on 114.87241403699998 meters Centerline goodness : 0.789780 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.03, Z:-0.15 [[ 0.97500559 -0.18109769 -0.12871566 2.71888218] [ 0.18470484 0.98265448 0.01656209 -0.03148079] [ 0.12348366 -0.03992253 0.99154323 -0.15337347] [ 0. 0. 0. 1. ]] SLAMing on 114.90241403699999 meters Centerline goodness : 0.784417 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.03, Z:-0.15 [[ 0.97428226 -0.18533391 -0.12816171 2.71897792] [ 0.18845811 0.98200054 0.01258877 -0.03322646] [ 0.12352174 -0.03641813 0.99167338 -0.15223462] [ 0. 0. 0. 1. ]] SLAMing on 114.93241403699999 meters Centerline goodness : 0.787816 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.04, Z:-0.15 [[ 0.97421299 -0.18580722 -0.12800285 2.71846272] [ 0.18892242 0.98191203 0.0125336 -0.0351914 ] [ 0.12335871 -0.036393 0.9916946 -0.15177808] [ 0. 0. 0. 1. ]] SLAMing on 114.96241403699999 meters Centerline goodness : 0.791711 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.04, Z:-0.15 [[ 0.97418336 -0.18609965 -0.12780338 2.71806583] [ 0.18921402 0.98185544 0.01256769 -0.03614431] [ 0.1231456 -0.03642543 0.99171989 -0.15176598] [ 0. 0. 0. 1. ]] SLAMing on 114.99241403699999 meters Centerline goodness : 0.791102 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.04, Z:-0.15 [[ 0.97414356 -0.18632267 -0.1277818 2.71772293] [ 0.18943812 0.98181221 0.01256873 -0.03650332] [ 0.1231159 -0.0364505 0.99172266 -0.15145515] [ 0. 0. 0. 1. ]] SLAMing on 115.02241403699999 meters Centerline goodness : 0.789286 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.04, Z:-0.15 [[ 0.97417883 -0.1861333 -0.12778888 2.7181373 ] [ 0.18930758 0.98183108 0.01305266 -0.03835881] [ 0.12303756 -0.03690703 0.9917155 -0.15165107] [ 0. 0. 0. 1. ]] SLAMing on 115.05241403699999 meters Centerline goodness : 0.789754 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.04, Z:-0.15 [[ 0.9741997 -0.18598823 -0.12784099 2.71836719] [ 0.1891814 0.98185345 0.01319822 -0.03913754] [ 0.12306641 -0.03704284 0.99170686 -0.15153603] [ 0. 0. 0. 1. ]] SLAMing on 115.08241403699999 meters Centerline goodness : 0.788313 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.04, Z:-0.15 [[ 0.97419454 -0.18603517 -0.12781206 2.71803684] [ 0.18922365 0.98184574 0.01316626 -0.03987263] [ 0.12304233 -0.03701157 0.99171101 -0.15099511] [ 0. 0. 0. 1. ]] SLAMing on 115.112414037 meters Centerline goodness : 0.789505 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.04, Z:-0.15 [[ 0.9741681 -0.18641861 -0.1274544 2.71686183] [ 0.18959998 0.98177278 0.01319326 -0.04272395] [ 0.1226718 -0.0370178 0.99175668 -0.15001079] [ 0. 0. 0. 1. ]] SLAMing on 115.142414037 meters Centerline goodness : 0.787006 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.04, Z:-0.15 [[ 0.97417829 -0.18633675 -0.12749616 2.71730331] [ 0.18954279 0.98178122 0.01338513 -0.04408798] [ 0.1226792 -0.03720548 0.99174874 -0.1500901 ] [ 0. 0. 0. 1. ]] SLAMing on 115.172414037 meters Centerline goodness : 0.786849 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.04, Z:-0.15 [[ 0.97431805 -0.18520763 -0.12807212 2.71981061] [ 0.18853212 0.98196386 0.01423449 -0.04452078] [ 0.12312586 -0.03801462 0.9916627 -0.1513197 ] [ 0. 0. 0. 1. ]] SLAMing on 115.20241403699998 meters Centerline goodness : 0.785889 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.04, Z:-0.15 [[ 0.97440386 -0.18450717 -0.12842986 2.72134375] [ 0.18787832 0.98208465 0.01454256 -0.04426631] [ 0.12344578 -0.03829951 0.99161196 -0.15193265] [ 0. 0. 0. 1. ]] SLAMing on 115.23241403699998 meters Centerline goodness : 0.787149 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.04, Z:-0.15 [[ 0.97448681 -0.18386986 -0.12871411 2.72263958] [ 0.18728084 0.98219471 0.01481344 -0.04417015] [ 0.12369857 -0.03854119 0.9915711 -0.15243054] [ 0. 0. 0. 1. ]] SLAMing on 115.26241403699999 meters Centerline goodness : 0.785635 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.04, Z:-0.15 [[ 0.97456075 -0.18318636 -0.12912823 2.72424648] [ 0.18665278 0.98230881 0.01517018 -0.044495 ] [ 0.12406483 -0.0388864 0.99151186 -0.15291336] [ 0. 0. 0. 1. ]] SLAMing on 115.29241403699999 meters Centerline goodness : 0.787043 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.05, Z:-0.15 [[ 0.97480832 -0.18140896 -0.12976721 2.72724605] [ 0.18502783 0.98259818 0.016295 -0.04585733] [ 0.12455296 -0.03989504 0.99141058 -0.15403796] [ 0. 0. 0. 1. ]] SLAMing on 115.32241403699999 meters Centerline goodness : 0.786888 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.05, Z:-0.15 [[ 0.97499539 -0.18005914 -0.13024088 2.72922031] [ 0.18379371 0.98281528 0.01714627 -0.04646415] [ 0.12491539 -0.04065499 0.99133411 -0.15472966] [ 0. 0. 0. 1. ]] SLAMing on 115.35241403699999 meters Centerline goodness : 0.787344 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.05, Z:-0.15 [[ 0.9749977 -0.17998692 -0.13032344 2.7289975 ] [ 0.18370183 0.98283555 0.01696793 -0.04598939] [ 0.1250325 -0.04048435 0.99132633 -0.15407391] [ 0. 0. 0. 1. ]] SLAMing on 115.38241403699999 meters Centerline goodness : 0.785764 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.05, Z:-0.15 [[ 0.97498696 -0.18005306 -0.1303124 2.72829187] [ 0.18373345 0.98283434 0.01669366 -0.04571161] [ 0.12506976 -0.04021885 0.99133244 -0.15310566] [ 0. 0. 0. 1. ]] SLAMing on 115.41241403699999 meters Centerline goodness : 0.785764 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.05, Z:-0.15 [[ 0.97498696 -0.18005306 -0.1303124 2.72829187] [ 0.18373345 0.98283434 0.01669366 -0.04571161] [ 0.12506976 -0.04021885 0.99133244 -0.15310566] [ 0. 0. 0. 1. ]] SLAMing on 115.44241403699999 meters Centerline goodness : 0.788961 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.05, Z:-0.15 [[ 0.9749981 -0.18000904 -0.13028985 2.72768317] [ 0.18367882 0.9828458 0.0166197 -0.04682334] [ 0.12506313 -0.04013567 0.99133664 -0.15199059] [ 0. 0. 0. 1. ]] SLAMing on 115.472414037 meters Centerline goodness : 0.789216 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.05, Z:-0.15 [[ 0.97497858 -0.18020681 -0.13016248 2.72727486] [ 0.1838717 0.98280991 0.01660953 -0.0478589 ] [ 0.12493182 -0.04012713 0.99135355 -0.15161512] [ 0. 0. 0. 1. ]] SLAMing on 115.502414037 meters Centerline goodness : 0.785113 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.05, Z:-0.15 [[ 0.97427258 -0.18417091 -0.12990003 2.72828204] [ 0.18737962 0.9822039 0.01282088 -0.04909559] [ 0.12522708 -0.03683165 0.9914442 -0.15092646] [ 0. 0. 0. 1. ]] SLAMing on 115.532414037 meters Centerline goodness : 0.785576 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.05, Z:-0.15 [[ 0.97357941 -0.18788125 -0.12978352 2.73000974] [ 0.19064819 0.98161604 0.00912217 -0.04951549] [ 0.1256837 -0.03362415 0.99150039 -0.15088372] [ 0. 0. 0. 1. ]] SLAMing on 115.562414037 meters Centerline goodness : 0.784105 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.05, Z:-0.15 [[ 0.97283297 -0.19190042 -0.12949996 2.73188792] [ 0.19428551 0.98092714 0.00592294 -0.05191762] [ 0.12589341 -0.030922 0.99156174 -0.15152872] [ 0. 0. 0. 1. ]] SLAMing on 115.59241403699998 meters Centerline goodness : 0.785655 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.05, Z:-0.15 [[ 0.97278621 -0.19228403 -0.12928202 2.73175459] [ 0.1947104 0.98084069 0.00627766 -0.05350623] [ 0.12559797 -0.03127937 0.99158799 -0.15201701] [ 0. 0. 0. 1. ]] SLAMing on 115.62241403699998 meters Centerline goodness : 0.783734 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.05, Z:-0.15 [[ 0.97272163 -0.19278297 -0.1290246 2.73123093] [ 0.19522535 0.98073729 0.00643653 -0.05471146] [ 0.12529839 -0.03144982 0.9916205 -0.15221325] [ 0. 0. 0. 1. ]] SLAMing on 115.65241403699999 meters Centerline goodness : 0.783593 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.06, Z:-0.15 [[ 0.97266146 -0.19330252 -0.12870049 2.73045471] [ 0.19574927 0.98063231 0.00651958 -0.0557982 ] [ 0.12494761 -0.03153437 0.99166208 -0.15220293] [ 0. 0. 0. 1. ]] SLAMing on 115.68241403699999 meters Centerline goodness : 0.781343 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.06, Z:-0.15 [[ 0.9725323 -0.19428346 -0.1281985 2.72916621] [ 0.19671845 0.98043854 0.00649036 -0.05781296] [ 0.12442979 -0.0315311 0.99172729 -0.15207214] [ 0. 0. 0. 1. ]] SLAMing on 115.71241403699999 meters Centerline goodness : 0.783873 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.06, Z:-0.15 [[ 0.97249416 -0.19468718 -0.12787501 2.72835533] [ 0.19710777 0.98036073 0.00643198 -0.05908065] [ 0.12411142 -0.03146023 0.99176943 -0.15177218] [ 0. 0. 0. 1. ]] SLAMing on 115.74241403699999 meters Centerline goodness : 0.780746 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.06, Z:-0.15 [[ 9.71681033e-01 -1.99367949e-01 -1.26840022e-01 2.72732473e+00] [ 2.01260154e-01 9.79535466e-01 2.14993502e-03 -6.00823821e-02] [ 1.23815672e-01 -2.76168935e-02 9.91920857e-01 -1.50562705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.77241403699999 meters Centerline goodness : 0.780299 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.06, Z:-0.15 [[ 9.71555186e-01 -2.00331121e-01 -1.26285240e-01 2.72564042e+00] [ 2.02172372e-01 9.79348294e-01 1.80285688e-03 -6.17908166e-02] [ 1.23316066e-01 -2.72829614e-02 9.91992333e-01 -1.49821432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.80241403699999 meters Centerline goodness : 0.777130 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.06, Z:-0.15 [[ 9.71424442e-01 -2.01223718e-01 -1.25871237e-01 2.72427241e+00] [ 2.03015392e-01 9.79174491e-01 1.43783726e-03 -6.28060495e-02] [ 1.22960577e-01 -2.69505487e-02 9.92045546e-01 -1.49202023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.83241403699999 meters Centerline goodness : 0.780714 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.06, Z:-0.15 [[ 9.71171654e-01 -2.02787619e-01 -1.25310813e-01 2.72194596e+00] [ 2.04481418e-01 9.78870217e-01 6.68703126e-04 -6.27208730e-02] [ 1.22527418e-01 -2.62731582e-02 9.92117308e-01 -1.48264258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.862414037 meters Centerline goodness : 0.780260 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.06, Z:-0.15 [[ 9.71125524e-01 -2.02974987e-01 -1.25364950e-01 2.72235893e+00] [ 2.04670787e-01 9.78830645e-01 6.61173194e-04 -6.26611901e-02] [ 1.22576853e-01 -2.63006251e-02 9.92110474e-01 -1.48662916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.892414037 meters Centerline goodness : 0.778531 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.06, Z:-0.15 [[ 9.71164114e-01 -2.02607852e-01 -1.25659545e-01 2.72425927e+00] [ 2.04370412e-01 9.78892940e-01 1.16039165e-03 -6.32247412e-02] [ 1.22772137e-01 -2.68080238e-02 9.92072745e-01 -1.50105034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.922414037 meters Centerline goodness : 0.779592 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.06, Z:-0.15 [[ 9.71144554e-01 -2.02683852e-01 -1.25688148e-01 2.72428821e+00] [ 2.04422507e-01 9.78882283e-01 9.56117843e-04 -6.28854467e-02] [ 1.22840112e-01 -2.66220150e-02 9.92069340e-01 -1.49998512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.95241403699998 meters Centerline goodness : 0.778560 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.06, Z:-0.15 [[ 9.71132648e-01 -2.02812295e-01 -1.25572900e-01 2.72364364e+00] [ 2.04507193e-01 9.78864865e-01 6.19419425e-04 -6.24595480e-02] [ 1.22793274e-01 -2.62820996e-02 9.92084202e-01 -1.49398436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98241403699998 meters Centerline goodness : 0.779202 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.06, Z:-0.15 [[ 9.71165278e-01 -2.02519998e-01 -1.25792101e-01 2.72396970e+00] [ 2.04178282e-01 9.78933676e-01 2.95824857e-04 -6.07519486e-02] [ 1.23082214e-01 -2.59713100e-02 9.92056581e-01 -1.49018157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.01241403699999 meters Centerline goodness : 0.780697 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.06, Z:-0.15 [[ 9.71202698e-01 -2.02152211e-01 -1.26094418e-01 2.72513643e+00] [ 2.03835215e-01 9.79005107e-01 4.54134653e-04 -5.98565385e-02] [ 1.23355275e-01 -2.61435396e-02 9.92018141e-01 -1.49698817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.04241403699999 meters Centerline goodness : 0.781727 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.06, Z:-0.15 [[ 9.71275043e-01 -2.01647829e-01 -1.26344543e-01 2.72619391e+00] [ 2.03359881e-01 9.79103832e-01 6.66548321e-04 -5.90604402e-02] [ 1.23570018e-01 -2.63408129e-02 9.91986196e-01 -1.50302523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.07241403699999 meters Centerline goodness : 0.777159 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.06, Z:-0.15 [[ 9.71271644e-01 -2.01754550e-01 -1.26200217e-01 2.72577846e+00] [ 2.03440706e-01 9.79087150e-01 4.82575743e-04 -5.90073455e-02] [ 1.23463649e-01 -2.61429734e-02 9.92004674e-01 -1.50020246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.10241403699999 meters Centerline goodness : 0.777258 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.06, Z:-0.15 [[ 9.71258304e-01 -2.01811785e-01 -1.26211372e-01 2.72563538e+00] [ 2.03475253e-01 9.79080045e-01 2.94250837e-04 -5.89374478e-02] [ 1.23511653e-01 -2.59666844e-02 9.92003328e-01 -1.49680953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.13241403699999 meters Centerline goodness : 0.776799 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.06, Z:-0.15 [[ 9.71319679e-01 -2.01556413e-01 -1.26147115e-01 2.72585792e+00] [ 2.03224270e-01 9.79132150e-01 3.59652456e-04 -5.90405090e-02] [ 1.23442206e-01 -2.59854929e-02 9.92011480e-01 -1.49847672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.16241403699999 meters Centerline goodness : 0.780276 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.06, Z:-0.15 [[ 9.71293721e-01 -2.01785582e-01 -1.25980501e-01 2.72505162e+00] [ 2.03401682e-01 9.79095376e-01 -3.61438069e-05 -5.82336467e-02] [ 1.23354219e-01 -2.55895395e-02 9.92032717e-01 -1.49272753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.19241403699999 meters Centerline goodness : 0.780171 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.06, Z:-0.15 [[ 9.71281181e-01 -2.01781453e-01 -1.26083754e-01 2.72471935e+00] [ 2.03348866e-01 9.79106244e-01 -4.48537696e-04 -5.66979054e-02] [ 1.23539898e-01 -2.52033322e-02 9.92019499e-01 -1.48594091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.222414037 meters Centerline goodness : 0.780706 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.06, Z:-0.15 [[ 0.97203821 -0.19762614 -0.1268291 2.72464895] [ 0.19964291 0.97986328 0.00326383 -0.05622553] [ 0.12363016 -0.0284931 0.99191921 -0.1487407 ] [ 0. 0. 0. 1. ]] SLAMing on 116.252414037 meters Centerline goodness : 0.779489 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.06, Z:-0.15 [[ 0.97212799 -0.19691573 -0.12724527 2.72638565] [ 0.19897643 0.97999779 0.00356462 -0.05588979] [ 0.12399815 -0.02878408 0.99186488 -0.14956119] [ 0. 0. 0. 1. ]] SLAMing on 116.282414037 meters Centerline goodness : 0.777847 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.06, Z:-0.15 [[ 0.97219203 -0.1963185 -0.1276781 2.72778205] [ 0.19840676 0.9801127 0.00372202 -0.05577256] [ 0.12440822 -0.02895072 0.99180868 -0.14984812] [ 0. 0. 0. 1. ]] SLAMing on 116.312414037 meters Centerline goodness : 0.777153 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.06, Z:-0.15 [[ 0.97286788 -0.1927783 -0.12792428 2.72581023] [ 0.19525039 0.98072877 0.00695414 -0.05667485] [ 0.12411841 -0.03174273 0.99175956 -0.14858295] [ 0. 0. 0. 1. ]] SLAMing on 116.34241403699998 meters Centerline goodness : 0.778635 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.06, Z:-0.15 [[ 0.97347007 -0.18958052 -0.12812205 2.72343495] [ 0.19243263 0.98125772 0.010147 -0.05735233] [ 0.12379707 -0.03453266 0.9917065 -0.14724176] [ 0. 0. 0. 1. ]] SLAMing on 116.37241403699998 meters Centerline goodness : 0.779115 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.06, Z:-0.15 [[ 0.97415252 -0.18557737 -0.12879404 2.72277786] [ 0.18888277 0.98190219 0.01383448 -0.05770965] [ 0.12389578 -0.03780387 0.99157486 -0.14669463] [ 0. 0. 0. 1. ]] SLAMing on 116.40241403699999 meters Centerline goodness : 0.779029 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.06, Z:-0.15 [[ 0.97423681 -0.1847899 -0.12928777 2.72459178] [ 0.18816716 0.98203281 0.01430632 -0.05791028] [ 0.12432117 -0.03826545 0.99150391 -0.14736706] [ 0. 0. 0. 1. ]] SLAMing on 116.43241403699999 meters Centerline goodness : 0.777234 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.06, Z:-0.15 [[ 0.97429622 -0.18414179 -0.12976394 2.72614744] [ 0.18758482 0.98213806 0.01472299 -0.05876081] [ 0.12473498 -0.0386863 0.9914356 -0.14767191] [ 0. 0. 0. 1. ]] SLAMing on 116.46241403699999 meters Centerline goodness : 0.776157 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.06, Z:-0.15 [[ 0.97434462 -0.18381356 -0.12986584 2.72673504] [ 0.18728579 0.98219179 0.01494417 -0.05975613] [ 0.12480622 -0.0388828 0.99141895 -0.14777605] [ 0. 0. 0. 1. ]] SLAMing on 116.49241403699999 meters Centerline goodness : 0.775726 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.06, Z:-0.15 [[ 0.97446445 -0.1829398 -0.13020014 2.7276681 ] [ 0.18646818 0.98234123 0.01534025 -0.06046772] [ 0.12509462 -0.03922671 0.99136905 -0.14751562] [ 0. 0. 0. 1. ]] SLAMing on 116.52241403699999 meters Centerline goodness : 0.777530 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.06, Z:-0.15 [[ 0.97448079 -0.18270981 -0.13040063 2.72821607] [ 0.18625549 0.9823802 0.01542861 -0.06025792] [ 0.12528403 -0.03932272 0.99134133 -0.14759882] [ 0. 0. 0. 1. ]] SLAMing on 116.55241403699999 meters Centerline goodness : 0.778196 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.06, Z:-0.15 [[ 0.97447821 -0.18262441 -0.13053943 2.72845774] [ 0.18619087 0.98239046 0.01555446 -0.06078763] [ 0.12540007 -0.03946274 0.9913211 -0.147462 ] [ 0. 0. 0. 1. ]] SLAMing on 116.58241403699999 meters Centerline goodness : 0.777441 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.06, Z:-0.15 [[ 0.97446094 -0.18283515 -0.13037325 2.72789834] [ 0.18640942 0.98234741 0.01565555 -0.06205472] [ 0.12520944 -0.03955852 0.99134137 -0.1470861 ] [ 0. 0. 0. 1. ]] SLAMing on 116.612414037 meters Centerline goodness : 0.778248 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.06, Z:-0.15 [[ 0.97439899 -0.1833466 -0.13011779 2.72689777] [ 0.18690241 0.98225529 0.01555779 -0.06433337] [ 0.12495642 -0.03947882 0.99137648 -0.14617182] [ 0. 0. 0. 1. ]] SLAMing on 116.642414037 meters Centerline goodness : 0.774308 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.07, Z:-0.14 [[ 0.97365953 -0.18784015 -0.12924088 2.72621707] [ 0.19094527 0.98152785 0.01195712 -0.06805969] [ 0.12460749 -0.0363201 0.99154114 -0.14494496] [ 0. 0. 0. 1. ]] SLAMing on 116.672414037 meters Centerline goodness : 0.777748 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.07, Z:-0.14 [[ 0.97356255 -0.18849119 -0.12902341 2.72544795] [ 0.19160104 0.98139932 0.01201702 -0.0709606 ] [ 0.12435839 -0.03642034 0.99156873 -0.14433523] [ 0. 0. 0. 1. ]] SLAMing on 116.70241403699998 meters Centerline goodness : 0.778351 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.07, Z:-0.14 [[ 0.97270836 -0.1935118 -0.12802979 2.72420071] [ 0.1961454 0.98054078 0.00817043 -0.07295379] [ 0.12395736 -0.0330599 0.99173667 -0.14328954] [ 0. 0. 0. 1. ]] SLAMing on 116.73241403699998 meters Centerline goodness : 0.775782 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.07, Z:-0.14 [[ 0.97249799 -0.19464521 -0.12790972 2.72317933] [ 0.19724204 0.98032351 0.00783531 -0.0747682 ] [ 0.1238678 -0.03284899 0.99175486 -0.1424059 ] [ 0. 0. 0. 1. ]] SLAMing on 116.76241403699999 meters Centerline goodness : 0.774191 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.08, Z:-0.14 [[ 0.9717588 -0.19842249 -0.12772375 2.72483313] [ 0.2006041 0.97966287 0.00431915 -0.07518628] [ 0.12426919 -0.02981908 0.99180038 -0.14257565] [ 0. 0. 0. 1. ]] SLAMing on 116.79241403699999 meters Centerline goodness : 0.773727 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.08, Z:-0.14 [[ 9.71011389e-01 -2.02228258e-01 -1.27438665e-01 2.72650697e+00] [ 2.04003981e-01 9.78969644e-01 9.01320745e-04 -7.60692476e-02] [ 1.24576312e-01 -2.68731877e-02 9.91846044e-01 -1.42971844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82241403699999 meters Centerline goodness : 0.773881 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.08, Z:-0.14 [[ 9.70222288e-01 -2.06359282e-01 -1.26824916e-01 2.72779168e+00] [ 2.07763566e-01 9.78176601e-01 -2.19971539e-03 -7.88955760e-02] [ 1.24511097e-01 -2.42153840e-02 9.91922679e-01 -1.43662604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.85241403699999 meters Centerline goodness : 0.773213 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.08, Z:-0.14 [[ 9.70128736e-01 -2.06917022e-01 -1.26631680e-01 2.72704554e+00] [ 2.08302307e-01 9.78061669e-01 -2.34975831e-03 -7.99170587e-02] [ 1.24339797e-01 -2.40981031e-02 9.91947023e-01 -1.43224742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.88241403699999 meters Centerline goodness : 0.774157 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.08, Z:-0.14 [[ 9.70027056e-01 -2.07584735e-01 -1.26317416e-01 2.72589781e+00] [ 2.08923613e-01 9.77928228e-01 -2.70283322e-03 -8.01527212e-02] [ 1.24090433e-01 -2.37688695e-02 9.91986192e-01 -1.42645149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.91241403699999 meters Centerline goodness : 0.774027 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.08, Z:-0.14 [[ 0.96992165 -0.20820947 -0.12609843 2.72493142] [ 0.20950022 0.97780373 -0.0030865 -0.07998517] [ 0.12394215 -0.02342399 0.99201293 -0.14208238] [ 0. 0. 0. 1. ]] SLAMing on 116.94241403699999 meters Centerline goodness : 0.773881 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.08, Z:-0.14 [[ 0.96970494 -0.20934274 -0.12588861 2.7242624 ] [ 0.21059601 0.97756719 -0.00342051 -0.08034819] [ 0.12378064 -0.02319475 0.99203849 -0.14220832] [ 0. 0. 0. 1. ]] SLAMing on 116.972414037 meters Centerline goodness : 0.771129 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.08, Z:-0.14 [[ 0.96891189 -0.2131562 -0.12559533 2.7259442 ] [ 0.21394901 0.97681754 -0.00730105 -0.07954436] [ 0.12423999 -0.01979693 0.99205469 -0.14253182] [ 0. 0. 0. 1. ]] SLAMing on 117.002414037 meters Centerline goodness : 0.771412 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.08, Z:-0.14 [[ 0.96876821 -0.21399089 -0.12528388 2.72536204] [ 0.21475294 0.97663921 -0.00755138 -0.08079584] [ 0.12397307 -0.01958955 0.9920922 -0.14255608] [ 0. 0. 0. 1. ]] SLAMing on 117.032414037 meters Centerline goodness : 0.770251 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.08, Z:-0.14 [[ 0.96863453 -0.21482303 -0.12489284 2.72433093] [ 0.21552662 0.97646509 -0.0080122 -0.08113515] [ 0.1236747 -0.01915684 0.99213788 -0.14223766] [ 0. 0. 0. 1. ]] SLAMing on 117.062414037 meters Centerline goodness : 0.771018 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.08, Z:-0.14 [[ 0.9683576 -0.21652988 -0.1240902 2.7209806 ] [ 0.21703019 0.97611733 -0.00963605 -0.07870554] [ 0.12321309 -0.01760018 0.99222415 -0.14043108] [ 0. 0. 0. 1. ]] SLAMing on 117.09241403699998 meters Centerline goodness : 0.773456 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.08, Z:-0.14 [[ 0.96824113 -0.2171101 -0.12398518 2.72003265] [ 0.21751824 0.97600084 -0.01040071 -0.07674653] [ 0.12326774 -0.01689864 0.99222956 -0.13973624] [ 0. 0. 0. 1. ]] SLAMing on 117.12241403699998 meters Centerline goodness : 0.772550 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.07, Z:-0.14 [[ 0.96816779 -0.21740453 -0.12404196 2.7199784 ] [ 0.2177575 0.97594236 -0.01087128 -0.07492684] [ 0.12342127 -0.01648585 0.99221742 -0.13973179] [ 0. 0. 0. 1. ]] SLAMing on 117.15241403699999 meters Centerline goodness : 0.772104 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.07, Z:-0.14 [[ 0.96812337 -0.21759471 -0.12405518 2.72034052] [ 0.21792541 0.97590271 -0.0110643 -0.07383178] [ 0.12347332 -0.01632317 0.99221363 -0.14030702] [ 0. 0. 0. 1. ]] SLAMing on 117.18241403699999 meters Centerline goodness : 0.772051 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.07, Z:-0.14 [[ 0.96736183 -0.22125263 -0.12352476 2.72248184] [ 0.22114387 0.97512942 -0.01476474 -0.07172487] [ 0.12371937 -0.0130339 0.99223164 -0.1419424 ] [ 0. 0. 0. 1. ]] SLAMing on 117.21241403699999 meters Centerline goodness : 0.773000 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.07, Z:-0.14 [[ 0.96726228 -0.22190238 -0.12313821 2.72177905] [ 0.22176269 0.97498507 -0.01501424 -0.0714337 ] [ 0.12338961 -0.01278476 0.99227595 -0.14227268] [ 0. 0. 0. 1. ]] SLAMing on 117.24241403699999 meters Centerline goodness : 0.772705 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.07, Z:-0.14 [[ 0.96711419 -0.2228528 -0.12258375 2.72013886] [ 0.22263066 0.97477671 -0.01568277 -0.07014092] [ 0.12298674 -0.01212387 0.99233426 -0.1420066 ] [ 0. 0. 0. 1. ]] SLAMing on 117.27241403699999 meters Centerline goodness : 0.771039 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.07, Z:-0.14 [[ 0.96690714 -0.22406043 -0.12201438 2.71785023] [ 0.22371043 0.97451191 -0.01673852 -0.06840621] [ 0.12265491 -0.01111129 0.99238718 -0.14095537] [ 0. 0. 0. 1. ]] SLAMing on 117.30241403699999 meters Centerline goodness : 0.774929 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.07, Z:-0.14 [[ 0.96655187 -0.22617262 -0.12092738 2.71348201] [ 0.22558261 0.97404401 -0.01872857 -0.06544916] [ 0.12202448 -0.00917698 0.99248466 -0.13866042] [ 0. 0. 0. 1. ]] SLAMing on 117.33241403699999 meters Centerline goodness : 0.774929 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.07, Z:-0.14 [[ 0.96655187 -0.22617262 -0.12092738 2.71348201] [ 0.22558261 0.97404401 -0.01872857 -0.06544916] [ 0.12202448 -0.00917698 0.99248466 -0.13866042] [ 0. 0. 0. 1. ]] SLAMing on 117.362414037 meters Centerline goodness : 0.775296 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.06, Z:-0.14 [[ 0.96642232 -0.22690483 -0.12059058 2.71229954] [ 0.22621976 0.97388061 -0.01952382 -0.06371828] [ 0.12187088 -0.00841172 0.99251032 -0.13820377] [ 0. 0. 0. 1. ]] SLAMing on 117.392414037 meters Centerline goodness : 0.775910 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.06, Z:-0.14 [[ 0.96631559 -0.22745101 -0.12041688 2.71173105] [ 0.22668887 0.97375827 -0.02017419 -0.0620089 ] [ 0.12184558 -0.00780254 0.9925184 -0.13805361] [ 0. 0. 0. 1. ]] SLAMing on 117.422414037 meters Centerline goodness : 0.775403 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.06, Z:-0.14 [[ 0.96619047 -0.22808983 -0.12021232 2.71157313] [ 0.22721406 0.97361564 -0.02112732 -0.05831702] [ 0.12185952 -0.00690092 0.99252337 -0.13867585] [ 0. 0. 0. 1. ]] SLAMing on 117.45241403699998 meters Centerline goodness : 0.777176 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.06, Z:-0.14 [[ 0.9661501 -0.22821389 -0.12030133 2.71204651] [ 0.22728175 0.97358949 -0.02159874 -0.05590239] [ 0.12205325 -0.00647467 0.99250244 -0.13919695] [ 0. 0. 0. 1. ]] SLAMing on 117.48241403699998 meters Centerline goodness : 0.778600 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.05, Z:-0.14 [[ 0.96687191 -0.22508798 -0.12039145 2.71075813] [ 0.22447832 0.9742981 -0.0187805 -0.0520727 ] [ 0.12152443 -0.00886694 0.99254884 -0.14029322] [ 0. 0. 0. 1. ]] SLAMing on 117.51241403699999 meters Centerline goodness : 0.778035 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.05, Z:-0.14 [[ 0.96755882 -0.22205284 -0.12050918 2.70876408] [ 0.22179424 0.97496667 -0.01572619 -0.05078128] [ 0.12098448 -0.01151223 0.99258764 -0.1403353 ] [ 0. 0. 0. 1. ]] SLAMing on 117.54241403699999 meters Centerline goodness : 0.778543 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.05, Z:-0.14 [[ 0.96753474 -0.22216349 -0.12049859 2.70854821] [ 0.2218111 0.97495003 -0.01650105 -0.04743491] [ 0.12114603 -0.01076258 0.99257635 -0.1402021 ] [ 0. 0. 0. 1. ]] SLAMing on 117.57241403699999 meters Centerline goodness : 0.781921 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.04, Z:-0.14 [[ 0.96746502 -0.22252562 -0.12039009 2.70795345] [ 0.22205256 0.97487759 -0.01750268 -0.04414534] [ 0.1212604 -0.0097997 0.99257236 -0.13977632] [ 0. 0. 0. 1. ]] SLAMing on 117.60241403699999 meters Centerline goodness : 0.782020 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.04, Z:-0.14 [[ 0.96821641 -0.21918871 -0.12047111 2.70675169] [ 0.21907878 0.97560207 -0.01432117 -0.04168647] [ 0.1206709 -0.01252668 0.99261353 -0.14094911] [ 0. 0. 0. 1. ]] SLAMing on 117.63241403699999 meters Centerline goodness : 0.783697 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.04, Z:-0.14 [[ 0.96819002 -0.21937776 -0.12033903 2.70676013] [ 0.21919858 0.97556665 -0.01488919 -0.03881993] [ 0.1206651 -0.01196258 0.99262119 -0.14154026] [ 0. 0. 0. 1. ]] SLAMing on 117.66241403699999 meters Centerline goodness : 0.783689 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.04, Z:-0.14 [[ 0.96819186 -0.21943994 -0.12021081 2.70678249] [ 0.21918579 0.97556006 -0.0154973 -0.03560827] [ 0.12067359 -0.01134414 0.99262742 -0.14199997] [ 0. 0. 0. 1. ]] SLAMing on 117.69241403699999 meters Centerline goodness : 0.784583 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.03, Z:-0.14 [[ 0.96882579 -0.21668053 -0.12010883 2.70408061] [ 0.2167561 0.97614455 -0.01259368 -0.03422484] [ 0.11997238 -0.01383324 0.99268085 -0.14182326] [ 0. 0. 0. 1. ]] SLAMing on 117.722414037 meters Centerline goodness : 0.785619 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.03, Z:-0.14 [[ 0.96942887 -0.21408931 -0.11988928 2.70048396] [ 0.21445544 0.97668266 -0.00999273 -0.03269039] [ 0.11923312 -0.01602367 0.99273698 -0.14074229] [ 0. 0. 0. 1. ]] SLAMing on 117.752414037 meters Centerline goodness : 0.786751 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.03, Z:-0.14 [[ 0.97002465 -0.21154874 -0.1195797 2.69648038] [ 0.2121891 0.97719985 -0.00749908 -0.03100862] [ 0.11843969 -0.01809922 0.99279628 -0.13933676] [ 0. 0. 0. 1. ]] SLAMing on 117.782414037 meters Centerline goodness : 0.790225 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.03, Z:-0.14 [[ 0.97058437 -0.20918896 -0.11918874 2.69195837] [ 0.21001648 0.97768113 -0.00571691 -0.02668184] [ 0.1177245 -0.01948285 0.99285516 -0.13757291] [ 0. 0. 0. 1. ]] SLAMing on 117.812414037 meters Centerline goodness : 0.790614 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.02, Z:-0.14 [[ 0.97056546 -0.20924439 -0.11924541 2.6921927 ] [ 0.21001508 0.97767843 -0.0062086 -0.02498595] [ 0.11788278 -0.01901748 0.9928454 -0.13759117] [ 0. 0. 0. 1. ]] SLAMing on 117.84241403699998 meters Centerline goodness : 0.790634 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.02, Z:-0.14 [[ 0.97053721 -0.20944494 -0.11912321 2.69216386] [ 0.21018093 0.97764094 -0.00649359 -0.0241397 ] [ 0.11781978 -0.01873515 0.99285824 -0.13786617] [ 0. 0. 0. 1. ]] SLAMing on 117.87241403699998 meters Centerline goodness : 0.790339 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.02, Z:-0.14 [[ 0.97049054 -0.20967545 -0.11909794 2.6923601 ] [ 0.21038204 0.97759594 -0.00675152 -0.02317522] [ 0.11784529 -0.01850379 0.99285956 -0.13827791] [ 0. 0. 0. 1. ]] SLAMing on 117.90241403699999 meters Centerline goodness : 0.789714 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.02, Z:-0.14 [[ 0.97043693 -0.20997574 -0.11900566 2.69246124] [ 0.21062716 0.9775398 -0.00722038 -0.01951427] [ 0.11784887 -0.0180589 0.99286732 -0.13927391] [ 0. 0. 0. 1. ]] SLAMing on 117.93241403699999 meters Centerline goodness : 0.790165 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.02, Z:-0.14 [[ 0.9704203 -0.20998471 -0.11912542 2.69277442] [ 0.21059747 0.9775436 -0.00756472 -0.01722896] [ 0.11803877 -0.01774655 0.9928504 -0.13952545] [ 0. 0. 0. 1. ]] SLAMing on 117.96241403699999 meters Centerline goodness : 0.792235 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.01, Z:-0.14 [[ 0.97037594 -0.21032679 -0.11888302 2.69227513] [ 0.2108461 0.97748372 -0.00833614 -0.01382009] [ 0.11795953 -0.01697683 0.99287327 -0.13973115] [ 0. 0. 0. 1. ]] SLAMing on 117.99241403699999 meters Centerline goodness : 0.792597 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.01, Z:-0.14 [[ 0.97039047 -0.21028474 -0.11883878 2.69228358] [ 0.21078382 0.97749577 -0.00849749 -0.01320239] [ 0.1179513 -0.01680341 0.9928772 -0.13975515] [ 0. 0. 0. 1. ]] SLAMing on 118.02241403699999 meters Centerline goodness : 0.789316 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.01, Z:-0.14 [[ 0.97042351 -0.21008621 -0.11892009 2.69272517] [ 0.21056536 0.97754138 -0.00866454 -0.01224425] [ 0.11806961 -0.01663217 0.99286602 -0.13992923] [ 0. 0. 0. 1. ]] SLAMing on 118.05241403699999 meters Centerline goodness : 0.790887 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.01, Z:-0.14 [[ 0.97046333 -0.20979243 -0.11911368 2.69353739] [ 0.21023597 0.9776095 -0.00897269 -0.01041502] [ 0.11832907 -0.01633431 0.99284008 -0.14019445] [ 0. 0. 0. 1. ]] SLAMing on 118.08241403699999 meters Centerline goodness : 0.791388 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.01, Z:-0.14 [[ 0.97057126 -0.20902487 -0.11958275 2.69534693] [ 0.20946829 0.9777741 -0.00899128 -0.00806524] [ 0.11880431 -0.01632212 0.99278352 -0.14098293] [ 0. 0. 0. 1. ]] SLAMing on 118.112414037 meters Centerline goodness : 0.789538 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.00, Z:-0.14 [[ 0.97134343 -0.20513962 -0.12004033 2.69459604] [ 0.20595693 0.9785445 -0.00569256 -0.00436209] [ 0.11863258 -0.0191937 0.9927527 -0.14171083] [ 0. 0. 0. 1. ]] SLAMing on 118.142414037 meters Centerline goodness : 0.792249 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.00, Z:-0.14 [[ 9.71344795e-01 -2.05057330e-01 -1.20169797e-01 2.69459424e+00] [ 2.05800180e-01 9.78573558e-01 -6.33060471e-03 -1.92678191e-03] [ 1.18893123e-01 -1.85817660e-02 9.92733168e-01 -1.41134419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.172414037 meters Centerline goodness : 0.791469 Centerline is valid? [False, False] Translation: X:2.69, Y:0.00, Z:-0.14 [[ 9.71318180e-01 -2.05168812e-01 -1.20194642e-01 2.69442017e+00] [ 2.05838837e-01 9.78561231e-01 -6.94906756e-03 5.44670250e-05] [ 1.19043549e-01 -1.79909697e-02 9.92726024e-01 -1.40715604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20241403699998 meters Centerline goodness : 0.788335 Centerline is valid? [False, False] Translation: X:2.70, Y:0.00, Z:-0.14 [[ 9.71369898e-01 -2.04833402e-01 -1.20348655e-01 2.69547431e+00] [ 2.05462948e-01 9.78637754e-01 -7.28863897e-03 2.47151536e-03] [ 1.19270694e-01 -1.76472249e-02 9.92704929e-01 -1.41377469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.23241403699998 meters Centerline goodness : 0.788856 Centerline is valid? [False, False] Translation: X:2.70, Y:0.00, Z:-0.14 [[ 0.97133858 -0.20502985 -0.12026688 2.69539507] [ 0.20560734 0.9786041 -0.0077221 0.00393457] [ 0.11927692 -0.01722698 0.99271156 -0.14148287] [ 0. 0. 0. 1. ]] SLAMing on 118.26241403699999 meters Centerline goodness : 0.789077 Centerline is valid? [False, False] Translation: X:2.69, Y:0.01, Z:-0.14 [[ 0.97126637 -0.205484 -0.12007483 2.69464753] [ 0.20598516 0.97851942 -0.00835834 0.00562283] [ 0.11921306 -0.01661546 0.99272966 -0.14113052] [ 0. 0. 0. 1. ]] SLAMing on 118.29241403699999 meters Centerline goodness : 0.788728 Centerline is valid? [False, False] Translation: X:2.69, Y:0.01, Z:-0.14 [[ 0.97122628 -0.20577482 -0.11990093 2.69428981] [ 0.20619503 0.97846928 -0.00902667 0.00839592] [ 0.11917684 -0.01595603 0.99274482 -0.14126211] [ 0. 0. 0. 1. ]] SLAMing on 118.32241403699999 meters Centerline goodness : 0.787956 Centerline is valid? [False, False] Translation: X:2.70, Y:0.01, Z:-0.14 [[ 0.97126688 -0.20551648 -0.12001508 2.69517206] [ 0.20593691 0.97852366 -0.00902418 0.00914686] [ 0.11929221 -0.01595065 0.99273105 -0.14190022] [ 0. 0. 0. 1. ]] SLAMing on 118.35241403699999 meters Centerline goodness : 0.787809 Centerline is valid? [False, False] Translation: X:2.70, Y:0.01, Z:-0.14 [[ 0.97130591 -0.20527572 -0.12011124 2.69586716] [ 0.20567767 0.97857677 -0.0091758 0.0101725 ] [ 0.11942164 -0.01579169 0.99271803 -0.14223848] [ 0. 0. 0. 1. ]] SLAMing on 118.38241403699999 meters Centerline goodness : 0.789633 Centerline is valid? [False, False] Translation: X:2.70, Y:0.01, Z:-0.14 [[ 0.97133378 -0.20514816 -0.12010375 2.69586824] [ 0.20550177 0.97860997 -0.00956861 0.01169588] [ 0.11949771 -0.01538722 0.99271523 -0.14199593] [ 0. 0. 0. 1. ]] SLAMing on 118.41241403699999 meters Centerline goodness : 0.788400 Centerline is valid? [False, False] Translation: X:2.69, Y:0.01, Z:-0.14 [[ 0.97197077 -0.2022972 -0.11978592 2.69174869] [ 0.20294603 0.97916571 -0.00688629 0.01308637] [ 0.11868334 -0.01761681 0.99277586 -0.14029983] [ 0. 0. 0. 1. ]] SLAMing on 118.44241403699999 meters Centerline goodness : 0.789355 Centerline is valid? [False, False] Translation: X:2.69, Y:0.01, Z:-0.14 [[ 0.97196726 -0.20223401 -0.11992106 2.69164598] [ 0.20282562 0.97918706 -0.00738038 0.014398 ] [ 0.11891772 -0.01714957 0.992756 -0.13949617] [ 0. 0. 0. 1. ]] SLAMing on 118.472414037 meters Centerline goodness : 0.790620 Centerline is valid? [False, False] Translation: X:2.69, Y:0.01, Z:-0.14 [[ 0.97273966 -0.19819856 -0.12039469 2.69080408] [ 0.19922763 0.97994681 -0.00355023 0.01427898] [ 0.11868404 -0.0205325 0.99271976 -0.13947445] [ 0. 0. 0. 1. ]] SLAMing on 118.502414037 meters Centerline goodness : 0.791191 Centerline is valid? [False, False] Translation: X:2.69, Y:0.02, Z:-0.14 [[ 0.97283175 -0.19730908 -0.1211095 2.69286021] [ 0.19836194 0.98012287 -0.0034213 0.01570448] [ 0.11937725 -0.02069517 0.99263326 -0.13975389] [ 0. 0. 0. 1. ]] SLAMing on 118.532414037 meters Centerline goodness : 0.789945 Centerline is valid? [False, False] Translation: X:2.70, Y:0.02, Z:-0.14 [[ 0.97294858 -0.19636404 -0.12170551 2.69511893] [ 0.19745494 0.9803069 -0.00315118 0.01698017] [ 0.11992753 -0.02096542 0.99256125 -0.14058482] [ 0. 0. 0. 1. ]] SLAMing on 118.562414037 meters Centerline goodness : 0.788184 Centerline is valid? [False, False] Translation: X:2.70, Y:0.02, Z:-0.14 [[ 9.73258901e-01 -1.94354937e-01 -1.22447008e-01 2.69937816e+00] [ 1.95604200e-01 9.80681176e-01 -1.85140763e-03 1.71839978e-02] [ 1.20441306e-01 -2.21492501e-02 9.92473326e-01 -1.43305222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.59241403699998 meters Centerline goodness : 0.786493 Centerline is valid? [False, False] Translation: X:2.70, Y:0.02, Z:-0.14 [[ 9.73327156e-01 -1.93909194e-01 -1.22611063e-01 2.70046291e+00] [ 1.95175680e-01 9.80766804e-01 -1.71200585e-03 1.71695331e-02] [ 1.20584834e-01 -2.22643557e-02 9.92453322e-01 -1.43863053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62241403699998 meters Centerline goodness : 0.786644 Centerline is valid? [False, False] Translation: X:2.70, Y:0.02, Z:-0.14 [[ 9.73398878e-01 -1.93461617e-01 -1.22748636e-01 2.70116136e+00] [ 1.94739710e-01 9.80853628e-01 -1.61397445e-03 1.71653850e-02] [ 1.20710687e-01 -2.23329929e-02 9.92436480e-01 -1.43985161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.65241403699999 meters Centerline goodness : 0.788662 Centerline is valid? [False, False] Translation: X:2.70, Y:0.02, Z:-0.14 [[ 9.73447599e-01 -1.93099263e-01 -1.22932690e-01 2.70150602e+00] [ 1.94345064e-01 9.80931406e-01 -1.89042785e-03 1.77975238e-02] [ 1.20953577e-01 -2.20511291e-02 9.92413210e-01 -1.43380178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68241403699999 meters Centerline goodness : 0.788561 Centerline is valid? [False, False] Translation: X:2.70, Y:0.02, Z:-0.14 [[ 9.74164818e-01 -1.89396048e-01 -1.23012379e-01 2.69875159e+00] [ 1.91032273e-01 9.81582553e-01 1.53694887e-03 1.65735142e-02] [ 1.20455713e-01 -2.49965759e-02 9.92403946e-01 -1.41591629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.71241403699999 meters Centerline goodness : 0.790134 Centerline is valid? [False, False] Translation: X:2.70, Y:0.01, Z:-0.14 [[ 0.97478221 -0.18600898 -0.1232895 2.69683833] [ 0.18806305 0.98214354 0.00513423 0.01473537] [ 0.12013297 -0.02819095 0.99235747 -0.14063887] [ 0. 0. 0. 1. ]] SLAMing on 118.74241403699999 meters Centerline goodness : 0.789536 Centerline is valid? [False, False] Translation: X:2.70, Y:0.02, Z:-0.14 [[ 0.97480652 -0.18565619 -0.1236286 2.69731004] [ 0.1877002 0.98221367 0.00499341 0.01511108] [ 0.12050265 -0.02807272 0.992316 -0.13996398] [ 0. 0. 0. 1. ]] SLAMing on 118.77241403699999 meters Centerline goodness : 0.791018 Centerline is valid? [False, False] Translation: X:2.70, Y:0.01, Z:-0.14 [[ 0.97495526 -0.1843042 -0.12447573 2.69979646] [ 0.18643328 0.9824518 0.0055763 0.01439351] [ 0.12126367 -0.02864306 0.99220698 -0.13994694] [ 0. 0. 0. 1. ]] SLAMing on 118.80241403699999 meters Centerline goodness : 0.790567 Centerline is valid? [False, False] Translation: X:2.70, Y:0.01, Z:-0.14 [[ 0.97499439 -0.18383657 -0.12486013 2.70097934] [ 0.18599682 0.98253341 0.00576874 0.0144888 ] [ 0.12161875 -0.02884807 0.99215758 -0.14016674] [ 0. 0. 0. 1. ]] SLAMing on 118.83241403699999 meters Centerline goodness : 0.790712 Centerline is valid? [False, False] Translation: X:2.70, Y:0.01, Z:-0.14 [[ 0.97502787 -0.18350017 -0.1250933 2.70199306] [ 0.18569043 0.98259011 0.00597866 0.01462253] [ 0.12181835 -0.02905799 0.99212697 -0.14070202] [ 0. 0. 0. 1. ]] SLAMing on 118.862414037 meters Centerline goodness : 0.791303 Centerline is valid? [False, False] Translation: X:2.70, Y:0.01, Z:-0.14 [[ 0.97503313 -0.18331708 -0.12532057 2.70285983] [ 0.18552738 0.98262017 0.00609862 0.01418706] [ 0.12202454 -0.02919675 0.99209756 -0.14094608] [ 0. 0. 0. 1. ]] SLAMing on 118.892414037 meters Centerline goodness : 0.791173 Centerline is valid? [False, False] Translation: X:2.70, Y:0.01, Z:-0.14 [[ 0.97505828 -0.18321332 -0.1252766 2.70343999] [ 0.18546571 0.98262951 0.00645823 0.01251166] [ 0.12191725 -0.02953166 0.99210083 -0.14149147] [ 0. 0. 0. 1. ]] SLAMing on 118.922414037 meters Centerline goodness : 0.790849 Centerline is valid? [False, False] Translation: X:2.70, Y:0.01, Z:-0.14 [[ 0.97508406 -0.18318048 -0.12512389 2.70379406] [ 0.18548433 0.98262288 0.00691703 0.00953655] [ 0.12168254 -0.0299532 0.99211701 -0.14194524] [ 0. 0. 0. 1. ]] SLAMing on 118.95241403699998 meters Centerline goodness : 0.789727 Centerline is valid? [False, False] Translation: X:2.71, Y:0.01, Z:-0.14 [[ 0.97443784 -0.1868701 -0.12470146 2.70529147] [ 0.18878187 0.98201249 0.00358799 0.00664542] [ 0.1217879 -0.02703765 0.99218782 -0.1420371 ] [ 0. 0. 0. 1. ]] SLAMing on 118.98241403699998 meters Centerline goodness : 0.788791 Centerline is valid? [False, False] Translation: X:2.70, Y:0.01, Z:-0.14 [[ 0.97439514 -0.18728643 -0.12441022 2.70415268] [ 0.18919782 0.98193231 0.0036238 0.00536198] [ 0.12148372 -0.02706915 0.99222425 -0.14146069] [ 0. 0. 0. 1. ]] SLAMing on 119.01241403699999 meters Centerline goodness : 0.789620 Centerline is valid? [False, False] Translation: X:2.70, Y:0.01, Z:-0.14 [[ 0.97432562 -0.18782421 -0.12414365 2.70265348] [ 0.18969459 0.98183755 0.00331422 0.00512369] [ 0.1212664 -0.02677851 0.99225872 -0.14037231] [ 0. 0. 0. 1. ]] SLAMing on 119.04241403699999 meters Centerline goodness : 0.788769 Centerline is valid? [False, False] Translation: X:2.70, Y:0.00, Z:-0.14 [[ 0.97429913 -0.18805224 -0.12400629 2.70174691] [ 0.18991411 0.98179529 0.00326073 0.00479707] [ 0.1211356 -0.02672747 0.99227607 -0.13966083] [ 0. 0. 0. 1. ]] SLAMing on 119.07241403699999 meters Centerline goodness : 0.788185 Centerline is valid? [False, False] Translation: X:2.70, Y:0.00, Z:-0.14 [[ 0.97430324 -0.18794334 -0.12413898 2.70186122] [ 0.18983558 0.9818097 0.00348661 0.00383658] [ 0.12122557 -0.02696302 0.99225871 -0.1393508 ] [ 0. 0. 0. 1. ]] SLAMing on 119.10241403699999 meters Centerline goodness : 0.787178 Centerline is valid? [False, False] Translation: X:2.70, Y:0.00, Z:-0.14 [[ 9.74336557e-01 -1.87617996e-01 -1.24369456e-01 2.70259872e+00] [ 1.89565553e-01 9.81860291e-01 3.90761215e-03 2.06430974e-03] [ 1.21380292e-01 -2.73834941e-02 9.92228285e-01 -1.39290206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.13241403699999 meters Centerline goodness : 0.786115 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.00, Z:-0.14 [[ 0.97439709 -0.18721676 -0.12449981 2.70378548] [ 0.18926988 0.98191354 0.00476583 -0.00311565] [ 0.12135581 -0.02820787 0.99220819 -0.13947111] [ 0. 0. 0. 1. ]] SLAMing on 119.16241403699999 meters Centerline goodness : 0.785353 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.01, Z:-0.14 [[ 0.97440667 -0.1871833 -0.12447515 2.70370197] [ 0.18925707 0.98191514 0.00494261 -0.00503067] [ 0.12129886 -0.02837391 0.99221041 -0.13903949] [ 0. 0. 0. 1. ]] SLAMing on 119.19241403699999 meters Centerline goodness : 0.785586 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.01, Z:-0.14 [[ 0.9744044 -0.18720981 -0.12445304 2.70322813] [ 0.1892763 0.98191171 0.00488661 -0.00619145] [ 0.12128708 -0.02831755 0.99221347 -0.13815051] [ 0. 0. 0. 1. ]] SLAMing on 119.222414037 meters Centerline goodness : 0.785586 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.01, Z:-0.14 [[ 0.9744044 -0.18720981 -0.12445304 2.70322813] [ 0.1892763 0.98191171 0.00488661 -0.00619145] [ 0.12128708 -0.02831755 0.99221347 -0.13815051] [ 0. 0. 0. 1. ]] SLAMing on 119.252414037 meters Centerline goodness : 0.786278 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.01, Z:-0.14 [[ 0.97442988 -0.18687991 -0.12474899 2.7036615 ] [ 0.1889487 0.98197495 0.00485675 -0.00650806] [ 0.12159276 -0.02830373 0.99217645 -0.13747404] [ 0. 0. 0. 1. ]] SLAMing on 119.282414037 meters Centerline goodness : 0.786260 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.01, Z:-0.14 [[ 0.9745045 -0.18603018 -0.12543424 2.70539202] [ 0.18814499 0.9821279 0.00512386 -0.00642627] [ 0.12223927 -0.02859305 0.9920887 -0.13736831] [ 0. 0. 0. 1. ]] SLAMing on 119.312414037 meters Centerline goodness : 0.784624 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.01, Z:-0.14 [[ 0.97466344 -0.18457144 -0.12635091 2.70849856] [ 0.18679987 0.98238017 0.00591747 -0.00689052] [ 0.12303243 -0.02936987 0.99196796 -0.13816798] [ 0. 0. 0. 1. ]] SLAMing on 119.34241403699998 meters Centerline goodness : 0.783761 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.01, Z:-0.14 [[ 0.97484466 -0.18294547 -0.12731394 2.71214262] [ 0.18532734 0.98265177 0.00701948 -0.00839242] [ 0.12382109 -0.03043766 0.99183763 -0.13944389] [ 0. 0. 0. 1. ]] SLAMing on 119.37241403699998 meters Centerline goodness : 0.784555 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.01, Z:-0.14 [[ 0.97503854 -0.18133338 -0.12813291 2.7155665 ] [ 0.18387396 0.98291575 0.0081849 -0.01028014] [ 0.12445966 -0.0315409 0.99172323 -0.14072959] [ 0. 0. 0. 1. ]] SLAMing on 119.40241403699999 meters Centerline goodness : 0.784971 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.01, Z:-0.14 [[ 0.97596123 -0.17533514 -0.12944984 2.71818452] [ 0.17854646 0.98383829 0.0135419 -0.01415627] [ 0.12498333 -0.03632918 0.9914935 -0.14152401] [ 0. 0. 0. 1. ]] SLAMing on 119.43241403699999 meters Centerline goodness : 0.784631 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.02, Z:-0.14 [[ 0.97667671 -0.17093543 -0.12993722 2.71760279] [ 0.17468048 0.98446231 0.01790763 -0.01642224] [ 0.12485725 -0.04018746 0.9913605 -0.14131161] [ 0. 0. 0. 1. ]] SLAMing on 119.46241403699999 meters Centerline goodness : 0.785052 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.02, Z:-0.14 [[ 0.97730989 -0.16699014 -0.13030605 2.71639697] [ 0.17124395 0.98498137 0.02207284 -0.0190086 ] [ 0.12466309 -0.04388613 0.99122809 -0.14073941] [ 0. 0. 0. 1. ]] SLAMing on 119.49241403699999 meters Centerline goodness : 0.786900 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.02, Z:-0.14 [[ 0.97736336 -0.16647885 -0.13055905 2.71669279] [ 0.1707786 0.98505523 0.02237986 -0.0202745 ] [ 0.1248821 -0.04416994 0.99118791 -0.13998975] [ 0. 0. 0. 1. ]] SLAMing on 119.52241403699999 meters Centerline goodness : 0.784490 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.03, Z:-0.14 [[ 0.97723095 -0.16738587 -0.13039034 2.71730931] [ 0.17161455 0.98492253 0.02181863 -0.02638097] [ 0.12477225 -0.04369872 0.99122263 -0.13913699] [ 0. 0. 0. 1. ]] SLAMing on 119.55241403699999 meters Centerline goodness : 0.783264 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.03, Z:-0.14 [[ 0.97665869 -0.17062985 -0.1304732 2.71971211] [ 0.1744884 0.98448257 0.01865128 -0.02898199] [ 0.12526612 -0.04098199 0.99127639 -0.13906106] [ 0. 0. 0. 1. ]] SLAMing on 119.58241403699999 meters Centerline goodness : 0.783043 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.03, Z:-0.14 [[ 0.97604776 -0.17412886 -0.13042203 2.72161678] [ 0.17760032 0.98398242 0.01538592 -0.03140811] [ 0.12565385 -0.03818039 0.99133918 -0.1388849 ] [ 0. 0. 0. 1. ]] SLAMing on 119.612414037 meters Centerline goodness : 0.782115 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.04, Z:-0.14 [[ 0.97595466 -0.17453313 -0.13057832 2.72178601] [ 0.17806713 0.9838914 0.01580507 -0.03534247] [ 0.12571638 -0.03867674 0.99131201 -0.13842395] [ 0. 0. 0. 1. ]] SLAMing on 119.642414037 meters Centerline goodness : 0.782017 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.04, Z:-0.14 [[ 0.97561832 -0.17642489 -0.13054939 2.72067497] [ 0.17988917 0.98357032 0.01514278 -0.03987038] [ 0.12573295 -0.03825799 0.99132616 -0.13677855] [ 0. 0. 0. 1. ]] SLAMing on 119.672414037 meters Centerline goodness : 0.780990 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.04, Z:-0.14 [[ 0.97558484 -0.1765867 -0.13058087 2.72046974] [ 0.18010661 0.983524 0.01556138 -0.04259906] [ 0.12568148 -0.03869992 0.99131553 -0.13626157] [ 0. 0. 0. 1. ]] SLAMing on 119.70241403699998 meters Centerline goodness : 0.781562 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.05, Z:-0.14 [[ 0.97555147 -0.17685253 -0.13047036 2.71990794] [ 0.18041022 0.98346331 0.01587702 -0.04570763] [ 0.12550492 -0.03902703 0.99132508 -0.13556133] [ 0. 0. 0. 1. ]] SLAMing on 119.73241403699998 meters Centerline goodness : 0.782425 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.05, Z:-0.13 [[ 0.97548264 -0.17722151 -0.13048432 2.71974639] [ 0.18081282 0.9833855 0.01611464 -0.04951776] [ 0.12546052 -0.03931279 0.9913194 -0.13482806] [ 0. 0. 0. 1. ]] SLAMing on 119.76241403699999 meters Centerline goodness : 0.777616 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.06, Z:-0.13 [[ 0.97481442 -0.18110729 -0.13014222 2.72122117] [ 0.18435674 0.98276982 0.01326883 -0.05616078] [ 0.12549677 -0.03692724 0.99140655 -0.13441201] [ 0. 0. 0. 1. ]] SLAMing on 119.79241403699999 meters Centerline goodness : 0.778235 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.06, Z:-0.13 [[ 0.97469781 -0.18175581 -0.13011148 2.7206534 ] [ 0.18501237 0.98264629 0.0132923 -0.06002673] [ 0.12543761 -0.03702821 0.99141027 -0.13330832] [ 0. 0. 0. 1. ]] SLAMing on 119.82241403699999 meters Centerline goodness : 0.774395 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.06, Z:-0.13 [[ 0.97460518 -0.18247091 -0.12980414 2.71926128] [ 0.18572104 0.98251267 0.01328698 -0.06264913] [ 0.12510973 -0.03705692 0.99145062 -0.13225653] [ 0. 0. 0. 1. ]] SLAMing on 119.85241403699999 meters Centerline goodness : 0.777621 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.06, Z:-0.13 [[ 0.97454232 -0.18283907 -0.12975804 2.7185163 ] [ 0.18609105 0.98244259 0.01329182 -0.06421681] [ 0.12504956 -0.03710025 0.99145659 -0.1313141 ] [ 0. 0. 0. 1. ]] SLAMing on 119.88241403699999 meters Centerline goodness : 0.776651 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.07, Z:-0.13 [[ 0.97449127 -0.18287204 -0.13009448 2.71914545] [ 0.18621308 0.98241114 0.01389369 -0.06777762] [ 0.1252655 -0.03776457 0.99140425 -0.13088461] [ 0. 0. 0. 1. ]] SLAMing on 119.91241403699999 meters Centerline goodness : 0.776733 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.07, Z:-0.13 [[ 0.9745087 -0.18263386 -0.13029837 2.7199618 ] [ 0.1860541 0.9824329 0.01447316 -0.07085711] [ 0.12536611 -0.03834676 0.99136919 -0.13092706] [ 0. 0. 0. 1. ]] SLAMing on 119.94241403699999 meters Centerline goodness : 0.776305 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.07, Z:-0.13 [[ 0.97454222 -0.1823877 -0.13039243 2.72063199] [ 0.1858808 0.98245725 0.01503585 -0.07409062] [ 0.12536263 -0.03889052 0.99134844 -0.13092558] [ 0. 0. 0. 1. ]] SLAMing on 119.972414037 meters Centerline goodness : 0.774612 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.08, Z:-0.13 [[ 0.97459935 -0.18202536 -0.13047172 2.72088436] [ 0.18560301 0.98249934 0.01570282 -0.07856142] [ 0.12533007 -0.0395199 0.99132767 -0.13014791] [ 0. 0. 0. 1. ]] SLAMing on 120.002414037 meters Centerline goodness : 0.775847 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.08, Z:-0.13 [[ 0.97460998 -0.18195106 -0.13049595 2.72042449] [ 0.18553876 0.98251024 0.01577939 -0.07940664] [ 0.12534253 -0.03959081 0.99132327 -0.12935758] [ 0. 0. 0. 1. ]] SLAMing on 120.032414037 meters Centerline goodness : 0.776600 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.08, Z:-0.13 [[ 0.97460623 -0.18191836 -0.13056957 2.71994951] [ 0.18550419 0.98251735 0.01574324 -0.08016866] [ 0.12542288 -0.03956466 0.99131415 -0.12831018] [ 0. 0. 0. 1. ]] SLAMing on 120.062414037 meters Centerline goodness : 0.775548 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.08, Z:-0.13 [[ 0.97460987 -0.18186326 -0.13061914 2.71980765] [ 0.18548508 0.98251656 0.01601547 -0.08204174] [ 0.12542284 -0.03983673 0.99130326 -0.1276908 ] [ 0. 0. 0. 1. ]] SLAMing on 120.09241403699998 meters Centerline goodness : 0.775810 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.09, Z:-0.13 [[ 0.97401164 -0.1850097 -0.13066272 2.72242994] [ 0.18838598 0.98199725 0.01386106 -0.08735442] [ 0.125746 -0.03811586 0.99132998 -0.12820562] [ 0. 0. 0. 1. ]] SLAMing on 120.12241403699998 meters Centerline goodness : 0.776811 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.09, Z:-0.13 [[ 0.97334962 -0.188566 -0.13051198 2.7242152 ] [ 0.19156077 0.98142275 0.0106706 -0.08894733] [ 0.12607532 -0.0353872 0.99138931 -0.12840113] [ 0. 0. 0. 1. ]] SLAMing on 120.15241403699999 meters Centerline goodness : 0.777042 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.09, Z:-0.13 [[ 0.97324633 -0.18913705 -0.13045596 2.72389698] [ 0.19216923 0.98130078 0.01094368 -0.09239761] [ 0.12594668 -0.03572052 0.9913937 -0.12790921] [ 0. 0. 0. 1. ]] SLAMing on 120.18241403699999 meters Centerline goodness : 0.777124 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.10, Z:-0.13 [[ 0.97313143 -0.18989591 -0.13021049 2.7229482 ] [ 0.1929275 0.9811518 0.01095994 -0.09526195] [ 0.125675 -0.03578665 0.9914258 -0.12716885] [ 0. 0. 0. 1. ]] SLAMing on 120.21241403699999 meters Centerline goodness : 0.776895 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.10, Z:-0.13 [[ 0.97240097 -0.19355631 -0.13027783 2.7235927 ] [ 0.19643049 0.9804721 0.00946158 -0.09821436] [ 0.12590242 -0.03479099 0.99143238 -0.12553905] [ 0. 0. 0. 1. ]] SLAMing on 120.24241403699999 meters Centerline goodness : 0.775812 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.10, Z:-0.13 [[ 0.9723282 -0.1939933 -0.13017095 2.72333758] [ 0.19688366 0.98037995 0.00959042 -0.1002322 ] [ 0.12575651 -0.03495357 0.99144518 -0.12529668] [ 0. 0. 0. 1. ]] SLAMing on 120.27241403699999 meters Centerline goodness : 0.776431 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.10, Z:-0.13 [[ 0.97203545 -0.19512015 -0.13067214 2.72548792] [ 0.19806931 0.98013864 0.00983831 -0.1021414 ] [ 0.12615716 -0.03544533 0.99137682 -0.12582614] [ 0. 0. 0. 1. ]] SLAMing on 120.30241403699999 meters Centerline goodness : 0.774499 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.11, Z:-0.13 [[ 0.9713085 -0.19948542 -0.12948116 2.72668656] [ 0.2019261 0.97938318 0.00586857 -0.10523578] [ 0.12564097 -0.03184581 0.99156452 -0.12703541] [ 0. 0. 0. 1. ]] SLAMing on 120.33241403699999 meters Centerline goodness : 0.773262 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.11, Z:-0.13 [[ 0.97110002 -0.20004278 -0.13018306 2.72900197] [ 0.20262811 0.97923223 0.00678912 -0.10758568] [ 0.12612133 -0.03297166 0.99146673 -0.12737042] [ 0. 0. 0. 1. ]] SLAMing on 120.362414037 meters Centerline goodness : 0.773789 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.11, Z:-0.13 [[ 0.97083067 -0.20081037 -0.13100763 2.73028008] [ 0.20355428 0.9790329 0.00776124 -0.10913029] [ 0.12670225 -0.03420201 0.99135098 -0.12637805] [ 0. 0. 0. 1. ]] SLAMing on 120.392414037 meters Centerline goodness : 0.774377 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.11, Z:-0.13 [[ 0.97065742 -0.20106306 -0.13190078 2.73110573] [ 0.20401095 0.97892642 0.00908866 -0.11018917] [ 0.12729376 -0.03573118 0.99122126 -0.12504206] [ 0. 0. 0. 1. ]] SLAMing on 120.422414037 meters Centerline goodness : 0.774984 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.11, Z:-0.12 [[ 0.97016621 -0.20253876 -0.13325001 2.73221823] [ 0.20569093 0.97856399 0.0101858 -0.11095523] [ 0.12833065 -0.03729024 0.99103011 -0.12270867] [ 0. 0. 0. 1. ]] SLAMing on 120.45241403699998 meters Centerline goodness : 0.776796 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.11, Z:-0.12 [[ 0.96981817 -0.20399602 -0.13356022 2.73347896] [ 0.20709102 0.978275 0.00955692 -0.11114647] [ 0.12870905 -0.0369276 0.99099462 -0.12283543] [ 0. 0. 0. 1. ]] SLAMing on 120.48241403699998 meters Centerline goodness : 0.775926 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.11, Z:-0.12 [[ 0.9694703 -0.20512552 -0.13435346 2.73644844] [ 0.20824672 0.97803065 0.00945242 -0.11158529] [ 0.12946287 -0.03714251 0.99088839 -0.12387646] [ 0. 0. 0. 1. ]] SLAMing on 120.51241403699999 meters Centerline goodness : 0.775325 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.11, Z:-0.12 [[ 0.96917272 -0.20636215 -0.13460649 2.73766611] [ 0.2094416 0.97777995 0.00897665 -0.11234925] [ 0.12976308 -0.03689212 0.99085847 -0.12396133] [ 0. 0. 0. 1. ]] SLAMing on 120.54241403699999 meters Centerline goodness : 0.773936 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.11, Z:-0.12 [[ 0.96885348 -0.20720755 -0.13560225 2.73989577] [ 0.21041896 0.97756382 0.00963512 -0.11309636] [ 0.13056339 -0.0378683 0.99071651 -0.12382895] [ 0. 0. 0. 1. ]] SLAMing on 120.57241403699999 meters Centerline goodness : 0.774149 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.11, Z:-0.12 [[ 0.96864148 -0.20770074 -0.13636014 2.74190202] [ 0.21098414 0.97743911 0.00992344 -0.11277697] [ 0.13122263 -0.03838208 0.99060963 -0.12427987] [ 0. 0. 0. 1. ]] SLAMing on 120.60241403699999 meters Centerline goodness : 0.773074 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.11, Z:-0.13 [[ 0.96784992 -0.21157496 -0.13602412 2.74455144] [ 0.21428658 0.97675568 0.00544168 -0.11079675] [ 0.13171101 -0.03441487 0.99069058 -0.12642052] [ 0. 0. 0. 1. ]] SLAMing on 120.63241403699999 meters Centerline goodness : 0.773030 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.11, Z:-0.13 [[ 0.96779794 -0.2114693 -0.13655726 2.74549336] [ 0.21427957 0.97675365 0.00604813 -0.11099615] [ 0.13210381 -0.0351148 0.99061372 -0.12631723] [ 0. 0. 0. 1. ]] SLAMing on 120.66241403699999 meters Centerline goodness : 0.772236 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.11, Z:-0.13 [[ 0.96783756 -0.21104845 -0.13692705 2.74514936] [ 0.21398292 0.97681298 0.00690764 -0.11101086] [ 0.13229427 -0.03598552 0.99055705 -0.12524122] [ 0. 0. 0. 1. ]] SLAMing on 120.69241403699999 meters Centerline goodness : 0.773540 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.11, Z:-0.12 [[ 0.96804656 -0.21024617 -0.13668363 2.740778 ] [ 0.21325593 0.97696685 0.0075952 -0.11031748] [ 0.13193851 -0.0365011 0.99058563 -0.12224689] [ 0. 0. 0. 1. ]] SLAMing on 120.722414037 meters Centerline goodness : 0.773467 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.11, Z:-0.12 [[ 0.96840054 -0.20735392 -0.1385812 2.74288693] [ 0.21097074 0.97742143 0.01177657 -0.11089675] [ 0.13301032 -0.04064102 0.99028105 -0.12187072] [ 0. 0. 0. 1. ]] SLAMing on 120.752414037 meters Centerline goodness : 0.774019 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.11, Z:-0.12 [[ 0.96835732 -0.20748824 -0.13868213 2.74286986] [ 0.21102437 0.97741736 0.01113609 -0.10866535] [ 0.13323972 -0.04004902 0.99027433 -0.12169138] [ 0. 0. 0. 1. ]] SLAMing on 120.782414037 meters Centerline goodness : 0.771991 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.10, Z:-0.12 [[ 0.96854179 -0.2063884 -0.13903461 2.74456268] [ 0.20996373 0.97764275 0.01139665 -0.10446882] [ 0.13357405 -0.04023036 0.99022194 -0.12338253] [ 0. 0. 0. 1. ]] SLAMing on 120.812414037 meters Centerline goodness : 0.772723 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.10, Z:-0.12 [[ 0.96853307 -0.20625021 -0.13930019 2.74592909] [ 0.20979643 0.97768196 0.01111032 -0.10190686] [ 0.13389978 -0.0399854 0.99018787 -0.12452612] [ 0. 0. 0. 1. ]] SLAMing on 120.84241403699998 meters Centerline goodness : 0.771683 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.10, Z:-0.13 [[ 0.96850843 -0.20637251 -0.13929035 2.74654862] [ 0.20986307 0.97767231 0.0106932 -0.09955184] [ 0.13397354 -0.03958835 0.99019385 -0.12546052] [ 0. 0. 0. 1. ]] SLAMing on 120.87241403699998 meters Centerline goodness : 0.771269 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.09, Z:-0.13 [[ 0.96844293 -0.20695603 -0.13887941 2.74559222] [ 0.21025129 0.97760287 0.00932871 -0.0949108 ] [ 0.13383827 -0.0382339 0.99026536 -0.1255915 ] [ 0. 0. 0. 1. ]] SLAMing on 120.90241403699999 meters Centerline goodness : 0.770605 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.09, Z:-0.13 [[ 0.96839043 -0.20727136 -0.13877522 2.74537755] [ 0.21045114 0.97756758 0.00848209 -0.0919916 ] [ 0.13390406 -0.03741938 0.99028758 -0.12572713] [ 0. 0. 0. 1. ]] SLAMing on 120.93241403699999 meters Centerline goodness : 0.771541 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.09, Z:-0.13 [[ 0.96836892 -0.20734745 -0.13881166 2.74594144] [ 0.21043881 0.97757581 0.00781312 -0.08872893] [ 0.13407889 -0.03677734 0.99028798 -0.12644109] [ 0. 0. 0. 1. ]] SLAMing on 120.96241403699999 meters Centerline goodness : 0.771436 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.09, Z:-0.13 [[ 0.96831776 -0.20759519 -0.13879826 2.74633171] [ 0.21060392 0.97754504 0.00718928 -0.08590445] [ 0.13418909 -0.03619297 0.99029458 -0.12718527] [ 0. 0. 0. 1. ]] SLAMing on 120.99241403699999 meters Centerline goodness : 0.773332 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.08, Z:-0.13 [[ 0.96808121 -0.20944908 -0.13765848 2.74248137] [ 0.21210331 0.97723577 0.00473707 -0.08024933] [ 0.13353262 -0.03378368 0.99046843 -0.12584583] [ 0. 0. 0. 1. ]] SLAMing on 121.02241403699999 meters Centerline goodness : 0.773556 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.08, Z:-0.12 [[ 9.67859065e-01 -2.11059939e-01 -1.36757203e-01 2.73851250e+00] [ 2.13425703e-01 9.76955555e-01 2.70422248e-03 -7.59170009e-02] [ 1.33034956e-01 -3.18048085e-02 9.90600906e-01 -1.23720990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.05241403699999 meters Centerline goodness : 0.774245 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.07, Z:-0.12 [[ 0.96826343 -0.2093604 -0.136507 2.73368975] [ 0.2119185 0.9772778 0.00431968 -0.07292226] [ 0.13250089 -0.03311094 0.99062969 -0.12143849] [ 0. 0. 0. 1. ]] SLAMing on 121.08241403699999 meters Centerline goodness : 0.774675 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.07, Z:-0.12 [[ 9.68035315e-01 -2.10526328e-01 -1.36331559e-01 2.73223348e+00] [ 2.12828107e-01 9.77086791e-01 2.36649969e-03 -6.58220815e-02] [ 1.32709555e-01 -3.13060429e-02 9.90660439e-01 -1.20972597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.112414037 meters Centerline goodness : 0.774446 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.06, Z:-0.12 [[ 9.67954112e-01 -2.10961632e-01 -1.36235189e-01 2.73278400e+00] [ 2.13203579e-01 9.77005925e-01 1.91225924e-03 -6.45912144e-02] [ 1.32699173e-01 -3.08968090e-02 9.90674678e-01 -1.21862249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.142414037 meters Centerline goodness : 0.774446 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.06, Z:-0.12 [[ 9.67954112e-01 -2.10961632e-01 -1.36235189e-01 2.73278400e+00] [ 2.13203579e-01 9.77005925e-01 1.91225924e-03 -6.45912144e-02] [ 1.32699173e-01 -3.08968090e-02 9.90674678e-01 -1.21862249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.172414037 meters Centerline goodness : 0.772298 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.06, Z:-0.12 [[ 9.67856258e-01 -2.11525991e-01 -1.36055204e-01 2.73293540e+00] [ 2.13701813e-01 9.76897904e-01 1.42104062e-03 -6.39186392e-02] [ 1.32611457e-01 -3.04506069e-02 9.90700238e-01 -1.22412481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20241403699998 meters Centerline goodness : 0.774028 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.06, Z:-0.12 [[ 9.67749057e-01 -2.12291763e-01 -1.35624372e-01 2.73221054e+00] [ 2.14376439e-01 9.76750801e-01 7.84870428e-04 -6.23543184e-02] [ 1.32304592e-01 -2.98342275e-02 9.90760018e-01 -1.22893348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.23241403699998 meters Centerline goodness : 0.770308 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.06, Z:-0.13 [[ 9.67754057e-01 -2.12443546e-01 -1.35350747e-01 2.73354882e+00] [ 2.14455128e-01 9.76733800e-01 2.88348227e-04 -5.63491378e-02] [ 1.32140392e-01 -2.93057120e-02 9.90797705e-01 -1.25966804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26241403699999 meters Centerline goodness : 0.775777 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.05, Z:-0.13 [[ 9.67790904e-01 -2.12151990e-01 -1.35544457e-01 2.73490611e+00] [ 2.14137454e-01 9.76803535e-01 6.98339449e-05 -5.25607575e-02] [ 1.32385490e-01 -2.90927296e-02 9.90771263e-01 -1.27495420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.29241403699999 meters Centerline goodness : 0.772019 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.05, Z:-0.13 [[ 9.67713361e-01 -2.12670698e-01 -1.35284979e-01 2.73404986e+00] [ 2.14535435e-01 9.76715867e-01 -8.13384941e-04 -4.84294536e-02] [ 1.32307969e-01 -2.82362984e-02 9.90806395e-01 -1.27675333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32241403699999 meters Centerline goodness : 0.775942 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.04, Z:-0.13 [[ 9.67559501e-01 -2.13721455e-01 -1.34728441e-01 2.73167241e+00] [ 2.15392589e-01 9.76525013e-01 -2.22076830e-03 -4.41922205e-02] [ 1.32040318e-01 -2.68707822e-02 9.90880071e-01 -1.26766706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.35241403699999 meters Centerline goodness : 0.779389 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.04, Z:-0.12 [[ 0.96721318 -0.21624989 -0.13317151 2.72608022] [ 0.21751827 0.97604279 -0.00512579 -0.03891172] [ 0.13108954 -0.0240095 0.99107975 -0.1242246 ] [ 0. 0. 0. 1. ]] SLAMing on 121.38241403699999 meters Centerline goodness : 0.778782 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.04, Z:-0.12 [[ 0.96703295 -0.21749746 -0.13244668 2.72386757] [ 0.21861688 0.97579102 -0.00620884 -0.03794015] [ 0.13059068 -0.02295093 0.99117069 -0.12345635] [ 0. 0. 0. 1. ]] SLAMing on 121.41241403699999 meters Centerline goodness : 0.780874 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.04, Z:-0.12 [[ 0.96684704 -0.21868347 -0.13184969 2.72164924] [ 0.21965588 0.97555007 -0.00730404 -0.03657143] [ 0.13022324 -0.02189967 0.99124281 -0.12243221] [ 0. 0. 0. 1. ]] SLAMing on 121.44241403699999 meters Centerline goodness : 0.785326 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.03, Z:-0.12 [[ 0.96700619 -0.21860123 -0.13081484 2.71388918] [ 0.21965953 0.97555519 -0.00646285 -0.03164219] [ 0.12902989 -0.02248511 0.99138575 -0.11998706] [ 0. 0. 0. 1. ]] SLAMing on 121.472414037 meters Centerline goodness : 0.787517 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.03, Z:-0.12 [[ 0.96688746 -0.21924993 -0.13060672 2.71281178] [ 0.22016962 0.97543249 -0.0075361 -0.02801963] [ 0.12905033 -0.02146907 0.99140561 -0.11951511] [ 0. 0. 0. 1. ]] SLAMing on 121.502414037 meters Centerline goodness : 0.786056 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.03, Z:-0.12 [[ 0.96684823 -0.21936276 -0.13070759 2.71326886] [ 0.22022018 0.97541707 -0.00803841 -0.02571917] [ 0.12925774 -0.02101252 0.99138838 -0.11988812] [ 0. 0. 0. 1. ]] SLAMing on 121.532414037 meters Centerline goodness : 0.788093 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.02, Z:-0.12 [[ 0.96678278 -0.21962538 -0.1307507 2.71341458] [ 0.22039976 0.97537083 -0.00869968 -0.02347297] [ 0.12944109 -0.02040672 0.99137711 -0.11997955] [ 0. 0. 0. 1. ]] SLAMing on 121.562414037 meters Centerline goodness : 0.788219 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.02, Z:-0.12 [[ 0.96686207 -0.21925073 -0.13079317 2.7139707 ] [ 0.21992608 0.97547088 -0.00943871 -0.01870855] [ 0.12965437 -0.0196389 0.99136474 -0.12051561] [ 0. 0. 0. 1. ]] SLAMing on 121.59241403699998 meters Centerline goodness : 0.785736 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.02, Z:-0.12 [[ 0.96691541 -0.21885762 -0.131057 2.71546641] [ 0.2195176 0.97556161 -0.00956944 -0.01653922] [ 0.12994852 -0.01951648 0.99132865 -0.12161845] [ 0. 0. 0. 1. ]] SLAMing on 121.62241403699998 meters Centerline goodness : 0.786027 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.01, Z:-0.12 [[ 0.9669893 -0.21838529 -0.13129953 2.71696572] [ 0.21903851 0.97566874 -0.00962536 -0.0147592 ] [ 0.13020688 -0.01945204 0.99129601 -0.12268897] [ 0. 0. 0. 1. ]] SLAMing on 121.65241403699999 meters Centerline goodness : 0.790228 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.01, Z:-0.12 [[ 0.96702051 -0.21816587 -0.13143433 2.71759345] [ 0.21877372 0.97572463 -0.00997558 -0.01214144] [ 0.13042005 -0.01910778 0.99127469 -0.12315345] [ 0. 0. 0. 1. ]] SLAMing on 121.68241403699999 meters Centerline goodness : 0.788952 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.01, Z:-0.12 [[ 0.96772296 -0.21503086 -0.13143061 2.71495308] [ 0.21601422 0.97636584 -0.00689999 -0.0107175 ] [ 0.12980807 -0.0217136 0.99130136 -0.12275704] [ 0. 0. 0. 1. ]] SLAMing on 121.71241403699999 meters Centerline goodness : 0.790547 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.00, Z:-0.12 [[ 0.96846912 -0.2115113 -0.13164548 2.71189174] [ 0.21275923 0.97709347 -0.00467592 -0.00432572] [ 0.12961895 -0.02348031 0.99128583 -0.12139009] [ 0. 0. 0. 1. ]] SLAMing on 121.74241403699999 meters Centerline goodness : 0.793127 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.00, Z:-0.12 [[ 9.68509818e-01 -2.11178853e-01 -1.31879586e-01 2.71250034e+00] [ 2.12351435e-01 9.77179147e-01 -5.27088175e-03 -1.51601201e-03] [ 1.29983080e-01 -2.28999187e-02 9.91251730e-01 -1.21212441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.77241403699999 meters Centerline goodness : 0.794827 Centerline is valid? [False, False] Translation: X:2.71, Y:0.00, Z:-0.12 [[ 9.68514348e-01 -2.11169106e-01 -1.31861925e-01 2.71258849e+00] [ 2.12271171e-01 9.77193561e-01 -5.80467508e-03 1.18497962e-04] [ 1.30080392e-01 -2.23685742e-02 9.91251098e-01 -1.21088876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.80241403699999 meters Centerline goodness : 0.795073 Centerline is valid? [False, False] Translation: X:2.71, Y:0.00, Z:-0.12 [[ 9.68465470e-01 -2.11423354e-01 -1.31813498e-01 2.71225197e+00] [ 2.12439881e-01 9.77152750e-01 -6.46536556e-03 1.22132893e-03] [ 1.30168851e-01 -2.17409605e-02 9.91253449e-01 -1.20537911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.83241403699999 meters Centerline goodness : 0.794080 Centerline is valid? [False, False] Translation: X:2.71, Y:0.00, Z:-0.12 [[ 0.96836535 -0.21218758 -0.13132012 2.71116015] [ 0.21308884 0.97700545 -0.00731473 0.00301415] [ 0.12985256 -0.02089952 0.99131303 -0.12053933] [ 0. 0. 0. 1. ]] SLAMing on 121.862414037 meters Centerline goodness : 0.794852 Centerline is valid? [False, False] Translation: X:2.71, Y:0.00, Z:-0.12 [[ 0.96834095 -0.21225258 -0.13139502 2.71146988] [ 0.21310812 0.97699844 -0.00768001 0.00459904] [ 0.13000283 -0.02056447 0.99130034 -0.12070268] [ 0. 0. 0. 1. ]] SLAMing on 121.892414037 meters Centerline goodness : 0.795633 Centerline is valid? [False, False] Translation: X:2.71, Y:0.01, Z:-0.12 [[ 0.96838793 -0.21179677 -0.1317837 2.71268852] [ 0.21262676 0.97710152 -0.00790505 0.0073929 ] [ 0.13044032 -0.02036558 0.99124698 -0.12119604] [ 0. 0. 0. 1. ]] SLAMing on 121.922414037 meters Centerline goodness : 0.798301 Centerline is valid? [False, False] Translation: X:2.71, Y:0.01, Z:-0.12 [[ 0.96917479 -0.20794514 -0.1321327 2.71199586] [ 0.20923801 0.97785581 -0.00417887 0.0087741 ] [ 0.1300757 -0.02359713 0.99122323 -0.12215336] [ 0. 0. 0. 1. ]] SLAMing on 121.95241403699998 meters Centerline goodness : 0.798465 Centerline is valid? [False, False] Translation: X:2.71, Y:0.01, Z:-0.12 [[ 9.70069291e-01 -2.03199080e-01 -1.32950012e-01 2.71281033e+00] [ 2.04976263e-01 9.78766890e-01 -3.26087885e-04 1.14090257e-02] [ 1.30193330e-01 -2.69352687e-02 9.91122691e-01 -1.23389570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98241403699998 meters Centerline goodness : 0.795488 Centerline is valid? [False, False] Translation: X:2.71, Y:0.01, Z:-0.12 [[ 9.70110631e-01 -2.02909676e-01 -1.33090293e-01 2.71332834e+00] [ 2.04669660e-01 9.78830993e-01 -4.66347863e-04 1.23074168e-02] [ 1.30367530e-01 -2.67871361e-02 9.91103807e-01 -1.23452511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.01241403699999 meters Centerline goodness : 0.795010 Centerline is valid? [False, False] Translation: X:2.71, Y:0.01, Z:-0.12 [[ 9.70254808e-01 -2.02300999e-01 -1.32965838e-01 2.71317608e+00] [ 2.03988180e-01 9.78972888e-01 -9.52736724e-04 1.38129838e-02] [ 1.30362690e-01 -2.61990618e-02 9.91120163e-01 -1.22657981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04241403699999 meters Centerline goodness : 0.796222 Centerline is valid? [False, False] Translation: X:2.71, Y:0.02, Z:-0.12 [[ 9.70248167e-01 -2.02254283e-01 -1.33085305e-01 2.71308920e+00] [ 2.03873712e-01 9.78996065e-01 -1.48816062e-03 1.53393955e-02] [ 1.30590977e-01 -2.56887100e-02 9.91103469e-01 -1.21995068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.07241403699999 meters Centerline goodness : 0.794990 Centerline is valid? [False, False] Translation: X:2.71, Y:0.02, Z:-0.12 [[ 9.70212667e-01 -2.02348696e-01 -1.33200550e-01 2.71268801e+00] [ 2.03881311e-01 9.78993196e-01 -2.17540964e-03 1.73992634e-02] [ 1.30842624e-01 -2.50464928e-02 9.91086717e-01 -1.21025094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10241403699999 meters Centerline goodness : 0.797548 Centerline is valid? [False, False] Translation: X:2.71, Y:0.02, Z:-0.12 [[ 0.9701527 -0.20266111 -0.13316238 2.71170941] [ 0.20409743 0.97894623 -0.00291866 0.01940392] [ 0.13095031 -0.02434655 0.99108994 -0.11996523] [ 0. 0. 0. 1. ]] SLAMing on 122.13241403699999 meters Centerline goodness : 0.797932 Centerline is valid? [False, False] Translation: X:2.71, Y:0.02, Z:-0.12 [[ 0.97005387 -0.20316601 -0.13311299 2.7107072 ] [ 0.20450603 0.97885841 -0.0036728 0.02067938] [ 0.13104496 -0.0236596 0.99109406 -0.11883563] [ 0. 0. 0. 1. ]] SLAMing on 122.16241403699999 meters Centerline goodness : 0.797034 Centerline is valid? [False, False] Translation: X:2.71, Y:0.02, Z:-0.12 [[ 0.96995535 -0.20370815 -0.13300226 2.70967746] [ 0.20495535 0.97876147 -0.004392 0.02127263] [ 0.13107217 -0.02299948 0.991106 -0.11768919] [ 0. 0. 0. 1. ]] SLAMing on 122.19241403699999 meters Centerline goodness : 0.797364 Centerline is valid? [False, False] Translation: X:2.71, Y:0.02, Z:-0.12 [[ 0.96995511 -0.20372545 -0.13297756 2.70996325] [ 0.20497532 0.97875739 -0.00436868 0.0206358 ] [ 0.13104278 -0.0230197 0.99110942 -0.11786096] [ 0. 0. 0. 1. ]] SLAMing on 122.222414037 meters Centerline goodness : 0.797098 Centerline is valid? [False, False] Translation: X:2.71, Y:0.02, Z:-0.12 [[ 0.9700139 -0.20323082 -0.13330514 2.71181063] [ 0.20452618 0.97885272 -0.00404938 0.02021675] [ 0.13130906 -0.02333643 0.99106677 -0.11883013] [ 0. 0. 0. 1. ]] SLAMing on 122.252414037 meters Centerline goodness : 0.799272 Centerline is valid? [False, False] Translation: X:2.71, Y:0.02, Z:-0.12 [[ 0.97000773 -0.20324007 -0.13333594 2.71170568] [ 0.20450255 0.97885657 -0.00430356 0.02096651] [ 0.13139142 -0.02309306 0.99106156 -0.11852266] [ 0. 0. 0. 1. ]] SLAMing on 122.282414037 meters Centerline goodness : 0.798658 Centerline is valid? [False, False] Translation: X:2.71, Y:0.02, Z:-0.12 [[ 0.97000796 -0.20319323 -0.13340568 2.71157914] [ 0.20442258 0.9788721 -0.00456238 0.02167122] [ 0.13151414 -0.02284559 0.99105101 -0.11801556] [ 0. 0. 0. 1. ]] SLAMing on 122.312414037 meters Centerline goodness : 0.797511 Centerline is valid? [False, False] Translation: X:2.71, Y:0.02, Z:-0.12 [[ 0.97015015 -0.20217222 -0.1339219 2.71326307] [ 0.20344869 0.97907648 -0.00422852 0.02179387] [ 0.13197468 -0.02314394 0.99098287 -0.11808984] [ 0. 0. 0. 1. ]] SLAMing on 122.34241403699998 meters Centerline goodness : 0.797439 Centerline is valid? [False, False] Translation: X:2.71, Y:0.02, Z:-0.12 [[ 0.97017456 -0.2018583 -0.13421826 2.71412951] [ 0.20315575 0.97913784 -0.00410193 0.0215862 ] [ 0.13224619 -0.02328762 0.9909433 -0.11810517] [ 0. 0. 0. 1. ]] SLAMing on 122.37241403699998 meters Centerline goodness : 0.798984 Centerline is valid? [False, False] Translation: X:2.71, Y:0.02, Z:-0.12 [[ 0.97016938 -0.20175341 -0.13441327 2.71429767] [ 0.20304036 0.97916133 -0.00420789 0.02185232] [ 0.13246123 -0.02320895 0.99091643 -0.11764132] [ 0. 0. 0. 1. ]] SLAMing on 122.40241403699999 meters Centerline goodness : 0.798022 Centerline is valid? [False, False] Translation: X:2.71, Y:0.02, Z:-0.12 [[ 0.9701882 -0.2015614 -0.13456543 2.71459531] [ 0.20286305 0.97919849 -0.00411161 0.02186526] [ 0.13259501 -0.02330931 0.99089618 -0.11750277] [ 0. 0. 0. 1. ]] SLAMing on 122.43241403699999 meters Centerline goodness : 0.799810 Centerline is valid? [False, False] Translation: X:2.72, Y:0.02, Z:-0.12 [[ 0.97022576 -0.20135181 -0.1346084 2.71557062] [ 0.20270221 0.97923328 -0.0037404 0.02084561] [ 0.13256616 -0.02365639 0.99089181 -0.11835077] [ 0. 0. 0. 1. ]] SLAMing on 122.46241403699999 meters Centerline goodness : 0.798471 Centerline is valid? [False, False] Translation: X:2.72, Y:0.02, Z:-0.12 [[ 0.97026222 -0.20110416 -0.13471579 2.71678846] [ 0.20253051 0.97927081 -0.00317504 0.01929439] [ 0.13256176 -0.02420343 0.99087919 -0.11941772] [ 0. 0. 0. 1. ]] SLAMing on 122.49241403699999 meters Centerline goodness : 0.799189 Centerline is valid? [False, False] Translation: X:2.72, Y:0.02, Z:-0.12 [[ 0.97023641 -0.20129888 -0.1346108 2.71698769] [ 0.20274251 0.97922737 -0.00303995 0.01712134] [ 0.13242652 -0.02434186 0.99089389 -0.11948114] [ 0. 0. 0. 1. ]] SLAMing on 122.52241403699999 meters Centerline goodness : 0.800626 Centerline is valid? [False, False] Translation: X:2.72, Y:0.02, Z:-0.12 [[ 0.97019805 -0.2016103 -0.13442108 2.71608531] [ 0.20299774 0.97917314 -0.00344725 0.01768515] [ 0.13231651 -0.02394266 0.99091831 -0.11881238] [ 0. 0. 0. 1. ]] SLAMing on 122.55241403699999 meters Centerline goodness : 0.799105 Centerline is valid? [False, False] Translation: X:2.72, Y:0.02, Z:-0.12 [[ 0.97020364 -0.201488 -0.13456402 2.71599072] [ 0.20282967 0.97920663 -0.00380711 0.01878205] [ 0.13253307 -0.0235999 0.99089759 -0.11807892] [ 0. 0. 0. 1. ]] SLAMing on 122.58241403699999 meters Centerline goodness : 0.797640 Centerline is valid? [False, False] Translation: X:2.72, Y:0.02, Z:-0.12 [[ 0.97026299 -0.20098641 -0.13488585 2.71662406] [ 0.20230743 0.97931396 -0.00398402 0.01985436] [ 0.13289633 -0.02342287 0.99085313 -0.1175923 ] [ 0. 0. 0. 1. ]] SLAMing on 122.612414037 meters Centerline goodness : 0.796445 Centerline is valid? [False, False] Translation: X:2.72, Y:0.02, Z:-0.12 [[ 9.71160850e-01 -1.96069668e-01 -1.35658719e-01 2.71720590e+00] [ 1.97948233e-01 9.80212407e-01 3.66011591e-04 1.77110766e-02] [ 1.32902596e-01 -2.72088598e-02 9.90755559e-01 -1.17737013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.642414037 meters Centerline goodness : 0.796300 Centerline is valid? [False, False] Translation: X:2.72, Y:0.02, Z:-0.12 [[ 9.71271414e-01 -1.95194548e-01 -1.36128356e-01 2.71820205e+00] [ 1.97074560e-01 9.80388444e-01 3.40913782e-04 1.79791613e-02] [ 1.33392123e-01 -2.71585557e-02 9.90691150e-01 -1.16958909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.672414037 meters Centerline goodness : 0.798722 Centerline is valid? [False, False] Translation: X:2.72, Y:0.02, Z:-0.12 [[ 0.97197244 -0.19155805 -0.13629048 2.71614555] [ 0.19389648 0.98101397 0.00396878 0.01682963] [ 0.13294261 -0.03028379 0.99066097 -0.11620464] [ 0. 0. 0. 1. ]] SLAMing on 122.70241403699998 meters Centerline goodness : 0.800618 Centerline is valid? [False, False] Translation: X:2.71, Y:0.02, Z:-0.12 [[ 0.97266434 -0.18779918 -0.13658533 2.71434743] [ 0.19060503 0.98163705 0.0076442 0.01584635] [ 0.13264165 -0.03346909 0.99059882 -0.1153459 ] [ 0. 0. 0. 1. ]] SLAMing on 122.73241403699998 meters Centerline goodness : 0.801541 Centerline is valid? [False, False] Translation: X:2.72, Y:0.01, Z:-0.12 [[ 0.97348025 -0.18272523 -0.13765062 2.71527142] [ 0.18612538 0.98245102 0.01213797 0.01365941] [ 0.13301708 -0.03743635 0.99040647 -0.11513945] [ 0. 0. 0. 1. ]] SLAMing on 122.76241403699999 meters Centerline goodness : 0.798505 Centerline is valid? [False, False] Translation: X:2.72, Y:0.01, Z:-0.12 [[ 0.97359028 -0.18159199 -0.13837019 2.71813209] [ 0.18511121 0.98263298 0.01289441 0.01241216] [ 0.13362559 -0.03816775 0.99029663 -0.11606622] [ 0. 0. 0. 1. ]] SLAMing on 122.79241403699999 meters Centerline goodness : 0.798976 Centerline is valid? [False, False] Translation: X:2.72, Y:0.01, Z:-0.12 [[ 0.97371536 -0.18043825 -0.13899798 2.72124053] [ 0.18411516 0.98280558 0.01395734 0.01035489] [ 0.13408955 -0.03918211 0.9901943 -0.11759011] [ 0. 0. 0. 1. ]] SLAMing on 122.82241403699999 meters Centerline goodness : 0.795673 Centerline is valid? [False, False] Translation: X:2.73, Y:0.01, Z:-0.12 [[ 0.97337539 -0.18165789 -0.1397883 2.7275611 ] [ 0.18513558 0.98263751 0.01217953 0.00721111] [ 0.13514872 -0.03773504 0.9901065 -0.11946891] [ 0. 0. 0. 1. ]] SLAMing on 122.85241403699999 meters Centerline goodness : 0.796578 Centerline is valid? [False, False] Translation: X:2.73, Y:0.01, Z:-0.12 [[ 0.97340403 -0.18141188 -0.13990826 2.727943 ] [ 0.18493648 0.9826709 0.01250635 0.00512328] [ 0.13521498 -0.03804787 0.99008549 -0.11909011] [ 0. 0. 0. 1. ]] SLAMing on 122.88241403699999 meters Centerline goodness : 0.796477 Centerline is valid? [False, False] Translation: X:2.73, Y:0.00, Z:-0.12 [[ 0.97341878 -0.18123154 -0.14003931 2.72787917] [ 0.18479202 0.98269502 0.01274417 0.00362825] [ 0.13530628 -0.03828356 0.99006393 -0.11836432] [ 0. 0. 0. 1. ]] SLAMing on 122.91241403699999 meters Centerline goodness : 0.797044 Centerline is valid? [False, False] Translation: X:2.72, Y:0.00, Z:-0.11 [[ 9.73578767e-01 -1.80153056e-01 -1.40318427e-01 2.72395924e+00] [ 1.83926824e-01 9.82835934e-01 1.42985749e-02 1.07581644e-03] [ 1.35334061e-01 -3.97291116e-02 9.90003177e-01 -1.14615713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.94241403699999 meters Centerline goodness : 0.796009 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.00, Z:-0.11 [[ 9.73544073e-01 -1.80440652e-01 -1.40189545e-01 2.72334116e+00] [ 1.84222149e-01 9.82779530e-01 1.43734093e-02 -8.23854260e-04] [ 1.35181868e-01 -3.98191668e-02 9.90020352e-01 -1.13993658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.972414037 meters Centerline goodness : 0.796755 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.00, Z:-0.11 [[ 9.72932276e-01 -1.83684945e-01 -1.40223490e-01 2.72564939e+00] [ 1.87030118e-01 9.82293172e-01 1.09480302e-02 -2.14823229e-03] [ 1.35729589e-01 -3.68777079e-02 9.90059348e-01 -1.13746996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.002414037 meters Centerline goodness : 0.791202 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.00, Z:-0.11 [[ 0.97230299 -0.18688352 -0.14036182 2.72865348] [ 0.18981195 0.98179064 0.00765331 -0.00397812] [ 0.13637564 -0.03408369 0.9900707 -0.11401082] [ 0. 0. 0. 1. ]] SLAMing on 123.032414037 meters Centerline goodness : 0.791202 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.00, Z:-0.11 [[ 0.97230299 -0.18688352 -0.14036182 2.72865348] [ 0.18981195 0.98179064 0.00765331 -0.00397812] [ 0.13637564 -0.03408369 0.9900707 -0.11401082] [ 0. 0. 0. 1. ]] SLAMing on 123.062414037 meters Centerline goodness : 0.792320 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.01, Z:-0.12 [[ 0.97173693 -0.18970914 -0.14049122 2.73275367] [ 0.19236253 0.98130892 0.00542742 -0.00957963] [ 0.13683566 -0.03229928 0.99006705 -0.11528527] [ 0. 0. 0. 1. ]] SLAMing on 123.09241403699998 meters Centerline goodness : 0.791811 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.01, Z:-0.12 [[ 0.97175303 -0.18955861 -0.14058303 2.73340092] [ 0.19229334 0.98131912 0.00600459 -0.01189505] [ 0.13681859 -0.03286816 0.99005068 -0.11563103] [ 0. 0. 0. 1. ]] SLAMing on 123.12241403699998 meters Centerline goodness : 0.789685 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.01, Z:-0.12 [[ 0.97176889 -0.18936623 -0.14073257 2.73362282] [ 0.19213989 0.98134756 0.00626348 -0.012737 ] [ 0.13692147 -0.033127 0.99002783 -0.11535913] [ 0. 0. 0. 1. ]] SLAMing on 123.15241403699999 meters Centerline goodness : 0.789964 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.01, Z:-0.11 [[ 0.97178129 -0.18924656 -0.14080787 2.73340435] [ 0.19203698 0.98136699 0.00637475 -0.01281611] [ 0.13697779 -0.03323518 0.99001642 -0.11489347] [ 0. 0. 0. 1. ]] SLAMing on 123.18241403699999 meters Centerline goodness : 0.792242 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.01, Z:-0.11 [[ 0.97183047 -0.18891704 -0.14091093 2.73259601] [ 0.19175448 0.98141997 0.00671272 -0.01493593] [ 0.13702465 -0.03354392 0.98999952 -0.11322992] [ 0. 0. 0. 1. ]] SLAMing on 123.21241403699999 meters Centerline goodness : 0.789872 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.02, Z:-0.11 [[ 0.97181161 -0.18899156 -0.14094108 2.73226501] [ 0.19185086 0.98140013 0.00685785 -0.01803082] [ 0.13702352 -0.0337042 0.98999423 -0.11214126] [ 0. 0. 0. 1. ]] SLAMing on 123.24241403699999 meters Centerline goodness : 0.789434 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.02, Z:-0.11 [[ 0.97151889 -0.19095003 -0.14031798 2.7316513 ] [ 0.1935467 0.98107848 0.00496956 -0.02154165] [ 0.13671401 -0.0319861 0.99009402 -0.11079856] [ 0. 0. 0. 1. ]] SLAMing on 123.27241403699999 meters Centerline goodness : 0.791477 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.03, Z:-0.11 [[ 0.97121917 -0.19289619 -0.1397297 2.7305602 ] [ 0.19527068 0.98074365 0.00335586 -0.02514205] [ 0.13639169 -0.03054439 0.990184 -0.10932878] [ 0. 0. 0. 1. ]] SLAMing on 123.30241403699999 meters Centerline goodness : 0.788862 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.03, Z:-0.11 [[ 0.97112361 -0.19349661 -0.13956362 2.7295408 ] [ 0.1958693 0.98062433 0.00333763 -0.02788371] [ 0.13621366 -0.03057748 0.99020748 -0.10825515] [ 0. 0. 0. 1. ]] SLAMing on 123.33241403699999 meters Centerline goodness : 0.791455 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.03, Z:-0.11 [[ 0.97106813 -0.19355943 -0.13986222 2.72981548] [ 0.19601269 0.9805938 0.00385022 -0.02981937] [ 0.13640278 -0.0311536 0.99016349 -0.10787379] [ 0. 0. 0. 1. ]] SLAMing on 123.362414037 meters Centerline goodness : 0.788873 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.03, Z:-0.11 [[ 0.97110319 -0.1931788 -0.1401447 2.73109162] [ 0.19571658 0.98065052 0.00442477 -0.03125637] [ 0.1365782 -0.03172555 0.99012115 -0.10845727] [ 0. 0. 0. 1. ]] SLAMing on 123.392414037 meters Centerline goodness : 0.786946 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.03, Z:-0.11 [[ 0.97113605 -0.19287968 -0.14032891 2.73228919] [ 0.19551021 0.98068854 0.00507468 -0.03390906] [ 0.13664015 -0.03236393 0.99009194 -0.10899154] [ 0. 0. 0. 1. ]] SLAMing on 123.422414037 meters Centerline goodness : 0.786232 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.04, Z:-0.11 [[ 0.97111663 -0.19295549 -0.14035906 2.73273506] [ 0.19563929 0.98066079 0.00544805 -0.03748761] [ 0.1365934 -0.03275044 0.99008568 -0.10885273] [ 0. 0. 0. 1. ]] SLAMing on 123.45241403699998 meters Centerline goodness : 0.783632 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.04, Z:-0.11 [[ 9.70460409e-01 -1.96428445e-01 -1.40080190e-01 2.73372316e+00] [ 1.98714318e-01 9.80054561e-01 2.38281298e-03 -4.22125834e-02] [ 1.36818177e-01 -3.01483651e-02 9.90137295e-01 -1.07600577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48241403699998 meters Centerline goodness : 0.782397 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.04, Z:-0.11 [[ 9.70428444e-01 -1.96638456e-01 -1.40006974e-01 2.73302895e+00] [ 1.98938409e-01 9.80008841e-01 2.48606167e-03 -4.44166615e-02] [ 1.36719217e-01 -3.02653096e-02 9.90147397e-01 -1.06588546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.51241403699999 meters Centerline goodness : 0.785816 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.05, Z:-0.11 [[ 9.70399852e-01 -1.96756811e-01 -1.40038871e-01 2.73259522e+00] [ 1.99072209e-01 9.79981422e-01 2.58230075e-03 -4.55373784e-02] [ 1.36727407e-01 -3.03837117e-02 9.90142639e-01 -1.05839038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54241403699999 meters Centerline goodness : 0.785762 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.05, Z:-0.11 [[ 0.9703915 -0.19675918 -0.14009338 2.7323423 ] [ 0.19910608 0.97997395 0.00279798 -0.04671427] [ 0.13673734 -0.03060858 0.99013434 -0.10522672] [ 0. 0. 0. 1. ]] SLAMing on 123.57241403699999 meters Centerline goodness : 0.785134 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.05, Z:-0.10 [[ 0.9703851 -0.19666694 -0.14026718 2.73264986] [ 0.19906724 0.97998077 0.00315162 -0.04845632] [ 0.13683932 -0.03098088 0.99010867 -0.1049408 ] [ 0. 0. 0. 1. ]] SLAMing on 123.60241403699999 meters Centerline goodness : 0.781613 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.05, Z:-0.11 [[ 9.69799595e-01 -1.99410041e-01 -1.40443514e-01 2.73592475e+00] [ 2.01516970e-01 9.79484699e-01 7.97411887e-04 -5.39945633e-02] [ 1.37403261e-01 -2.90750811e-02 9.90088372e-01 -1.05087054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.63241403699999 meters Centerline goodness : 0.780173 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.06, Z:-0.11 [[ 9.69209002e-01 -2.02221596e-01 -1.40500306e-01 2.73901142e+00] [ 2.03955359e-01 9.78977936e-01 -2.10043266e-03 -5.61373198e-02] [ 1.37971453e-01 -2.66200321e-02 9.90078407e-01 -1.05585975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.66241403699999 meters Centerline goodness : 0.780052 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.06, Z:-0.11 [[ 9.69281789e-01 -2.01724533e-01 -1.40712568e-01 2.74025153e+00] [ 2.03584812e-01 9.79056580e-01 -1.19876354e-03 -5.94135928e-02] [ 1.38007386e-01 -2.74850021e-02 9.90049764e-01 -1.06100864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.69241403699999 meters Centerline goodness : 0.782318 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.06, Z:-0.11 [[ 9.69339321e-01 -2.01407891e-01 -1.40769817e-01 2.74006371e+00] [ 2.03371499e-01 9.79101545e-01 -4.46023997e-04 -6.11835003e-02] [ 1.37917778e-01 -2.81962200e-02 9.90042252e-01 -1.05716776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.722414037 meters Centerline goodness : 0.782085 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.06, Z:-0.11 [[ 9.69315342e-01 -2.01499592e-01 -1.40803700e-01 2.73945320e+00] [ 2.03457509e-01 9.79083649e-01 -5.00487356e-04 -6.08925062e-02] [ 1.37959449e-01 -2.81624400e-02 9.90037407e-01 -1.05012692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.752414037 meters Centerline goodness : 0.780103 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.06, Z:-0.10 [[ 9.69273310e-01 -2.01646419e-01 -1.40882833e-01 2.73945653e+00] [ 2.03669113e-01 9.79039779e-01 -6.26793486e-05 -6.44009909e-02] [ 1.37942537e-01 -2.86327282e-02 9.90026274e-01 -1.04423382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.782414037 meters Centerline goodness : 0.780791 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.07, Z:-0.11 [[ 0.96860812 -0.20494623 -0.14069599 2.74194158] [ 0.20654396 0.97843172 -0.00331023 -0.06533027] [ 0.13833984 -0.02585359 0.99004731 -0.10515823] [ 0. 0. 0. 1. ]] SLAMing on 123.812414037 meters Centerline goodness : 0.778782 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.07, Z:-0.11 [[ 0.96789956 -0.20847724 -0.14038404 2.74406443] [ 0.20963533 0.977757 -0.00665415 -0.06589893] [ 0.13864872 -0.02298891 0.99007477 -0.10594571] [ 0. 0. 0. 1. ]] SLAMing on 123.84241403699998 meters Centerline goodness : 0.778584 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.07, Z:-0.11 [[ 0.96717164 -0.21207721 -0.14000811 2.74567423] [ 0.2127721 0.97704902 -0.01016152 -0.06555388] [ 0.13894982 -0.01996189 0.99009821 -0.10638763] [ 0. 0. 0. 1. ]] SLAMing on 123.87241403699998 meters Centerline goodness : 0.781267 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.07, Z:-0.10 [[ 0.96686913 -0.21383285 -0.13942599 2.74314635] [ 0.21442431 0.97667929 -0.01094392 -0.06690981] [ 0.13851465 -0.01931498 0.99017202 -0.10496286] [ 0. 0. 0. 1. ]] SLAMing on 123.90241403699999 meters Centerline goodness : 0.773990 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.07, Z:-0.10 [[ 0.96677963 -0.21436088 -0.13923559 2.74211863] [ 0.21491424 0.97656838 -0.01122813 -0.0672882 ] [ 0.13837995 -0.01906858 0.99019563 -0.10416808] [ 0. 0. 0. 1. ]] SLAMing on 123.93241403699999 meters Centerline goodness : 0.778913 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.07, Z:-0.10 [[ 0.96673168 -0.21472079 -0.13901383 2.74127495] [ 0.21524732 0.97649285 -0.01141547 -0.0675139 ] [ 0.13819715 -0.01888666 0.99022464 -0.10369658] [ 0. 0. 0. 1. ]] SLAMing on 123.96241403699999 meters Centerline goodness : 0.778711 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.07, Z:-0.10 [[ 0.96676907 -0.2145606 -0.13900116 2.74127 ] [ 0.21510194 0.97652627 -0.011296 -0.06803373] [ 0.13816196 -0.0189788 0.99022779 -0.10356195] [ 0. 0. 0. 1. ]] SLAMing on 123.99241403699999 meters Centerline goodness : 0.778919 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.07, Z:-0.10 [[ 0.96678874 -0.21441624 -0.13908704 2.74168857] [ 0.21496272 0.97655733 -0.01126069 -0.06816343] [ 0.13824095 -0.01901182 0.99021613 -0.10365413] [ 0. 0. 0. 1. ]] SLAMing on 124.02241403699999 meters Centerline goodness : 0.779765 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.07, Z:-0.10 [[ 0.96681167 -0.21430716 -0.1390958 2.74164792] [ 0.21484466 0.97658265 -0.01131831 -0.06817626] [ 0.13826414 -0.01894131 0.99021425 -0.10339771] [ 0. 0. 0. 1. ]] SLAMing on 124.05241403699999 meters Centerline goodness : 0.780971 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.07, Z:-0.10 [[ 0.96681148 -0.21426342 -0.13916447 2.74116417] [ 0.21477142 0.97659621 -0.01153577 -0.06783561] [ 0.13837919 -0.01873564 0.99020209 -0.10254332] [ 0. 0. 0. 1. ]] SLAMing on 124.08241403699999 meters Centerline goodness : 0.780769 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.07, Z:-0.10 [[ 0.96748875 -0.21092569 -0.13955596 2.73889657] [ 0.21185022 0.97726632 -0.00836846 -0.06957639] [ 0.13814846 -0.02146857 0.99017882 -0.10068846] [ 0. 0. 0. 1. ]] SLAMing on 124.112414037 meters Centerline goodness : 0.781142 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.07, Z:-0.10 [[ 0.96756706 -0.21032365 -0.13992122 2.7398302 ] [ 0.21128855 0.97739022 -0.00809339 -0.06944448] [ 0.13845986 -0.02173285 0.99012956 -0.10076726] [ 0. 0. 0. 1. ]] SLAMing on 124.142414037 meters Centerline goodness : 0.781277 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.07, Z:-0.10 [[ 0.96767487 -0.20954719 -0.14033999 2.74115878] [ 0.21055629 0.97755071 -0.00778802 -0.06887877] [ 0.13882142 -0.02201319 0.99007274 -0.10113036] [ 0. 0. 0. 1. ]] SLAMing on 124.172414037 meters Centerline goodness : 0.782190 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.07, Z:-0.10 [[ 0.96777459 -0.20885188 -0.14068846 2.74249203] [ 0.20989566 0.97769467 -0.00754635 -0.06783528] [ 0.13912643 -0.02222673 0.99002516 -0.10176314] [ 0. 0. 0. 1. ]] SLAMing on 124.20241403699998 meters Centerline goodness : 0.782618 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.07, Z:-0.10 [[ 0.9678773 -0.20832655 -0.14076072 2.74300896] [ 0.20940654 0.9778017 -0.00726206 -0.06708345] [ 0.13914895 -0.02244744 0.99001701 -0.10225711] [ 0. 0. 0. 1. ]] SLAMing on 124.23241403699998 meters Centerline goodness : 0.782719 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.07, Z:-0.10 [[ 0.96785126 -0.20860132 -0.14053267 2.74249936] [ 0.20966823 0.97774505 -0.00733816 -0.06807712] [ 0.13893587 -0.02236299 0.99004885 -0.10199722] [ 0. 0. 0. 1. ]] SLAMing on 124.26241403699999 meters Centerline goodness : 0.781850 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.07, Z:-0.10 [[ 0.96780085 -0.20899829 -0.14028983 2.74204043] [ 0.21006472 0.97766 -0.00733089 -0.07045991] [ 0.1386879 -0.0223751 0.99008334 -0.10168169] [ 0. 0. 0. 1. ]] SLAMing on 124.29241403699999 meters Centerline goodness : 0.779942 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.07, Z:-0.10 [[ 0.96774887 -0.20942581 -0.14001056 2.74152611] [ 0.2104843 0.97756943 -0.00737323 -0.07278979] [ 0.13841419 -0.02233459 0.99012256 -0.10133385] [ 0. 0. 0. 1. ]] SLAMing on 124.32241403699999 meters Centerline goodness : 0.782002 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.07, Z:-0.10 [[ 0.96760725 -0.21044338 -0.13946256 2.73944275] [ 0.21143741 0.97736025 -0.00782021 -0.07497327] [ 0.13795087 -0.02192071 0.99019647 -0.0998271 ] [ 0. 0. 0. 1. ]] SLAMing on 124.35241403699999 meters Centerline goodness : 0.782136 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.08, Z:-0.10 [[ 0.96752776 -0.21088223 -0.13935104 2.73827816] [ 0.21184062 0.97727074 -0.00809004 -0.07505416] [ 0.13788974 -0.02169287 0.99021 -0.09880715] [ 0. 0. 0. 1. ]] SLAMing on 124.38241403699999 meters Centerline goodness : 0.785676 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.07, Z:-0.10 [[ 0.96746959 -0.21117346 -0.13931391 2.73751381] [ 0.2121006 0.97721234 -0.00832959 -0.07480626] [ 0.13789826 -0.02148993 0.99021324 -0.09802771] [ 0. 0. 0. 1. ]] SLAMing on 124.41241403699999 meters Centerline goodness : 0.785153 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.08, Z:-0.10 [[ 0.96746134 -0.2109492 -0.13971041 2.73913041] [ 0.21196562 0.9772465 -0.00773626 -0.07621457] [ 0.13816346 -0.02212927 0.99016219 -0.09892697] [ 0. 0. 0. 1. ]] SLAMing on 124.44241403699999 meters Centerline goodness : 0.785336 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.08, Z:-0.10 [[ 0.9674236 -0.2108662 -0.14009651 2.74093434] [ 0.21195792 0.97725187 -0.00725418 -0.07802227] [ 0.13843924 -0.0226767 0.99011128 -0.09993065] [ 0. 0. 0. 1. ]] SLAMing on 124.472414037 meters Centerline goodness : 0.781797 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.08, Z:-0.10 [[ 0.9666648 -0.21452654 -0.13977674 2.74284367] [ 0.2151476 0.97652146 -0.0108327 -0.07778991] [ 0.13881889 -0.01960104 0.99012379 -0.10048996] [ 0. 0. 0. 1. ]] SLAMing on 124.502414037 meters Centerline goodness : 0.781217 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.08, Z:-0.10 [[ 0.96577698 -0.21914586 -0.13874405 2.74240144] [ 0.21923549 0.9755593 -0.01482722 -0.0779577 ] [ 0.13860237 -0.01609783 0.99021727 -0.10025835] [ 0. 0. 0. 1. ]] SLAMing on 124.532414037 meters Centerline goodness : 0.782266 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.08, Z:-0.10 [[ 0.96566417 -0.21982982 -0.13844694 2.74129505] [ 0.21986361 0.97541155 -0.01524143 -0.07816352] [ 0.13839326 -0.01572134 0.99025257 -0.09961369] [ 0. 0. 0. 1. ]] SLAMing on 124.562414037 meters Centerline goodness : 0.783728 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.08, Z:-0.10 [[ 0.96552514 -0.22002245 -0.13910904 2.74239805] [ 0.22014375 0.97535655 -0.01470793 -0.07843603] [ 0.13891699 -0.01642311 0.99016784 -0.09934305] [ 0. 0. 0. 1. ]] SLAMing on 124.59241403699998 meters Centerline goodness : 0.782609 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.08, Z:-0.10 [[ 0.9654717 -0.22002784 -0.13947093 2.74409746] [ 0.22018251 0.9753507 -0.01451429 -0.07882712] [ 0.13922662 -0.01669592 0.99011979 -0.10022286] [ 0. 0. 0. 1. ]] SLAMing on 124.62241403699998 meters Centerline goodness : 0.781434 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.08, Z:-0.10 [[ 0.96546355 -0.21979516 -0.13989357 2.7459344 ] [ 0.22003842 0.97539188 -0.01392017 -0.07954911] [ 0.13951064 -0.01734255 0.99006869 -0.10121593] [ 0. 0. 0. 1. ]] SLAMing on 124.65241403699999 meters Centerline goodness : 0.781234 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.08, Z:-0.10 [[ 0.96562897 -0.2188772 -0.14019085 2.74614033] [ 0.219233 0.97558468 -0.0130929 -0.07996563] [ 0.13963378 -0.01809157 0.99003793 -0.10098148] [ 0. 0. 0. 1. ]] SLAMing on 124.68241403699999 meters Centerline goodness : 0.782441 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.08, Z:-0.10 [[ 0.96609571 -0.21579669 -0.14174223 2.74762983] [ 0.21671309 0.97619268 -0.0091262 -0.08081134] [ 0.14033714 -0.02190061 0.98986153 -0.10056467] [ 0. 0. 0. 1. ]] SLAMing on 124.71241403699999 meters Centerline goodness : 0.779813 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.08, Z:-0.10 [[ 0.96652332 -0.21427848 -0.14112905 2.74689389] [ 0.21516813 0.97653455 -0.00910745 -0.08077211] [ 0.13976892 -0.02156391 0.98994932 -0.10148751] [ 0. 0. 0. 1. ]] SLAMing on 124.74241403699999 meters Centerline goodness : 0.779792 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.08, Z:-0.11 [[ 0.96769515 -0.20945557 -0.14033693 2.74762424] [ 0.21046129 0.97757103 -0.00780498 -0.08163876] [ 0.13882411 -0.02198265 0.99007304 -0.10520623] [ 0. 0. 0. 1. ]] SLAMing on 124.77241403699999 meters Centerline goodness : 0.779675 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.08, Z:-0.11 [[ 0.96821356 -0.20724214 -0.1400471 2.74750899] [ 0.2083229 0.97803461 -0.00706139 -0.08239206] [ 0.13843433 -0.02233808 0.99011966 -0.1061869 ] [ 0. 0. 0. 1. ]] SLAMing on 124.80241403699999 meters Centerline goodness : 0.780858 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.08, Z:-0.11 [[ 0.96877494 -0.20498971 -0.13947879 2.74557457] [ 0.20622612 0.97848784 -0.00568717 -0.08368762] [ 0.13764411 -0.02325458 0.99020873 -0.10580489] [ 0. 0. 0. 1. ]] SLAMing on 124.83241403699999 meters Centerline goodness : 0.779576 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.09, Z:-0.10 [[ 9.69786649e-01 -1.99994343e-01 -1.39700102e-01 2.74313965e+00] [ 2.01902942e-01 9.79405396e-01 -5.20838970e-04 -8.66580584e-02] [ 1.36927198e-01 -2.77007588e-02 9.90193724e-01 -1.04078453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.862414037 meters Centerline goodness : 0.780164 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.09, Z:-0.10 [[ 9.69962310e-01 -1.99280972e-01 -1.39499863e-01 2.74242675e+00] [ 2.01296987e-01 9.79530194e-01 3.49544763e-04 -8.79382148e-02] [ 1.36574671e-01 -2.84199475e-02 9.90222029e-01 -1.03787084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.892414037 meters Centerline goodness : 0.781814 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.09, Z:-0.10 [[ 9.69956303e-01 -1.99500098e-01 -1.39228164e-01 2.74296820e+00] [ 2.01518630e-01 9.79484596e-01 4.09344381e-04 -8.97113710e-02] [ 1.36290177e-01 -2.84541150e-02 9.90260244e-01 -1.04412971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.922414037 meters Centerline goodness : 0.780184 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.09, Z:-0.11 [[ 0.96945202 -0.20271091 -0.13809804 2.74290094] [ 0.20424716 0.97891443 -0.0031051 -0.09087362] [ 0.1358156 -0.02519588 0.9904137 -0.10503891] [ 0. 0. 0. 1. ]] SLAMing on 124.95241403699998 meters Centerline goodness : 0.780184 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.09, Z:-0.11 [[ 0.96945202 -0.20271091 -0.13809804 2.74290094] [ 0.20424716 0.97891443 -0.0031051 -0.09087362] [ 0.1358156 -0.02519588 0.9904137 -0.10503891] [ 0. 0. 0. 1. ]] SLAMing on 124.98241403699998 meters Centerline goodness : 0.780728 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.09, Z:-0.11 [[ 0.96868443 -0.20704881 -0.13704474 2.74498653] [ 0.20814258 0.97807716 -0.00645947 -0.09404327] [ 0.13537776 -0.02226766 0.9905438 -0.10710384] [ 0. 0. 0. 1. ]] SLAMing on 125.01241403699999 meters Centerline goodness : 0.778420 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.10, Z:-0.11 [[ 0.96836636 -0.20806133 -0.13775728 2.74686991] [ 0.20928844 0.97783746 -0.00567865 -0.09517732] [ 0.13588573 -0.02333199 0.99044974 -0.10704354] [ 0. 0. 0. 1. ]] SLAMing on 125.04241403699999 meters Centerline goodness : 0.778807 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.10, Z:-0.11 [[ 0.96816516 -0.20869162 -0.13821729 2.74778801] [ 0.21002903 0.97768236 -0.00500175 -0.09615914] [ 0.13617643 -0.02418713 0.9903893 -0.10653303] [ 0. 0. 0. 1. ]] SLAMing on 125.07241403699999 meters Centerline goodness : 0.779501 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.10, Z:-0.11 [[ 0.96789718 -0.20939245 -0.13903187 2.74965735] [ 0.2108387 0.97751091 -0.00441063 -0.09687462] [ 0.13682872 -0.02504426 0.99027809 -0.10636331] [ 0. 0. 0. 1. ]] SLAMing on 125.10241403699999 meters Centerline goodness : 0.778675 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.10, Z:-0.11 [[ 0.96748401 -0.21166244 -0.13846911 2.75094118] [ 0.21290163 0.97705538 -0.00597245 -0.09998234] [ 0.13655614 -0.02370205 0.99034874 -0.10708529] [ 0. 0. 0. 1. ]] SLAMing on 125.13241403699999 meters Centerline goodness : 0.778867 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.10, Z:-0.11 [[ 0.96740751 -0.21228479 -0.13805028 2.75050965] [ 0.21351662 0.97692102 -0.00599702 -0.10245688] [ 0.1361373 -0.02367447 0.99040707 -0.10671216] [ 0. 0. 0. 1. ]] SLAMing on 125.16241403699999 meters Centerline goodness : 0.778443 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.10, Z:-0.11 [[ 0.96723581 -0.21273459 -0.13856001 2.75177177] [ 0.21410171 0.97679786 -0.00513747 -0.10415458] [ 0.13643804 -0.02469679 0.99034071 -0.10649594] [ 0. 0. 0. 1. ]] SLAMing on 125.19241403699999 meters Centerline goodness : 0.779040 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.11, Z:-0.11 [[ 0.966857 -0.21367622 -0.1397498 2.75380554] [ 0.21532526 0.9765365 -0.00339099 -0.10681275] [ 0.13719536 -0.02681305 0.99018104 -0.10521079] [ 0. 0. 0. 1. ]] SLAMing on 125.222414037 meters Centerline goodness : 0.779258 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.11, Z:-0.10 [[ 0.9664426 -0.21520372 -0.14027136 2.75497125] [ 0.21684304 0.97619957 -0.00367444 -0.10665229] [ 0.13772359 -0.02686573 0.99010628 -0.1047659 ] [ 0. 0. 0. 1. ]] SLAMing on 125.252414037 meters Centerline goodness : 0.778373 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.10, Z:-0.11 [[ 0.96507809 -0.22061883 -0.14125017 2.76026964] [ 0.22180084 0.975063 -0.00751948 -0.10393094] [ 0.13938675 -0.02407252 0.98994538 -0.10651612] [ 0. 0. 0. 1. ]] SLAMing on 125.282414037 meters Centerline goodness : 0.780085 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.10, Z:-0.11 [[ 0.96472271 -0.22150143 -0.14229267 2.76323995] [ 0.22272533 0.97485261 -0.00747096 -0.1035003 ] [ 0.14036921 -0.02448478 0.98979643 -0.10720223] [ 0. 0. 0. 1. ]] SLAMing on 125.312414037 meters Centerline goodness : 0.779423 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.10, Z:-0.11 [[ 0.96472476 -0.22135877 -0.14250062 2.76407919] [ 0.22268342 0.97486718 -0.00678724 -0.10406301] [ 0.14042159 -0.02518471 0.98977144 -0.10757633] [ 0. 0. 0. 1. ]] SLAMing on 125.34241403699998 meters Centerline goodness : 0.779298 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.11, Z:-0.11 [[ 0.96484548 -0.22069984 -0.14270522 2.76422059] [ 0.222157 0.9749934 -0.00584216 -0.10502491] [ 0.14042601 -0.02606619 0.98974799 -0.10725748] [ 0. 0. 0. 1. ]] SLAMing on 125.37241403699998 meters Centerline goodness : 0.771073 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.11, Z:-0.11 [[ 0.96488608 -0.22041095 -0.14287711 2.76415679] [ 0.22199373 0.97503544 -0.00496807 -0.10585301] [ 0.14040526 -0.0269242 0.98972797 -0.10673543] [ 0. 0. 0. 1. ]] SLAMing on 125.40241403699999 meters Centerline goodness : 0.778780 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.11, Z:-0.11 [[ 0.96473304 -0.22066196 -0.14352166 2.76469815] [ 0.22241166 0.97494489 -0.00393924 -0.10674992] [ 0.14079495 -0.02812057 0.98963934 -0.10566948] [ 0. 0. 0. 1. ]] SLAMing on 125.43241403699999 meters Centerline goodness : 0.779218 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.11, Z:-0.10 [[ 9.64196065e-01 -2.22224415e-01 -1.44714400e-01 2.76546634e+00] [ 2.24323794e-01 9.74512901e-01 -1.85495941e-03 -1.08922568e-01] [ 1.41438267e-01 -3.06743388e-02 9.89471728e-01 -1.02890834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46241403699999 meters Centerline goodness : 0.781494 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.11, Z:-0.10 [[ 9.63699626e-01 -2.23569965e-01 -1.45943489e-01 2.76742461e+00] [ 2.25831255e-01 9.74165813e-01 -1.10125354e-03 -1.09479245e-01] [ 1.42419365e-01 -3.18973237e-02 9.89292315e-01 -1.01751802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.49241403699999 meters Centerline goodness : 0.779928 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.11, Z:-0.10 [[ 9.63158388e-01 -2.25089317e-01 -1.47175809e-01 2.77029916e+00] [ 2.27458251e-01 9.73787542e-01 -7.53184348e-04 -1.09834014e-01] [ 1.43487503e-01 -3.27509164e-02 9.89110062e-01 -1.01582074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.52241403699999 meters Centerline goodness : 0.780101 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.11, Z:-0.10 [[ 9.62596340e-01 -2.26711619e-01 -1.48358106e-01 2.77314770e+00] [ 2.29132847e-01 9.73394838e-01 -7.91872267e-04 -1.09396825e-01] [ 1.44590541e-01 -3.32314617e-02 9.88933388e-01 -1.01591743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.55241403699999 meters Centerline goodness : 0.780344 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.11, Z:-0.10 [[ 9.62070453e-01 -2.27986301e-01 -1.49808846e-01 2.77568141e+00] [ 2.30509948e-01 9.73069823e-01 -5.32537697e-04 -1.08202226e-01] [ 1.45895878e-01 -3.40200905e-02 9.88714836e-01 -1.00962897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.58241403699999 meters Centerline goodness : 0.781958 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.10, Z:-0.10 [[ 9.61517178e-01 -2.28614502e-01 -1.52381516e-01 2.77731920e+00] [ 2.31597453e-01 9.72809892e-01 1.88002700e-03 -1.04907499e-01] [ 1.47808444e-01 -3.70988492e-02 9.88319958e-01 -9.82408742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.612414037 meters Centerline goodness : 0.782849 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.10, Z:-0.10 [[ 9.61269064e-01 -2.29120286e-01 -1.53185121e-01 2.77847441e+00] [ 2.32113143e-01 9.72687304e-01 1.70244804e-03 -1.02396762e-01] [ 1.48611157e-01 -3.71927906e-02 9.88196043e-01 -9.81076958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.642414037 meters Centerline goodness : 0.781576 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.10, Z:-0.10 [[ 9.60993711e-01 -2.29790817e-01 -1.53906684e-01 2.78042748e+00] [ 2.32690175e-01 9.72550545e-01 8.48635905e-04 -9.96617313e-02] [ 1.49487021e-01 -3.66281071e-02 9.88085023e-01 -9.89270982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.672414037 meters Centerline goodness : 0.779683 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.10, Z:-0.10 [[ 9.60437948e-01 -2.31642698e-01 -1.54598219e-01 2.78348355e+00] [ 2.34297815e-01 9.72164275e-01 -1.07532391e-03 -9.60775754e-02] [ 1.50543956e-01 -3.51892428e-02 9.87976839e-01 -1.00763266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70241403699998 meters Centerline goodness : 0.780112 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.09, Z:-0.10 [[ 9.60186019e-01 -2.32382527e-01 -1.55052150e-01 2.78483442e+00] [ 2.34961427e-01 9.72003137e-01 -1.74050155e-03 -9.44976289e-02] [ 1.51115639e-01 -3.47600692e-02 9.87904753e-01 -1.01273892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.73241403699998 meters Centerline goodness : 0.778472 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.09, Z:-0.10 [[ 9.60023653e-01 -2.33269632e-01 -1.54725125e-01 2.78393564e+00] [ 2.35700647e-01 9.71821946e-01 -2.70383574e-03 -9.24926410e-02] [ 1.50995995e-01 -3.38730659e-02 9.87953858e-01 -1.01183134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76241403699999 meters Centerline goodness : 0.796165 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.15, Z:-0.16 [[ 0.96668249 -0.19690284 -0.16356723 2.40951851] [ 0.2018492 0.9793162 0.0140245 -0.1530225 ] [ 0.15742257 -0.04657315 0.9864325 -0.15979362] [ 0. 0. 0. 1. ]] SLAMing on 125.79241403699999 meters Centerline goodness : 0.779509 Centerline is valid? [False, False] Translation: X:2.92, Y:0.05, Z:-0.05 [[ 0.89862599 -0.37593309 -0.22615404 2.92161752] [ 0.3696932 0.92643556 -0.07102181 0.04527086] [ 0.23621659 -0.01978556 0.97149897 -0.04686498] [ 0. 0. 0. 1. ]] SLAMing on 125.82241403699999 meters Centerline goodness : 0.778547 Centerline is valid? [False, False] Translation: X:2.92, Y:0.05, Z:-0.05 [[ 0.89976791 -0.37278009 -0.22683191 2.9192372 ] [ 0.36703442 0.92767088 -0.06864749 0.04962506] [ 0.23601577 -0.02148831 0.97151161 -0.04711584] [ 0. 0. 0. 1. ]] SLAMing on 125.85241403699999 meters Centerline goodness : 0.779923 Centerline is valid? [False, False] Translation: X:2.89, Y:0.04, Z:-0.06 [[ 0.90173481 -0.37032935 -0.22300336 2.89073321] [ 0.36566558 0.92858164 -0.06344146 0.04119099] [ 0.23057106 -0.02433728 0.97275109 -0.05728975] [ 0. 0. 0. 1. ]] SLAMing on 125.88241403699999 meters Centerline goodness : 0.778007 Centerline is valid? [False, False] Translation: X:2.86, Y:0.03, Z:-0.07 [[ 0.90338667 -0.3681929 -0.2198329 2.85937683] [ 0.36489422 0.92930468 -0.05696512 0.03165032] [ 0.2252659 -0.02875422 0.97387292 -0.06761395] [ 0. 0. 0. 1. ]] SLAMing on 125.91241403699999 meters Centerline goodness : 0.780358 Centerline is valid? [False, False] Translation: X:2.86, Y:0.03, Z:-0.07 [[ 0.90445088 -0.36527291 -0.22032775 2.85645592] [ 0.36245511 0.93040116 -0.05458911 0.03443828] [ 0.22493311 -0.03048575 0.97389718 -0.0673301 ] [ 0. 0. 0. 1. ]] SLAMing on 125.94241403699999 meters Centerline goodness : 0.777443 Centerline is valid? [False, False] Translation: X:2.83, Y:0.03, Z:-0.08 [[ 0.90501544 -0.36394142 -0.22021285 2.83009282] [ 0.362207 0.93077197 -0.04969532 0.0265943 ] [ 0.22305414 -0.03478761 0.97418513 -0.0799686 ] [ 0. 0. 0. 1. ]] SLAMing on 125.972414037 meters Centerline goodness : 0.775042 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:-0.09 [[ 0.90433818 -0.36516333 -0.22097106 2.80497864] [ 0.36381172 0.93021934 -0.0483012 0.02166782] [ 0.22318938 -0.03671124 0.97408356 -0.09259504] [ 0. 0. 0. 1. ]] SLAMing on 126.002414037 meters Centerline goodness : 0.773298 Centerline is valid? [False, False] Translation: X:2.79, Y:0.02, Z:-0.09 [[ 0.90581205 -0.36308967 -0.21833556 2.79053593] [ 0.36030612 0.93127595 -0.05389434 0.0178523 ] [ 0.22289913 -0.0298495 0.97438441 -0.09443678] [ 0. 0. 0. 1. ]] SLAMing on 126.032414037 meters Centerline goodness : 0.773220 Centerline is valid? [False, False] Translation: X:2.79, Y:0.02, Z:-0.09 [[ 0.9057184 -0.36350904 -0.21802603 2.78969432] [ 0.36058367 0.93113188 -0.0545237 0.01955574] [ 0.22283085 -0.02923351 0.97441871 -0.09437566] [ 0. 0. 0. 1. ]] SLAMing on 126.062414037 meters Centerline goodness : 0.772665 Centerline is valid? [False, False] Translation: X:2.76, Y:0.01, Z:-0.10 [[ 0.90798373 -0.35955433 -0.21514233 2.76276684] [ 0.35730744 0.93261278 -0.0506438 0.01468406] [ 0.21885368 -0.03088821 0.97526867 -0.10304388] [ 0. 0. 0. 1. ]] SLAMing on 126.09241403699998 meters Centerline goodness : 0.773393 Centerline is valid? [False, False] Translation: X:2.74, Y:0.01, Z:-0.11 [[ 0.90947354 -0.35666412 -0.21365527 2.73579829] [ 0.35540985 0.93359713 -0.04560967 0.00705243] [ 0.21573528 -0.0344544 0.97584383 -0.113408 ] [ 0. 0. 0. 1. ]] SLAMing on 126.12241403699998 meters Centerline goodness : 0.773763 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.00, Z:-0.12 [[ 9.10814481e-01 -3.54451297e-01 -2.11615828e-01 2.70888606e+00] [ 3.53913680e-01 9.34346686e-01 -4.17298149e-02 -9.10747316e-04] [ 2.12513734e-01 -3.68856167e-02 9.76461655e-01 -1.22563120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.15241403699999 meters Centerline goodness : 0.773730 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.01, Z:-0.13 [[ 0.9122189 -0.35270138 -0.2084668 2.6819168 ] [ 0.35265412 0.93495429 -0.03867239 -0.00974242] [ 0.20854674 -0.03823899 0.97726457 -0.1305528 ] [ 0. 0. 0. 1. ]] SLAMing on 126.18241403699999 meters Centerline goodness : 0.773569 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.01, Z:-0.13 [[ 0.91268105 -0.3523716 -0.20699649 2.67974866] [ 0.35236225 0.9350846 -0.03817897 -0.0104018 ] [ 0.20701242 -0.03809252 0.97759645 -0.13117011] [ 0. 0. 0. 1. ]] SLAMing on 126.21241403699999 meters Centerline goodness : 0.774352 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.01, Z:-0.13 [[ 0.91418816 -0.34908763 -0.20590732 2.66622768] [ 0.34774771 0.93656083 -0.0438788 -0.01429359] [ 0.20816227 -0.03149032 0.97758725 -0.13211367] [ 0. 0. 0. 1. ]] SLAMing on 126.24241403699999 meters Centerline goodness : 0.776469 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.01, Z:-0.13 [[ 0.91565482 -0.3443044 -0.20743851 2.66667998] [ 0.34362778 0.93823381 -0.04046305 -0.01056982] [ 0.20855743 -0.03423144 0.97741087 -0.13293784] [ 0. 0. 0. 1. ]] SLAMing on 126.27241403699999 meters Centerline goodness : 0.773848 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.01, Z:-0.13 [[ 0.91819077 -0.33863392 -0.2055548 2.65177022] [ 0.3371635 0.94045248 -0.04324245 -0.01323619] [ 0.20795788 -0.02960076 0.97768978 -0.13491168] [ 0. 0. 0. 1. ]] SLAMing on 126.30241403699999 meters Centerline goodness : 0.781130 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.01, Z:-0.14 [[ 0.91941828 -0.3349098 -0.20616848 2.65023857] [ 0.33401193 0.94171049 -0.04021664 -0.0111694 ] [ 0.20761997 -0.03188681 0.97768972 -0.13529815] [ 0. 0. 0. 1. ]] SLAMing on 126.33241403699999 meters Centerline goodness : 0.775857 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.01, Z:-0.14 [[ 0.9194766 -0.33468406 -0.20627495 2.65090734] [ 0.33377877 0.94179205 -0.04024249 -0.01073769] [ 0.20773663 -0.03184817 0.97766619 -0.13561407] [ 0. 0. 0. 1. ]] SLAMing on 126.362414037 meters Centerline goodness : 0.776450 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.02, Z:-0.14 [[ 0.92105623 -0.33190983 -0.2036941 2.63463363] [ 0.33006509 0.9429327 -0.04398812 -0.01610499] [ 0.20666992 -0.02671678 0.97804589 -0.1382807 ] [ 0. 0. 0. 1. ]] SLAMing on 126.392414037 meters Centerline goodness : 0.776604 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.02, Z:-0.14 [[ 0.92395673 -0.32828886 -0.19629161 2.62641708] [ 0.32587877 0.94432074 -0.04540233 -0.02021306] [ 0.20026731 -0.02201748 0.97949387 -0.14357384] [ 0. 0. 0. 1. ]] SLAMing on 126.422414037 meters Centerline goodness : 0.776756 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.03, Z:-0.15 [[ 0.92550072 -0.32598785 -0.19282205 2.60123205] [ 0.32416484 0.9450748 -0.04184227 -0.02885589] [ 0.19587133 -0.02378108 0.98034121 -0.15277884] [ 0. 0. 0. 1. ]] SLAMing on 126.45241403699998 meters Centerline goodness : 0.777352 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.04, Z:-0.16 [[ 0.92725067 -0.32323015 -0.18901974 2.57568025] [ 0.32191405 0.94598601 -0.03849434 -0.03682824] [ 0.19125256 -0.02515421 0.98121849 -0.16080983] [ 0. 0. 0. 1. ]] SLAMing on 126.48241403699998 meters Centerline goodness : 0.780129 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.04, Z:-0.16 [[ 0.92804277 -0.32103075 -0.1888806 2.57049027] [ 0.32017448 0.94667882 -0.03588194 -0.03605195] [ 0.19032847 -0.02717477 0.98134428 -0.15930354] [ 0. 0. 0. 1. ]] SLAMing on 126.51241403699999 meters Centerline goodness : 0.779107 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.04, Z:-0.16 [[ 0.92792822 -0.32156201 -0.18853936 2.56868458] [ 0.32057727 0.94651692 -0.03655038 -0.03550445] [ 0.19020891 -0.02652531 0.98138523 -0.15794818] [ 0. 0. 0. 1. ]] SLAMing on 126.54241403699999 meters Centerline goodness : 0.779563 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.04, Z:-0.16 [[ 0.92784019 -0.3219104 -0.18837803 2.56767345] [ 0.32083748 0.94641055 -0.03701864 -0.03572804] [ 0.19019964 -0.02609135 0.98139866 -0.15685295] [ 0. 0. 0. 1. ]] SLAMing on 126.57241403699999 meters Centerline goodness : 0.777963 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.04, Z:-0.16 [[ 0.92867112 -0.31955837 -0.18828805 2.55201089] [ 0.31749597 0.94733571 -0.04184925 -0.04158115] [ 0.19174528 -0.02091651 0.98122181 -0.15789568] [ 0. 0. 0. 1. ]] SLAMing on 126.60241403699999 meters Centerline goodness : 0.775584 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.04, Z:-0.16 [[ 0.92843649 -0.31846308 -0.19127719 2.54217047] [ 0.31448363 0.94785675 -0.05164913 -0.04280629] [ 0.19775171 -0.01220061 0.98017621 -0.15657768] [ 0. 0. 0. 1. ]] SLAMing on 126.63241403699999 meters Centerline goodness : 0.777067 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.04, Z:-0.16 [[ 0.92851809 -0.31797957 -0.19168504 2.54388528] [ 0.31404109 0.94801581 -0.05142199 -0.04167112] [ 0.19807159 -0.01245073 0.98010848 -0.15762214] [ 0. 0. 0. 1. ]] SLAMing on 126.66241403699999 meters Centerline goodness : 0.777452 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.04, Z:-0.16 [[ 0.92889789 -0.31627871 -0.19265641 2.54822656] [ 0.31255747 0.94856952 -0.0502364 -0.04033292] [ 0.1986367 -0.01355171 0.97997949 -0.160352 ] [ 0. 0. 0. 1. ]] SLAMing on 126.69241403699999 meters Centerline goodness : 0.774733 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.04, Z:-0.16 [[ 0.92899757 -0.3158316 -0.19290908 2.54954215] [ 0.31216315 0.94871463 -0.0499471 -0.03997706] [ 0.19879054 -0.01381838 0.97994458 -0.16119506] [ 0. 0. 0. 1. ]] SLAMing on 126.722414037 meters Centerline goodness : 0.773668 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.04, Z:-0.16 [[ 0.92904454 -0.31570435 -0.19289117 2.54973577] [ 0.31204272 0.94875679 -0.04989892 -0.03971146] [ 0.19876012 -0.01383197 0.97995056 -0.16144986] [ 0. 0. 0. 1. ]] SLAMing on 126.752414037 meters Centerline goodness : 0.774451 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.04, Z:-0.16 [[ 0.92905337 -0.31572799 -0.19280993 2.54909298] [ 0.31202194 0.94875225 -0.05011467 -0.03930309] [ 0.19875146 -0.01360172 0.97995554 -0.16084391] [ 0. 0. 0. 1. ]] SLAMing on 126.782414037 meters Centerline goodness : 0.775202 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.05, Z:-0.16 [[ 0.93176785 -0.31092312 -0.18744464 2.53137743] [ 0.30694799 0.9503786 -0.05063047 -0.04528408] [ 0.19388556 -0.01035991 0.98096945 -0.16212297] [ 0. 0. 0. 1. ]] SLAMing on 126.812414037 meters Centerline goodness : 0.776430 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.04, Z:-0.16 [[ 0.93172461 -0.31102277 -0.18749422 2.53120053] [ 0.30700554 0.95034796 -0.05085616 -0.04430484] [ 0.19400218 -0.01017783 0.9809483 -0.16194681] [ 0. 0. 0. 1. ]] SLAMing on 126.84241403699998 meters Centerline goodness : 0.776430 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.04, Z:-0.16 [[ 0.93172461 -0.31102277 -0.18749422 2.53120053] [ 0.30700554 0.95034796 -0.05085616 -0.04430484] [ 0.19400218 -0.01017783 0.9809483 -0.16194681] [ 0. 0. 0. 1. ]] SLAMing on 126.87241403699998 meters Centerline goodness : 0.779251 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.04, Z:-0.16 [[ 0.93169972 -0.31096546 -0.18771287 2.53160438] [ 0.30691481 0.9503679 -0.05103086 -0.04327505] [ 0.19426512 -0.01006643 0.98089741 -0.16191697] [ 0. 0. 0. 1. ]] SLAMing on 126.90241403699999 meters Centerline goodness : 0.776498 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.04, Z:-0.16 [[ 0.93169222 -0.31089324 -0.18786963 2.53204261] [ 0.30683002 0.95039182 -0.05109527 -0.04266803] [ 0.19443493 -0.01003897 0.98086405 -0.16204506] [ 0. 0. 0. 1. ]] SLAMing on 126.93241403699999 meters Centerline goodness : 0.775844 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.05, Z:-0.17 [[ 0.93417449 -0.30821681 -0.17977879 2.52169449] [ 0.30345228 0.95130779 -0.05413133 -0.04802454] [ 0.18770915 -0.00398618 0.98221657 -0.16652091] [ 0. 0. 0. 1. ]] SLAMing on 126.96241403699999 meters Centerline goodness : 0.773425 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.05, Z:-0.17 [[ 0.93425114 -0.30874791 -0.1784644 2.51953104] [ 0.30399978 0.95113655 -0.05406834 -0.04958625] [ 0.18643751 -0.00373973 0.9824597 -0.16675874] [ 0. 0. 0. 1. ]] SLAMing on 126.99241403699999 meters Centerline goodness : 0.774037 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.06, Z:-0.18 [[ 0.93535996 -0.30757113 -0.17464748 2.49223373] [ 0.30361449 0.9515021 -0.04961847 -0.05924321] [ 0.18143865 -0.00661438 0.98338002 -0.17633745] [ 0. 0. 0. 1. ]] SLAMing on 127.02241403699999 meters Centerline goodness : 0.773730 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.06, Z:-0.18 [[ 0.93607914 -0.30499279 -0.17531469 2.49040353] [ 0.30155656 0.95230962 -0.04658345 -0.06066505] [ 0.18116149 -0.0092615 0.98340975 -0.17571735] [ 0. 0. 0. 1. ]] SLAMing on 127.05241403699999 meters Centerline goodness : 0.774106 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.06, Z:-0.18 [[ 0.93607498 -0.30490842 -0.17548359 2.49052103] [ 0.30148225 0.95233578 -0.04652976 -0.06045833] [ 0.18130662 -0.00934984 0.98338217 -0.17555156] [ 0. 0. 0. 1. ]] SLAMing on 127.08241403699999 meters Centerline goodness : 0.775052 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.07, Z:-0.18 [[ 0.93727761 -0.30301976 -0.17230701 2.46334371] [ 0.30040813 0.95289968 -0.04167919 -0.07039767] [ 0.17682091 -0.01269745 0.98416113 -0.1848264 ] [ 0. 0. 0. 1. ]] SLAMing on 127.112414037 meters Centerline goodness : 0.774639 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.07, Z:-0.19 [[ 0.93730789 -0.30288136 -0.17238563 2.46389823] [ 0.30030827 0.95294082 -0.0414576 -0.07116708] [ 0.17683004 -0.01291029 0.98415673 -0.18506924] [ 0. 0. 0. 1. ]] SLAMing on 127.142414037 meters Centerline goodness : 0.772472 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.07, Z:-0.19 [[ 0.93739742 -0.30243927 -0.17267475 2.46538512] [ 0.29996077 0.95307383 -0.04091221 -0.07212117] [ 0.17694525 -0.01344465 0.98412886 -0.18593871] [ 0. 0. 0. 1. ]] SLAMing on 127.172414037 meters Centerline goodness : 0.773151 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.07, Z:-0.19 [[ 0.9374669 -0.30199679 -0.17307153 2.46707718] [ 0.29961124 0.95320622 -0.04038565 -0.07268121] [ 0.1771692 -0.01399396 0.98408091 -0.18688585] [ 0. 0. 0. 1. ]] SLAMing on 127.20241403699998 meters Centerline goodness : 0.773707 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.07, Z:-0.19 [[ 0.93744127 -0.30199313 -0.17321668 2.46716032] [ 0.29957172 0.95320971 -0.04059591 -0.07182258] [ 0.17737151 -0.01383453 0.98404672 -0.18664117] [ 0. 0. 0. 1. ]] SLAMing on 127.23241403699998 meters Centerline goodness : 0.775499 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.07, Z:-0.19 [[ 0.93807087 -0.29981112 -0.1735982 2.46567149] [ 0.29773619 0.95387151 -0.03850063 -0.07262927] [ 0.1771333 -0.01557015 0.9840637 -0.18590898] [ 0. 0. 0. 1. ]] SLAMing on 127.26241403699999 meters Centerline goodness : 0.773976 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.07, Z:-0.19 [[ 0.93813983 -0.29938268 -0.17396455 2.46670539] [ 0.29729961 0.95400615 -0.03853835 -0.07114131] [ 0.17750096 -0.01556523 0.98399753 -0.18624524] [ 0. 0. 0. 1. ]] SLAMing on 127.29241403699999 meters Centerline goodness : 0.774001 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.07, Z:-0.19 [[ 0.93822857 -0.29887547 -0.17435767 2.46824778] [ 0.29679958 0.95416394 -0.03848612 -0.06972655] [ 0.17786835 -0.01564051 0.98392999 -0.18708154] [ 0. 0. 0. 1. ]] SLAMing on 127.32241403699999 meters Centerline goodness : 0.773881 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.07, Z:-0.19 [[ 0.93858773 -0.29746535 -0.17483544 2.47063124] [ 0.29545977 0.95459882 -0.03800806 -0.06874594] [ 0.17820379 -0.01598294 0.98386379 -0.18826606] [ 0. 0. 0. 1. ]] SLAMing on 127.35241403699999 meters Centerline goodness : 0.772174 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.07, Z:-0.19 [[ 0.93862872 -0.29729514 -0.17490489 2.4705991 ] [ 0.29522839 0.9546573 -0.03833583 -0.06783086] [ 0.17837129 -0.01565378 0.98383873 -0.18782825] [ 0. 0. 0. 1. ]] SLAMing on 127.38241403699999 meters Centerline goodness : 0.769647 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.07, Z:-0.19 [[ 0.93952315 -0.29426755 -0.17522232 2.46744147] [ 0.29269999 0.95555166 -0.03532332 -0.06870714] [ 0.17782849 -0.0181005 0.98389502 -0.18638963] [ 0. 0. 0. 1. ]] SLAMing on 127.41241403699999 meters Centerline goodness : 0.772330 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.07, Z:-0.18 [[ 0.9401154 -0.29245535 -0.17507971 2.46127462] [ 0.29118976 0.95607989 -0.03346303 -0.06818592] [ 0.17717663 -0.01952231 0.98398543 -0.18296087] [ 0. 0. 0. 1. ]] SLAMing on 127.44241403699999 meters Centerline goodness : 0.772033 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.07, Z:-0.18 [[ 0.93995198 -0.2931575 -0.17478262 2.45968707] [ 0.29178468 0.95587626 -0.03409212 -0.06821552] [ 0.17706491 -0.01895393 0.98401665 -0.18172165] [ 0. 0. 0. 1. ]] SLAMing on 127.472414037 meters Centerline goodness : 0.774735 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.07, Z:-0.18 [[ 0.93977623 -0.2938486 -0.174567 2.45894208] [ 0.29244035 0.95566733 -0.03433071 -0.06940726] [ 0.17691601 -0.01878725 0.98404663 -0.18121511] [ 0. 0. 0. 1. ]] SLAMing on 127.502414037 meters Centerline goodness : 0.772285 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.08, Z:-0.19 [[ 0.93987879 -0.29478505 -0.17242284 2.43350501] [ 0.29367151 0.95535289 -0.03252542 -0.0792234 ] [ 0.17431267 -0.02006573 0.98448589 -0.1900145 ] [ 0. 0. 0. 1. ]] SLAMing on 127.532414037 meters Centerline goodness : 0.771349 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.08, Z:-0.19 [[ 0.93805322 -0.29804846 -0.17670108 2.42643235] [ 0.29497833 0.95448932 -0.0440218 -0.08316459] [ 0.18177992 -0.01082819 0.98327962 -0.19110849] [ 0. 0. 0. 1. ]] SLAMing on 127.562414037 meters Centerline goodness : 0.769259 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.09, Z:-0.19 [[ 0.937744 -0.29723733 -0.17968351 2.41467939] [ 0.2927272 0.95479493 -0.05174385 -0.08649012] [ 0.18694111 -0.00407577 0.98236267 -0.19155495] [ 0. 0. 0. 1. ]] SLAMing on 127.59241403699998 meters Centerline goodness : 0.774114 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.09, Z:-0.19 [[ 0.93778319 -0.29702654 -0.17982749 2.41532898] [ 0.29257455 0.95485913 -0.05142156 -0.08611373] [ 0.18698349 -0.00439067 0.98235324 -0.19223528] [ 0. 0. 0. 1. ]] SLAMing on 127.62241403699998 meters Centerline goodness : 0.773539 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.09, Z:-0.19 [[ 9.39928738e-01 -2.92479661e-01 -1.76038674e-01 2.39835909e+00] [ 2.87691019e-01 9.56271121e-01 -5.27202164e-02 -9.14317749e-02] [ 1.83760291e-01 -1.09149911e-03 9.82970480e-01 -1.94655852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.65241403699999 meters Centerline goodness : 0.776474 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.09, Z:-0.19 [[ 0.94084392 -0.28922013 -0.17653449 2.39629148] [ 0.28503386 0.95725412 -0.04919598 -0.09284906] [ 0.18321684 -0.00403257 0.98306425 -0.19418378] [ 0. 0. 0. 1. ]] SLAMing on 127.68241403699999 meters Centerline goodness : 0.775058 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.10, Z:-0.20 [[ 9.43786369e-01 -2.83905495e-01 -1.69307293e-01 2.38542751e+00] [ 2.79467974e-01 9.58852259e-01 -4.99999751e-02 -9.80523647e-02] [ 1.76535948e-01 -1.26671335e-04 9.84294185e-01 -1.98093125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.71241403699999 meters Centerline goodness : 0.772769 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.10, Z:-0.20 [[ 9.44051413e-01 -2.82689656e-01 -1.69863144e-01 2.38716958e+00] [ 2.78312634e-01 9.59211299e-01 -4.95556404e-02 -9.88024435e-02] [ 1.76943514e-01 -4.91986526e-04 9.84220885e-01 -1.97982164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74241403699999 meters Centerline goodness : 0.772579 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.10, Z:-0.20 [[ 0.94505838 -0.27884158 -0.17062249 2.38649017] [ 0.27509036 0.96032993 -0.04573526 -0.10084491] [ 0.17660678 -0.00371412 0.98427448 -0.197921 ] [ 0. 0. 0. 1. ]] SLAMing on 127.77241403699999 meters Centerline goodness : 0.771632 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.10, Z:-0.20 [[ 0.94601017 -0.27508847 -0.17143829 2.3856115 ] [ 0.27193118 0.96139498 -0.0421085 -0.10270407] [ 0.17640347 -0.00678435 0.98429456 -0.19741147] [ 0. 0. 0. 1. ]] SLAMing on 127.80241403699999 meters Centerline goodness : 0.772107 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.10, Z:-0.20 [[ 0.94692113 -0.27159945 -0.17197127 2.38406084] [ 0.26902864 0.96236078 -0.03853987 -0.10458321] [ 0.17596581 -0.00977098 0.98434778 -0.19694592] [ 0. 0. 0. 1. ]] SLAMing on 127.83241403699999 meters Centerline goodness : 0.775637 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.11, Z:-0.20 [[ 0.947755 -0.26832103 -0.17252328 2.38230299] [ 0.26628328 0.96324854 -0.03529105 -0.1062219 ] [ 0.17565213 -0.0124928 0.98437303 -0.19604377] [ 0. 0. 0. 1. ]] SLAMing on 127.862414037 meters Centerline goodness : 0.775975 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.11, Z:-0.20 [[ 0.94781034 -0.26796506 -0.17277234 2.38264622] [ 0.26590966 0.96334866 -0.03537523 -0.10567762] [ 0.17591933 -0.01241282 0.98432632 -0.19563589] [ 0. 0. 0. 1. ]] SLAMing on 127.892414037 meters Centerline goodness : 0.773228 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.11, Z:-0.20 [[ 0.94798368 -0.26702163 -0.17328128 2.38392321] [ 0.26498686 0.96360896 -0.03520987 -0.10563981] [ 0.17637719 -0.01253888 0.98424279 -0.19522549] [ 0. 0. 0. 1. ]] SLAMing on 127.922414037 meters Centerline goodness : 0.773879 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.11, Z:-0.20 [[ 0.94803617 -0.26658345 -0.17366829 2.38504605] [ 0.26455776 0.96372915 -0.03514699 -0.10556278] [ 0.17673879 -0.01262468 0.98417682 -0.19527123] [ 0. 0. 0. 1. ]] SLAMing on 127.95241403699998 meters Centerline goodness : 0.775104 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.11, Z:-0.20 [[ 0.94911501 -0.26202038 -0.17471694 2.38554408] [ 0.26069134 0.96492654 -0.03093207 -0.10728872] [ 0.17669385 -0.0161891 0.98413271 -0.1956307 ] [ 0. 0. 0. 1. ]] SLAMing on 127.98241403699998 meters Centerline goodness : 0.774357 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.11, Z:-0.20 [[ 0.94998241 -0.25844843 -0.17532208 2.38425143] [ 0.25771009 0.96583459 -0.02736894 -0.10886015] [ 0.17640558 -0.01918226 0.98413064 -0.19513322] [ 0. 0. 0. 1. ]] SLAMing on 128.01241403699999 meters Centerline goodness : 0.776321 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.11, Z:-0.20 [[ 0.95003844 -0.25820017 -0.17538422 2.38444296] [ 0.25746612 0.96590079 -0.02732879 -0.10868899] [ 0.17646006 -0.01919209 0.98412068 -0.19503265] [ 0. 0. 0. 1. ]] SLAMing on 128.042414037 meters Centerline goodness : 0.775631 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.11, Z:-0.20 [[ 0.9501062 -0.25777576 -0.17564131 2.38533824] [ 0.25711741 0.96600582 -0.02689597 -0.11019149] [ 0.17660366 -0.01960641 0.98408675 -0.19511032] [ 0. 0. 0. 1. ]] SLAMing on 128.072414037 meters Centerline goodness : 0.775046 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.12, Z:-0.19 [[ 0.95005755 -0.25802987 -0.17553133 2.38571053] [ 0.25742125 0.96593227 -0.0266299 -0.11540515] [ 0.17642268 -0.01988556 0.98411361 -0.19452328] [ 0. 0. 0. 1. ]] SLAMing on 128.102414037 meters Centerline goodness : 0.776071 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.12, Z:-0.19 [[ 0.95002728 -0.25829545 -0.17530437 2.38478943] [ 0.25771305 0.96585852 -0.02648215 -0.11744884] [ 0.17615944 -0.02001946 0.98415805 -0.19375803] [ 0. 0. 0. 1. ]] SLAMing on 128.132414037 meters Centerline goodness : 0.777775 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.12, Z:-0.19 [[ 0.94996842 -0.25863501 -0.17512262 2.38363538] [ 0.25804833 0.96576805 -0.02651666 -0.11841613] [ 0.17598597 -0.02000011 0.98418948 -0.19287289] [ 0. 0. 0. 1. ]] SLAMing on 128.162414037 meters Centerline goodness : 0.780012 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.12, Z:-0.19 [[ 0.94994324 -0.25868018 -0.17519245 2.38314634] [ 0.25809058 0.96575597 -0.02654528 -0.11851025] [ 0.1760599 -0.01999901 0.98417628 -0.19214172] [ 0. 0. 0. 1. ]] SLAMing on 128.192414037 meters Centerline goodness : 0.780644 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.12, Z:-0.19 [[ 0.94993764 -0.2585802 -0.17537036 2.3834075 ] [ 0.2580093 0.96578025 -0.02645201 -0.11859086] [ 0.1762092 -0.02011942 0.98414711 -0.19198702] [ 0. 0. 0. 1. ]] SLAMing on 128.222414037 meters Centerline goodness : 0.778414 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.12, Z:-0.19 [[ 0.95000037 -0.25815169 -0.17566163 2.38476344] [ 0.257667 0.96588484 -0.02596505 -0.11992778] [ 0.17637183 -0.0205954 0.98410813 -0.19251732] [ 0. 0. 0. 1. ]] SLAMing on 128.252414037 meters Centerline goodness : 0.773330 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.12, Z:-0.19 [[ 0.94935851 -0.26048006 -0.17569452 2.38992662] [ 0.25965087 0.96529349 -0.02810528 -0.12363656] [ 0.17691764 -0.01893725 0.98404346 -0.19445722] [ 0. 0. 0. 1. ]] SLAMing on 128.282414037 meters Centerline goodness : 0.773259 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.13, Z:-0.20 [[ 0.94942076 -0.26017952 -0.17580342 2.39129128] [ 0.25949876 0.96535853 -0.02726347 -0.12749631] [ 0.17680673 -0.01973627 0.98404769 -0.19509443] [ 0. 0. 0. 1. ]] SLAMing on 128.312414037 meters Centerline goodness : 0.772084 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.13, Z:-0.19 [[ 0.94941281 -0.26025481 -0.17573488 2.39147913] [ 0.25963484 0.96533147 -0.02692413 -0.13017125] [ 0.17664954 -0.02006478 0.98406928 -0.19496148] [ 0. 0. 0. 1. ]] SLAMing on 128.342414037 meters Centerline goodness : 0.773741 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.13, Z:-0.19 [[ 0.94942907 -0.26022126 -0.1756967 2.39109286] [ 0.25964377 0.96533585 -0.0266799 -0.1313483 ] [ 0.176549 -0.02028788 0.98408275 -0.1945165 ] [ 0. 0. 0. 1. ]] SLAMing on 128.372414037 meters Centerline goodness : 0.779009 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.13, Z:-0.19 [[ 0.95028744 -0.25684404 -0.17602533 2.38728639] [ 0.25685275 0.96617365 -0.02313304 -0.13302004] [ 0.17601262 -0.02322955 0.98411379 -0.19216178] [ 0. 0. 0. 1. ]] SLAMing on 128.402414037 meters Centerline goodness : 0.778383 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.13, Z:-0.19 [[ 0.95033764 -0.25656847 -0.17615616 2.38720821] [ 0.25662003 0.96624139 -0.02288538 -0.13394911] [ 0.17608104 -0.02345636 0.98409617 -0.19158835] [ 0. 0. 0. 1. ]] SLAMing on 128.432414037 meters Centerline goodness : 0.778628 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.14, Z:-0.19 [[ 0.95043859 -0.25605171 -0.1763633 2.38830617] [ 0.25620286 0.96636557 -0.0223089 -0.13650929] [ 0.17614365 -0.02398154 0.9840723 -0.19169976] [ 0. 0. 0. 1. ]] SLAMing on 128.462414037 meters Centerline goodness : 0.779137 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.14, Z:-0.19 [[ 0.94984795 -0.25830486 -0.17625965 2.39214862] [ 0.2581026 0.96580737 -0.02447815 -0.13942796] [ 0.17655569 -0.02224255 0.98403931 -0.19289087] [ 0. 0. 0. 1. ]] SLAMing on 128.492414037 meters Centerline goodness : 0.779288 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.14, Z:-0.19 [[ 0.94987707 -0.25818194 -0.17628283 2.39234007] [ 0.25803447 0.96583348 -0.02416421 -0.14084253] [ 0.17649862 -0.02253402 0.98404291 -0.19279889] [ 0. 0. 0. 1. ]] SLAMing on 128.52241403699998 meters Centerline goodness : 0.778382 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.14, Z:-0.19 [[ 0.94991311 -0.25800695 -0.17634481 2.3924259 ] [ 0.25790087 0.96587511 -0.02392514 -0.14186173] [ 0.17649991 -0.02275267 0.98403765 -0.19252946] [ 0. 0. 0. 1. ]] SLAMing on 128.55241403699998 meters Centerline goodness : 0.779167 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.14, Z:-0.19 [[ 0.94992294 -0.25789992 -0.17644839 2.39278478] [ 0.25784094 0.96589749 -0.02366618 -0.14318234] [ 0.17653456 -0.02301457 0.98402534 -0.19243569] [ 0. 0. 0. 1. ]] SLAMing on 128.58241403699998 meters Centerline goodness : 0.778770 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.15, Z:-0.19 [[ 0.94914625 -0.26084696 -0.17629594 2.39584127] [ 0.26039769 0.96514871 -0.02609597 -0.14592176] [ 0.17695886 -0.02113817 0.98399123 -0.19319784] [ 0. 0. 0. 1. ]] SLAMing on 128.61241403699998 meters Centerline goodness : 0.779925 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.15, Z:-0.19 [[ 0.94905968 -0.26124286 -0.17617575 2.39562889] [ 0.26084705 0.96503476 -0.02582096 -0.14884376] [ 0.17676127 -0.02144929 0.98402001 -0.19286268] [ 0. 0. 0. 1. ]] SLAMing on 128.64241403699998 meters Centerline goodness : 0.779984 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.15, Z:-0.19 [[ 0.94893655 -0.26133195 -0.17670607 2.39710688] [ 0.26114961 0.96498205 -0.024709 -0.15108189] [ 0.17697543 -0.02269944 0.98395347 -0.19281609] [ 0. 0. 0. 1. ]] SLAMing on 128.67241403699998 meters Centerline goodness : 0.782105 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.16, Z:-0.19 [[ 0.94895062 -0.26119084 -0.17683909 2.39725025] [ 0.26134458 0.96497523 -0.02284331 -0.15538658] [ 0.1766118 -0.02453877 0.98397465 -0.19187925] [ 0. 0. 0. 1. ]] SLAMing on 128.70241403699998 meters Centerline goodness : 0.783763 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.16, Z:-0.19 [[ 0.94889603 -0.26124221 -0.17705599 2.39802476] [ 0.26156318 0.96493679 -0.0219476 -0.15742976] [ 0.17658148 -0.02548534 0.98395603 -0.19177335] [ 0. 0. 0. 1. ]] SLAMing on 128.73241403699998 meters Centerline goodness : 0.782643 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.16, Z:-0.19 [[ 0.94890038 -0.26115489 -0.17716147 2.39853303] [ 0.2616572 0.9649336 -0.02094423 -0.1598326 ] [ 0.17641874 -0.02648159 0.98395892 -0.191559 ] [ 0. 0. 0. 1. ]] SLAMing on 128.76241403699999 meters Centerline goodness : 0.782643 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.16, Z:-0.19 [[ 0.94890038 -0.26115489 -0.17716147 2.39853303] [ 0.2616572 0.9649336 -0.02094423 -0.1598326 ] [ 0.17641874 -0.02648159 0.98395892 -0.191559 ] [ 0. 0. 0. 1. ]] SLAMing on 128.792414037 meters Centerline goodness : 0.782760 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.16, Z:-0.19 [[ 0.94885002 -0.26099129 -0.17767157 2.39950641] [ 0.2617304 0.96494019 -0.01968852 -0.16169525] [ 0.17658097 -0.02782059 0.98389287 -0.19119364] [ 0. 0. 0. 1. ]] SLAMing on 128.822414037 meters Centerline goodness : 0.783749 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.16, Z:-0.19 [[ 0.94827589 -0.26332448 -0.17729369 2.40003087] [ 0.26388061 0.96432956 -0.02086907 -0.16409852] [ 0.17646489 -0.02699473 0.9839367 -0.19067519] [ 0. 0. 0. 1. ]] SLAMing on 128.852414037 meters Centerline goodness : 0.785197 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.17, Z:-0.19 [[ 0.94796398 -0.26415664 -0.17772327 2.40172731] [ 0.26477394 0.96408886 -0.0206744 -0.16502171] [ 0.1768023 -0.0274579 0.98386331 -0.19096044] [ 0. 0. 0. 1. ]] SLAMing on 128.882414037 meters Centerline goodness : 0.784783 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.17, Z:-0.19 [[ 0.94780201 -0.26463033 -0.17788237 2.40301875] [ 0.26532185 0.96394551 -0.02033161 -0.1664794 ] [ 0.17684927 -0.02792574 0.9838417 -0.19137778] [ 0. 0. 0. 1. ]] SLAMing on 128.912414037 meters Centerline goodness : 0.783134 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.17, Z:-0.19 [[ 0.94778846 -0.26458334 -0.17802442 2.40482665] [ 0.26539836 0.96393831 -0.01966312 -0.16837008] [ 0.1768071 -0.02861091 0.98382959 -0.19248133] [ 0. 0. 0. 1. ]] SLAMing on 128.942414037 meters Centerline goodness : 0.786073 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.17, Z:-0.19 [[ 0.94754179 -0.2664529 -0.17654291 2.40511265] [ 0.26693519 0.96347552 -0.02145994 -0.17198373] [ 0.17581284 -0.02679133 0.98405898 -0.19370532] [ 0. 0. 0. 1. ]] SLAMing on 128.972414037 meters Centerline goodness : 0.783882 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.17, Z:-0.19 [[ 0.94772022 -0.2656546 -0.17678808 2.40607105] [ 0.26635727 0.9636629 -0.02018978 -0.17395934] [ 0.17572762 -0.02795453 0.98404184 -0.19406158] [ 0. 0. 0. 1. ]] SLAMing on 129.002414037 meters Centerline goodness : 0.783032 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.18, Z:-0.19 [[ 0.9478461 -0.26510167 -0.17694315 2.40695911] [ 0.26596192 0.9637907 -0.01928048 -0.17504447] [ 0.17564745 -0.02878521 0.98403221 -0.1946132 ] [ 0. 0. 0. 1. ]] SLAMing on 129.032414037 meters Centerline goodness : 0.785239 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.18, Z:-0.20 [[ 0.94788874 -0.26502061 -0.17683612 2.40770767] [ 0.26589656 0.963811 -0.01916704 -0.17580553] [ 0.17551626 -0.0288519 0.98405366 -0.19535974] [ 0. 0. 0. 1. ]] SLAMing on 129.062414037 meters Centerline goodness : 0.785839 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.18, Z:-0.20 [[ 0.94778415 -0.26507417 -0.17731579 2.41011657] [ 0.26600836 0.9637849 -0.01892659 -0.17593851] [ 0.17591123 -0.02922916 0.983972 -0.1966152 ] [ 0. 0. 0. 1. ]] SLAMing on 129.092414037 meters Centerline goodness : 0.784022 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.18, Z:-0.20 [[ 0.94799475 -0.26460407 -0.17689158 2.41087261] [ 0.2655749 0.96391069 -0.01860504 -0.17821393] [ 0.17543066 -0.02934048 0.98405448 -0.19770194] [ 0. 0. 0. 1. ]] SLAMing on 129.122414037 meters Centerline goodness : 0.783021 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.18, Z:-0.20 [[ 0.94844997 -0.26321361 -0.1765255 2.41089004] [ 0.2643123 0.96427484 -0.01769306 -0.18021074] [ 0.17487615 -0.02987688 0.98413703 -0.19851515] [ 0. 0. 0. 1. ]] SLAMing on 129.152414037 meters Centerline goodness : 0.784973 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.18, Z:-0.20 [[ 0.94886827 -0.26175458 -0.176447 2.41144242] [ 0.26300275 0.96465053 -0.01670034 -0.1822491 ] [ 0.17458108 -0.03055962 0.98416846 -0.19923583] [ 0. 0. 0. 1. ]] SLAMing on 129.182414037 meters Centerline goodness : 0.784276 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.18, Z:-0.20 [[ 0.94926542 -0.26041202 -0.17629732 2.41212675] [ 0.26180444 0.96499269 -0.01573357 -0.18431347] [ 0.17422284 -0.03122009 0.98421121 -0.20016839] [ 0. 0. 0. 1. ]] SLAMing on 129.212414037 meters Centerline goodness : 0.785034 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.19, Z:-0.20 [[ 0.94965913 -0.25935371 -0.17573616 2.41120825] [ 0.26086037 0.96526178 -0.0148848 -0.18739539] [ 0.17349183 -0.03170711 0.98432477 -0.19999128] [ 0. 0. 0. 1. ]] SLAMing on 129.242414037 meters Centerline goodness : 0.783132 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.19, Z:-0.20 [[ 0.94974688 -0.2586771 -0.17625841 2.41179423] [ 0.26035207 0.96541274 -0.01396589 -0.18764774] [ 0.17377477 -0.03262518 0.98424485 -0.19970978] [ 0. 0. 0. 1. ]] SLAMing on 129.27241403699998 meters Centerline goodness : 0.765617 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.19, Z:-0.20 [[ 0.94993653 -0.25780614 -0.1765123 2.41154301] [ 0.25967906 0.96560998 -0.01281245 -0.18835257] [ 0.17374517 -0.03366553 0.98421504 -0.19913325] [ 0. 0. 0. 1. ]] SLAMing on 129.30241403699998 meters Centerline goodness : 0.790113 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.19, Z:-0.20 [[ 0.95010109 -0.25697297 -0.17684118 2.41143561] [ 0.25903812 0.96579609 -0.01171159 -0.18905485] [ 0.17380208 -0.03468142 0.98416972 -0.19849922] [ 0. 0. 0. 1. ]] SLAMing on 129.33241403699998 meters Centerline goodness : 0.786984 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.19, Z:-0.20 [[ 0.95048371 -0.2559026 -0.17633654 2.41204645] [ 0.2581002 0.96605827 -0.01075665 -0.19263713] [ 0.17310403 -0.03528847 0.98427116 -0.19954119] [ 0. 0. 0. 1. ]] SLAMing on 129.36241403699998 meters Centerline goodness : 0.780999 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.20, Z:-0.20 [[ 0.95053994 -0.25585252 -0.17610594 2.41337601] [ 0.25808162 0.96606579 -0.01052481 -0.19503368] [ 0.17282272 -0.03544545 0.98431495 -0.20065853] [ 0. 0. 0. 1. ]] SLAMing on 129.39241403699998 meters Centerline goodness : 0.781493 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.20, Z:-0.20 [[ 0.94995274 -0.25875428 -0.17503145 2.4149722 ] [ 0.26071355 0.9653402 -0.01211413 -0.20007255] [ 0.17209948 -0.03412522 0.98448831 -0.20171004] [ 0. 0. 0. 1. ]] SLAMing on 129.42241403699998 meters Centerline goodness : 0.781573 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.20, Z:-0.20 [[ 0.94943644 -0.26000839 -0.17597183 2.41785427] [ 0.26218039 0.96495378 -0.01120898 -0.20196603] [ 0.17271911 -0.03549415 0.98433138 -0.20172265] [ 0. 0. 0. 1. ]] SLAMing on 129.45241403699998 meters Centerline goodness : 0.780714 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.20, Z:-0.20 [[ 0.94858502 -0.26331833 -0.17564147 2.42022482] [ 0.26508119 0.96412762 -0.01378048 -0.20284655] [ 0.17296944 -0.03348729 0.98435775 -0.20268493] [ 0. 0. 0. 1. ]] SLAMing on 129.48241403699998 meters Centerline goodness : 0.783250 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.20, Z:-0.20 [[ 0.94799552 -0.26462533 -0.17685567 2.42402236] [ 0.26661313 0.9637177 -0.0128696 -0.20458331] [ 0.17384456 -0.03495172 0.98415265 -0.20302375] [ 0. 0. 0. 1. ]] SLAMing on 129.51241403699999 meters Centerline goodness : 0.784005 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.21, Z:-0.20 [[ 0.94684302 -0.26778101 -0.17827402 2.42719873] [ 0.27012891 0.96275628 -0.01143281 -0.20823048] [ 0.17469592 -0.03733189 0.98391446 -0.20128179] [ 0. 0. 0. 1. ]] SLAMing on 129.542414037 meters Centerline goodness : 0.783336 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.21, Z:-0.20 [[ 0.94652677 -0.26809956 -0.17947062 2.42914259] [ 0.27086314 0.96257203 -0.00939384 -0.21128454] [ 0.17527188 -0.03972046 0.98371848 -0.1998845 ] [ 0. 0. 0. 1. ]] SLAMing on 129.572414037 meters Centerline goodness : 0.783441 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.21, Z:-0.20 [[ 0.94621363 -0.26865394 -0.18029096 2.4317564 ] [ 0.27170702 0.96234663 -0.00801666 -0.21421898] [ 0.17565611 -0.04140084 0.98358065 -0.19980602] [ 0. 0. 0. 1. ]] SLAMing on 129.602414037 meters Centerline goodness : 0.784155 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.22, Z:-0.20 [[ 0.94572241 -0.26977717 -0.18118887 2.43526137] [ 0.27297747 0.96199104 -0.00751874 -0.21578867] [ 0.17633046 -0.04234984 0.98341957 -0.20052833] [ 0. 0. 0. 1. ]] SLAMing on 129.632414037 meters Centerline goodness : 0.786791 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.21, Z:-0.20 [[ 0.94413614 -0.27518801 -0.1813243 2.4405347 ] [ 0.27777433 0.96057769 -0.01148594 -0.21499612] [ 0.17733687 -0.03952294 0.98335628 -0.20281929] [ 0. 0. 0. 1. ]] SLAMing on 129.662414037 meters Centerline goodness : 0.786257 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.22, Z:-0.20 [[ 0.9438588 -0.27575925 -0.18189943 2.44313476] [ 0.2784204 0.96039333 -0.01125784 -0.21616504] [ 0.17779945 -0.0400187 0.98325269 -0.20358536] [ 0. 0. 0. 1. ]] SLAMing on 129.692414037 meters Centerline goodness : 0.786053 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.22, Z:-0.20 [[ 0.9437866 -0.27568768 -0.18238188 2.44437125] [ 0.27852979 0.96037168 -0.01036266 -0.21767614] [ 0.17801125 -0.04101864 0.98317316 -0.20345553] [ 0. 0. 0. 1. ]] SLAMing on 129.722414037 meters Centerline goodness : 0.787646 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.22, Z:-0.20 [[ 0.94438983 -0.27254169 -0.18398063 2.44445445] [ 0.2762788 0.96106171 -0.00551416 -0.22091453] [ 0.17831958 -0.04562243 0.9829144 -0.20122683] [ 0. 0. 0. 1. ]] SLAMing on 129.752414037 meters Centerline goodness : 0.786414 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.22, Z:-0.20 [[ 9.44850659e-01 -2.69808600e-01 -1.85635535e-01 2.44553002e+00] [ 2.74273769e-01 9.61650167e-01 -1.69005429e-03 -2.21562180e-01] [ 1.78972434e-01 -4.93181089e-02 9.82617215e-01 -2.00258218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.782414037 meters Centerline goodness : 0.788375 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.22, Z:-0.20 [[ 9.45240278e-01 -2.67412321e-01 -1.87113515e-01 2.44622087e+00] [ 2.72537150e-01 9.62143702e-01 1.73162771e-03 -2.21773081e-01] [ 1.79567032e-01 -5.26321885e-02 9.82336772e-01 -1.99261754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.812414037 meters Centerline goodness : 0.787454 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.22, Z:-0.20 [[ 0.94564003 -0.26454022 -0.18916502 2.44753005] [ 0.27049485 0.96270331 0.00590493 -0.22210983] [ 0.1805477 -0.0567521 0.98192756 -0.1978822 ] [ 0. 0. 0. 1. ]] SLAMing on 129.842414037 meters Centerline goodness : 0.786653 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.22, Z:-0.20 [[ 0.94599861 -0.26320327 -0.18923706 2.44629761] [ 0.26930653 0.96303035 0.00682144 -0.22198113] [ 0.1804456 -0.05741585 0.98190774 -0.19707212] [ 0. 0. 0. 1. ]] SLAMing on 129.872414037 meters Centerline goodness : 0.786662 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.22, Z:-0.20 [[ 0.94603091 -0.26284274 -0.18957638 2.4475403 ] [ 0.26903195 0.96310424 0.00721389 -0.22234008] [ 0.1806857 -0.05782667 0.98183948 -0.19758825] [ 0. 0. 0. 1. ]] SLAMing on 129.902414037 meters Centerline goodness : 0.787305 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.22, Z:-0.20 [[ 0.94592104 -0.26308868 -0.1897834 2.44893606] [ 0.2692435 0.96304716 0.0069357 -0.22203925] [ 0.18094566 -0.05765857 0.98180148 -0.19843552] [ 0. 0. 0. 1. ]] SLAMing on 129.932414037 meters Centerline goodness : 0.786881 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.22, Z:-0.20 [[ 0.94572173 -0.26336786 -0.19038852 2.45055519] [ 0.2695248 0.96296997 0.00672374 -0.22051381] [ 0.18156761 -0.05767321 0.9816858 -0.19899692] [ 0. 0. 0. 1. ]] SLAMing on 129.962414037 meters Centerline goodness : 0.787602 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.22, Z:-0.20 [[ 0.94555405 -0.26409317 -0.19021655 2.45068037] [ 0.26996898 0.96285504 0.0051879 -0.2174303 ] [ 0.18178088 -0.05625801 0.98172845 -0.19987842] [ 0. 0. 0. 1. ]] SLAMing on 129.992414037 meters Centerline goodness : 0.784593 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.22, Z:-0.20 [[ 0.94576489 -0.26340348 -0.19012462 2.4515752 ] [ 0.26922181 0.96306535 0.00497449 -0.21719624] [ 0.18179214 -0.05589039 0.98174736 -0.20118619] [ 0. 0. 0. 1. ]] SLAMing on 130.02241403699998 meters Centerline goodness : 0.786753 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.22, Z:-0.20 [[ 0.94630246 -0.262238 -0.18905792 2.45101681] [ 0.26781852 0.96346051 0.00413295 -0.21707155] [ 0.18106602 -0.05454423 0.98195724 -0.20316452] [ 0. 0. 0. 1. ]] SLAMing on 130.05241403699998 meters Centerline goodness : 0.785518 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.22, Z:-0.20 [[ 0.94671629 -0.25990011 -0.19021092 2.45134932] [ 0.26605411 0.9639319 0.00710661 -0.21681513] [ 0.18150337 -0.05733434 0.98171753 -0.20250077] [ 0. 0. 0. 1. ]] SLAMing on 130.08241403699998 meters Centerline goodness : 0.787747 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.22, Z:-0.20 [[ 0.94708149 -0.2586198 -0.190138 2.44970997] [ 0.26483696 0.96426327 0.00759769 -0.21570915] [ 0.18137817 -0.05755121 0.98172798 -0.20181773] [ 0. 0. 0. 1. ]] SLAMing on 130.11241403699998 meters Centerline goodness : 0.785600 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.21, Z:-0.20 [[ 0.9475323 -0.25696141 -0.19014038 2.44738777] [ 0.26333183 0.96466708 0.00858947 -0.21472787] [ 0.181215 -0.05820882 0.98171934 -0.20055775] [ 0. 0. 0. 1. ]] SLAMing on 130.14241403699998 meters Centerline goodness : 0.785294 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.21, Z:-0.20 [[ 0.94784825 -0.25585711 -0.19005483 2.44613899] [ 0.26225042 0.96495928 0.0088496 -0.21350165] [ 0.18113093 -0.05823003 0.98173359 -0.20022157] [ 0. 0. 0. 1. ]] SLAMing on 130.17241403699998 meters Centerline goodness : 0.786342 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.21, Z:-0.20 [[ 0.94859074 -0.25239084 -0.19098292 2.44685844] [ 0.2593294 0.96571647 0.01183075 -0.21388746] [ 0.18144938 -0.06075002 0.98152206 -0.2006054 ] [ 0. 0. 0. 1. ]] SLAMing on 130.20241403699998 meters Centerline goodness : 0.784943 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.21, Z:-0.20 [[ 0.94829735 -0.25464397 -0.18944283 2.44569546] [ 0.2608182 0.96535497 0.00797804 -0.2127398 ] [ 0.18084802 -0.05697569 0.98185934 -0.20157971] [ 0. 0. 0. 1. ]] SLAMing on 130.23241403699998 meters Centerline goodness : 0.786569 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.21, Z:-0.20 [[ 0.94798756 -0.25549518 -0.18984678 2.44790403] [ 0.26160451 0.96514668 0.00741383 -0.21176891] [ 0.18133579 -0.05669299 0.98178574 -0.20274851] [ 0. 0. 0. 1. ]] SLAMing on 130.26241403699999 meters Centerline goodness : 0.785018 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.21, Z:-0.20 [[ 0.94757675 -0.25637049 -0.1907157 2.4503795 ] [ 0.26253547 0.96489434 0.00735165 -0.21110332] [ 0.18213575 -0.05703589 0.98161778 -0.20316207] [ 0. 0. 0. 1. ]] SLAMing on 130.292414037 meters Centerline goodness : 0.784509 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.21, Z:-0.20 [[ 0.94703251 -0.25745555 -0.19195326 2.45253331] [ 0.26380609 0.96454384 0.0078445 -0.21089512] [ 0.18312772 -0.05806744 0.98137272 -0.20227863] [ 0. 0. 0. 1. ]] SLAMing on 130.322414037 meters Centerline goodness : 0.788680 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.21, Z:-0.20 [[ 0.94692139 -0.25772821 -0.19213548 2.452801 ] [ 0.2641841 0.96443636 0.0083229 -0.21142706] [ 0.1831574 -0.05864028 0.98133312 -0.20199958] [ 0. 0. 0. 1. ]] SLAMing on 130.352414037 meters Centerline goodness : 0.784407 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.21, Z:-0.20 [[ 0.94636358 -0.25914927 -0.19297053 2.4542378 ] [ 0.26576842 0.96399691 0.00878091 -0.21178738] [ 0.18374743 -0.05959541 0.98116526 -0.20107828] [ 0. 0. 0. 1. ]] SLAMing on 130.382414037 meters Centerline goodness : 0.783519 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.21, Z:-0.20 [[ 0.9460081 -0.25986075 -0.19375518 2.45663667] [ 0.26651451 0.96379222 0.00863516 -0.21084221] [ 0.18449579 -0.0598075 0.98101191 -0.20167348] [ 0. 0. 0. 1. ]] SLAMing on 130.412414037 meters Centerline goodness : 0.782123 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.21, Z:-0.20 [[ 0.94579495 -0.260413 -0.19405409 2.45785693] [ 0.26705279 0.96364523 0.00840711 -0.2101365 ] [ 0.18480998 -0.05977409 0.98095481 -0.20214259] [ 0. 0. 0. 1. ]] SLAMing on 130.442414037 meters Centerline goodness : 0.782690 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.21, Z:-0.20 [[ 0.94577767 -0.26033827 -0.19423846 2.45876368] [ 0.26702021 0.96365276 0.0085774 -0.20999917] [ 0.1849454 -0.05997791 0.98091684 -0.20268388] [ 0. 0. 0. 1. ]] SLAMing on 130.472414037 meters Centerline goodness : 0.781024 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.21, Z:-0.20 [[ 0.94580918 -0.2604472 -0.19393879 2.45868196] [ 0.26709061 0.96363428 0.00846092 -0.21085052] [ 0.18468244 -0.05980165 0.98097715 -0.20282501] [ 0. 0. 0. 1. ]] SLAMing on 130.502414037 meters Centerline goodness : 0.782341 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.21, Z:-0.20 [[ 0.94571482 -0.26076578 -0.19397085 2.45999801] [ 0.26732261 0.96357422 0.00795876 -0.21062132] [ 0.18482994 -0.05937951 0.98097501 -0.20384115] [ 0. 0. 0. 1. ]] SLAMing on 130.532414037 meters Centerline goodness : 0.781024 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.21, Z:-0.20 [[ 0.94572285 -0.26073029 -0.19397941 2.46124211] [ 0.26727365 0.96358838 0.00788806 -0.21079487] [ 0.18485965 -0.0593055 0.98097389 -0.20494738] [ 0. 0. 0. 1. ]] SLAMing on 130.562414037 meters Centerline goodness : 0.780829 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.21, Z:-0.21 [[ 0.9456711 -0.26070271 -0.19426856 2.46263801] [ 0.26733119 0.96356941 0.00824747 -0.21132883] [ 0.18504111 -0.05973344 0.98091371 -0.20550123] [ 0. 0. 0. 1. ]] SLAMing on 130.592414037 meters Centerline goodness : 0.780512 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.21, Z:-0.20 [[ 0.94550147 -0.26092178 -0.19479936 2.46327341] [ 0.26785645 0.96341029 0.00967116 -0.21391523] [ 0.18514829 -0.06132237 0.98079543 -0.20426205] [ 0. 0. 0. 1. ]] SLAMing on 130.622414037 meters Centerline goodness : 0.781095 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.21, Z:-0.20 [[ 0.9451967 -0.26127548 -0.19580176 2.46468796] [ 0.26844346 0.96323791 0.01052811 -0.21389634] [ 0.18585294 -0.06251283 0.98058698 -0.20343144] [ 0. 0. 0. 1. ]] SLAMing on 130.652414037 meters Centerline goodness : 0.781095 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.21, Z:-0.20 [[ 0.9451967 -0.26127548 -0.19580176 2.46468796] [ 0.26844346 0.96323791 0.01052811 -0.21389634] [ 0.18585294 -0.06251283 0.98058698 -0.20343144] [ 0. 0. 0. 1. ]] SLAMing on 130.682414037 meters Centerline goodness : 0.780468 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.21, Z:-0.20 [[ 0.94501613 -0.26203701 -0.19565561 2.46534143] [ 0.26907177 0.96307029 0.00979838 -0.21363162] [ 0.18586257 -0.06190503 0.98062372 -0.20401883] [ 0. 0. 0. 1. ]] SLAMing on 130.712414037 meters Centerline goodness : 0.782849 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.21, Z:-0.21 [[ 0.94527821 -0.26139801 -0.1952439 2.46571597] [ 0.26835254 0.96327315 0.00957837 -0.2139191 ] [ 0.18556944 -0.06144842 0.98070795 -0.20531591] [ 0. 0. 0. 1. ]] SLAMing on 130.742414037 meters Centerline goodness : 0.784278 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.21, Z:-0.21 [[ 0.94573052 -0.26019914 -0.19465402 2.46502634] [ 0.26708349 0.96362631 0.00952603 -0.21434033] [ 0.18509507 -0.06099793 0.98082571 -0.20618383] [ 0. 0. 0. 1. ]] SLAMing on 130.77241403699998 meters Centerline goodness : 0.782136 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.21, Z:-0.21 [[ 0.94624368 -0.25881535 -0.19400388 2.46293726] [ 0.26565889 0.96401863 0.00966593 -0.21462721] [ 0.18452166 -0.06068518 0.98095314 -0.20588193] [ 0. 0. 0. 1. ]] SLAMing on 130.80241403699998 meters Centerline goodness : 0.784580 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.21, Z:-0.21 [[ 0.94685325 -0.25675674 -0.19376507 2.46166853] [ 0.26370257 0.96454694 0.01049575 -0.21467892] [ 0.18420065 -0.06103428 0.98099181 -0.20593896] [ 0. 0. 0. 1. ]] SLAMing on 130.83241403699998 meters Centerline goodness : 0.783360 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.21, Z:-0.21 [[ 0.94781989 -0.25271633 -0.19434997 2.46047739] [ 0.26013955 0.96548028 0.01323801 -0.21322164] [ 0.1842956 -0.06310536 0.98084292 -0.20577532] [ 0. 0. 0. 1. ]] SLAMing on 130.86241403699998 meters Centerline goodness : 0.782882 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.21, Z:-0.21 [[ 0.9480899 -0.25190275 -0.19408902 2.46079059] [ 0.25924909 0.965723 0.01300003 -0.212451 ] [ 0.18416149 -0.0626426 0.98089778 -0.20698136] [ 0. 0. 0. 1. ]] SLAMing on 130.89241403699998 meters Centerline goodness : 0.781301 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.21, Z:-0.21 [[ 0.94819335 -0.25198988 -0.19346957 2.4608627 ] [ 0.25911519 0.96577156 0.01202589 -0.21236941] [ 0.183817 -0.06153377 0.98103257 -0.20822436] [ 0. 0. 0. 1. ]] SLAMing on 130.92241403699998 meters Centerline goodness : 0.783574 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.21, Z:-0.21 [[ 0.94841052 -0.25186996 -0.19255909 2.46124912] [ 0.25872206 0.96589048 0.01088459 -0.21333077] [ 0.18324949 -0.06014234 0.98122501 -0.20998832] [ 0. 0. 0. 1. ]] SLAMing on 130.95241403699998 meters Centerline goodness : 0.780675 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.21, Z:-0.21 [[ 0.94840131 -0.25330132 -0.19071809 2.46143053] [ 0.25944002 0.96573001 0.00751145 -0.21409759] [ 0.18227952 -0.05660377 0.98161611 -0.21262158] [ 0. 0. 0. 1. ]] SLAMing on 130.98241403699998 meters Centerline goodness : 0.784095 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.21, Z:-0.22 [[ 0.94920059 -0.25827772 -0.17975224 2.46360057] [ 0.26419468 0.96442384 0.00937155 -0.21106011] [ 0.17093688 -0.05638506 0.98366727 -0.21730968] [ 0. 0. 0. 1. ]] SLAMing on 131.01241403699999 meters Centerline goodness : 0.783263 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.21, Z:-0.22 [[ 0.94923009 -0.25812817 -0.17981127 2.46269801] [ 0.26412058 0.96443988 0.00979972 -0.21095254] [ 0.17088758 -0.05679404 0.98365231 -0.21635428] [ 0. 0. 0. 1. ]] SLAMing on 131.042414037 meters Centerline goodness : 0.784023 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.21, Z:-0.22 [[ 0.94919512 -0.25780488 -0.1804585 2.46356234] [ 0.2639647 0.9644744 0.01057197 -0.21098472] [ 0.17132209 -0.05766954 0.98352578 -0.21600071] [ 0. 0. 0. 1. ]] SLAMing on 131.072414037 meters Centerline goodness : 0.783462 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.21, Z:-0.22 [[ 0.94908564 -0.25797245 -0.18079451 2.46553574] [ 0.2641857 0.96441195 0.01074778 -0.21175831] [ 0.17158775 -0.05796389 0.98346217 -0.21692811] [ 0. 0. 0. 1. ]] SLAMing on 131.102414037 meters Centerline goodness : 0.785029 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.21, Z:-0.22 [[ 0.94912159 -0.25768441 -0.18101646 2.46667704] [ 0.26398173 0.96446289 0.01117971 -0.21252942] [ 0.17170282 -0.05839594 0.98341652 -0.2174571 ] [ 0. 0. 0. 1. ]] SLAMing on 131.132414037 meters Centerline goodness : 0.784748 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.21, Z:-0.22 [[ 0.9491781 -0.25722698 -0.18137036 2.46727397] [ 0.26369762 0.96452961 0.0120911 -0.21376141] [ 0.17182693 -0.05930354 0.98334053 -0.21716821] [ 0. 0. 0. 1. ]] SLAMing on 131.162414037 meters Centerline goodness : 0.783558 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.21, Z:-0.22 [[ 0.94861256 -0.25894137 -0.1818889 2.46822714] [ 0.26546141 0.9640464 0.01203224 -0.21451697] [ 0.1722337 -0.05969842 0.98324547 -0.21608797] [ 0. 0. 0. 1. ]] SLAMing on 131.192414037 meters Centerline goodness : 0.785756 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.22, Z:-0.22 [[ 0.94839656 -0.25912273 -0.18275497 2.47022297] [ 0.26587999 0.96391767 0.01305947 -0.21577871] [ 0.17277674 -0.06097644 0.98307175 -0.21587289] [ 0. 0. 0. 1. ]] SLAMing on 131.222414037 meters Centerline goodness : 0.785665 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.22, Z:-0.22 [[ 0.94824801 -0.25918044 -0.18344264 2.47194016] [ 0.26621808 0.96380528 0.01439844 -0.21812969] [ 0.17307119 -0.06248904 0.98292496 -0.21555625] [ 0. 0. 0. 1. ]] SLAMing on 131.252414037 meters Centerline goodness : 0.788124 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.22, Z:-0.21 [[ 0.94821109 -0.25903617 -0.18383687 2.47253164] [ 0.2664277 0.96371749 0.01627538 -0.22198913] [ 0.17295089 -0.06441173 0.98282202 -0.21432996] [ 0. 0. 0. 1. ]] SLAMing on 131.282414037 meters Centerline goodness : 0.787123 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.22, Z:-0.21 [[ 0.94823299 -0.25855867 -0.18439526 2.47314059] [ 0.26616889 0.96377028 0.01734838 -0.22278459] [ 0.1732291 -0.06553058 0.98269905 -0.21373544] [ 0. 0. 0. 1. ]] SLAMing on 131.312414037 meters Centerline goodness : 0.788095 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.22, Z:-0.21 [[ 0.94814085 -0.25839126 -0.18510235 2.47467825] [ 0.26619424 0.96374791 0.01818238 -0.22338999] [ 0.17369384 -0.06651264 0.98255103 -0.21359334] [ 0. 0. 0. 1. ]] SLAMing on 131.342414037 meters Centerline goodness : 0.790735 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.22, Z:-0.21 [[ 0.94789898 -0.25928544 -0.18509075 2.47609004] [ 0.26697066 0.96354688 0.0174376 -0.22356277] [ 0.1738223 -0.06594288 0.98256671 -0.21447191] [ 0. 0. 0. 1. ]] SLAMing on 131.372414037 meters Centerline goodness : 0.785336 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.23, Z:-0.22 [[ 0.94763337 -0.26101654 -0.18401455 2.47857356] [ 0.26816498 0.96326168 0.01464482 -0.22510947] [ 0.17343163 -0.06322418 0.98281441 -0.2174132 ] [ 0. 0. 0. 1. ]] SLAMing on 131.402414037 meters Centerline goodness : 0.791620 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.23, Z:-0.22 [[ 0.9475558 -0.26127483 -0.18404744 2.47903477] [ 0.26846255 0.96317595 0.014831 -0.22610411] [ 0.1733951 -0.06346305 0.98280547 -0.21739966] [ 0. 0. 0. 1. ]] SLAMing on 131.432414037 meters Centerline goodness : 0.786490 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.23, Z:-0.22 [[ 0.94753042 -0.26094384 -0.18464671 2.48070031] [ 0.26834049 0.96319421 0.0158204 -0.22754149] [ 0.1737224 -0.0645385 0.98267762 -0.21747988] [ 0. 0. 0. 1. ]] SLAMing on 131.462414037 meters Centerline goodness : 0.788621 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.23, Z:-0.22 [[ 0.94753989 -0.26088215 -0.1846853 2.48158808] [ 0.2683991 0.96316662 0.01649225 -0.22950839] [ 0.17358018 -0.06519643 0.98265932 -0.21779539] [ 0. 0. 0. 1. ]] SLAMing on 131.492414037 meters Centerline goodness : 0.784621 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.23, Z:-0.22 [[ 0.94742854 -0.26075694 -0.18543189 2.483374 ] [ 0.26840519 0.9631568 0.01695995 -0.22939978] [ 0.17417756 -0.06583922 0.98251075 -0.21800422] [ 0. 0. 0. 1. ]] SLAMing on 131.52241403699998 meters Centerline goodness : 0.784520 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.23, Z:-0.22 [[ 0.94747533 -0.26040662 -0.18568491 2.48401472] [ 0.26812752 0.963228 0.01730489 -0.22938262] [ 0.17435059 -0.06618319 0.98245695 -0.21819785] [ 0. 0. 0. 1. ]] SLAMing on 131.55241403699998 meters Centerline goodness : 0.787688 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.23, Z:-0.22 [[ 0.94764957 -0.25949271 -0.1860748 2.48419766] [ 0.26744703 0.96339392 0.01855363 -0.23047038] [ 0.1744488 -0.06734749 0.98236039 -0.21759644] [ 0. 0. 0. 1. ]] SLAMing on 131.58241403699998 meters Centerline goodness : 0.787767 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.23, Z:-0.22 [[ 0.94831343 -0.25743196 -0.18555437 2.48279908] [ 0.2656133 0.9638673 0.02023351 -0.23353995] [ 0.17364104 -0.06847342 0.98242566 -0.21722726] [ 0. 0. 0. 1. ]] SLAMing on 131.61241403699998 meters Centerline goodness : 0.783002 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.23, Z:-0.22 [[ 0.94843393 -0.2570296 -0.18549628 2.48358945] [ 0.26521708 0.9639744 0.0203288 -0.23443917] [ 0.17358857 -0.06847731 0.98243466 -0.21797419] [ 0. 0. 0. 1. ]] SLAMing on 131.64241403699998 meters Centerline goodness : 0.787544 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.23, Z:-0.22 [[ 0.94825846 -0.25759724 -0.18560594 2.48504449] [ 0.26572159 0.96384491 0.01987524 -0.23458547] [ 0.17377553 -0.06816637 0.98242323 -0.21883161] [ 0. 0. 0. 1. ]] SLAMing on 131.67241403699998 meters Centerline goodness : 0.785302 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.23, Z:-0.22 [[ 0.94806682 -0.25790134 -0.18616178 2.48749077] [ 0.26609545 0.96373879 0.02001879 -0.23494532] [ 0.17424846 -0.06851595 0.98231514 -0.21976061] [ 0. 0. 0. 1. ]] SLAMing on 131.70241403699998 meters Centerline goodness : 0.782997 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.24, Z:-0.22 [[ 0.94764183 -0.2585217 -0.18746064 2.48948647] [ 0.26712331 0.9634174 0.0217268 -0.23661181] [ 0.17498599 -0.07066433 0.9820318 -0.21837531] [ 0. 0. 0. 1. ]] SLAMing on 131.73241403699998 meters Centerline goodness : 0.784696 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.24, Z:-0.22 [[ 0.94744657 -0.25863489 -0.18828965 2.4907813 ] [ 0.26753426 0.96327281 0.02304142 -0.23844195] [ 0.17541499 -0.07220445 0.98184322 -0.21733046] [ 0. 0. 0. 1. ]] SLAMing on 131.76241403699999 meters Centerline goodness : 0.783913 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.24, Z:-0.22 [[ 0.94688739 -0.25973498 -0.18958379 2.49334911] [ 0.26904231 0.96281239 0.02466835 -0.24132321] [ 0.17612639 -0.07436422 0.98155461 -0.2160311 ] [ 0. 0. 0. 1. ]] SLAMing on 131.792414037 meters Centerline goodness : 0.784633 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.24, Z:-0.22 [[ 0.94654593 -0.26066946 -0.1900059 2.49533807] [ 0.27000649 0.9625451 0.02456468 -0.24224749] [ 0.17648599 -0.07455442 0.98147559 -0.21634792] [ 0. 0. 0. 1. ]] SLAMing on 131.822414037 meters Centerline goodness : 0.781663 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.24, Z:-0.22 [[ 0.94628629 -0.26116045 -0.1906239 2.49841049] [ 0.27059222 0.96237512 0.02477859 -0.2433229 ] [ 0.17698051 -0.07502898 0.98135037 -0.21751463] [ 0. 0. 0. 1. ]] SLAMing on 131.852414037 meters Centerline goodness : 0.783773 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.25, Z:-0.22 [[ 0.94618696 -0.2615265 -0.19061514 2.50039805] [ 0.27096531 0.96226993 0.0247869 -0.24521726] [ 0.17694079 -0.07510313 0.98135186 -0.21872581] [ 0. 0. 0. 1. ]] SLAMing on 131.882414037 meters Centerline goodness : 0.790355 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.25, Z:-0.22 [[ 0.9461722 -0.26122276 -0.19110424 2.5022225 ] [ 0.27104171 0.96219695 0.02670996 -0.24946266] [ 0.17690267 -0.07706944 0.98120627 -0.21845401] [ 0. 0. 0. 1. ]] SLAMing on 131.912414037 meters Centerline goodness : 0.790950 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.25, Z:-0.22 [[ 0.94615083 -0.2608135 -0.19176792 2.50273052] [ 0.27089233 0.96220547 0.02789219 -0.25028927] [ 0.17724548 -0.07833868 0.98104388 -0.2174205 ] [ 0. 0. 0. 1. ]] SLAMing on 131.942414037 meters Centerline goodness : 0.788117 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.25, Z:-0.22 [[ 0.946127 -0.26052276 -0.19227997 2.50283898] [ 0.2707628 0.96222175 0.02857983 -0.24998847] [ 0.17757028 -0.07910241 0.98092385 -0.21661148] [ 0. 0. 0. 1. ]] SLAMing on 131.972414037 meters Centerline goodness : 0.790302 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.25, Z:-0.22 [[ 0.94604384 -0.26047121 -0.19275838 2.50394747] [ 0.27079111 0.96220697 0.02880835 -0.24943935] [ 0.17796971 -0.07945122 0.98082327 -0.21680305] [ 0. 0. 0. 1. ]] SLAMing on 132.002414037 meters Centerline goodness : 0.786994 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.25, Z:-0.22 [[ 0.94572238 -0.26121051 -0.19333454 2.50657846] [ 0.27147945 0.96203108 0.02819754 -0.24860609] [ 0.17862835 -0.07915341 0.98072761 -0.21795677] [ 0. 0. 0. 1. ]] SLAMing on 132.032414037 meters Centerline goodness : 0.787179 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.25, Z:-0.22 [[ 0.94566523 -0.26121526 -0.19360748 2.5080357 ] [ 0.27154056 0.96200838 0.02838318 -0.24913281] [ 0.1788379 -0.07941327 0.98066841 -0.21861671] [ 0. 0. 0. 1. ]] SLAMing on 132.062414037 meters Centerline goodness : 0.790408 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.25, Z:-0.22 [[ 0.94567501 -0.26097008 -0.19389014 2.50906336] [ 0.27139816 0.96203492 0.02884175 -0.25000301] [ 0.17900225 -0.07989635 0.98059919 -0.21880218] [ 0. 0. 0. 1. ]] SLAMing on 132.092414037 meters Centerline goodness : 0.785416 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.25, Z:-0.22 [[ 0.94587279 -0.2601169 -0.19407178 2.50874231] [ 0.27070428 0.96220392 0.02971225 -0.25071823] [ 0.17900797 -0.08064007 0.98053726 -0.21818973] [ 0. 0. 0. 1. ]] SLAMing on 132.122414037 meters Centerline goodness : 0.790100 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.25, Z:-0.22 [[ 0.94637181 -0.25710718 -0.19564328 2.50931725] [ 0.26849198 0.96269506 0.03361952 -0.25148392] [ 0.179701 -0.08434522 0.98009869 -0.21682183] [ 0. 0. 0. 1. ]] SLAMing on 132.152414037 meters Centerline goodness : 0.787848 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.25, Z:-0.22 [[ 0.94645197 -0.25683674 -0.19561073 2.50810739] [ 0.26821377 0.96277266 0.03361813 -0.25076305] [ 0.17969429 -0.08428344 0.98010523 -0.21592353] [ 0. 0. 0. 1. ]] SLAMing on 132.182414037 meters Centerline goodness : 0.786630 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.25, Z:-0.22 [[ 0.94648494 -0.25643378 -0.19597951 2.50903173] [ 0.26783523 0.9628782 0.0336133 -0.24975507] [ 0.18008481 -0.0843047 0.98003172 -0.21640676] [ 0. 0. 0. 1. ]] SLAMing on 132.212414037 meters Centerline goodness : 0.788987 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.25, Z:-0.22 [[ 0.94598081 -0.25800806 -0.19634701 2.51230906] [ 0.26896797 0.96265348 0.03089522 -0.24562728] [ 0.18104292 -0.08203735 0.98004762 -0.21924991] [ 0. 0. 0. 1. ]] SLAMing on 132.242414037 meters Centerline goodness : 0.786957 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.24, Z:-0.22 [[ 0.94590962 -0.25824344 -0.19638055 2.51388216] [ 0.26906843 0.96264974 0.03012741 -0.24463496] [ 0.18126548 -0.08133761 0.9800648 -0.22082678] [ 0. 0. 0. 1. ]] SLAMing on 132.27241403699998 meters Centerline goodness : 0.789096 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.24, Z:-0.22 [[ 0.94600692 -0.25812489 -0.19606744 2.51399839] [ 0.26884398 0.96272547 0.02970843 -0.24472439] [ 0.18109063 -0.08081593 0.98014028 -0.22149637] [ 0. 0. 0. 1. ]] SLAMing on 132.30241403699998 meters Centerline goodness : 0.790743 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.25, Z:-0.22 [[ 0.94648322 -0.25651536 -0.19588105 2.51382472] [ 0.26738895 0.96309682 0.03078415 -0.24627993] [ 0.1807558 -0.08151311 0.98014435 -0.22188377] [ 0. 0. 0. 1. ]] SLAMing on 132.33241403699998 meters Centerline goodness : 0.788783 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.25, Z:-0.22 [[ 0.94759876 -0.25330221 -0.19466532 2.5106655 ] [ 0.26430746 0.96389521 0.03236654 -0.24919154] [ 0.17943846 -0.08212199 0.98033556 -0.22153089] [ 0. 0. 0. 1. ]] SLAMing on 132.36241403699998 meters Centerline goodness : 0.791271 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.25, Z:-0.22 [[ 0.94775268 -0.25255151 -0.19489124 2.51103654] [ 0.26364311 0.96406237 0.0328032 -0.24932626] [ 0.17960281 -0.08247106 0.98027616 -0.2215771 ] [ 0. 0. 0. 1. ]] SLAMing on 132.39241403699998 meters Centerline goodness : 0.790201 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.25, Z:-0.22 [[ 0.94770082 -0.25267908 -0.19497805 2.51160476] [ 0.26373794 0.96404427 0.03257207 -0.24909139] [ 0.17973719 -0.08229168 0.98026661 -0.221817 ] [ 0. 0. 0. 1. ]] SLAMing on 132.42241403699998 meters Centerline goodness : 0.791520 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.25, Z:-0.22 [[ 0.94748623 -0.25299794 -0.19560649 2.51242991] [ 0.26420826 0.96389841 0.03307345 -0.24890805] [ 0.18017727 -0.08301749 0.98012461 -0.2211667 ] [ 0. 0. 0. 1. ]] SLAMing on 132.45241403699998 meters Centerline goodness : 0.791710 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.25, Z:-0.22 [[ 0.94744383 -0.25285752 -0.19599303 2.51335009] [ 0.26419483 0.96388405 0.03359523 -0.2490803 ] [ 0.18041975 -0.08360994 0.98002964 -0.22112417] [ 0. 0. 0. 1. ]] SLAMing on 132.48241403699998 meters Centerline goodness : 0.789805 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.25, Z:-0.22 [[ 0.94741007 -0.25282424 -0.19619904 2.51411921] [ 0.26426687 0.96384753 0.03407294 -0.25039703] [ 0.18049149 -0.08412995 0.97997192 -0.22102476] [ 0. 0. 0. 1. ]] SLAMing on 132.51241403699999 meters Centerline goodness : 0.791214 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.25, Z:-0.22 [[ 0.94732018 -0.25283533 -0.19661835 2.51559067] [ 0.2644539 0.96376928 0.03482687 -0.25213712] [ 0.18068926 -0.08498868 0.97986138 -0.22106842] [ 0. 0. 0. 1. ]] SLAMing on 132.542414037 meters Centerline goodness : 0.792006 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.26, Z:-0.22 [[ 0.94707385 -0.25317541 -0.19736601 2.5170848 ] [ 0.26518427 0.96350482 0.03654818 -0.25579443] [ 0.18091 -0.08695219 0.97964835 -0.21979605] [ 0. 0. 0. 1. ]] SLAMing on 132.572414037 meters Centerline goodness : 0.792006 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.26, Z:-0.22 [[ 0.94707385 -0.25317541 -0.19736601 2.5170848 ] [ 0.26518427 0.96350482 0.03654818 -0.25579443] [ 0.18091 -0.08695219 0.97964835 -0.21979605] [ 0. 0. 0. 1. ]] SLAMing on 132.602414037 meters Centerline goodness : 0.788028 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.26, Z:-0.22 [[ 0.94683076 -0.25346002 -0.19816543 2.51845852] [ 0.26572948 0.96331656 0.03753737 -0.25704828] [ 0.18138181 -0.08819994 0.97944954 -0.21890178] [ 0. 0. 0. 1. ]] SLAMing on 132.632414037 meters Centerline goodness : 0.791526 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.26, Z:-0.22 [[ 0.94639753 -0.25414514 -0.19935385 2.52086417] [ 0.26664486 0.96304058 0.03812294 -0.25683713] [ 0.18229709 -0.08923613 0.97918573 -0.21847241] [ 0. 0. 0. 1. ]] SLAMing on 132.662414037 meters Centerline goodness : 0.790567 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.26, Z:-0.22 [[ 0.94589598 -0.25532673 -0.2002225 2.52333584] [ 0.26790004 0.9626981 0.03797285 -0.25612533] [ 0.18305833 -0.08955799 0.97901431 -0.2187004 ] [ 0. 0. 0. 1. ]] SLAMing on 132.692414037 meters Centerline goodness : 0.788413 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.25, Z:-0.22 [[ 0.94454652 -0.2601404 -0.20039671 2.52834473] [ 0.27197729 0.96172046 0.03349786 -0.25328976] [ 0.18401147 -0.08614364 0.979142 -0.22155117] [ 0. 0. 0. 1. ]] SLAMing on 132.722414037 meters Centerline goodness : 0.786987 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.25, Z:-0.22 [[ 0.94440078 -0.2607077 -0.20034637 2.52978082] [ 0.27247474 0.96159359 0.03309516 -0.25444983] [ 0.18402362 -0.08584442 0.97916599 -0.22237259] [ 0. 0. 0. 1. ]] SLAMing on 132.752414037 meters Centerline goodness : 0.786298 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.26, Z:-0.22 [[ 0.94448374 -0.26023071 -0.20057527 2.53075699] [ 0.2722467 0.96161393 0.03435671 -0.25743768] [ 0.18393531 -0.08705531 0.97907567 -0.22213296] [ 0. 0. 0. 1. ]] SLAMing on 132.782414037 meters Centerline goodness : 0.789327 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.26, Z:-0.22 [[ 0.94464791 -0.25910183 -0.20126245 2.53012764] [ 0.27175422 0.96163516 0.0375163 -0.26141556] [ 0.18382051 -0.09013361 0.97881865 -0.21925118] [ 0. 0. 0. 1. ]] SLAMing on 132.812414037 meters Centerline goodness : 0.788867 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.26, Z:-0.22 [[ 0.94454918 -0.25889365 -0.20199237 2.5303321 ] [ 0.27175409 0.96160522 0.03827679 -0.26097828] [ 0.1843273 -0.09104656 0.97863884 -0.21803204] [ 0. 0. 0. 1. ]] SLAMing on 132.842414037 meters Centerline goodness : 0.789566 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.26, Z:-0.22 [[ 0.94429253 -0.25942294 -0.2025126 2.53062153] [ 0.27232235 0.96144865 0.03817108 -0.25969756] [ 0.18480302 -0.09119337 0.97853544 -0.21728209] [ 0. 0. 0. 1. ]] SLAMing on 132.872414037 meters Centerline goodness : 0.791736 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.26, Z:-0.22 [[ 0.9438649 -0.26032649 -0.20334493 2.53219556] [ 0.27327992 0.9611856 0.03795155 -0.25842111] [ 0.18557243 -0.09139122 0.97837136 -0.21706905] [ 0. 0. 0. 1. ]] SLAMing on 132.902414037 meters Centerline goodness : 0.787501 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.26, Z:-0.22 [[ 0.94387776 -0.26008687 -0.20359172 2.53333203] [ 0.27308056 0.96123785 0.03806307 -0.25856926] [ 0.18580036 -0.09152382 0.9783157 -0.21764579] [ 0. 0. 0. 1. ]] SLAMing on 132.932414037 meters Centerline goodness : 0.785317 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.26, Z:-0.22 [[ 0.94388151 -0.25977428 -0.20397309 2.53512771] [ 0.27285896 0.96128816 0.03838051 -0.25914944] [ 0.18610665 -0.09188254 0.97822386 -0.21845746] [ 0. 0. 0. 1. ]] SLAMing on 132.962414037 meters Centerline goodness : 0.785965 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.26, Z:-0.22 [[ 0.94379565 -0.26018105 -0.20385187 2.53643351] [ 0.27310177 0.9612524 0.03754003 -0.25895358] [ 0.1861859 -0.09110243 0.97828174 -0.21975649] [ 0. 0. 0. 1. ]] SLAMing on 132.992414037 meters Centerline goodness : 0.788213 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.26, Z:-0.22 [[ 0.94399473 -0.25979482 -0.20342222 2.53656838] [ 0.27255972 0.96142826 0.03697166 -0.25819252] [ 0.18597083 -0.09034576 0.97839281 -0.22106948] [ 0. 0. 0. 1. ]] SLAMing on 133.02241403699998 meters Centerline goodness : 0.787925 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.26, Z:-0.22 [[ 0.9442854 -0.25877407 -0.2033742 2.53538638] [ 0.27160631 0.96167957 0.03744891 -0.25724065] [ 0.18589001 -0.09060018 0.97838464 -0.22065386] [ 0. 0. 0. 1. ]] SLAMing on 133.05241403699998 meters Centerline goodness : 0.787996 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.26, Z:-0.22 [[ 0.9446037 -0.25770597 -0.20325227 2.53294451] [ 0.27060482 0.96194168 0.03796366 -0.25609231] [ 0.18573337 -0.09086165 0.97839015 -0.21924184] [ 0. 0. 0. 1. ]] SLAMing on 133.08241403699998 meters Centerline goodness : 0.788103 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.25, Z:-0.22 [[ 0.94506508 -0.25640649 -0.20275034 2.53064557] [ 0.26924846 0.96231923 0.038039 -0.25493383] [ 0.18535711 -0.09053955 0.97849136 -0.21874144] [ 0. 0. 0. 1. ]] SLAMing on 133.11241403699998 meters Centerline goodness : 0.782989 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.25, Z:-0.22 [[ 0.94596117 -0.25341356 -0.20233395 2.52995059] [ 0.26623587 0.96314153 0.0384299 -0.25394761] [ 0.18513757 -0.09022175 0.97856227 -0.2203457 ] [ 0. 0. 0. 1. ]] SLAMing on 133.14241403699998 meters Centerline goodness : 0.786490 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.25, Z:-0.22 [[ 0.94608976 -0.25329412 -0.20188178 2.53077258] [ 0.26582966 0.96330402 0.03714783 -0.25271449] [ 0.18506421 -0.08881135 0.97870516 -0.22236533] [ 0. 0. 0. 1. ]] SLAMing on 133.17241403699998 meters Centerline goodness : 0.784504 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.25, Z:-0.22 [[ 0.94602537 -0.25380392 -0.20154299 2.5320466 ] [ 0.26596259 0.96333791 0.03527002 -0.2504878 ] [ 0.18520233 -0.08696923 0.97884445 -0.22458885] [ 0. 0. 0. 1. ]] SLAMing on 133.20241403699998 meters Centerline goodness : 0.782600 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.25, Z:-0.23 [[ 0.94636853 -0.25324902 -0.20062785 2.53218568] [ 0.26491686 0.96370095 0.0331592 -0.24716854] [ 0.18494771 -0.08453052 0.97910619 -0.22763952] [ 0. 0. 0. 1. ]] SLAMing on 133.23241403699998 meters Centerline goodness : 0.784347 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.25, Z:-0.23 [[ 0.94653459 -0.25302177 -0.20013061 2.53106585] [ 0.26448336 0.96384856 0.03231876 -0.24531514] [ 0.18471825 -0.08352204 0.97923605 -0.22807338] [ 0. 0. 0. 1. ]] SLAMing on 133.26241403699999 meters Centerline goodness : 0.785145 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.24, Z:-0.23 [[ 0.94674987 -0.25214574 -0.20021789 2.53078855] [ 0.26361652 0.96408287 0.03241227 -0.24415523] [ 0.18485402 -0.08346705 0.97921512 -0.22820287] [ 0. 0. 0. 1. ]] SLAMing on 133.292414037 meters Centerline goodness : 0.788394 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.24, Z:-0.23 [[ 0.94706725 -0.25136249 -0.19970109 2.52855117] [ 0.2627302 0.96433261 0.0321787 -0.24315295] [ 0.18448976 -0.0829429 0.97932834 -0.22752321] [ 0. 0. 0. 1. ]] SLAMing on 133.322414037 meters Centerline goodness : 0.788672 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.24, Z:-0.23 [[ 0.94733836 -0.25045481 -0.19955556 2.52801575] [ 0.26192374 0.96452862 0.03287096 -0.24429557] [ 0.18424436 -0.08340826 0.97933502 -0.22729486] [ 0. 0. 0. 1. ]] SLAMing on 133.352414037 meters Centerline goodness : 0.789853 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.25, Z:-0.23 [[ 0.94756321 -0.24946104 -0.19973272 2.52789799] [ 0.26113324 0.96470504 0.033965 -0.2458415 ] [ 0.18421022 -0.08434084 0.97926157 -0.22672006] [ 0. 0. 0. 1. ]] SLAMing on 133.382414037 meters Centerline goodness : 0.789861 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.25, Z:-0.23 [[ 0.94779828 -0.24857375 -0.19972359 2.52652533] [ 0.26038328 0.96487852 0.03478483 -0.24670739] [ 0.18406241 -0.08497369 0.97923465 -0.2254299 ] [ 0. 0. 0. 1. ]] SLAMing on 133.412414037 meters Centerline goodness : 0.785808 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.25, Z:-0.23 [[ 0.94781843 -0.24812549 -0.20018482 2.52725829] [ 0.26003948 0.96495742 0.0351659 -0.24644808] [ 0.18444427 -0.08538684 0.97912686 -0.22532427] [ 0. 0. 0. 1. ]] SLAMing on 133.442414037 meters Centerline goodness : 0.786258 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.25, Z:-0.23 [[ 0.94784469 -0.24809572 -0.20009738 2.52685336] [ 0.25995241 0.96499033 0.03490571 -0.24584281] [ 0.18443208 -0.08510098 0.97915404 -0.22514849] [ 0. 0. 0. 1. ]] SLAMing on 133.472414037 meters Centerline goodness : 0.785594 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.25, Z:-0.23 [[ 0.94841233 -0.24669029 -0.19914305 2.52502268] [ 0.25834943 0.96543758 0.03443606 -0.24532752] [ 0.18376514 -0.08410808 0.9793652 -0.2258651 ] [ 0. 0. 0. 1. ]] SLAMing on 133.502414037 meters Centerline goodness : 0.791293 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.25, Z:-0.23 [[ 0.94882029 -0.24578635 -0.19831574 2.52407773] [ 0.25727016 0.96574224 0.03397051 -0.24557154] [ 0.1831724 -0.08325263 0.97954932 -0.22684234] [ 0. 0. 0. 1. ]] SLAMing on 133.532414037 meters Centerline goodness : 0.784336 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.25, Z:-0.23 [[ 0.94928513 -0.24445683 -0.19773367 2.52389494] [ 0.25590076 0.96609958 0.0341527 -0.24674371] [ 0.18268156 -0.08302085 0.97966065 -0.22797024] [ 0. 0. 0. 1. ]] SLAMing on 133.562414037 meters Centerline goodness : 0.791509 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.25, Z:-0.23 [[ 0.94965226 -0.24353216 -0.19711081 2.52385068] [ 0.25493378 0.96634993 0.0343013 -0.24862345] [ 0.18212455 -0.08282451 0.97978097 -0.22896184] [ 0. 0. 0. 1. ]] SLAMing on 133.592414037 meters Centerline goodness : 0.791645 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.25, Z:-0.23 [[ 0.95041455 -0.24176091 -0.19561148 2.52436394] [ 0.25294035 0.96688566 0.0339603 -0.25190263] [ 0.18092366 -0.08175439 0.98009329 -0.23196737] [ 0. 0. 0. 1. ]] SLAMing on 133.622414037 meters Centerline goodness : 0.785597 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.25, Z:-0.23 [[ 0.95075139 -0.24057792 -0.19543301 2.52478508] [ 0.25182695 0.96715605 0.03453068 -0.25276146] [ 0.1807069 -0.08204539 0.98010896 -0.23289976] [ 0. 0. 0. 1. ]] SLAMing on 133.652414037 meters Centerline goodness : 0.783298 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.25, Z:-0.23 [[ 0.9510374 -0.23971604 -0.19510022 2.52440934] [ 0.25097954 0.96736508 0.03484365 -0.25319111] [ 0.18038055 -0.08210378 0.98016418 -0.23337558] [ 0. 0. 0. 1. ]] SLAMing on 133.682414037 meters Centerline goodness : 0.784544 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.25, Z:-0.23 [[ 0.95126401 -0.2390347 -0.19483119 2.52434474] [ 0.25030012 0.96753392 0.0350422 -0.25375164] [ 0.18012948 -0.08210066 0.98021062 -0.23393671] [ 0. 0. 0. 1. ]] SLAMing on 133.712414037 meters Centerline goodness : 0.786756 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.26, Z:-0.23 [[ 0.95220798 -0.23623697 -0.19362867 2.5239544 ] [ 0.24771972 0.96812299 0.03705158 -0.26093857] [ 0.17870341 -0.08324645 0.98037499 -0.23486221] [ 0. 0. 0. 1. ]] SLAMing on 133.742414037 meters Centerline goodness : 0.789190 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.27, Z:-0.24 [[ 0.95263868 -0.23579079 -0.19204749 2.52256392] [ 0.24705256 0.96830977 0.03662268 -0.26556688] [ 0.17732617 -0.082334 0.98070207 -0.23526636] [ 0. 0. 0. 1. ]] SLAMing on 133.77241403699998 meters Centerline goodness : 0.790048 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.27, Z:-0.23 [[ 0.95309631 -0.23391346 -0.19207266 2.52269143] [ 0.24562146 0.96857081 0.0392516 -0.27084881] [ 0.1768545 -0.08458772 0.98059543 -0.23455422] [ 0. 0. 0. 1. ]] SLAMing on 133.80241403699998 meters Centerline goodness : 0.793047 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.27, Z:-0.23 [[ 0.95333981 -0.23297168 -0.19200885 2.52186532] [ 0.24496467 0.96866685 0.04094931 -0.27445431] [ 0.17645258 -0.086074 0.9805385 -0.23317316] [ 0. 0. 0. 1. ]] SLAMing on 133.83241403699998 meters Centerline goodness : 0.794413 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.28, Z:-0.23 [[ 0.95354199 -0.23170364 -0.19253858 2.521477 ] [ 0.24424471 0.96872207 0.04384139 -0.27984689] [ 0.17635816 -0.08883113 0.98030956 -0.23052051] [ 0. 0. 0. 1. ]] SLAMing on 133.86241403699998 meters Centerline goodness : 0.795078 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.28, Z:-0.23 [[ 0.95351413 -0.23128247 -0.19318183 2.52333588] [ 0.24412645 0.96868808 0.04522915 -0.28273911] [ 0.17667222 -0.09028742 0.98011994 -0.23031302] [ 0. 0. 0. 1. ]] SLAMing on 133.89241403699998 meters Centerline goodness : 0.794348 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.29, Z:-0.23 [[ 0.95356914 -0.23143997 -0.19272114 2.52508045] [ 0.24422127 0.96866991 0.04510627 -0.28660158] [ 0.17624377 -0.09007855 0.9802163 -0.2314674 ] [ 0. 0. 0. 1. ]] SLAMing on 133.92241403699998 meters Centerline goodness : 0.793677 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.29, Z:-0.23 [[ 0.95303544 -0.23427851 -0.19192976 2.5264786 ] [ 0.24662981 0.9681612 0.04286769 -0.28963108] [ 0.17577597 -0.08819003 0.98047199 -0.23219791] [ 0. 0. 0. 1. ]] SLAMing on 133.95241403699998 meters Centerline goodness : 0.795745 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.30, Z:-0.23 [[ 0.95219944 -0.23754774 -0.19206068 2.52999451] [ 0.25008814 0.96724238 0.0435672 -0.29889918] [ 0.17541994 -0.08951676 0.98041552 -0.2316272 ] [ 0. 0. 0. 1. ]] SLAMing on 133.98241403699998 meters Centerline goodness : 0.794653 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.30, Z:-0.23 [[ 0.95178426 -0.23806113 -0.19347772 2.53298801] [ 0.25110856 0.96688397 0.04560571 -0.30270043] [ 0.17621356 -0.09199071 0.98004413 -0.23036941] [ 0. 0. 0. 1. ]] SLAMing on 134.01241403699999 meters Centerline goodness : 0.787082 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.31, Z:-0.23 [[ 0.95127299 -0.23938327 -0.19435884 2.53518851] [ 0.25269891 0.96642653 0.04650834 -0.30547074] [ 0.17670022 -0.0933564 0.97982734 -0.22937402] [ 0. 0. 0. 1. ]] SLAMing on 134.042414037 meters Centerline goodness : 0.796679 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.31, Z:-0.23 [[ 0.95081378 -0.240008 -0.19582979 2.53874838] [ 0.25381861 0.96604049 0.04839299 -0.30923877] [ 0.1775648 -0.09571797 0.97944311 -0.22854708] [ 0. 0. 0. 1. ]] SLAMing on 134.072414037 meters Centerline goodness : 0.787716 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.32, Z:-0.23 [[ 0.94961118 -0.24397758 -0.19675761 2.54360643] [ 0.25813539 0.96484274 0.04944287 -0.31912667] [ 0.1777772 -0.0977416 0.9792047 -0.22733588] [ 0. 0. 0. 1. ]] SLAMing on 134.102414037 meters Centerline goodness : 0.794356 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.32, Z:-0.23 [[ 0.94883556 -0.24716865 -0.19651654 2.54566294] [ 0.26108378 0.96412416 0.04795686 -0.32339891] [ 0.17761291 -0.09681045 0.97932701 -0.22695549] [ 0. 0. 0. 1. ]] SLAMing on 134.132414037 meters Centerline goodness : 0.792294 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.33, Z:-0.23 [[ 0.94806624 -0.25036609 -0.1961816 2.54741504] [ 0.26403127 0.96339365 0.04647749 -0.32759728] [ 0.17736372 -0.09586181 0.97946548 -0.22644998] [ 0. 0. 0. 1. ]] SLAMing on 134.162414037 meters Centerline goodness : 0.791951 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.33, Z:-0.22 [[ 0.94689638 -0.25425598 -0.19682771 2.55092205] [ 0.26807977 0.96226668 0.04664845 -0.33439051] [ 0.1775401 -0.09693677 0.97932772 -0.22492081] [ 0. 0. 0. 1. ]] SLAMing on 134.192414037 meters Centerline goodness : 0.792460 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.34, Z:-0.22 [[ 0.94656062 -0.25461471 -0.19797561 2.55277251] [ 0.26883895 0.96197942 0.04817892 -0.33682413] [ 0.1781814 -0.09882782 0.97902219 -0.22348775] [ 0. 0. 0. 1. ]] SLAMing on 134.222414037 meters Centerline goodness : 0.790999 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.34, Z:-0.22 [[ 0.94623129 -0.25521072 -0.19878088 2.55402632] [ 0.26967657 0.9617037 0.04899525 -0.3385186 ] [ 0.1786642 -0.09996739 0.97881849 -0.2222465 ] [ 0. 0. 0. 1. ]] SLAMing on 134.252414037 meters Centerline goodness : 0.793059 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.35, Z:-0.22 [[ 0.94446887 -0.25298231 -0.20971051 2.55278574] [ 0.2686762 0.96195328 0.04958814 -0.34791394] [ 0.18918679 -0.10317868 0.97650526 -0.21922949] [ 0. 0. 0. 1. ]] SLAMing on 134.282414037 meters Centerline goodness : 0.792044 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.35, Z:-0.22 [[ 0.94435429 -0.25274357 -0.21051287 2.55570392] [ 0.26879854 0.96184402 0.05102379 -0.35196951] [ 0.18958461 -0.10477008 0.97625863 -0.21917664] [ 0. 0. 0. 1. ]] SLAMing on 134.312414037 meters Centerline goodness : 0.791540 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.36, Z:-0.22 [[ 0.94444066 -0.25230381 -0.21065285 2.55702106] [ 0.26861187 0.96182816 0.05229013 -0.35597486] [ 0.18941884 -0.10596878 0.97616142 -0.21912639] [ 0. 0. 0. 1. ]] SLAMing on 134.342414037 meters Centerline goodness : 0.793091 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.36, Z:-0.22 [[ 0.9447653 -0.25127772 -0.21042345 2.55616858] [ 0.2678597 0.96194723 0.05393239 -0.35982372] [ 0.18886425 -0.10731741 0.97612155 -0.21800544] [ 0. 0. 0. 1. ]] SLAMing on 134.372414037 meters Centerline goodness : 0.791216 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.36, Z:-0.22 [[ 0.94490374 -0.25096089 -0.21017983 2.55509836] [ 0.2674687 0.96206794 0.05371945 -0.35852994] [ 0.18872579 -0.10697623 0.97618577 -0.21793678] [ 0. 0. 0. 1. ]] SLAMing on 134.402414037 meters Centerline goodness : 0.790281 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.36, Z:-0.22 [[ 0.94499637 -0.25064544 -0.21013978 2.55444243] [ 0.26705726 0.9622069 0.05327582 -0.35610667] [ 0.1888446 -0.10646481 0.97621871 -0.21815079] [ 0. 0. 0. 1. ]] SLAMing on 134.432414037 meters Centerline goodness : 0.790691 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.35, Z:-0.22 [[ 0.94551344 -0.24905021 -0.2097101 2.55364905] [ 0.26533527 0.9626975 0.05301626 -0.35411753] [ 0.18868368 -0.10577108 0.97632523 -0.21934437] [ 0. 0. 0. 1. ]] SLAMing on 134.462414037 meters Centerline goodness : 0.790691 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.35, Z:-0.22 [[ 0.94551344 -0.24905021 -0.2097101 2.55364905] [ 0.26533527 0.9626975 0.05301626 -0.35411753] [ 0.18868368 -0.10577108 0.97632523 -0.21934437] [ 0. 0. 0. 1. ]] SLAMing on 134.492414037 meters Centerline goodness : 0.789192 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.36, Z:-0.22 [[ 0.94590493 -0.24790184 -0.20930491 2.55327164] [ 0.26423069 0.96296991 0.05358263 -0.35579222] [ 0.1882711 -0.10598886 0.97638126 -0.21969865] [ 0. 0. 0. 1. ]] SLAMing on 134.52241403699998 meters Centerline goodness : 0.789773 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.36, Z:-0.22 [[ 0.94625822 -0.24678367 -0.20902921 2.55278731] [ 0.26317525 0.96322598 0.05417092 -0.35721503] [ 0.18797387 -0.106271 0.97640786 -0.21971722] [ 0. 0. 0. 1. ]] SLAMing on 134.55241403699998 meters Centerline goodness : 0.785206 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.36, Z:-0.22 [[ 0.94696984 -0.24470588 -0.20824783 2.55096259] [ 0.26105242 0.96378044 0.05457934 -0.35690474] [ 0.1873493 -0.10604859 0.97655207 -0.22027598] [ 0. 0. 0. 1. ]] SLAMing on 134.58241403699998 meters Centerline goodness : 0.790375 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.35, Z:-0.22 [[ 0.94725953 -0.24401641 -0.20773874 2.54970733] [ 0.26019126 0.96404367 0.05403989 -0.35480858] [ 0.1870826 -0.10524161 0.97669049 -0.22093008] [ 0. 0. 0. 1. ]] SLAMing on 134.61241403699998 meters Centerline goodness : 0.790475 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.35, Z:-0.22 [[ 0.94761692 -0.24304226 -0.20725018 2.54821213] [ 0.25911449 0.96434298 0.05387296 -0.35339266] [ 0.18676685 -0.10475246 0.9768035 -0.22119774] [ 0. 0. 0. 1. ]] SLAMing on 134.64241403699998 meters Centerline goodness : 0.790369 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.35, Z:-0.22 [[ 0.94794819 -0.24209649 -0.20684176 2.54698962] [ 0.25814517 0.96459188 0.05407002 -0.35351913] [ 0.18642772 -0.10465078 0.97687917 -0.2210751 ] [ 0. 0. 0. 1. ]] SLAMing on 134.67241403699998 meters Centerline goodness : 0.791239 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.36, Z:-0.22 [[ 0.94877232 -0.2396549 -0.20590436 2.54596443] [ 0.25587199 0.96510368 0.05571732 -0.35814512] [ 0.18536613 -0.10554821 0.97698463 -0.22143657] [ 0. 0. 0. 1. ]] SLAMing on 134.70241403699998 meters Centerline goodness : 0.791148 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.36, Z:-0.22 [[ 0.94896269 -0.23899899 -0.20578946 2.54674712] [ 0.25528457 0.96523098 0.05620454 -0.35993778] [ 0.18520153 -0.10587089 0.97698094 -0.22206773] [ 0. 0. 0. 1. ]] SLAMing on 134.73241403699998 meters Centerline goodness : 0.791337 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.36, Z:-0.22 [[ 0.94902302 -0.2387455 -0.20580545 2.54793772] [ 0.25504445 0.96528955 0.05628866 -0.36068012] [ 0.18522319 -0.10590877 0.97697272 -0.22298275] [ 0. 0. 0. 1. ]] SLAMing on 134.76241403699999 meters Centerline goodness : 0.791147 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.36, Z:-0.22 [[ 0.94915436 -0.23794622 -0.20612521 2.5497617 ] [ 0.25444209 0.9653942 0.05721241 -0.3627551 ] [ 0.1853786 -0.10675034 0.97685165 -0.22367657] [ 0. 0. 0. 1. ]] SLAMing on 134.792414037 meters Centerline goodness : 0.790135 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.37, Z:-0.22 [[ 0.9492364 -0.23746324 -0.20630428 2.55046659] [ 0.25417657 0.96539929 0.05829646 -0.36547475] [ 0.18532274 -0.10777484 0.97674975 -0.2232932 ] [ 0. 0. 0. 1. ]] SLAMing on 134.822414037 meters Centerline goodness : 0.789383 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.37, Z:-0.22 [[ 0.94943647 -0.23608521 -0.20696418 2.55174217] [ 0.25334961 0.96545417 0.060928 -0.37040135] [ 0.18543023 -0.11028156 0.97644949 -0.22215412] [ 0. 0. 0. 1. ]] SLAMing on 134.852414037 meters Centerline goodness : 0.791562 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.38, Z:-0.22 [[ 0.94897716 -0.23778299 -0.20712701 2.55444564] [ 0.25521928 0.96491996 0.06158403 -0.37935501] [ 0.18521736 -0.11130464 0.97637381 -0.22063155] [ 0. 0. 0. 1. ]] SLAMing on 134.882414037 meters Centerline goodness : 0.789789 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.38, Z:-0.22 [[ 0.94837925 -0.24061792 -0.20659095 2.55516641] [ 0.25768484 0.96438239 0.05970866 -0.38217586] [ 0.1848657 -0.10986181 0.97660384 -0.22011345] [ 0. 0. 0. 1. ]] SLAMing on 134.912414037 meters Centerline goodness : 0.795086 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.38, Z:-0.22 [[ 0.94769003 -0.24403881 -0.20573931 2.55461699] [ 0.26063038 0.9637309 0.05739822 -0.3847087 ] [ 0.18426994 -0.10801764 0.97692209 -0.21897804] [ 0. 0. 0. 1. ]] SLAMing on 134.942414037 meters Centerline goodness : 0.791008 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.39, Z:-0.22 [[ 0.94740312 -0.24544925 -0.20538254 2.55413564] [ 0.26201603 0.96335777 0.05735329 -0.38949455] [ 0.18377955 -0.10815021 0.9769998 -0.21714789] [ 0. 0. 0. 1. ]] SLAMing on 134.972414037 meters Centerline goodness : 0.792168 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.40, Z:-0.21 [[ 0.94734443 -0.24478042 -0.20644871 2.55491483] [ 0.26226269 0.96302661 0.06162809 -0.40144394] [ 0.18373026 -0.11252683 0.97651467 -0.21235584] [ 0. 0. 0. 1. ]] SLAMing on 135.002414037 meters Centerline goodness : 0.796069 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.40, Z:-0.21 [[ 0.9466456 -0.24795528 -0.20586475 2.55551043] [ 0.26496538 0.96243916 0.05919636 -0.40376 ] [ 0.18345425 -0.11058501 0.97678836 -0.21178726] [ 0. 0. 0. 1. ]] SLAMing on 135.032414037 meters Centerline goodness : 0.796261 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.41, Z:-0.21 [[ 0.94610131 -0.25055475 -0.20521847 2.55607869] [ 0.2671587 0.96195383 0.05719315 -0.40595368] [ 0.18308068 -0.10893641 0.97704366 -0.21158492] [ 0. 0. 0. 1. ]] SLAMing on 135.062414037 meters Centerline goodness : 0.798312 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.41, Z:-0.21 [[ 0.94542837 -0.25334028 -0.20489974 2.55828742] [ 0.2697311 0.9613061 0.05599753 -0.41148143] [ 0.18278494 -0.10820948 0.97717981 -0.21115252] [ 0. 0. 0. 1. ]] SLAMing on 135.092414037 meters Centerline goodness : 0.797829 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.41, Z:-0.21 [[ 0.94477653 -0.25628698 -0.20424078 2.55909068] [ 0.27226209 0.96071225 0.05390103 -0.41412941] [ 0.18240249 -0.10653145 0.97743562 -0.21089729] [ 0. 0. 0. 1. ]] SLAMing on 135.122414037 meters Centerline goodness : 0.800450 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.42, Z:-0.21 [[ 0.94403131 -0.25947644 -0.20365871 2.55969175] [ 0.27504463 0.9600365 0.05177237 -0.41684191] [ 0.18208608 -0.10488997 0.97767211 -0.21017926] [ 0. 0. 0. 1. ]] SLAMing on 135.152414037 meters Centerline goodness : 0.801921 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.43, Z:-0.21 [[ 0.94279763 -0.26447316 -0.20294477 2.56008284] [ 0.27974483 0.95876429 0.05013846 -0.4270754 ] [ 0.18131592 -0.10404317 0.9779057 -0.2064715 ] [ 0. 0. 0. 1. ]] SLAMing on 135.182414037 meters Centerline goodness : 0.803561 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.43, Z:-0.20 [[ 0.94202912 -0.26681186 -0.20345165 2.56075384] [ 0.2822761 0.95799435 0.05066583 -0.43373771] [ 0.18138729 -0.10515823 0.97777318 -0.20293224] [ 0. 0. 0. 1. ]] SLAMing on 135.212414037 meters Centerline goodness : 0.803948 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.44, Z:-0.20 [[ 0.94001083 -0.27464738 -0.20235723 2.56369772] [ 0.28920073 0.95617887 0.04566085 -0.44046477] [ 0.18094908 -0.10144355 0.97824672 -0.20195964] [ 0. 0. 0. 1. ]] SLAMing on 135.242414037 meters Centerline goodness : 0.805945 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.44, Z:-0.20 [[ 0.93901296 -0.27854229 -0.2016652 2.56517115] [ 0.29252726 0.95530728 0.04261228 -0.44171589] [ 0.18078291 -0.09900605 0.97852713 -0.2022957 ] [ 0. 0. 0. 1. ]] SLAMing on 135.27241403699998 meters Centerline goodness : 0.804427 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.44, Z:-0.20 [[ 0.9380766 -0.28224252 -0.20087672 2.56631233] [ 0.29565755 0.95447245 0.03960997 -0.44254299] [ 0.18055167 -0.09654791 0.9788154 -0.20273293] [ 0. 0. 0. 1. ]] SLAMing on 135.30241403699998 meters Centerline goodness : 0.806471 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.44, Z:-0.20 [[ 0.93719957 -0.28567718 -0.20011377 2.56717227] [ 0.29853651 0.95369315 0.03667869 -0.44339614] [ 0.18036887 -0.09411652 0.97908588 -0.20285806] [ 0. 0. 0. 1. ]] SLAMing on 135.33241403699998 meters Centerline goodness : 0.804798 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.45, Z:-0.20 [[ 0.9364885 -0.28824506 -0.19976004 2.56801164] [ 0.30083866 0.95302608 0.03517664 -0.4494244 ] [ 0.18023703 -0.09303806 0.97921322 -0.20127416] [ 0. 0. 0. 1. ]] SLAMing on 135.36241403699998 meters Centerline goodness : 0.807788 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.45, Z:-0.20 [[ 0.93594528 -0.2905067 -0.19902834 2.56731195] [ 0.30276124 0.95247761 0.03349687 -0.45301329] [ 0.17983898 -0.09160931 0.97942109 -0.199917 ] [ 0. 0. 0. 1. ]] SLAMing on 135.39241403699998 meters Centerline goodness : 0.809407 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.46, Z:-0.20 [[ 0.93516693 -0.29335553 -0.19850782 2.56796556] [ 0.30527707 0.95173661 0.03167541 -0.45902614] [ 0.179635 -0.09022168 0.97958732 -0.19828385] [ 0. 0. 0. 1. ]] SLAMing on 135.42241403699998 meters Centerline goodness : 0.808163 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.46, Z:-0.20 [[ 0.93518417 -0.29310676 -0.19879385 2.56877969] [ 0.30517323 0.95174747 0.03234283 -0.46143959] [ 0.17972164 -0.09091307 0.9795075 -0.19794806] [ 0. 0. 0. 1. ]] SLAMing on 135.45241403699998 meters Centerline goodness : 0.808427 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.46, Z:-0.20 [[ 0.9352141 -0.29279585 -0.19911096 2.56990564] [ 0.30500605 0.95177877 0.03299207 -0.46316209] [ 0.17984965 -0.0915847 0.97942143 -0.19805276] [ 0. 0. 0. 1. ]] SLAMing on 135.48241403699998 meters Centerline goodness : 0.809676 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.47, Z:-0.20 [[ 0.93466943 -0.29470311 -0.19885455 2.57237951] [ 0.30666838 0.95129153 0.03160595 -0.46575554] [ 0.17985428 -0.09052352 0.97951923 -0.19875789] [ 0. 0. 0. 1. ]] SLAMing on 135.51241403699999 meters Centerline goodness : 0.809155 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.47, Z:-0.20 [[ 0.93386486 -0.29785125 -0.19794206 2.57245735] [ 0.3092934 0.95052711 0.02891023 -0.46707982] [ 0.17953835 -0.08822042 0.97978729 -0.19840468] [ 0. 0. 0. 1. ]] SLAMing on 135.542414037 meters Centerline goodness : 0.809985 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.47, Z:-0.20 [[ 0.93315101 -0.30065445 -0.19706878 2.57117094] [ 0.3116643 0.94981686 0.02670741 -0.46939167] [ 0.17914955 -0.08634135 0.98002582 -0.19692851] [ 0. 0. 0. 1. ]] SLAMing on 135.572414037 meters Centerline goodness : 0.811919 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.47, Z:-0.19 [[ 0.93149926 -0.30691524 -0.19522336 2.56937371] [ 0.31700443 0.94817046 0.02193091 -0.47364436] [ 0.1783741 -0.0823153 0.98051358 -0.19459338] [ 0. 0. 0. 1. ]] SLAMing on 135.602414037 meters Centerline goodness : 0.814170 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.47, Z:-0.19 [[ 0.9303607 -0.31103985 -0.19412158 2.56953832] [ 0.32050498 0.94706421 0.01859934 -0.47479742] [ 0.17806047 -0.07952103 0.98080114 -0.19430608] [ 0. 0. 0. 1. ]] SLAMing on 135.632414037 meters Centerline goodness : 0.812943 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.48, Z:-0.19 [[ 0.92802581 -0.31916319 -0.19210141 2.57061078] [ 0.32742634 0.94479987 0.01204962 -0.47718501] [ 0.17765159 -0.07408142 0.9813011 -0.1939835 ] [ 0. 0. 0. 1. ]] SLAMing on 135.662414037 meters Centerline goodness : 0.812685 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.48, Z:-0.19 [[ 0.92683275 -0.32318564 -0.1911337 2.57176647] [ 0.33085788 0.9436397 0.00878508 -0.4779893 ] [ 0.17752213 -0.07138039 0.9815247 -0.19436574] [ 0. 0. 0. 1. ]] SLAMing on 135.692414037 meters Centerline goodness : 0.812352 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.48, Z:-0.19 [[ 0.92565659 -0.32711305 -0.19014976 2.57315949] [ 0.33420467 0.94248404 0.00557421 -0.47871688] [ 0.17738971 -0.06870874 0.98173927 -0.19498209] [ 0. 0. 0. 1. ]] SLAMing on 135.722414037 meters Centerline goodness : 0.811236 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.48, Z:-0.20 [[ 0.92453762 -0.3308371 -0.18914809 2.57517047] [ 0.33746212 0.94133432 0.00300349 -0.48168543] [ 0.17705792 -0.06660716 0.98194398 -0.19574566] [ 0. 0. 0. 1. ]] SLAMing on 135.752414037 meters Centerline goodness : 0.812300 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.48, Z:-0.20 [[ 0.92450859 -0.33085604 -0.18925682 2.57560984] [ 0.3375635 0.94129656 0.00341709 -0.48353019] [ 0.17701623 -0.06704533 0.98192168 -0.19549434] [ 0. 0. 0. 1. ]] SLAMing on 135.782414037 meters Centerline goodness : 0.812093 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.48, Z:-0.20 [[ 0.92454055 -0.3307204 -0.18933775 2.57575018] [ 0.33749896 0.94131826 0.00379385 -0.48481106] [ 0.17697238 -0.06740886 0.98190469 -0.19522046] [ 0. 0. 0. 1. ]] SLAMing on 135.812414037 meters Centerline goodness : 0.812814 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.49, Z:-0.19 [[ 0.92462238 -0.33040072 -0.18949622 2.57586684] [ 0.33725136 0.94140543 0.00416429 -0.48563046] [ 0.17701688 -0.06775825 0.98187262 -0.19494027] [ 0. 0. 0. 1. ]] SLAMing on 135.842414037 meters Centerline goodness : 0.813480 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.49, Z:-0.20 [[ 0.92480958 -0.32971843 -0.18977092 2.57665517] [ 0.33668272 0.94160614 0.00475576 -0.48651779] [ 0.1771214 -0.06829077 0.98181688 -0.19512412] [ 0. 0. 0. 1. ]] SLAMing on 135.872414037 meters Centerline goodness : 0.811796 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.49, Z:-0.20 [[ 0.92490893 -0.32931328 -0.18999008 2.57731161] [ 0.33632348 0.94173344 0.00496481 -0.48653107] [ 0.17728503 -0.06849012 0.98177346 -0.19536077] [ 0. 0. 0. 1. ]] SLAMing on 135.902414037 meters Centerline goodness : 0.810628 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.49, Z:-0.20 [[ 0.92520285 -0.32836775 -0.19019543 2.57749659] [ 0.33547282 0.9420338 0.00550426 -0.4872125 ] [ 0.1773631 -0.06889796 0.98173082 -0.19514556] [ 0. 0. 0. 1. ]] SLAMing on 135.932414037 meters Centerline goodness : 0.814707 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.49, Z:-0.20 [[ 0.92529905 -0.32804249 -0.19028872 2.57766471] [ 0.33518394 0.94213546 0.00570144 -0.48751535] [ 0.17740744 -0.06905726 0.98171162 -0.19512623] [ 0. 0. 0. 1. ]] SLAMing on 135.962414037 meters Centerline goodness : 0.813377 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.49, Z:-0.20 [[ 0.92539021 -0.32776595 -0.19032193 2.57766981] [ 0.3349237 0.94222736 0.00580628 -0.48719833] [ 0.17742343 -0.0691164 0.98170456 -0.19520375] [ 0. 0. 0. 1. ]] SLAMing on 135.992414037 meters Centerline goodness : 0.813418 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.49, Z:-0.19 [[ 0.92606146 -0.32583944 -0.19036501 2.57517995] [ 0.33324665 0.94281092 0.00736424 -0.48735538] [ 0.17707865 -0.07025824 0.98168576 -0.19405211] [ 0. 0. 0. 1. ]] SLAMing on 136.02241403699998 meters Centerline goodness : 0.813234 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.49, Z:-0.19 [[ 0.92611568 -0.32562989 -0.19045974 2.574838 ] [ 0.3330496 0.94288014 0.00741624 -0.4872896 ] [ 0.17716575 -0.07030084 0.98166699 -0.19359728] [ 0. 0. 0. 1. ]] SLAMing on 136.05241403699998 meters Centerline goodness : 0.815348 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.49, Z:-0.19 [[ 0.92624877 -0.32508795 -0.19073817 2.57439726] [ 0.33260366 0.9430337 0.00788954 -0.48914016] [ 0.17730772 -0.07074789 0.98160924 -0.1922451 ] [ 0. 0. 0. 1. ]] SLAMing on 136.08241403699998 meters Centerline goodness : 0.814890 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.49, Z:-0.19 [[ 0.92622158 -0.32512667 -0.19080417 2.57417925] [ 0.33263835 0.9430219 0.00783657 -0.48946818] [ 0.17738464 -0.07072719 0.98159684 -0.19172985] [ 0. 0. 0. 1. ]] SLAMing on 136.11241403699998 meters Centerline goodness : 0.818111 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.49, Z:-0.19 [[ 0.92617488 -0.32520217 -0.19090217 2.57412969] [ 0.33270404 0.94299957 0.00773493 -0.48920222] [ 0.17750525 -0.07067782 0.98157859 -0.19149976] [ 0. 0. 0. 1. ]] SLAMing on 136.14241403699998 meters Centerline goodness : 0.812984 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.49, Z:-0.19 [[ 0.92553956 -0.32720011 -0.19056916 2.57591045] [ 0.33445405 0.94239102 0.00629703 -0.48773466] [ 0.17753028 -0.06956478 0.98165358 -0.19307567] [ 0. 0. 0. 1. ]] SLAMing on 136.17241403699998 meters Centerline goodness : 0.813755 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.49, Z:-0.19 [[ 0.92440744 -0.3310911 -0.1893398 2.57633165] [ 0.33767635 0.94125846 0.00268423 -0.48654873] [ 0.17732897 -0.06641689 0.98190796 -0.19376112] [ 0. 0. 0. 1. ]] SLAMing on 136.20241403699998 meters Centerline goodness : 0.815376 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.49, Z:-0.19 [[ 9.23259197e-01 -3.35042785e-01 -1.87986138e-01 2.57651811e+00] [ 3.40966938e-01 9.40074881e-01 -8.74768319e-04 -4.86065655e-01] [ 1.77014131e-01 -6.32894201e-02 9.82171292e-01 -1.94267436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.23241403699998 meters Centerline goodness : 0.813730 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.49, Z:-0.19 [[ 0.92243044 -0.33822911 -0.1863415 2.5735623 ] [ 0.34363375 0.93909723 -0.00349781 -0.4876165 ] [ 0.17617584 -0.06080675 0.98247881 -0.1926009 ] [ 0. 0. 0. 1. ]] SLAMing on 136.26241403699999 meters Centerline goodness : 0.817425 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.49, Z:-0.19 [[ 0.92247207 -0.33819579 -0.18619585 2.57221766] [ 0.34358487 0.93911499 -0.00353008 -0.48722816] [ 0.17605318 -0.06071768 0.98250631 -0.19182336] [ 0. 0. 0. 1. ]] SLAMing on 136.292414037 meters Centerline goodness : 0.817514 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.49, Z:-0.19 [[ 0.92280904 -0.33728162 -0.1861843 2.56939602] [ 0.34279296 0.93940695 -0.00275132 -0.48674293] [ 0.17583079 -0.06128372 0.98251099 -0.19031921] [ 0. 0. 0. 1. ]] SLAMing on 136.322414037 meters Centerline goodness : 0.815626 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.48, Z:-0.19 [[ 0.92287748 -0.33711243 -0.18615147 2.56899703] [ 0.34255315 0.93949328 -0.00311722 -0.48373949] [ 0.17593891 -0.06088996 0.98251611 -0.19081242] [ 0. 0. 0. 1. ]] SLAMing on 136.352414037 meters Centerline goodness : 0.815194 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.48, Z:-0.19 [[ 0.92285619 -0.33711374 -0.18625462 2.56964208] [ 0.34253502 0.9394994 -0.00326221 -0.483092 ] [ 0.17608584 -0.06078818 0.98249609 -0.19128881] [ 0. 0. 0. 1. ]] SLAMing on 136.382414037 meters Centerline goodness : 0.815194 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.48, Z:-0.19 [[ 0.92285619 -0.33711374 -0.18625462 2.56964208] [ 0.34253502 0.9394994 -0.00326221 -0.483092 ] [ 0.17608584 -0.06078818 0.98249609 -0.19128881] [ 0. 0. 0. 1. ]] SLAMing on 136.412414037 meters Centerline goodness : 0.812673 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.48, Z:-0.19 [[ 0.92265649 -0.33764872 -0.18627493 2.57048026] [ 0.34298441 0.93933341 -0.00380047 -0.48283371] [ 0.17625749 -0.06038286 0.98249031 -0.19165397] [ 0. 0. 0. 1. ]] SLAMing on 136.442414037 meters Centerline goodness : 0.813899 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.48, Z:-0.19 [[ 0.92252016 -0.33804499 -0.18623141 2.57087628] [ 0.34332609 0.93920719 -0.00412954 -0.48257014] [ 0.17630584 -0.06012852 0.98249723 -0.19192594] [ 0. 0. 0. 1. ]] SLAMing on 136.472414037 meters Centerline goodness : 0.813354 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.48, Z:-0.19 [[ 0.92241646 -0.33832617 -0.18623444 2.57148415] [ 0.34357322 0.93911582 -0.00434865 -0.4822585 ] [ 0.17636697 -0.0599739 0.98249571 -0.19237435] [ 0. 0. 0. 1. ]] SLAMing on 136.502414037 meters Centerline goodness : 0.813227 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.48, Z:-0.19 [[ 0.92226391 -0.33888539 -0.18597305 2.57196081] [ 0.34402277 0.93894838 -0.00492602 -0.4801443 ] [ 0.17628845 -0.05943587 0.9825425 -0.19365406] [ 0. 0. 0. 1. ]] SLAMing on 136.532414037 meters Centerline goodness : 0.812224 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.48, Z:-0.19 [[ 0.92217665 -0.33917199 -0.18588324 2.5717577 ] [ 0.34425732 0.93886086 -0.00521428 -0.47921624] [ 0.17628704 -0.05918318 0.982558 -0.19376517] [ 0. 0. 0. 1. ]] SLAMing on 136.562414037 meters Centerline goodness : 0.812518 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.48, Z:-0.19 [[ 0.92201469 -0.33974783 -0.18563491 2.5709733 ] [ 0.34474947 0.9386777 -0.0056543 -0.47860029] [ 0.17617239 -0.05878419 0.98260252 -0.19346131] [ 0. 0. 0. 1. ]] SLAMing on 136.592414037 meters Centerline goodness : 0.812821 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.48, Z:-0.19 [[ 0.92160694 -0.34116103 -0.18506701 2.56896543] [ 0.34594269 0.93823076 -0.00683315 -0.47776103] [ 0.17596677 -0.0577251 0.98270215 -0.19237886] [ 0. 0. 0. 1. ]] SLAMing on 136.622414037 meters Centerline goodness : 0.811914 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.48, Z:-0.19 [[ 0.92062848 -0.34455627 -0.18364145 2.56551502] [ 0.34882248 0.93713973 -0.00959186 -0.47643016] [ 0.17540263 -0.05522772 0.9829465 -0.19079782] [ 0. 0. 0. 1. ]] SLAMing on 136.652414037 meters Centerline goodness : 0.811799 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.48, Z:-0.19 [[ 0.92038834 -0.34525671 -0.18352961 2.56568511] [ 0.34941453 0.93691235 -0.01023386 -0.47528339] [ 0.17548447 -0.05470879 0.98296091 -0.19109969] [ 0. 0. 0. 1. ]] SLAMing on 136.682414037 meters Centerline goodness : 0.808185 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.47, Z:-0.19 [[ 0.92015594 -0.34594683 -0.18339528 2.56592272] [ 0.34997996 0.93669308 -0.01095915 -0.47349798] [ 0.17557638 -0.05410055 0.98297816 -0.19168707] [ 0. 0. 0. 1. ]] SLAMing on 136.712414037 meters Centerline goodness : 0.806308 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.47, Z:-0.19 [[ 0.91984925 -0.34690774 -0.18311848 2.56681535] [ 0.35072063 0.93640063 -0.01220255 -0.46805514] [ 0.17570542 -0.05299892 0.98301512 -0.19390181] [ 0. 0. 0. 1. ]] SLAMing on 136.742414037 meters Centerline goodness : 0.804228 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.47, Z:-0.19 [[ 0.91967902 -0.34750625 -0.1828385 2.56675171] [ 0.35116113 0.93622394 -0.01306151 -0.46518602] [ 0.17571673 -0.05219337 0.98305619 -0.19482306] [ 0. 0. 0. 1. ]] SLAMing on 136.77241403699998 meters Centerline goodness : 0.804747 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.46, Z:-0.20 [[ 0.91943655 -0.3484709 -0.18222091 2.56506607] [ 0.35182135 0.93595208 -0.01467809 -0.46010147] [ 0.17566492 -0.05061364 0.98314805 -0.19519828] [ 0. 0. 0. 1. ]] SLAMing on 136.80241403699998 meters Centerline goodness : 0.805001 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.46, Z:-0.19 [[ 0.91931855 -0.34893834 -0.18192149 2.56375612] [ 0.35212201 0.93582457 -0.01557143 -0.45744227] [ 0.17568007 -0.04974346 0.98318976 -0.19492135] [ 0. 0. 0. 1. ]] SLAMing on 136.83241403699998 meters Centerline goodness : 0.803646 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.45, Z:-0.19 [[ 0.91913224 -0.34957787 -0.18163492 2.56233417] [ 0.35254999 0.93564329 -0.01673756 -0.45415257] [ 0.17579658 -0.04865136 0.98322358 -0.19456822] [ 0. 0. 0. 1. ]] SLAMing on 136.86241403699998 meters Centerline goodness : 0.803701 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.45, Z:-0.19 [[ 0.91973636 -0.34794876 -0.18170493 2.55908921] [ 0.35105086 0.93622195 -0.01586654 -0.4485745 ] [ 0.17563689 -0.04919464 0.98322509 -0.19430201] [ 0. 0. 0. 1. ]] SLAMing on 136.89241403699998 meters Centerline goodness : 0.803084 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.45, Z:-0.19 [[ 0.92014877 -0.34685565 -0.1817069 2.55635859] [ 0.35008269 0.93659777 -0.0150576 -0.445997 ] [ 0.17540909 -0.04975721 0.98323744 -0.1935637 ] [ 0. 0. 0. 1. ]] SLAMing on 136.92241403699998 meters Centerline goodness : 0.801296 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.44, Z:-0.19 [[ 0.92058068 -0.345733 -0.18165876 2.55358384] [ 0.34909756 0.9369794 -0.0141597 -0.44368403] [ 0.175106 -0.05038148 0.98325968 -0.19284365] [ 0. 0. 0. 1. ]] SLAMing on 136.95241403699998 meters Centerline goodness : 0.800408 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.44, Z:-0.19 [[ 0.92090095 -0.34520494 -0.18103865 2.54943872] [ 0.34854071 0.93718777 -0.01408746 -0.43726959] [ 0.17453027 -0.05012618 0.98337508 -0.19278959] [ 0. 0. 0. 1. ]] SLAMing on 136.98241403699998 meters Centerline goodness : 0.801195 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.43, Z:-0.19 [[ 0.92118898 -0.34457626 -0.18077073 2.54590568] [ 0.3479822 0.93740321 -0.01355043 -0.43450287] [ 0.17412422 -0.05042249 0.98343191 -0.19175149] [ 0. 0. 0. 1. ]] SLAMing on 137.01241403699999 meters Centerline goodness : 0.800378 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.43, Z:-0.19 [[ 0.92030088 -0.34758803 -0.17952395 2.54215747] [ 0.35046149 0.93643176 -0.01650169 -0.42531873] [ 0.17384772 -0.04772971 0.98361519 -0.19215835] [ 0. 0. 0. 1. ]] SLAMing on 137.042414037 meters Centerline goodness : 0.797382 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.42, Z:-0.19 [[ 0.91995143 -0.34876968 -0.17902255 2.5413287 ] [ 0.35137944 0.93606061 -0.01797282 -0.42125069] [ 0.17384433 -0.04637072 0.98368079 -0.19282477] [ 0. 0. 0. 1. ]] SLAMing on 137.072414037 meters Centerline goodness : 0.796434 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.42, Z:-0.19 [[ 0.9195872 -0.35001313 -0.1784662 2.54068078] [ 0.35233602 0.93566891 -0.01957071 -0.41737304] [ 0.17383528 -0.0448831 0.98375139 -0.19355496] [ 0. 0. 0. 1. ]] SLAMing on 137.102414037 meters Centerline goodness : 0.795605 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.42, Z:-0.20 [[ 0.91926324 -0.35002352 -0.18010728 2.52443367] [ 0.35166287 0.9358237 -0.02381666 -0.41778748] [ 0.17688505 -0.04144326 0.9833586 -0.19575845] [ 0. 0. 0. 1. ]] SLAMing on 137.132414037 meters Centerline goodness : 0.792253 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.41, Z:-0.20 [[ 0.91932058 -0.34914341 -0.18151736 2.50236032] [ 0.35059859 0.93619001 -0.02507794 -0.41361198] [ 0.17869053 -0.04058506 0.98306793 -0.19909383] [ 0. 0. 0. 1. ]] SLAMing on 137.162414037 meters Centerline goodness : 0.793207 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.41, Z:-0.20 [[ 0.92109675 -0.34450231 -0.18138066 2.48385042] [ 0.34610204 0.9378954 -0.02378243 -0.41425203] [ 0.17830918 -0.0408703 0.98312535 -0.2018427 ] [ 0. 0. 0. 1. ]] SLAMing on 137.192414037 meters Centerline goodness : 0.787855 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.41, Z:-0.20 [[ 0.92420232 -0.33483068 -0.18368039 2.45975564] [ 0.33735232 0.94120061 -0.01829832 -0.40994671] [ 0.17900693 -0.04505366 0.98281569 -0.20270227] [ 0. 0. 0. 1. ]] SLAMing on 137.222414037 meters Centerline goodness : 0.788003 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.42, Z:-0.21 [[ 0.92680147 -0.32760591 -0.18361209 2.43312386] [ 0.33215504 0.94320374 -0.00630317 -0.41569322] [ 0.17524857 -0.0551459 0.98297857 -0.21042673] [ 0. 0. 0. 1. ]] SLAMing on 137.252414037 meters Centerline goodness : 0.787756 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.41, Z:-0.21 [[ 9.28832977e-01 -3.20871357e-01 -1.85231943e-01 2.42985137e+00] [ 3.26388118e-01 9.45235544e-01 -7.50219154e-04 -4.13237395e-01] [ 1.75328540e-01 -5.97606769e-02 9.82694543e-01 -2.09138736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.282414037 meters Centerline goodness : 0.786019 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.41, Z:-0.21 [[ 9.31897611e-01 -3.11146966e-01 -1.86425342e-01 2.41220678e+00] [ 3.17125453e-01 9.48380624e-01 2.37467234e-03 -4.09823156e-01] [ 1.76063310e-01 -6.13331725e-02 9.82466260e-01 -2.08417893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.312414037 meters Centerline goodness : 0.785081 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.41, Z:-0.21 [[ 0.93290961 -0.30750084 -0.18741101 2.41111346] [ 0.31393882 0.94943036 0.0049405 -0.40720442] [ 0.1764145 -0.06344463 0.98226916 -0.2081931 ] [ 0. 0. 0. 1. ]] SLAMing on 137.342414037 meters Centerline goodness : 0.784793 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.40, Z:-0.21 [[ 0.93345908 -0.30523285 -0.18838009 2.41064132] [ 0.31191813 0.95008887 0.00618153 -0.40168509] [ 0.17709102 -0.06452937 0.98207674 -0.208845 ] [ 0. 0. 0. 1. ]] SLAMing on 137.372414037 meters Centerline goodness : 0.782864 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.40, Z:-0.21 [[ 0.93313445 -0.30608202 -0.18861042 2.4119035 ] [ 0.31257525 0.9498801 0.00494944 -0.39850411] [ 0.17764235 -0.06357344 0.98203952 -0.20994635] [ 0. 0. 0. 1. ]] SLAMing on 137.402414037 meters Centerline goodness : 0.785272 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.40, Z:-0.21 [[ 0.93273836 -0.30722079 -0.18871813 2.4128311 ] [ 0.31348822 0.94958545 0.00355075 -0.39533341] [ 0.17811312 -0.06247283 0.98202488 -0.210891 ] [ 0. 0. 0. 1. ]] SLAMing on 137.432414037 meters Centerline goodness : 0.783399 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.39, Z:-0.21 [[ 9.31730422e-01 -3.10180633e-01 -1.88855491e-01 2.41256815e+00] [ 3.15999622e-01 9.48759027e-01 7.40173882e-04 -3.88759152e-01] [ 1.78948764e-01 -6.03679062e-02 9.82004611e-01 -2.10869950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.462414037 meters Centerline goodness : 0.785390 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.39, Z:-0.21 [[ 0.93196719 -0.30846641 -0.1904879 2.41341655] [ 0.31476141 0.94916625 0.00294718 -0.38691921] [ 0.17989558 -0.06270491 0.98168512 -0.21038834] [ 0. 0. 0. 1. ]] SLAMing on 137.492414037 meters Centerline goodness : 0.786112 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.38, Z:-0.21 [[ 9.30989033e-01 -3.11006177e-01 -1.91140205e-01 2.41522341e+00] [ 3.16847429e-01 9.48476519e-01 -3.00463776e-06 -3.77748665e-01] [ 1.81292931e-01 -6.05594852e-02 9.81562745e-01 -2.12109792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52241403699998 meters Centerline goodness : 0.786359 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.37, Z:-0.21 [[ 9.30534996e-01 -3.12007484e-01 -1.91718415e-01 2.41685519e+00] [ 3.17649879e-01 9.48207080e-01 -1.37376515e-03 -3.73077820e-01] [ 1.82217384e-01 -5.96209949e-02 9.81449011e-01 -2.13243578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.55241403699998 meters Centerline goodness : 0.786926 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.37, Z:-0.21 [[ 0.93011643 -0.31316307 -0.19186537 2.41725498] [ 0.31851851 0.94791163 -0.00308347 -0.36848571] [ 0.18283704 -0.05824469 0.98141641 -0.21392321] [ 0. 0. 0. 1. ]] SLAMing on 137.58241403699998 meters Centerline goodness : 0.786467 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.37, Z:-0.21 [[ 9.30443327e-01 -3.11294358e-01 -1.93315903e-01 2.41753188e+00] [ 3.17078760e-01 9.48398603e-01 -1.07242912e-03 -3.66021288e-01] [ 1.83674374e-01 -6.02985323e-02 9.81135980e-01 -2.13461012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.61241403699998 meters Centerline goodness : 0.787882 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.36, Z:-0.21 [[ 9.30736889e-01 -3.09843859e-01 -1.94230860e-01 2.41283892e+00] [ 3.15771218e-01 9.48835243e-01 -4.67753436e-04 -3.57845769e-01] [ 1.84438016e-01 -6.08971600e-02 9.80955735e-01 -2.10754832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64241403699998 meters Centerline goodness : 0.788342 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.35, Z:-0.21 [[ 0.9322238 -0.30360079 -0.19693994 2.40885658] [ 0.31050112 0.95056287 0.00439167 -0.35022445] [ 0.18587048 -0.06524409 0.98040572 -0.2075303 ] [ 0. 0. 0. 1. ]] SLAMing on 137.67241403699998 meters Centerline goodness : 0.790993 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.35, Z:-0.21 [[ 9.32941051e-01 -2.97588288e-01 -2.02638118e-01 2.40060079e+00] [ 3.03823899e-01 9.52728144e-01 -3.50132090e-04 -3.46892547e-01] [ 1.93163233e-01 -6.12396505e-02 9.79253629e-01 -2.06010106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.70241403699998 meters Centerline goodness : 0.786956 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.34, Z:-0.20 [[ 0.93340196 -0.29155293 -0.20918336 2.39274167] [ 0.2971201 0.95482692 -0.00502001 -0.34338758] [ 0.2011975 -0.05746689 0.97786355 -0.2044062 ] [ 0. 0. 0. 1. ]] SLAMing on 137.73241403699998 meters Centerline goodness : 0.790336 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.34, Z:-0.21 [[ 0.93411849 -0.28832813 -0.21045077 2.39313291] [ 0.29419154 0.95573971 -0.00359651 -0.33793012] [ 0.20217314 -0.05855327 0.97759784 -0.20537822] [ 0. 0. 0. 1. ]] SLAMing on 137.76241403699999 meters Centerline goodness : 0.788137 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.33, Z:-0.21 [[ 9.34853741e-01 -2.84842727e-01 -2.11927118e-01 2.39415039e+00] [ 2.91058016e-01 9.56703417e-01 -1.95036414e-03 -3.31946398e-01] [ 2.03306945e-01 -5.98597813e-02 9.77283527e-01 -2.06712326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.792414037 meters Centerline goodness : 0.789432 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.32, Z:-0.21 [[ 9.36462853e-01 -2.77600148e-01 -2.14418941e-01 2.39485050e+00] [ 2.84597544e-01 9.58645318e-01 1.84193646e-03 -3.22058822e-01] [ 2.05040392e-01 -6.27480091e-02 9.76740050e-01 -2.08572654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.822414037 meters Centerline goodness : 0.789347 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.32, Z:-0.21 [[ 0.93717645 -0.27421341 -0.21565553 2.39497269] [ 0.28172652 0.95948519 0.00428345 -0.31903566] [ 0.20574371 -0.06477023 0.97646011 -0.20872085] [ 0. 0. 0. 1. ]] SLAMing on 137.852414037 meters Centerline goodness : 0.786938 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.31, Z:-0.21 [[ 0.93769228 -0.27145255 -0.21690253 2.39380166] [ 0.27938162 0.96016039 0.00615945 -0.31457488] [ 0.20658922 -0.06637424 0.97617383 -0.20774909] [ 0. 0. 0. 1. ]] SLAMing on 137.882414037 meters Centerline goodness : 0.787301 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.31, Z:-0.21 [[ 0.93791664 -0.26911807 -0.21883291 2.39445514] [ 0.27782579 0.96058505 0.00944388 -0.31354713] [ 0.2076661 -0.06965499 0.97571664 -0.2060352 ] [ 0. 0. 0. 1. ]] SLAMing on 137.912414037 meters Centerline goodness : 0.787452 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.31, Z:-0.20 [[ 0.93740049 -0.26875454 -0.22147532 2.39537125] [ 0.27809714 0.96048373 0.01153193 -0.30901418] [ 0.20962418 -0.07240169 0.97509779 -0.20326862] [ 0. 0. 0. 1. ]] SLAMing on 137.942414037 meters Centerline goodness : 0.790196 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.31, Z:-0.20 [[ 0.93671841 -0.27019151 -0.22260989 2.39773238] [ 0.27941087 0.96011535 0.01039616 -0.30503435] [ 0.21092222 -0.0719379 0.97485217 -0.20349067] [ 0. 0. 0. 1. ]] SLAMing on 137.972414037 meters Centerline goodness : 0.783096 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.30, Z:-0.21 [[ 0.93602455 -0.2716695 -0.22372691 2.40155552] [ 0.28062494 0.95977877 0.00862306 -0.30026982] [ 0.21238572 -0.07085475 0.97461372 -0.2051808 ] [ 0. 0. 0. 1. ]] SLAMing on 138.002414037 meters Centerline goodness : 0.785714 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.30, Z:-0.21 [[ 0.93549653 -0.27283244 -0.22451884 2.4047984 ] [ 0.28151369 0.95953194 0.00696443 -0.29621607] [ 0.21353287 -0.06972032 0.97444486 -0.2069888 ] [ 0. 0. 0. 1. ]] SLAMing on 138.032414037 meters Centerline goodness : 0.784621 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.29, Z:-0.21 [[ 0.93613161 -0.26965856 -0.22570307 2.4064768 ] [ 0.27857459 0.96038121 0.00800816 -0.29039073] [ 0.21460152 -0.07037183 0.97416323 -0.20921795] [ 0. 0. 0. 1. ]] SLAMing on 138.062414037 meters Centerline goodness : 0.788707 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.29, Z:-0.21 [[ 0.93715798 -0.26542448 -0.22646141 2.40566896] [ 0.27486762 0.96142323 0.01063812 -0.28782002] [ 0.21490164 -0.0722165 0.97396204 -0.2096649 ] [ 0. 0. 0. 1. ]] SLAMing on 138.092414037 meters Centerline goodness : 0.785880 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.28, Z:-0.21 [[ 0.93927584 -0.25989063 -0.22409321 2.39846291] [ 0.26869348 0.96318207 0.00917163 -0.27854594] [ 0.21345894 -0.06882707 0.97452456 -0.21007446] [ 0. 0. 0. 1. ]] SLAMing on 138.122414037 meters Centerline goodness : 0.785981 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.27, Z:-0.21 [[ 0.93986612 -0.25859235 -0.22311805 2.39568905] [ 0.26693884 0.96368386 0.00755427 -0.27432401] [ 0.21306179 -0.06665888 0.97476216 -0.2109392 ] [ 0. 0. 0. 1. ]] SLAMing on 138.152414037 meters Centerline goodness : 0.782926 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.26, Z:-0.21 [[ 0.94219979 -0.26036801 -0.21087451 2.39450868] [ 0.26779264 0.96345162 0.00693391 -0.26381622] [ 0.20136202 -0.06300377 0.97748855 -0.21492111] [ 0. 0. 0. 1. ]] SLAMing on 138.182414037 meters Centerline goodness : 0.783166 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.26, Z:-0.22 [[ 0.94274537 -0.2585101 -0.21072183 2.39337274] [ 0.26592338 0.96396779 0.00713081 -0.26179256] [ 0.20128567 -0.0627584 0.97752006 -0.21536224] [ 0. 0. 0. 1. ]] SLAMing on 138.212414037 meters Centerline goodness : 0.782024 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.26, Z:-0.22 [[ 0.94378303 -0.26094609 -0.20293037 2.39655058] [ 0.26900546 0.96305491 0.01270079 -0.2573005 ] [ 0.19211886 -0.06657617 0.9791108 -0.21943608] [ 0. 0. 0. 1. ]] SLAMing on 138.242414037 meters Centerline goodness : 0.782598 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.26, Z:-0.22 [[ 0.94431169 -0.25944234 -0.20239839 2.39434079] [ 0.26744526 0.96348861 0.01275673 -0.25646516] [ 0.19169891 -0.06617682 0.97922018 -0.21918419] [ 0. 0. 0. 1. ]] SLAMing on 138.27241403699998 meters Centerline goodness : 0.782598 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.26, Z:-0.22 [[ 0.94431169 -0.25944234 -0.20239839 2.39434079] [ 0.26744526 0.96348861 0.01275673 -0.25646516] [ 0.19169891 -0.06617682 0.97922018 -0.21918419] [ 0. 0. 0. 1. ]] SLAMing on 138.30241403699998 meters Centerline goodness : 0.785197 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.26, Z:-0.22 [[ 0.94538912 -0.25498394 -0.20303352 2.39324204] [ 0.26356085 0.96451137 0.01592175 -0.25617403] [ 0.19176835 -0.06856393 0.97904233 -0.21897282] [ 0. 0. 0. 1. ]] SLAMing on 138.33241403699998 meters Centerline goodness : 0.785823 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.26, Z:-0.22 [[ 0.94549212 -0.25469078 -0.20292181 2.3937135 ] [ 0.26319986 0.96461444 0.01564637 -0.25569421] [ 0.19175632 -0.06820251 0.97906993 -0.21982539] [ 0. 0. 0. 1. ]] SLAMing on 138.36241403699998 meters Centerline goodness : 0.783683 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.26, Z:-0.22 [[ 0.94547957 -0.25443601 -0.20329954 2.39571489] [ 0.26296784 0.96467763 0.01565176 -0.25533313] [ 0.19213615 -0.06825966 0.97899148 -0.22108051] [ 0. 0. 0. 1. ]] SLAMing on 138.39241403699998 meters Centerline goodness : 0.787096 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.26, Z:-0.22 [[ 0.94554895 -0.25454125 -0.20284462 2.39640989] [ 0.26291516 0.96470235 0.0149997 -0.25545122] [ 0.19186664 -0.06751388 0.97909605 -0.22252492] [ 0. 0. 0. 1. ]] SLAMing on 138.42241403699998 meters Centerline goodness : 0.780993 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.26, Z:-0.22 [[ 0.94571416 -0.25418697 -0.20251841 2.39661248] [ 0.26250281 0.96481685 0.01485668 -0.25586525] [ 0.1916168 -0.06721182 0.97916575 -0.22336857] [ 0. 0. 0. 1. ]] SLAMing on 138.45241403699998 meters Centerline goodness : 0.786276 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.26, Z:-0.23 [[ 0.94703062 -0.25072245 -0.20067702 2.39486972] [ 0.25890393 0.96578379 0.01517994 -0.25780825] [ 0.19000466 -0.06633193 0.97953984 -0.2261402 ] [ 0. 0. 0. 1. ]] SLAMing on 138.48241403699998 meters Centerline goodness : 0.784925 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.26, Z:-0.23 [[ 0.94789348 -0.24850609 -0.19935567 2.39262663] [ 0.25655356 0.96641078 0.01518131 -0.25849562] [ 0.18888682 -0.06553567 0.9798096 -0.22731981] [ 0. 0. 0. 1. ]] SLAMing on 138.51241403699999 meters Centerline goodness : 0.786174 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.26, Z:-0.23 [[ 0.94925102 -0.24389279 -0.19859206 2.39117158] [ 0.25225598 0.96750116 0.01756209 -0.26107073] [ 0.18785478 -0.06676687 0.97992488 -0.22856777] [ 0. 0. 0. 1. ]] SLAMing on 138.542414037 meters Centerline goodness : 0.786202 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.27, Z:-0.23 [[ 0.9512756 -0.23665392 -0.19766046 2.38712089] [ 0.24582895 0.96904306 0.02288385 -0.26655261] [ 0.18612595 -0.07035951 0.9800034 -0.22812874] [ 0. 0. 0. 1. ]] SLAMing on 138.572414037 meters Centerline goodness : 0.784905 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.27, Z:-0.23 [[ 0.95180642 -0.23493681 -0.19715284 2.38613954] [ 0.24423896 0.96942003 0.02391928 -0.26882423] [ 0.18550439 -0.07091893 0.98008093 -0.22819734] [ 0. 0. 0. 1. ]] SLAMing on 138.602414037 meters Centerline goodness : 0.786360 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.27, Z:-0.23 [[ 0.95227922 -0.2330522 -0.19710647 2.38673844] [ 0.24265764 0.96977084 0.02572519 -0.27227613] [ 0.1851528 -0.07232696 0.98004452 -0.22864977] [ 0. 0. 0. 1. ]] SLAMing on 138.632414037 meters Centerline goodness : 0.788184 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.28, Z:-0.23 [[ 0.95259413 -0.23305318 -0.19557771 2.38613003] [ 0.24249327 0.96981911 0.02545407 -0.27856591] [ 0.18374285 -0.07167367 0.98035782 -0.22906006] [ 0. 0. 0. 1. ]] SLAMing on 138.662414037 meters Centerline goodness : 0.787916 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.28, Z:-0.23 [[ 0.95263591 -0.23268237 -0.19581559 2.38718513] [ 0.2423876 0.96980901 0.02680932 -0.28209502] [ 0.18366566 -0.07300279 0.98027421 -0.22875557] [ 0. 0. 0. 1. ]] SLAMing on 138.692414037 meters Centerline goodness : 0.787709 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.29, Z:-0.23 [[ 0.95263878 -0.2321548 -0.19642685 2.38998777] [ 0.24226299 0.96978429 0.028759 -0.28637043] [ 0.18381513 -0.07498389 0.98009664 -0.22930091] [ 0. 0. 0. 1. ]] SLAMing on 138.722414037 meters Centerline goodness : 0.786703 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.29, Z:-0.23 [[ 0.95155167 -0.23813425 -0.19452892 2.39587258] [ 0.24729318 0.96864652 0.02387476 -0.29405117] [ 0.18274436 -0.07082374 0.98060619 -0.23386731] [ 0. 0. 0. 1. ]] SLAMing on 138.752414037 meters Centerline goodness : 0.788172 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.30, Z:-0.24 [[ 0.95097054 -0.24077411 -0.19412073 2.39898274] [ 0.24965456 0.96807851 0.02228459 -0.29800788] [ 0.18255855 -0.06965511 0.9807245 -0.2352776 ] [ 0. 0. 0. 1. ]] SLAMing on 138.782414037 meters Centerline goodness : 0.783966 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.31, Z:-0.23 [[ 0.95063625 -0.24232382 -0.19382954 2.40119358] [ 0.25139681 0.96760396 0.02328557 -0.30652754] [ 0.18190758 -0.07086424 0.98075884 -0.2349147 ] [ 0. 0. 0. 1. ]] SLAMing on 138.812414037 meters Centerline goodness : 0.782133 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.31, Z:-0.23 [[ 0.95070449 -0.24148806 -0.19453662 2.40336102] [ 0.25107494 0.96762242 0.02585017 -0.31204977] [ 0.18199549 -0.07341914 0.98055457 -0.23438663] [ 0. 0. 0. 1. ]] SLAMing on 138.842414037 meters Centerline goodness : 0.786136 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.32, Z:-0.23 [[ 0.9505865 -0.24116788 -0.19550796 2.40628286] [ 0.2512418 0.96751647 0.02809688 -0.31729022] [ 0.18238111 -0.07582829 0.98029955 -0.23394056] [ 0. 0. 0. 1. ]] SLAMing on 138.872414037 meters Centerline goodness : 0.787033 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.32, Z:-0.23 [[ 0.95037367 -0.24112141 -0.19659693 2.40984274] [ 0.25168596 0.96733556 0.03026697 -0.32297937] [ 0.18287718 -0.07824562 0.98001712 -0.23356322] [ 0. 0. 0. 1. ]] SLAMing on 138.902414037 meters Centerline goodness : 0.785517 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.33, Z:-0.23 [[ 0.95007873 -0.24142721 -0.19764441 2.41327344] [ 0.25247818 0.96706071 0.03237824 -0.32897588] [ 0.18331715 -0.08066277 0.97973891 -0.23297486] [ 0. 0. 0. 1. ]] SLAMing on 138.932414037 meters Centerline goodness : 0.784236 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.34, Z:-0.23 [[ 0.94907285 -0.24475428 -0.19838363 2.41726246] [ 0.2562076 0.96602804 0.03387464 -0.33934537] [ 0.18335318 -0.0829769 0.97953889 -0.23160379] [ 0. 0. 0. 1. ]] SLAMing on 138.962414037 meters Centerline goodness : 0.785258 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.35, Z:-0.23 [[ 0.94879173 -0.24486656 -0.19958613 2.41945022] [ 0.25700075 0.96570523 0.03693277 -0.34552516] [ 0.18369777 -0.08633529 0.97918402 -0.22947781] [ 0. 0. 0. 1. ]] SLAMing on 138.99241403699997 meters Centerline goodness : 0.785920 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.36, Z:-0.23 [[ 0.94759719 -0.24909917 -0.20002294 2.42136772] [ 0.26164865 0.96439362 0.03853493 -0.35722253] [ 0.18330183 -0.08885132 0.97903314 -0.22538728] [ 0. 0. 0. 1. ]] SLAMing on 139.02241403699998 meters Centerline goodness : 0.788016 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.36, Z:-0.22 [[ 0.94675489 -0.25221741 -0.20010387 2.42375843] [ 0.26465264 0.96361094 0.03758915 -0.36220061] [ 0.18334164 -0.08854573 0.97905337 -0.22450508] [ 0. 0. 0. 1. ]] SLAMing on 139.05241403699998 meters Centerline goodness : 0.787299 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.37, Z:-0.22 [[ 0.94647721 -0.25249817 -0.20106109 2.42645492] [ 0.26544806 0.96330202 0.03983141 -0.36815353] [ 0.1836252 -0.0910708 0.97876856 -0.22339086] [ 0. 0. 0. 1. ]] SLAMing on 139.08241403699998 meters Centerline goodness : 0.785445 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.38, Z:-0.22 [[ 0.94554805 -0.25577787 -0.20128727 2.43069925] [ 0.26871599 0.96241562 0.03934311 -0.37526503] [ 0.18365891 -0.09128991 0.97874182 -0.22347483] [ 0. 0. 0. 1. ]] SLAMing on 139.11241403699998 meters Centerline goodness : 0.784223 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.38, Z:-0.22 [[ 0.94544603 -0.25508883 -0.20263637 2.43422179] [ 0.2685497 0.96237153 0.04149808 -0.37897188] [ 0.18442578 -0.09365213 0.97837437 -0.22330803] [ 0. 0. 0. 1. ]] SLAMing on 139.14241403699998 meters Centerline goodness : 0.787410 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.38, Z:-0.22 [[ 0.9447906 -0.2580489 -0.20194425 2.43679782] [ 0.27108736 0.96175099 0.0393277 -0.38213191] [ 0.18407161 -0.09190098 0.9786071 -0.22471154] [ 0. 0. 0. 1. ]] SLAMing on 139.17241403699998 meters Centerline goodness : 0.786079 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.39, Z:-0.22 [[ 0.94492924 -0.25704841 -0.20257062 2.43788011] [ 0.27049519 0.96183629 0.04127118 -0.38549341] [ 0.18423108 -0.09379272 0.97839759 -0.2238844 ] [ 0. 0. 0. 1. ]] SLAMing on 139.20241403699998 meters Centerline goodness : 0.788930 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.39, Z:-0.22 [[ 0.94508075 -0.2561283 -0.20302873 2.43792361] [ 0.2699491 0.96190928 0.04310478 -0.38856707] [ 0.18425487 -0.09554492 0.97822355 -0.22241041] [ 0. 0. 0. 1. ]] SLAMing on 139.23241403699998 meters Centerline goodness : 0.786053 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.39, Z:-0.22 [[ 0.94523825 -0.25518098 -0.2034879 2.43784713] [ 0.26938553 0.9619811 0.04498661 -0.39171818] [ 0.18427178 -0.09733976 0.97804339 -0.22083512] [ 0. 0. 0. 1. ]] SLAMing on 139.26241403699999 meters Centerline goodness : 0.786213 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.40, Z:-0.22 [[ 0.94495708 -0.25545932 -0.2044423 2.44001702] [ 0.27004029 0.9617285 0.04643843 -0.3957972 ] [ 0.18475486 -0.09908998 0.97777647 -0.21963894] [ 0. 0. 0. 1. ]] SLAMing on 139.292414037 meters Centerline goodness : 0.787174 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.40, Z:-0.22 [[ 0.9446063 -0.25632923 -0.20497382 2.44196741] [ 0.27099596 0.96145573 0.04651952 -0.39755065] [ 0.18514895 -0.09948971 0.97766132 -0.21952653] [ 0. 0. 0. 1. ]] SLAMing on 139.322414037 meters Centerline goodness : 0.788148 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.40, Z:-0.22 [[ 0.94447868 -0.2564911 -0.20535906 2.44393122] [ 0.27133694 0.96132452 0.0472381 -0.40039398] [ 0.18530054 -0.10033688 0.97754602 -0.21971573] [ 0. 0. 0. 1. ]] SLAMing on 139.352414037 meters Centerline goodness : 0.786688 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.40, Z:-0.22 [[ 0.94433225 -0.25686855 -0.20556059 2.44478457] [ 0.27180187 0.96117766 0.04755266 -0.40218141] [ 0.18536546 -0.10077727 0.97748841 -0.21946184] [ 0. 0. 0. 1. ]] SLAMing on 139.382414037 meters Centerline goodness : 0.787590 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.40, Z:-0.22 [[ 0.94438585 -0.25659035 -0.20566176 2.44490143] [ 0.27151069 0.9612648 0.04745452 -0.40097775] [ 0.18551904 -0.10065474 0.9774719 -0.21974756] [ 0. 0. 0. 1. ]] SLAMing on 139.412414037 meters Centerline goodness : 0.786214 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.40, Z:-0.22 [[ 0.94521868 -0.25301778 -0.20626112 2.44639573] [ 0.26829839 0.96207081 0.04935311 -0.39866987] [ 0.18595059 -0.101989 0.97725157 -0.22207362] [ 0. 0. 0. 1. ]] SLAMing on 139.442414037 meters Centerline goodness : 0.785591 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.40, Z:-0.22 [[ 0.94578271 -0.25073243 -0.20646626 2.44783809] [ 0.26616169 0.96261862 0.050233 -0.39797513] [ 0.18615322 -0.10246291 0.97716341 -0.22396638] [ 0. 0. 0. 1. ]] SLAMing on 139.472414037 meters Centerline goodness : 0.788120 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.40, Z:-0.22 [[ 0.94619897 -0.24973493 -0.2057668 2.44658138] [ 0.26501027 0.96295314 0.04990804 -0.39673663] [ 0.18568 -0.10175325 0.97732759 -0.22490744] [ 0. 0. 0. 1. ]] SLAMing on 139.502414037 meters Centerline goodness : 0.787712 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.40, Z:-0.22 [[ 0.9471829 -0.24569511 -0.20610306 2.44441324] [ 0.26161127 0.96369131 0.05346584 -0.3979383 ] [ 0.18548344 -0.10456081 0.97706854 -0.22376509] [ 0. 0. 0. 1. ]] SLAMing on 139.532414037 meters Centerline goodness : 0.788035 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.40, Z:-0.22 [[ 0.94861577 -0.24049074 -0.20565098 2.43882323] [ 0.25707146 0.96466764 0.05771137 -0.39924332] [ 0.1845058 -0.10761292 0.97692224 -0.22114406] [ 0. 0. 0. 1. ]] SLAMing on 139.562414037 meters Centerline goodness : 0.787942 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.40, Z:-0.22 [[ 0.94922074 -0.23751896 -0.20631224 2.43675594] [ 0.25471582 0.9651002 0.06083953 -0.40006007] [ 0.18466144 -0.11030113 0.97659296 -0.21906361] [ 0. 0. 0. 1. ]] SLAMing on 139.592414037 meters Centerline goodness : 0.788952 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.40, Z:-0.22 [[ 0.94931765 -0.23718265 -0.20625321 2.43565897] [ 0.25438645 0.96518062 0.06094181 -0.39942165] [ 0.18461726 -0.11032116 0.97659905 -0.21840104] [ 0. 0. 0. 1. ]] SLAMing on 139.622414037 meters Centerline goodness : 0.788156 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.40, Z:-0.22 [[ 0.94912169 -0.2376648 -0.20659976 2.43642352] [ 0.25490427 0.96504807 0.06087722 -0.39989344] [ 0.18491033 -0.11044305 0.97652983 -0.2180158 ] [ 0. 0. 0. 1. ]] SLAMing on 139.652414037 meters Centerline goodness : 0.787412 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.40, Z:-0.22 [[ 0.94832813 -0.24178974 -0.20545431 2.4369257 ] [ 0.25817549 0.96443401 0.05667847 -0.39883696] [ 0.18444285 -0.10679305 0.97702409 -0.21923751] [ 0. 0. 0. 1. ]] SLAMing on 139.682414037 meters Centerline goodness : 0.783898 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.40, Z:-0.22 [[ 0.94780523 -0.24267978 -0.20681337 2.44071919] [ 0.25958069 0.96394709 0.05851392 -0.40357925] [ 0.185157 -0.10914456 0.97662908 -0.21860553] [ 0. 0. 0. 1. ]] SLAMing on 139.712414037 meters Centerline goodness : 0.786409 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.41, Z:-0.22 [[ 0.94760329 -0.24292157 -0.20745387 2.44219524] [ 0.26019385 0.96368646 0.0600631 -0.40739106] [ 0.18532986 -0.11089421 0.97639916 -0.21753427] [ 0. 0. 0. 1. ]] SLAMing on 139.74241403699997 meters Centerline goodness : 0.785017 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.41, Z:-0.22 [[ 0.94672093 -0.24700601 -0.20665797 2.44246052] [ 0.26367955 0.96292376 0.05701686 -0.4086711 ] [ 0.18491236 -0.10847054 0.97675051 -0.21708608] [ 0. 0. 0. 1. ]] SLAMing on 139.77241403699998 meters Centerline goodness : 0.781980 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.41, Z:-0.21 [[ 0.9460604 -0.24833668 -0.20808317 2.44498906] [ 0.2655541 0.96229477 0.05890494 -0.41322549] [ 0.18560909 -0.11098497 0.9763358 -0.21495562] [ 0. 0. 0. 1. ]] SLAMing on 139.80241403699998 meters Centerline goodness : 0.786167 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.42, Z:-0.21 [[ 0.94581729 -0.24856908 -0.20890923 2.44708535] [ 0.26604946 0.96210515 0.05976084 -0.41505403] [ 0.18613795 -0.11210302 0.97610736 -0.21462854] [ 0. 0. 0. 1. ]] SLAMing on 139.83241403699998 meters Centerline goodness : 0.785446 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.41, Z:-0.22 [[ 0.9449329 -0.2524034 -0.20831306 2.44897377] [ 0.26917793 0.96145692 0.05606986 -0.41413963] [ 0.18613181 -0.10905553 0.97645371 -0.21594641] [ 0. 0. 0. 1. ]] SLAMing on 139.86241403699998 meters Centerline goodness : 0.780131 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.42, Z:-0.22 [[ 0.9445807 -0.25367074 -0.20837096 2.45131528] [ 0.27033213 0.96117617 0.05532555 -0.415107 ] [ 0.18624673 -0.10858881 0.97648381 -0.21706081] [ 0. 0. 0. 1. ]] SLAMing on 139.89241403699998 meters Centerline goodness : 0.785133 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.42, Z:-0.22 [[ 0.94455301 -0.25348038 -0.20872785 2.45146987] [ 0.27024017 0.96118349 0.05564669 -0.4151838 ] [ 0.18652042 -0.1089679 0.97638933 -0.21648059] [ 0. 0. 0. 1. ]] SLAMing on 139.92241403699998 meters Centerline goodness : 0.787982 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.41, Z:-0.22 [[ 0.94460867 -0.25331774 -0.20867339 2.45029793] [ 0.27001612 0.96126228 0.05537254 -0.41331666] [ 0.18656301 -0.10865056 0.97641656 -0.21604955] [ 0. 0. 0. 1. ]] SLAMing on 139.95241403699998 meters Centerline goodness : 0.783470 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.41, Z:-0.22 [[ 0.94445741 -0.2538848 -0.20866889 2.45054025] [ 0.27039474 0.96121495 0.05433705 -0.41136594] [ 0.1867803 -0.107742 0.97647569 -0.21655616] [ 0. 0. 0. 1. ]] SLAMing on 139.98241403699998 meters Centerline goodness : 0.783258 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.41, Z:-0.22 [[ 0.94439727 -0.25405656 -0.20873204 2.45107108] [ 0.27050283 0.96120626 0.05395134 -0.41080988] [ 0.18692785 -0.1074141 0.97648358 -0.2169712 ] [ 0. 0. 0. 1. ]] SLAMing on 140.01241403699999 meters Centerline goodness : 0.783411 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.41, Z:-0.22 [[ 0.94446388 -0.25408796 -0.20839217 2.45052357] [ 0.27051618 0.96119679 0.05405304 -0.41255991] [ 0.18657166 -0.1074246 0.97655055 -0.21663327] [ 0. 0. 0. 1. ]] SLAMing on 140.042414037 meters Centerline goodness : 0.781776 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.41, Z:-0.22 [[ 0.94456388 -0.25367893 -0.20843724 2.44980661] [ 0.27018394 0.9612669 0.05446641 -0.41269054] [ 0.18654684 -0.1077634 0.97651796 -0.21597238] [ 0. 0. 0. 1. ]] SLAMing on 140.072414037 meters Centerline goodness : 0.778694 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.41, Z:-0.22 [[ 0.94518071 -0.25060471 -0.20935786 2.4491933 ] [ 0.26765712 0.96182288 0.05706501 -0.41064018] [ 0.18706442 -0.10997286 0.97617256 -0.2156988 ] [ 0. 0. 0. 1. ]] SLAMing on 140.102414037 meters Centerline goodness : 0.782329 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.41, Z:-0.22 [[ 0.94513586 -0.25072849 -0.20941209 2.44936999] [ 0.26768195 0.96184902 0.05650517 -0.40874023] [ 0.18725536 -0.1094609 0.9761935 -0.21625204] [ 0. 0. 0. 1. ]] SLAMing on 140.132414037 meters Centerline goodness : 0.782118 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.41, Z:-0.22 [[ 0.94508183 -0.25080796 -0.20956075 2.44982873] [ 0.26774528 0.96184195 0.05632531 -0.40794224] [ 0.18743748 -0.10934093 0.97617199 -0.21655957] [ 0. 0. 0. 1. ]] SLAMing on 140.162414037 meters Centerline goodness : 0.781641 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.41, Z:-0.21 [[ 0.94487663 -0.25164981 -0.20947681 2.44872144] [ 0.26863675 0.96157979 0.05655621 -0.41050288] [ 0.1871963 -0.10971181 0.97617666 -0.21466083] [ 0. 0. 0. 1. ]] SLAMing on 140.192414037 meters Centerline goodness : 0.781641 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.41, Z:-0.21 [[ 0.94487663 -0.25164981 -0.20947681 2.44872144] [ 0.26863675 0.96157979 0.05655621 -0.41050288] [ 0.1871963 -0.10971181 0.97617666 -0.21466083] [ 0. 0. 0. 1. ]] SLAMing on 140.222414037 meters Centerline goodness : 0.781955 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.41, Z:-0.21 [[ 0.94475304 -0.2519782 -0.20963941 2.44897648] [ 0.26906092 0.96143923 0.05692818 -0.41233346] [ 0.1872109 -0.11018885 0.97612012 -0.21384589] [ 0. 0. 0. 1. ]] SLAMing on 140.252414037 meters Centerline goodness : 0.782191 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.41, Z:-0.21 [[ 0.94450548 -0.25265726 -0.2099374 2.44998522] [ 0.26977497 0.9612426 0.05686941 -0.41308623] [ 0.18743231 -0.11034933 0.9760595 -0.21368541] [ 0. 0. 0. 1. ]] SLAMing on 140.282414037 meters Centerline goodness : 0.779145 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.41, Z:-0.21 [[ 0.94416269 -0.25380196 -0.21009849 2.45095836] [ 0.27080228 0.96100146 0.05605633 -0.41212238] [ 0.18767775 -0.10982145 0.97607188 -0.21410636] [ 0. 0. 0. 1. ]] SLAMing on 140.312414037 meters Centerline goodness : 0.782114 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.41, Z:-0.21 [[ 0.94383559 -0.25492243 -0.21021165 2.45118182] [ 0.27185512 0.96073453 0.05553333 -0.41156681] [ 0.1878009 -0.10956145 0.97607741 -0.21384635] [ 0. 0. 0. 1. ]] SLAMing on 140.342414037 meters Centerline goodness : 0.779026 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.41, Z:-0.21 [[ 0.94389743 -0.25462825 -0.2102905 2.45012817] [ 0.27162599 0.96078087 0.05585189 -0.41158009] [ 0.18782162 -0.10983882 0.97604225 -0.21275977] [ 0. 0. 0. 1. ]] SLAMing on 140.372414037 meters Centerline goodness : 0.786260 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.41, Z:-0.21 [[ 0.94469499 -0.25143418 -0.21055221 2.44572572] [ 0.26899005 0.96134084 0.05889089 -0.41190211] [ 0.18760526 -0.11227038 0.97580717 -0.20948565] [ 0. 0. 0. 1. ]] SLAMing on 140.402414037 meters Centerline goodness : 0.783236 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.41, Z:-0.21 [[ 0.94479551 -0.25080311 -0.21085362 2.44619452] [ 0.26838641 0.9615085 0.05890795 -0.41096007] [ 0.18796325 -0.11224621 0.97574105 -0.20978184] [ 0. 0. 0. 1. ]] SLAMing on 140.432414037 meters Centerline goodness : 0.781686 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.41, Z:-0.21 [[ 0.94488738 -0.2449789 -0.21719386 2.44413234] [ 0.26191737 0.96366045 0.05251503 -0.41011138] [ 0.19643606 -0.10650763 0.97471483 -0.21266317] [ 0. 0. 0. 1. ]] SLAMing on 140.462414037 meters Centerline goodness : 0.781176 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.41, Z:-0.22 [[ 0.94494495 -0.24511615 -0.2167882 2.44526449] [ 0.26170155 0.96380192 0.05097207 -0.40675913] [ 0.19644681 -0.1048996 0.97488703 -0.21541296] [ 0. 0. 0. 1. ]] SLAMing on 140.49241403699997 meters Centerline goodness : 0.781893 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.40, Z:-0.22 [[ 0.94512259 -0.2448896 -0.21626923 2.4444843 ] [ 0.26118463 0.96400165 0.04983374 -0.40384861] [ 0.19628013 -0.10358519 0.97506114 -0.21661509] [ 0. 0. 0. 1. ]] SLAMing on 140.52241403699998 meters Centerline goodness : 0.782280 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.40, Z:-0.22 [[ 0.94600272 -0.24082538 -0.21698384 2.44298606] [ 0.25780014 0.96473144 0.05321972 -0.40364199] [ 0.19651448 -0.10628446 0.97472338 -0.21567794] [ 0. 0. 0. 1. ]] SLAMing on 140.55241403699998 meters Centerline goodness : 0.782890 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.40, Z:-0.21 [[ 0.94693292 -0.23677429 -0.21738441 2.43989136] [ 0.25444942 0.96541278 0.0568652 -0.40484281] [ 0.19640147 -0.10916086 0.97442823 -0.21351547] [ 0. 0. 0. 1. ]] SLAMing on 140.58241403699998 meters Centerline goodness : 0.783825 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.41, Z:-0.21 [[ 0.94828801 -0.2311185 -0.21756399 2.43478145] [ 0.24965183 0.96637659 0.06156501 -0.40679464] [ 0.19601993 -0.1126966 0.97410249 -0.21001887] [ 0. 0. 0. 1. ]] SLAMing on 140.61241403699998 meters Centerline goodness : 0.786102 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.41, Z:-0.21 [[ 0.94847842 -0.23058661 -0.21729818 2.43364837] [ 0.2490237 0.96655596 0.06129248 -0.40570299] [ 0.19589762 -0.112247 0.97417901 -0.20995354] [ 0. 0. 0. 1. ]] SLAMing on 140.64241403699998 meters Centerline goodness : 0.783190 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.40, Z:-0.21 [[ 0.94879219 -0.22933168 -0.21725643 2.43425372] [ 0.24770021 0.96690848 0.06109499 -0.40403592] [ 0.19605607 -0.11178091 0.97420072 -0.21142302] [ 0. 0. 0. 1. ]] SLAMing on 140.67241403699998 meters Centerline goodness : 0.784333 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.40, Z:-0.21 [[ 0.94886698 -0.22900153 -0.21727807 2.4351404 ] [ 0.24739494 0.96697763 0.06123734 -0.4044996 ] [ 0.19607958 -0.11185959 0.97418696 -0.21217231] [ 0. 0. 0. 1. ]] SLAMing on 140.70241403699998 meters Centerline goodness : 0.782065 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.41, Z:-0.21 [[ 0.94895732 -0.22857786 -0.21732962 2.43598962] [ 0.24705106 0.96703971 0.06164393 -0.40588253] [ 0.19607594 -0.11218898 0.97414981 -0.2126014 ] [ 0. 0. 0. 1. ]] SLAMing on 140.73241403699998 meters Centerline goodness : 0.782598 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.41, Z:-0.21 [[ 0.94908041 -0.22799837 -0.21740082 2.43669642] [ 0.24663626 0.96709224 0.06247531 -0.40814407] [ 0.19600238 -0.11291301 0.97408096 -0.21267464] [ 0. 0. 0. 1. ]] SLAMing on 140.76241403699999 meters Centerline goodness : 0.779798 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.41, Z:-0.21 [[ 0.9488307 -0.23024921 -0.21611478 2.43685112] [ 0.24844799 0.96673356 0.06082617 -0.41187125] [ 0.19492024 -0.11140702 0.97447144 -0.2132209 ] [ 0. 0. 0. 1. ]] SLAMing on 140.792414037 meters Centerline goodness : 0.783425 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.41, Z:-0.21 [[ 0.94826617 -0.23344303 -0.21516415 2.43666543] [ 0.2510471 0.96622999 0.05809433 -0.4127403 ] [ 0.19433634 -0.10910522 0.97484842 -0.21326748] [ 0. 0. 0. 1. ]] SLAMing on 140.822414037 meters Centerline goodness : 0.784800 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.42, Z:-0.21 [[ 0.94742344 -0.23705103 -0.21493171 2.43822351] [ 0.2544264 0.9654265 0.05673515 -0.41790594] [ 0.19405164 -0.10843652 0.97497973 -0.21209343] [ 0. 0. 0. 1. ]] SLAMing on 140.852414037 meters Centerline goodness : 0.789613 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.42, Z:-0.21 [[ 0.9465275 -0.2411945 -0.21426831 2.43876262] [ 0.25803595 0.96462353 0.05402678 -0.42071676] [ 0.19365729 -0.10642675 0.97527955 -0.21127297] [ 0. 0. 0. 1. ]] SLAMing on 140.882414037 meters Centerline goodness : 0.787460 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.43, Z:-0.21 [[ 0.94624342 -0.24126223 -0.21544354 2.44080126] [ 0.25877112 0.96427248 0.05671063 -0.42712947] [ 0.19406414 -0.10941263 0.97486819 -0.20897942] [ 0. 0. 0. 1. ]] SLAMing on 140.912414037 meters Centerline goodness : 0.783845 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.44, Z:-0.21 [[ 0.94428463 -0.24881602 -0.21544633 2.4434696 ] [ 0.26580606 0.96254784 0.05337414 -0.43519892] [ 0.19409706 -0.10766732 0.97505594 -0.2056699 ] [ 0. 0. 0. 1. ]] SLAMing on 140.942414037 meters Centerline goodness : 0.788487 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.44, Z:-0.20 [[ 0.9432967 -0.25264253 -0.21532092 2.44471961] [ 0.26931855 0.9616735 0.05149371 -0.43890733] [ 0.19405892 -0.10656377 0.97518475 -0.20429129] [ 0. 0. 0. 1. ]] SLAMing on 140.972414037 meters Centerline goodness : 0.789781 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.44, Z:-0.20 [[ 0.94229779 -0.25682431 -0.2147467 2.44555588] [ 0.27298911 0.96077706 0.04883023 -0.44148617] [ 0.19378292 -0.10463613 0.97544834 -0.20353844] [ 0. 0. 0. 1. ]] SLAMing on 141.002414037 meters Centerline goodness : 0.791743 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.44, Z:-0.20 [[ 0.94126909 -0.26100924 -0.21421174 2.44623056] [ 0.27662458 0.95987937 0.04593954 -0.44331516] [ 0.19362679 -0.1024977 0.97570635 -0.20270076] [ 0. 0. 0. 1. ]] SLAMing on 141.032414037 meters Centerline goodness : 0.793440 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.45, Z:-0.20 [[ 0.94012554 -0.26535288 -0.21389677 2.44805975] [ 0.28053605 0.95885749 0.04349533 -0.44721264] [ 0.1935549 -0.10089683 0.97588746 -0.20187568] [ 0. 0. 0. 1. ]] SLAMing on 141.062414037 meters Centerline goodness : 0.793002 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.45, Z:-0.20 [[ 0.93912555 -0.2696432 -0.2129219 2.44862509] [ 0.28404461 0.95799181 0.03962754 -0.44672603] [ 0.19329214 -0.09769456 0.97626529 -0.20228419] [ 0. 0. 0. 1. ]] SLAMing on 141.092414037 meters Centerline goodness : 0.793192 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.45, Z:-0.20 [[ 0.93867817 -0.27173862 -0.21222964 2.44762145] [ 0.28580458 0.95753128 0.03807336 -0.44802335] [ 0.19287052 -0.09639484 0.97647785 -0.20151319] [ 0. 0. 0. 1. ]] SLAMing on 141.122414037 meters Centerline goodness : 0.793727 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.45, Z:-0.20 [[ 0.93744146 -0.27686957 -0.21106102 2.44716044] [ 0.29019135 0.95635147 0.03436343 -0.4498566 ] [ 0.19233433 -0.09346179 0.97686867 -0.20054826] [ 0. 0. 0. 1. ]] SLAMing on 141.152414037 meters Centerline goodness : 0.796185 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.45, Z:-0.20 [[ 0.93625201 -0.28176144 -0.20986346 2.44652668] [ 0.29423735 0.95525695 0.03014212 -0.44936829] [ 0.19198064 -0.08997029 0.97726597 -0.20004679] [ 0. 0. 0. 1. ]] SLAMing on 141.182414037 meters Centerline goodness : 0.795984 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.45, Z:-0.20 [[ 0.93505051 -0.28659298 -0.2086744 2.44605029] [ 0.29825234 0.95413183 0.02603826 -0.44891174] [ 0.19164051 -0.08658472 0.97763848 -0.19964169] [ 0. 0. 0. 1. ]] SLAMing on 141.212414037 meters Centerline goodness : 0.793118 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.45, Z:-0.20 [[ 0.93326936 -0.2938129 -0.20659689 2.44319371] [ 0.30435483 0.95233805 0.02050291 -0.4476123 ] [ 0.19072606 -0.0820135 0.9782113 -0.19840825] [ 0. 0. 0. 1. ]] SLAMing on 141.24241403699997 meters Centerline goodness : 0.796005 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.45, Z:-0.20 [[ 0.93263642 -0.2965511 -0.20554015 2.44013658] [ 0.30668448 0.95162994 0.01857648 -0.44704252] [ 0.19008928 -0.08036108 0.97847236 -0.19699647] [ 0. 0. 0. 1. ]] SLAMing on 141.27241403699998 meters Centerline goodness : 0.794146 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.45, Z:-0.20 [[ 0.93208743 -0.29884504 -0.2047063 2.43752896] [ 0.30864117 0.95102743 0.01695468 -0.44665597] [ 0.18961448 -0.07898404 0.97867659 -0.19564915] [ 0. 0. 0. 1. ]] SLAMing on 141.30241403699998 meters Centerline goodness : 0.793124 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.45, Z:-0.19 [[ 0.93163042 -0.30081548 -0.20389904 2.43511943] [ 0.31029554 0.9505145 0.01545514 -0.44614446] [ 0.18915985 -0.07766745 0.97886992 -0.19447814] [ 0. 0. 0. 1. ]] SLAMing on 141.33241403699998 meters Centerline goodness : 0.792917 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.45, Z:-0.20 [[ 0.93299166 -0.30040398 -0.19820194 2.42328386] [ 0.30864476 0.95110989 0.0113308 -0.44631965] [ 0.18510801 -0.07174553 0.98009571 -0.19670333] [ 0. 0. 0. 1. ]] SLAMing on 141.36241403699998 meters Centerline goodness : 0.793348 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.45, Z:-0.20 [[ 0.93466243 -0.29670495 -0.19588851 2.41152574] [ 0.30411234 0.95260112 0.00817254 -0.44723443] [ 0.18417878 -0.06721067 0.98059212 -0.19920912] [ 0. 0. 0. 1. ]] SLAMing on 141.39241403699998 meters Centerline goodness : 0.792609 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.44, Z:-0.20 [[ 0.93558604 -0.29333426 -0.19655476 2.41118421] [ 0.30122775 0.95349047 0.01085224 -0.44456348] [ 0.18422976 -0.06936095 0.98043279 -0.20011629] [ 0. 0. 0. 1. ]] SLAMing on 141.42241403699998 meters Centerline goodness : 0.788091 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.44, Z:-0.20 [[ 0.93735151 -0.28701374 -0.19747216 2.41023672] [ 0.29569129 0.95516093 0.01530528 -0.43662935] [ 0.18422487 -0.07273722 0.98018901 -0.2026542 ] [ 0. 0. 0. 1. ]] SLAMing on 141.45241403699998 meters Centerline goodness : 0.788399 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.43, Z:-0.20 [[ 0.93830792 -0.28341962 -0.19812011 2.40937049] [ 0.29256197 0.95607947 0.01787568 -0.4332714 ] [ 0.18435225 -0.0747353 0.98001474 -0.20329936] [ 0. 0. 0. 1. ]] SLAMing on 141.48241403699998 meters Centerline goodness : 0.789787 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.43, Z:-0.20 [[ 0.93926112 -0.27991629 -0.19858352 2.40810915] [ 0.28949327 0.95696382 0.02034417 -0.43039313] [ 0.18434258 -0.07659708 0.9798728 -0.20380757] [ 0. 0. 0. 1. ]] SLAMing on 141.51241403699999 meters Centerline goodness : 0.785296 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.43, Z:-0.20 [[ 0.94019079 -0.27645238 -0.19903606 2.40685951] [ 0.286458 0.95782207 0.02277471 -0.42760881] [ 0.18434501 -0.07842805 0.97972749 -0.20429967] [ 0. 0. 0. 1. ]] SLAMing on 141.542414037 meters Centerline goodness : 0.785083 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.42, Z:-0.20 [[ 0.94018831 -0.27270401 -0.20415303 2.39373556] [ 0.2822033 0.95917853 0.01838037 -0.41925546] [ 0.1908068 -0.07489367 0.97876642 -0.20338824] [ 0. 0. 0. 1. ]] SLAMing on 141.572414037 meters Centerline goodness : 0.785545 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.42, Z:-0.20 [[ 0.9408867 -0.26970612 -0.20491663 2.39279269] [ 0.27965201 0.9598789 0.02067008 -0.41641662] [ 0.1911203 -0.07675355 0.97856115 -0.20335734] [ 0. 0. 0. 1. ]] SLAMing on 141.602414037 meters Centerline goodness : 0.785689 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.41, Z:-0.20 [[ 0.94158242 -0.26667199 -0.20569053 2.39162395] [ 0.27714343 0.96054478 0.02335056 -0.41469617] [ 0.19134803 -0.07899226 0.97833847 -0.20288923] [ 0. 0. 0. 1. ]] SLAMing on 141.632414037 meters Centerline goodness : 0.788011 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.41, Z:-0.20 [[ 0.9418434 -0.2650334 -0.20661148 2.3901903 ] [ 0.27568513 0.96094707 0.02405072 -0.40807818] [ 0.19216845 -0.07961172 0.97812743 -0.20255292] [ 0. 0. 0. 1. ]] SLAMing on 141.662414037 meters Centerline goodness : 0.787854 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.41, Z:-0.20 [[ 0.94220881 -0.26261118 -0.2080335 2.39072929] [ 0.27380111 0.96142325 0.02642516 -0.40554201] [ 0.1930687 -0.08185782 0.97776468 -0.20227018] [ 0. 0. 0. 1. ]] SLAMing on 141.692414037 meters Centerline goodness : 0.790515 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.40, Z:-0.20 [[ 0.94250557 -0.26036434 -0.20950814 2.39123052] [ 0.27211522 0.96183224 0.02884517 -0.40333467] [ 0.19400143 -0.08419708 0.97738135 -0.2016732 ] [ 0. 0. 0. 1. ]] SLAMing on 141.722414037 meters Centerline goodness : 0.788969 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.40, Z:-0.20 [[ 0.94250757 -0.2593566 -0.21074544 2.39111235] [ 0.27128794 0.96205194 0.02930746 -0.39621437] [ 0.19514698 -0.0847952 0.97710155 -0.20178334] [ 0. 0. 0. 1. ]] SLAMing on 141.752414037 meters Centerline goodness : 0.790992 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.39, Z:-0.20 [[ 0.94280137 -0.25708344 -0.21221142 2.39196942] [ 0.26955096 0.9624687 0.03156405 -0.39388109] [ 0.19613225 -0.08696042 0.97671389 -0.20154923] [ 0. 0. 0. 1. ]] SLAMing on 141.782414037 meters Centerline goodness : 0.789787 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.39, Z:-0.20 [[ 0.94256099 -0.25792855 -0.2122537 2.39238117] [ 0.270129 0.96235264 0.03012826 -0.39031322] [ 0.19649197 -0.0857336 0.97675005 -0.20240482] [ 0. 0. 0. 1. ]] SLAMing on 141.812414037 meters Centerline goodness : 0.792093 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.39, Z:-0.20 [[ 0.94269925 -0.25641538 -0.21346961 2.39235984] [ 0.26894074 0.96264628 0.031353 -0.38650849] [ 0.19745633 -0.08696713 0.97644647 -0.20193934] [ 0. 0. 0. 1. ]] SLAMing on 141.842414037 meters Centerline goodness : 0.794685 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.38, Z:-0.20 [[ 0.94316406 -0.25359186 -0.21478531 2.39257689] [ 0.26669952 0.96318254 0.03392295 -0.38411099] [ 0.19827488 -0.08927805 0.97607198 -0.20159665] [ 0. 0. 0. 1. ]] SLAMing on 141.872414037 meters Centerline goodness : 0.793189 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.38, Z:-0.20 [[ 0.94360113 -0.25076174 -0.21618385 2.39282325] [ 0.26437734 0.96374479 0.03606393 -0.37997704] [ 0.19930261 -0.09118408 0.97568639 -0.20150828] [ 0. 0. 0. 1. ]] SLAMing on 141.902414037 meters Centerline goodness : 0.793887 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.38, Z:-0.20 [[ 0.94405275 -0.2480311 -0.21735912 2.39238137] [ 0.26208852 0.9642972 0.0379542 -0.37546894] [ 0.20018497 -0.0927981 0.97535352 -0.20129688] [ 0. 0. 0. 1. ]] SLAMing on 141.932414037 meters Centerline goodness : 0.795318 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.37, Z:-0.20 [[ 0.94518571 -0.242336 -0.21885436 2.38873506] [ 0.2573628 0.96537809 0.0425387 -0.3700429 ] [ 0.20096854 -0.09653194 0.97482985 -0.19917856] [ 0. 0. 0. 1. ]] SLAMing on 141.962414037 meters Centerline goodness : 0.797254 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.37, Z:-0.20 [[ 0.94590786 -0.23863326 -0.21980102 2.38817461] [ 0.25427371 0.96606497 0.04542415 -0.3683683 ] [ 0.20150235 -0.09885669 0.97448661 -0.19883721] [ 0. 0. 0. 1. ]] SLAMing on 141.99241403699997 meters Centerline goodness : 0.795995 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.36, Z:-0.20 [[ 0.94675562 -0.23463336 -0.22045629 2.38748828] [ 0.25041254 0.9670373 0.04617819 -0.36066426] [ 0.20235451 -0.09892448 0.97430313 -0.20052893] [ 0. 0. 0. 1. ]] SLAMing on 142.02241403699998 meters Centerline goodness : 0.796418 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.36, Z:-0.20 [[ 0.94750414 -0.23107592 -0.22099732 2.38695986] [ 0.24721751 0.96776959 0.04801579 -0.35679572] [ 0.2027792 -0.10012957 0.97409171 -0.20160154] [ 0. 0. 0. 1. ]] SLAMing on 142.05241403699998 meters Centerline goodness : 0.797462 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.35, Z:-0.20 [[ 0.94820926 -0.22785086 -0.22132147 2.38547087] [ 0.24420186 0.96847612 0.04918793 -0.35169224] [ 0.20313704 -0.10068756 0.97395963 -0.20240801] [ 0. 0. 0. 1. ]] SLAMing on 142.08241403699998 meters Centerline goodness : 0.797462 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.35, Z:-0.20 [[ 0.94820926 -0.22785086 -0.22132147 2.38547087] [ 0.24420186 0.96847612 0.04918793 -0.35169224] [ 0.20313704 -0.10068756 0.97395963 -0.20240801] [ 0. 0. 0. 1. ]] SLAMing on 142.11241403699998 meters Centerline goodness : 0.796577 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.35, Z:-0.20 [[ 0.94895241 -0.22457105 -0.22148852 2.38316313] [ 0.24111358 0.96918959 0.05035651 -0.34650055] [ 0.20335575 -0.10118982 0.97386193 -0.20279484] [ 0. 0. 0. 1. ]] SLAMing on 142.14241403699998 meters Centerline goodness : 0.796952 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.34, Z:-0.20 [[ 0.95044267 -0.22005941 -0.21961917 2.37783131] [ 0.23588663 0.97057858 0.04831898 -0.33623472] [ 0.20252462 -0.09772965 0.97438837 -0.20462562] [ 0. 0. 0. 1. ]] SLAMing on 142.17241403699998 meters Centerline goodness : 0.797462 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.33, Z:-0.21 [[ 0.95074052 -0.21962804 -0.2187601 2.37592537] [ 0.23494518 0.97090407 0.04632539 -0.33228057] [ 0.20222072 -0.09544006 0.9746784 -0.2057962 ] [ 0. 0. 0. 1. ]] SLAMing on 142.20241403699998 meters Centerline goodness : 0.800641 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.33, Z:-0.21 [[ 0.95099504 -0.21939109 -0.21788983 2.37420356] [ 0.23426536 0.97114781 0.04462811 -0.32930334] [ 0.20181222 -0.09348515 0.97495249 -0.20683176] [ 0. 0. 0. 1. ]] SLAMing on 142.23241403699998 meters Centerline goodness : 0.798736 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.33, Z:-0.21 [[ 0.95113087 -0.21938147 -0.21730585 2.37271806] [ 0.2339056 0.97129862 0.04321062 -0.32663915] [ 0.20158926 -0.09192801 0.97514666 -0.20728274] [ 0. 0. 0. 1. ]] SLAMing on 142.26241403699999 meters Centerline goodness : 0.799695 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.32, Z:-0.21 [[ 0.9518056 -0.21605765 -0.21768139 2.3714629 ] [ 0.23084814 0.97196418 0.04466275 -0.32234376] [ 0.20192879 -0.0927616 0.97499746 -0.20787027] [ 0. 0. 0. 1. ]] SLAMing on 142.292414037 meters Centerline goodness : 0.801828 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.32, Z:-0.21 [[ 0.95193765 -0.21606959 -0.21709135 2.3697812 ] [ 0.23047037 0.97212645 0.04305312 -0.31863414] [ 0.20173777 -0.09101701 0.9752014 -0.20845157] [ 0. 0. 0. 1. ]] SLAMing on 142.322414037 meters Centerline goodness : 0.799227 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.32, Z:-0.21 [[ 0.95214971 -0.21594908 -0.21627973 2.36761869] [ 0.22993802 0.97232247 0.04144297 -0.31509671] [ 0.20134407 -0.08919084 0.97545146 -0.20900182] [ 0. 0. 0. 1. ]] SLAMing on 142.352414037 meters Centerline goodness : 0.801437 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.31, Z:-0.21 [[ 0.95260146 -0.21497475 -0.21525874 2.36461901] [ 0.2286034 0.9726871 0.0402528 -0.31165324] [ 0.20072606 -0.08755376 0.97572711 -0.20939853] [ 0. 0. 0. 1. ]] SLAMing on 142.382414037 meters Centerline goodness : 0.799845 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.31, Z:-0.21 [[ 0.95398927 -0.22206903 -0.20146917 2.36462585] [ 0.23392059 0.97156088 0.03675081 -0.30657531] [ 0.18757835 -0.08218767 0.97880516 -0.21380345] [ 0. 0. 0. 1. ]] SLAMing on 142.412414037 meters Centerline goodness : 0.799992 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.31, Z:-0.21 [[ 0.95337962 -0.22370845 -0.20253845 2.36696786] [ 0.23584122 0.97106482 0.03757709 -0.30854177] [ 0.18827165 -0.08359215 0.97855308 -0.21271884] [ 0. 0. 0. 1. ]] SLAMing on 142.442414037 meters Centerline goodness : 0.799494 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.31, Z:-0.21 [[ 0.95263481 -0.2257805 -0.20374022 2.37038923] [ 0.23812312 0.97049447 0.03791911 -0.30943388] [ 0.18916736 -0.08463832 0.97829038 -0.21255191] [ 0. 0. 0. 1. ]] SLAMing on 142.472414037 meters Centerline goodness : 0.798738 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.31, Z:-0.21 [[ 0.95140454 -0.23082247 -0.20383914 2.37343691] [ 0.24255452 0.96953373 0.03422945 -0.30833958] [ 0.18972799 -0.08200816 0.97840582 -0.21331311] [ 0. 0. 0. 1. ]] SLAMing on 142.502414037 meters Centerline goodness : 0.796358 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.31, Z:-0.21 [[ 0.95022694 -0.23421145 -0.20545988 2.37686141] [ 0.24617075 0.96861774 0.03434591 -0.30872086] [ 0.19096788 -0.08321462 0.97806267 -0.21194616] [ 0. 0. 0. 1. ]] SLAMing on 142.532414037 meters Centerline goodness : 0.796346 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.31, Z:-0.21 [[ 0.95004497 -0.23445221 -0.20602601 2.37714676] [ 0.24664329 0.96846484 0.03525523 -0.30911196] [ 0.19126328 -0.08430899 0.97791122 -0.21082416] [ 0. 0. 0. 1. ]] SLAMing on 142.562414037 meters Centerline goodness : 0.798480 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.31, Z:-0.21 [[ 0.94990424 -0.23459714 -0.20650934 2.3772175 ] [ 0.24698126 0.96835098 0.03600891 -0.30985197] [ 0.19152594 -0.08520895 0.9777818 -0.20959144] [ 0. 0. 0. 1. ]] SLAMing on 142.592414037 meters Centerline goodness : 0.792942 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.31, Z:-0.21 [[ 0.94977797 -0.23459905 -0.20708716 2.37810626] [ 0.24716855 0.96827758 0.03669105 -0.31054188] [ 0.19191017 -0.08603378 0.97763422 -0.20897651] [ 0. 0. 0. 1. ]] SLAMing on 142.622414037 meters Centerline goodness : 0.797611 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.31, Z:-0.21 [[ 0.94972699 -0.23451009 -0.20742147 2.37953809] [ 0.24716786 0.96826615 0.03699616 -0.3112164 ] [ 0.19216322 -0.08640417 0.97755185 -0.20944985] [ 0. 0. 0. 1. ]] SLAMing on 142.652414037 meters Centerline goodness : 0.792775 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.31, Z:-0.21 [[ 0.94990149 -0.2339826 -0.207218 2.37976304] [ 0.24664203 0.96839432 0.03715031 -0.31181013] [ 0.19197621 -0.0863978 0.97758915 -0.21009201] [ 0. 0. 0. 1. ]] SLAMing on 142.682414037 meters Centerline goodness : 0.789830 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.31, Z:-0.21 [[ 0.95011789 -0.23347417 -0.20679895 2.37992449] [ 0.24606931 0.96854327 0.03706509 -0.31230657] [ 0.19163999 -0.08610308 0.97768112 -0.2111696 ] [ 0. 0. 0. 1. ]] SLAMing on 142.712414037 meters Centerline goodness : 0.789043 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.31, Z:-0.21 [[ 0.95067628 -0.23208134 -0.20579813 2.37962281] [ 0.24445031 0.9689745 0.0365028 -0.31209588] [ 0.19094152 -0.08500977 0.97791343 -0.21345894] [ 0. 0. 0. 1. ]] SLAMing on 142.74241403699997 meters Centerline goodness : 0.789884 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.31, Z:-0.21 [[ 0.95091339 -0.23156065 -0.20528854 2.37932366] [ 0.24371558 0.96918994 0.03568714 -0.31060636] [ 0.19069985 -0.0839674 0.97805063 -0.21473002] [ 0. 0. 0. 1. ]] SLAMing on 142.77241403699998 meters Centerline goodness : 0.793624 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.31, Z:-0.22 [[ 0.95134843 -0.23041829 -0.20455701 2.37917481] [ 0.24235321 0.96955669 0.03499636 -0.30914423] [ 0.19026582 -0.08286878 0.97822885 -0.2168472 ] [ 0. 0. 0. 1. ]] SLAMing on 142.80241403699998 meters Centerline goodness : 0.791886 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.31, Z:-0.22 [[ 0.95303095 -0.22409898 -0.20374409 2.37706644] [ 0.23641667 0.97091031 0.03795152 -0.30947571] [ 0.18931234 -0.08433747 0.97828831 -0.21894825] [ 0. 0. 0. 1. ]] SLAMing on 142.83241403699998 meters Centerline goodness : 0.792642 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.31, Z:-0.22 [[ 0.95392613 -0.22143721 -0.20246109 2.37393277] [ 0.23373102 0.97153209 0.038668 -0.31054382] [ 0.18813491 -0.08420785 0.97852659 -0.21924616] [ 0. 0. 0. 1. ]] SLAMing on 142.86241403699998 meters Centerline goodness : 0.795859 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.32, Z:-0.22 [[ 0.95585939 -0.21420686 -0.20111751 2.36812188] [ 0.22717376 0.97288234 0.04349747 -0.31540681] [ 0.18634622 -0.08726608 0.9786009 -0.21779204] [ 0. 0. 0. 1. ]] SLAMing on 142.89241403699998 meters Centerline goodness : 0.798615 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.32, Z:-0.22 [[ 0.95618127 -0.21325322 -0.2006002 2.36666988] [ 0.22622096 0.97308906 0.04383781 -0.31613319] [ 0.18585331 -0.08729686 0.97869189 -0.21753501] [ 0. 0. 0. 1. ]] SLAMing on 142.92241403699998 meters Centerline goodness : 0.798890 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.32, Z:-0.22 [[ 0.95616077 -0.21336759 -0.2005763 2.36640204] [ 0.22631649 0.97307128 0.04373936 -0.31628868] [ 0.18584247 -0.08721559 0.97870119 -0.21721668] [ 0. 0. 0. 1. ]] SLAMing on 142.95241403699998 meters Centerline goodness : 0.796262 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.32, Z:-0.22 [[ 0.95544666 -0.21663166 -0.20048043 2.3686533 ] [ 0.22926054 0.97246739 0.04179457 -0.31825121] [ 0.18590665 -0.08589474 0.97880581 -0.2175386 ] [ 0. 0. 0. 1. ]] SLAMing on 142.98241403699998 meters Centerline goodness : 0.797256 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.32, Z:-0.22 [[ 0.95487609 -0.21994588 -0.19958826 2.36939195] [ 0.23203118 0.97192495 0.03903105 -0.32001751] [ 0.18540009 -0.08358051 0.97910219 -0.21809515] [ 0. 0. 0. 1. ]] SLAMing on 143.01241403699999 meters Centerline goodness : 0.796573 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.32, Z:-0.22 [[ 0.95433205 -0.22285992 -0.19895674 2.37084747] [ 0.23450677 0.97142054 0.03672469 -0.32235127] [ 0.1850862 -0.08170425 0.97931992 -0.21877415] [ 0. 0. 0. 1. ]] SLAMing on 143.042414037 meters Centerline goodness : 0.799680 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.33, Z:-0.22 [[ 0.95417661 -0.22296887 -0.19957928 2.37334227] [ 0.23497288 0.97124626 0.03832032 -0.3262724 ] [ 0.18529639 -0.08346007 0.9791321 -0.21879278] [ 0. 0. 0. 1. ]] SLAMing on 143.072414037 meters Centerline goodness : 0.796502 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.33, Z:-0.22 [[ 0.95340007 -0.22655329 -0.19925341 2.37583102] [ 0.23830793 0.97049177 0.03681091 -0.33075427] [ 0.18503416 -0.08257919 0.97925637 -0.21908212] [ 0. 0. 0. 1. ]] SLAMing on 143.102414037 meters Centerline goodness : 0.797540 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.33, Z:-0.22 [[ 0.95328887 -0.22637145 -0.19999072 2.37754369] [ 0.23852901 0.97036715 0.03861994 -0.33378818] [ 0.18532197 -0.08451955 0.97903637 -0.21843699] [ 0. 0. 0. 1. ]] SLAMing on 143.132414037 meters Centerline goodness : 0.798021 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.34, Z:-0.22 [[ 0.95331033 -0.22577822 -0.20055824 2.37901326] [ 0.23832863 0.9703404 0.0404841 -0.33735732] [ 0.18546934 -0.08639268 0.97884495 -0.21786922] [ 0. 0. 0. 1. ]] SLAMing on 143.162414037 meters Centerline goodness : 0.799744 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.35, Z:-0.22 [[ 0.95349918 -0.22488434 -0.20066478 2.37935651] [ 0.23805836 0.97026216 0.0438128 -0.34572428] [ 0.18484463 -0.0895454 0.97867977 -0.21595865] [ 0. 0. 0. 1. ]] SLAMing on 143.192414037 meters Centerline goodness : 0.797815 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.35, Z:-0.22 [[ 0.95359105 -0.2242237 -0.20096726 2.38062908] [ 0.23771389 0.97027375 0.04539776 -0.34950017] [ 0.184814 -0.0910636 0.97854545 -0.21569019] [ 0. 0. 0. 1. ]] SLAMing on 143.222414037 meters Centerline goodness : 0.798468 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.35, Z:-0.22 [[ 0.95364876 -0.22398706 -0.20095728 2.38207754] [ 0.23760612 0.97026669 0.04610728 -0.35251851] [ 0.18465472 -0.09171883 0.97851433 -0.21628717] [ 0. 0. 0. 1. ]] SLAMing on 143.252414037 meters Centerline goodness : 0.799294 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.35, Z:-0.22 [[ 0.95361522 -0.22394034 -0.20116844 2.38418786] [ 0.23765401 0.97023594 0.04650585 -0.35449727] [ 0.18476631 -0.09215717 0.97845208 -0.21723942] [ 0. 0. 0. 1. ]] SLAMing on 143.282414037 meters Centerline goodness : 0.795684 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.36, Z:-0.22 [[ 0.95378462 -0.22322162 -0.20116413 2.38686112] [ 0.23705203 0.97035003 0.04719267 -0.35717242] [ 0.1846652 -0.09269801 0.97842007 -0.2191679 ] [ 0. 0. 0. 1. ]] SLAMing on 143.312414037 meters Centerline goodness : 0.796939 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.36, Z:-0.22 [[ 0.95400394 -0.22234343 -0.20109668 2.38803192] [ 0.23631465 0.97048759 0.04805435 -0.3595113 ] [ 0.18447726 -0.09336613 0.978392 -0.22008316] [ 0. 0. 0. 1. ]] SLAMing on 143.342414037 meters Centerline goodness : 0.795267 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.36, Z:-0.22 [[ 0.95420197 -0.22167873 -0.20089088 2.38920188] [ 0.23573234 0.97059909 0.04865873 -0.36238277] [ 0.1841979 -0.09378673 0.97840441 -0.22101583] [ 0. 0. 0. 1. ]] SLAMing on 143.372414037 meters Centerline goodness : 0.796887 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.37, Z:-0.22 [[ 0.95478997 -0.21971246 -0.20025621 2.38892105] [ 0.23414911 0.97085102 0.05121017 -0.37038156] [ 0.18316744 -0.09578477 0.9784043 -0.22037525] [ 0. 0. 0. 1. ]] SLAMing on 143.402414037 meters Centerline goodness : 0.797298 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.37, Z:-0.22 [[ 0.95498951 -0.2183937 -0.20074667 2.38954134] [ 0.23323999 0.97096 0.05325217 -0.37336855] [ 0.18328704 -0.09767741 0.97819476 -0.21952343] [ 0. 0. 0. 1. ]] SLAMing on 143.432414037 meters Centerline goodness : 0.797793 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.38, Z:-0.22 [[ 0.95505699 -0.21800275 -0.20085055 2.38975373] [ 0.23300205 0.97097319 0.0540472 -0.37514899] [ 0.18323807 -0.09841675 0.97812983 -0.21911448] [ 0. 0. 0. 1. ]] SLAMing on 143.462414037 meters Centerline goodness : 0.800586 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.38, Z:-0.22 [[ 0.95522329 -0.21720208 -0.20092714 2.39094664] [ 0.23238349 0.97106517 0.05504857 -0.37749899] [ 0.18315668 -0.09927583 0.97805825 -0.219692 ] [ 0. 0. 0. 1. ]] SLAMing on 143.49241403699997 meters Centerline goodness : 0.795898 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.38, Z:-0.22 [[ 0.95544757 -0.21778707 -0.1992203 2.39259135] [ 0.23246586 0.97114649 0.05323651 -0.38199591] [ 0.18187787 -0.09717662 0.97850761 -0.22292724] [ 0. 0. 0. 1. ]] SLAMing on 143.52241403699998 meters Centerline goodness : 0.797325 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.39, Z:-0.22 [[ 0.95583769 -0.21635582 -0.19890819 2.39245891] [ 0.23129646 0.97133057 0.0549442 -0.38597594] [ 0.18131811 -0.0985245 0.97847671 -0.22284727] [ 0. 0. 0. 1. ]] SLAMing on 143.55241403699998 meters Centerline goodness : 0.797506 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.39, Z:-0.22 [[ 0.95674387 -0.21345785 -0.19767879 2.38788953] [ 0.2289005 0.97168392 0.05860815 -0.39397828] [ 0.17957093 -0.10132176 0.97851325 -0.21953637] [ 0. 0. 0. 1. ]] SLAMing on 143.58241403699998 meters Centerline goodness : 0.795212 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.40, Z:-0.22 [[ 0.95695669 -0.21256844 -0.19760708 2.38700012] [ 0.22826862 0.97173962 0.06012946 -0.39722741] [ 0.179241 -0.10264878 0.97843543 -0.21814103] [ 0. 0. 0. 1. ]] SLAMing on 143.61241403699998 meters Centerline goodness : 0.795655 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.40, Z:-0.22 [[ 0.95695046 -0.21215958 -0.19807605 2.38786494] [ 0.22815143 0.97168259 0.06148067 -0.40021828] [ 0.17942333 -0.10402529 0.97825662 -0.21726762] [ 0. 0. 0. 1. ]] SLAMing on 143.64241403699998 meters Centerline goodness : 0.795129 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.41, Z:-0.22 [[ 0.95600197 -0.21739403 -0.19697735 2.39250289] [ 0.23253931 0.97091236 0.05704965 -0.40606829] [ 0.17884549 -0.10034455 0.97874678 -0.21978791] [ 0. 0. 0. 1. ]] SLAMing on 143.67241403699998 meters Centerline goodness : 0.793659 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.41, Z:-0.22 [[ 0.95548924 -0.21995384 -0.19662305 2.39534376] [ 0.2348758 0.97042195 0.05580863 -0.41133181] [ 0.178532 -0.09950654 0.97888956 -0.22055765] [ 0. 0. 0. 1. ]] SLAMing on 143.70241403699998 meters Centerline goodness : 0.797390 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.42, Z:-0.22 [[ 0.95500094 -0.22267705 -0.19592889 2.3967576 ] [ 0.2372949 0.96991912 0.05429581 -0.41611314] [ 0.17794475 -0.09834548 0.9791138 -0.2207081 ] [ 0. 0. 0. 1. ]] SLAMing on 143.73241403699998 meters Centerline goodness : 0.798553 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.42, Z:-0.22 [[ 0.9550454 -0.22251097 -0.19590089 2.39676017] [ 0.23745078 0.96977831 0.05609956 -0.42196008] [ 0.17749767 -0.10009445 0.97901771 -0.21922119] [ 0. 0. 0. 1. ]] SLAMing on 143.76241403699999 meters Centerline goodness : 0.796308 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.43, Z:-0.22 [[ 0.95487686 -0.22344861 -0.19565505 2.39715516] [ 0.23862907 0.96940746 0.05749211 -0.43159534] [ 0.17682293 -0.10158687 0.97898609 -0.21682843] [ 0. 0. 0. 1. ]] SLAMing on 143.792414037 meters Centerline goodness : 0.798636 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.44, Z:-0.22 [[ 0.95450614 -0.22539185 -0.19523459 2.39734969] [ 0.24043527 0.96900108 0.05681366 -0.43673893] [ 0.1763772 -0.10117027 0.97910963 -0.2155081 ] [ 0. 0. 0. 1. ]] SLAMing on 143.822414037 meters Centerline goodness : 0.799514 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.44, Z:-0.21 [[ 0.95399346 -0.22773726 -0.19501849 2.39872272] [ 0.2426157 0.96851495 0.05582475 -0.44224277] [ 0.17616495 -0.100571 0.97920957 -0.21453585] [ 0. 0. 0. 1. ]] SLAMing on 143.852414037 meters Centerline goodness : 0.816702 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.46, Z:-0.21 [[ 0.95321559 -0.22428558 -0.20267221 2.4078019 ] [ 0.24307367 0.96727135 0.07281016 -0.462949 ] [ 0.17970876 -0.11866806 0.97653605 -0.20690829] [ 0. 0. 0. 1. ]] SLAMing on 143.882414037 meters Centerline goodness : 0.804190 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.47, Z:-0.21 [[ 0.95249818 -0.22741349 -0.20255942 2.41007179] [ 0.24597367 0.96664354 0.0713948 -0.46844439] [ 0.17956662 -0.1178277 0.97666395 -0.20625287] [ 0. 0. 0. 1. ]] SLAMing on 143.912414037 meters Centerline goodness : 0.806094 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.47, Z:-0.21 [[ 0.95170751 -0.23082648 -0.20241532 2.4123301 ] [ 0.24908378 0.96598031 0.06956524 -0.47321153] [ 0.17947171 -0.11662413 0.97682584 -0.20572794] [ 0. 0. 0. 1. ]] SLAMing on 143.942414037 meters Centerline goodness : 0.805765 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.48, Z:-0.21 [[ 0.95090535 -0.23428857 -0.20220754 2.41430877] [ 0.25219053 0.96532173 0.06748256 -0.4773179 ] [ 0.17938494 -0.11516435 0.97701495 -0.20524738] [ 0. 0. 0. 1. ]] SLAMing on 143.972414037 meters Centerline goodness : 0.805580 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.49, Z:-0.20 [[ 0.94932986 -0.24103563 -0.20167956 2.41733722] [ 0.25836894 0.96391332 0.06416069 -0.48710269] [ 0.1789366 -0.1130174 0.97734782 -0.20331984] [ 0. 0. 0. 1. ]] SLAMing on 144.002414037 meters Centerline goodness : 0.805580 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.49, Z:-0.20 [[ 0.94932986 -0.24103563 -0.20167956 2.41733722] [ 0.25836894 0.96391332 0.06416069 -0.48710269] [ 0.1789366 -0.1130174 0.97734782 -0.20331984] [ 0. 0. 0. 1. ]] SLAMing on 144.032414037 meters Centerline goodness : 0.804088 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.49, Z:-0.20 [[ 0.94766856 -0.24853282 -0.20038898 2.41906502] [ 0.2647558 0.96255402 0.05825912 -0.49060123] [ 0.17840592 -0.10826448 0.97798268 -0.20307062] [ 0. 0. 0. 1. ]] SLAMing on 144.062414037 meters Centerline goodness : 0.804962 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.49, Z:-0.20 [[ 0.94594492 -0.25603802 -0.19907972 2.42135403] [ 0.27116535 0.96110652 0.0523794 -0.49431262] [ 0.1779257 -0.10353156 0.97858248 -0.2031675 ] [ 0. 0. 0. 1. ]] SLAMing on 144.092414037 meters Centerline goodness : 0.805255 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.50, Z:-0.20 [[ 0.94299171 -0.26856649 -0.19656723 2.42403788] [ 0.28203602 0.95841513 0.04354457 -0.50298724] [ 0.17669839 -0.09650121 0.97952294 -0.20282456] [ 0. 0. 0. 1. ]] SLAMing on 144.122414037 meters Centerline goodness : 0.808548 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.51, Z:-0.20 [[ 0.9414055 -0.27537621 -0.19473988 2.42211074] [ 0.28784255 0.95690998 0.03833998 -0.50632247] [ 0.17579062 -0.09214789 0.98010531 -0.20087145] [ 0. 0. 0. 1. ]] SLAMing on 144.152414037 meters Centerline goodness : 0.810689 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.51, Z:-0.20 [[ 0.93996468 -0.28139769 -0.19308481 2.41970077] [ 0.29300457 0.95551179 0.03384592 -0.50905194] [ 0.17497065 -0.0883887 0.98059814 -0.19864706] [ 0. 0. 0. 1. ]] SLAMing on 144.182414037 meters Centerline goodness : 0.811003 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.51, Z:-0.20 [[ 0.93785005 -0.28949623 -0.19138758 2.41957451] [ 0.30004504 0.95351406 0.02799832 -0.51361607] [ 0.17438534 -0.08368313 0.98111512 -0.19683647] [ 0. 0. 0. 1. ]] SLAMing on 144.212414037 meters Centerline goodness : 0.811841 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.51, Z:-0.20 [[ 0.93675801 -0.29347997 -0.19066709 2.42103603] [ 0.30344681 0.95252835 0.02469348 -0.51432434] [ 0.17436877 -0.08098914 0.98134412 -0.19724582] [ 0. 0. 0. 1. ]] SLAMing on 144.24241403699997 meters Centerline goodness : 0.809407 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.51, Z:-0.20 [[ 0.93574656 -0.29720259 -0.18986573 2.42277584] [ 0.30658762 0.95160103 0.02143631 -0.51454915] [ 0.1743055 -0.07826943 0.98157602 -0.19817439] [ 0. 0. 0. 1. ]] SLAMing on 144.27241403699998 meters Centerline goodness : 0.810837 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.51, Z:-0.20 [[ 0.93471261 -0.30106054 -0.18887799 2.42360069] [ 0.30983006 0.95062076 0.01804159 -0.51474192] [ 0.17411973 -0.07538378 0.98183482 -0.19862964] [ 0. 0. 0. 1. ]] SLAMing on 144.30241403699998 meters Centerline goodness : 0.810338 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.51, Z:-0.20 [[ 0.93363383 -0.30505099 -0.1878078 2.42392336] [ 0.31317852 0.94958362 0.01449695 -0.51472966] [ 0.1739169 -0.07235222 0.98209881 -0.19879323] [ 0. 0. 0. 1. ]] SLAMing on 144.33241403699998 meters Centerline goodness : 0.809209 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.52, Z:-0.20 [[ 0.93250964 -0.30917889 -0.18663917 2.42437567] [ 0.31670555 0.94845794 0.01118635 -0.5160713 ] [ 0.17356082 -0.06954104 0.98236484 -0.19890891] [ 0. 0. 0. 1. ]] SLAMing on 144.36241403699998 meters Centerline goodness : 0.810892 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.52, Z:-0.20 [[ 0.93244211 -0.3093259 -0.18673299 2.42500408] [ 0.31689648 0.94839183 0.01138241 -0.51738279] [ 0.17357517 -0.06978847 0.98234476 -0.19897139] [ 0. 0. 0. 1. ]] SLAMing on 144.39241403699998 meters Centerline goodness : 0.810133 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.52, Z:-0.20 [[ 0.93237071 -0.30952646 -0.18675714 2.42544455] [ 0.31711775 0.9483168 0.01147032 -0.51816966] [ 0.17355456 -0.06991859 0.98233915 -0.1990812 ] [ 0. 0. 0. 1. ]] SLAMing on 144.42241403699998 meters Centerline goodness : 0.812487 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.52, Z:-0.20 [[ 0.93214143 -0.31040914 -0.18643637 2.42354434] [ 0.31788681 0.94806633 0.01087243 -0.51792526] [ 0.17337914 -0.06940031 0.98240688 -0.19778445] [ 0. 0. 0. 1. ]] SLAMing on 144.45241403699998 meters Centerline goodness : 0.813409 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.52, Z:-0.20 [[ 0.93209297 -0.31051291 -0.18650582 2.4224752 ] [ 0.31797666 0.94803754 0.01075525 -0.51768857] [ 0.17347488 -0.06932939 0.98239498 -0.19668731] [ 0. 0. 0. 1. ]] SLAMing on 144.48241403699998 meters Centerline goodness : 0.812952 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.52, Z:-0.20 [[ 0.93199511 -0.31080416 -0.18650976 2.42169602] [ 0.31821283 0.94796211 0.01041359 -0.51701688] [ 0.1735676 -0.06905521 0.98239792 -0.19597711] [ 0. 0. 0. 1. ]] SLAMing on 144.51241403699999 meters Centerline goodness : 0.811466 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.51, Z:-0.20 [[ 0.93171033 -0.31165271 -0.18651663 2.42194282] [ 0.31887458 0.94775157 0.00927205 -0.51358456] [ 0.17388177 -0.06811428 0.98240805 -0.19659474] [ 0. 0. 0. 1. ]] SLAMing on 144.542414037 meters Centerline goodness : 0.809790 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.51, Z:-0.20 [[ 0.93148468 -0.31237715 -0.18643176 2.42242305] [ 0.31946565 0.9475599 0.00848188 -0.51183779] [ 0.17400572 -0.06745929 0.9824313 -0.19725968] [ 0. 0. 0. 1. ]] SLAMing on 144.572414037 meters Centerline goodness : 0.809209 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.51, Z:-0.20 [[ 0.9302175 -0.31694474 -0.18504442 2.42240827] [ 0.32322359 0.9463142 0.00399326 -0.50870123] [ 0.17384452 -0.06352532 0.98272204 -0.19813942] [ 0. 0. 0. 1. ]] SLAMing on 144.602414037 meters Centerline goodness : 0.811656 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.51, Z:-0.20 [[ 9.28822921e-01 -3.21955440e-01 -1.83392137e-01 2.42181133e+00] [ 3.27382215e-01 9.44891719e-01 -7.24803368e-04 -5.05948584e-01] [ 1.73519066e-01 -5.93661102e-02 9.83039571e-01 -1.98681717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.632414037 meters Centerline goodness : 0.811481 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.50, Z:-0.20 [[ 0.92660505 -0.32975203 -0.18073928 2.42036462] [ 0.33398179 0.94255042 -0.00740681 -0.50059723] [ 0.17279829 -0.05350044 0.98350315 -0.19990773] [ 0. 0. 0. 1. ]] SLAMing on 144.662414037 meters Centerline goodness : 0.811289 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.50, Z:-0.20 [[ 0.92599776 -0.33185805 -0.17999552 2.41960593] [ 0.33579181 0.94189258 -0.00906785 -0.49770931] [ 0.17254569 -0.05204421 0.98362563 -0.20057022] [ 0. 0. 0. 1. ]] SLAMing on 144.692414037 meters Centerline goodness : 0.811482 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.49, Z:-0.20 [[ 0.92547054 -0.33368275 -0.17933239 2.41852868] [ 0.33732266 0.94132803 -0.01072165 -0.49426488] [ 0.17238824 -0.05057031 0.98373011 -0.20099837] [ 0. 0. 0. 1. ]] SLAMing on 144.722414037 meters Centerline goodness : 0.813249 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.48, Z:-0.20 [[ 0.92444744 -0.33736409 -0.17771437 2.41485625] [ 0.34031188 0.94019974 -0.01456933 -0.48483375] [ 0.17200218 -0.04700974 0.98397426 -0.20155156] [ 0. 0. 0. 1. ]] SLAMing on 144.752414037 meters Centerline goodness : 0.811615 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.48, Z:-0.20 [[ 0.92409606 -0.3386736 -0.17704987 2.4130049 ] [ 0.34128901 0.93981502 -0.01641749 -0.47966835] [ 0.1719543 -0.04525383 0.98406494 -0.20173425] [ 0. 0. 0. 1. ]] SLAMing on 144.782414037 meters Centerline goodness : 0.812028 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.47, Z:-0.20 [[ 0.92425703 -0.33868696 -0.17618196 2.40678968] [ 0.34105612 0.93987815 -0.01760086 -0.46958207] [ 0.17155075 -0.04382022 0.98420025 -0.20065853] [ 0. 0. 0. 1. ]] SLAMing on 144.812414037 meters Centerline goodness : 0.811465 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.46, Z:-0.20 [[ 0.92485418 -0.33710823 -0.17607606 2.40273939] [ 0.3395903 0.94042391 -0.01677192 -0.46454347] [ 0.17124009 -0.04428214 0.98423367 -0.19969989] [ 0. 0. 0. 1. ]] SLAMing on 144.842414037 meters Centerline goodness : 0.814626 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.46, Z:-0.20 [[ 0.92560141 -0.33484578 -0.17646625 2.39979418] [ 0.33751058 0.94119235 -0.01560648 -0.45904956] [ 0.17131445 -0.04511384 0.98418296 -0.19910245] [ 0. 0. 0. 1. ]] SLAMing on 144.872414037 meters Centerline goodness : 0.812826 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.45, Z:-0.20 [[ 0.92640455 -0.33232975 -0.17700719 2.39757929] [ 0.3352112 0.94203501 -0.0142654 -0.45298503] [ 0.17148778 -0.04611926 0.98410617 -0.19911931] [ 0. 0. 0. 1. ]] SLAMing on 144.902414037 meters Centerline goodness : 0.806800 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.44, Z:-0.20 [[ 0.92798055 -0.32744449 -0.17785443 2.39398872] [ 0.3308583 0.94361662 -0.01097521 -0.43988174] [ 0.17142016 -0.04865984 0.9839956 -0.20096245] [ 0. 0. 0. 1. ]] SLAMing on 144.932414037 meters Centerline goodness : 0.805093 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.44, Z:-0.20 [[ 0.92888915 -0.32347834 -0.18035162 2.37658172] [ 0.32666609 0.94505611 -0.01257872 -0.43766607] [ 0.17451135 -0.04723052 0.98352177 -0.20246294] [ 0. 0. 0. 1. ]] SLAMing on 144.962414037 meters Centerline goodness : 0.803948 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.44, Z:-0.20 [[ 0.92980857 -0.32019155 -0.18147562 2.35901194] [ 0.32292027 0.9463053 -0.01512558 -0.43567893] [ 0.17657442 -0.04453826 0.98327911 -0.20387351] [ 0. 0. 0. 1. ]] SLAMing on 144.99241403699997 meters Centerline goodness : 0.801739 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.43, Z:-0.21 [[ 0.9304754 -0.31730424 -0.18312167 2.34138938] [ 0.31965008 0.94737651 -0.0173658 -0.43448334] [ 0.17899541 -0.04237641 0.98293687 -0.20564438] [ 0. 0. 0. 1. ]] SLAMing on 145.02241403699998 meters Centerline goodness : 0.799353 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.42, Z:-0.21 [[ 0.93104126 -0.31567773 -0.18305669 2.338789 ] [ 0.31806432 0.94791735 -0.01696412 -0.42377967] [ 0.1788778 -0.0424295 0.98295598 -0.20715617] [ 0. 0. 0. 1. ]] SLAMing on 145.05241403699998 meters Centerline goodness : 0.792265 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.43, Z:-0.22 [[ 0.93222651 -0.31190637 -0.18348881 2.31285752] [ 0.31635434 0.94862641 -0.00527939 -0.4285175 ] [ 0.17570901 -0.0531259 0.98300762 -0.21732297] [ 0. 0. 0. 1. ]] SLAMing on 145.08241403699998 meters Centerline goodness : 0.798479 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.42, Z:-0.22 [[ 0.93305111 -0.30916227 -0.18394104 2.3114152 ] [ 0.31395172 0.94943342 -0.00324013 -0.42458502] [ 0.1756415 -0.0547254 0.98293194 -0.21788604] [ 0. 0. 0. 1. ]] SLAMing on 145.11241403699998 meters Centerline goodness : 0.798479 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.42, Z:-0.22 [[ 0.93311358 -0.30675192 -0.1876228 2.28613623] [ 0.31486335 0.94902898 0.01432025 -0.42307201] [ 0.17366671 -0.07243796 0.98213676 -0.22353361] [ 0. 0. 0. 1. ]] SLAMing on 145.14241403699998 meters Centerline goodness : 0.797998 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.42, Z:-0.22 [[ 0.93398614 -0.30369925 -0.18824624 2.28472632] [ 0.31217651 0.9498823 0.01641464 -0.41903107] [ 0.17382666 -0.0740971 0.98198468 -0.22395176] [ 0. 0. 0. 1. ]] SLAMing on 145.17241403699998 meters Centerline goodness : 0.798397 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.41, Z:-0.22 [[ 0.93475895 -0.30084497 -0.18899207 2.28362532] [ 0.30963615 0.95068218 0.01813412 -0.4141527 ] [ 0.17421583 -0.07546981 0.98181116 -0.22446595] [ 0. 0. 0. 1. ]] SLAMing on 145.20241403699998 meters Centerline goodness : 0.798056 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.41, Z:-0.22 [[ 0.93547125 -0.29793299 -0.19007754 2.28294792] [ 0.3070903 0.95147041 0.0199904 -0.40919313] [ 0.17489736 -0.07707142 0.98156554 -0.22474891] [ 0. 0. 0. 1. ]] SLAMing on 145.23241403699998 meters Centerline goodness : 0.794931 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.40, Z:-0.22 [[ 0.93496933 -0.29537855 -0.19642775 2.27135897] [ 0.30383874 0.95262468 0.01372008 -0.39765306] [ 0.18306931 -0.07251022 0.98042231 -0.22333087] [ 0. 0. 0. 1. ]] SLAMing on 145.26241403699999 meters Centerline goodness : 0.795952 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.39, Z:-0.22 [[ 0.93548226 -0.29286006 -0.19775221 2.27102089] [ 0.30173878 0.95326184 0.01567092 -0.39380681] [ 0.18392024 -0.07432938 0.98012677 -0.22302662] [ 0. 0. 0. 1. ]] SLAMing on 145.292414037 meters Centerline goodness : 0.796388 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.39, Z:-0.22 [[ 0.93559097 -0.28969837 -0.2018524 2.26115936] [ 0.29759447 0.95464758 0.00924861 -0.39059232] [ 0.1900186 -0.06872307 0.97937228 -0.22156937] [ 0. 0. 0. 1. ]] SLAMing on 145.322414037 meters Centerline goodness : 0.797292 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.38, Z:-0.22 [[ 0.93585231 -0.28828979 -0.20265598 2.25935015] [ 0.29606077 0.95513164 0.00845994 -0.37940889] [ 0.19112422 -0.06791574 0.97921345 -0.22208079] [ 0. 0. 0. 1. ]] SLAMing on 145.352414037 meters Centerline goodness : 0.798327 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.37, Z:-0.22 [[ 0.93657483 -0.28527133 -0.20358749 2.25835856] [ 0.29337001 0.95594547 0.01011423 -0.37456405] [ 0.19173323 -0.0691992 0.97900451 -0.22226038] [ 0. 0. 0. 1. ]] SLAMing on 145.382414037 meters Centerline goodness : 0.801190 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.37, Z:-0.22 [[ 0.93725286 -0.28263052 -0.20414962 2.25542176] [ 0.29088652 0.95669446 0.0109879 -0.36828368] [ 0.1922033 -0.06968282 0.97887803 -0.2214631 ] [ 0. 0. 0. 1. ]] SLAMing on 145.412414037 meters Centerline goodness : 0.801463 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.36, Z:-0.22 [[ 0.93954655 -0.26962181 -0.21108375 2.24280542] [ 0.27863257 0.96030153 0.01359667 -0.3602112 ] [ 0.19903809 -0.07158951 0.97737341 -0.21849432] [ 0. 0. 0. 1. ]] SLAMing on 145.442414037 meters Centerline goodness : 0.802267 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.36, Z:-0.22 [[ 0.94117436 -0.26215669 -0.2132245 2.24323704] [ 0.27224047 0.96204459 0.01885019 -0.35589472] [ 0.20018977 -0.07578965 0.97682137 -0.21938871] [ 0. 0. 0. 1. ]] SLAMing on 145.472414037 meters Centerline goodness : 0.800949 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.35, Z:-0.22 [[ 0.94237382 -0.25718315 -0.21398227 2.24344794] [ 0.26750957 0.96334184 0.0202761 -0.34965043] [ 0.2009234 -0.07634997 0.97662709 -0.22189448] [ 0. 0. 0. 1. ]] SLAMing on 145.502414037 meters Centerline goodness : 0.802654 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.34, Z:-0.22 [[ 0.94373947 -0.25183114 -0.21432892 2.24275173] [ 0.26238445 0.96471667 0.02182094 -0.34379852] [ 0.20127149 -0.07682985 0.97651777 -0.22441609] [ 0. 0. 0. 1. ]] SLAMing on 145.532414037 meters Centerline goodness : 0.803457 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.33, Z:-0.23 [[ 0.94730906 -0.24199638 -0.20986496 2.23173496] [ 0.25173855 0.9675759 0.02060534 -0.33090402] [ 0.19807386 -0.07235073 0.97751323 -0.22566687] [ 0. 0. 0. 1. ]] SLAMing on 145.562414037 meters Centerline goodness : 0.802440 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.32, Z:-0.23 [[ 0.94869021 -0.23694601 -0.20938834 2.22704108] [ 0.24677657 0.96882826 0.02175154 -0.32497097] [ 0.1977074 -0.07230761 0.97759061 -0.2255517 ] [ 0. 0. 0. 1. ]] SLAMing on 145.592414037 meters Centerline goodness : 0.799752 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.32, Z:-0.23 [[ 0.94998568 -0.23196384 -0.20909326 2.22292874] [ 0.24198779 0.96999852 0.02334056 -0.31995722] [ 0.19740599 -0.07277121 0.97761712 -0.22544449] [ 0. 0. 0. 1. ]] SLAMing on 145.622414037 meters Centerline goodness : 0.801634 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.31, Z:-0.23 [[ 0.95257845 -0.22553583 -0.20427404 2.21330961] [ 0.23457926 0.97187296 0.02086891 -0.31187899] [ 0.19382173 -0.06779773 0.97869127 -0.22638056] [ 0. 0. 0. 1. ]] SLAMing on 145.652414037 meters Centerline goodness : 0.801511 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.31, Z:-0.23 [[ 0.95318393 -0.22409113 -0.20303585 2.21125982] [ 0.23276713 0.9723351 0.01959368 -0.30963858] [ 0.19302811 -0.06593645 0.97897525 -0.22792173] [ 0. 0. 0. 1. ]] SLAMing on 145.682414037 meters Centerline goodness : 0.801233 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.30, Z:-0.23 [[ 0.95494776 -0.22788637 -0.19011202 2.21190919] [ 0.23539901 0.97173929 0.01760867 -0.30403866] [ 0.18072654 -0.06156754 0.98160448 -0.23322371] [ 0. 0. 0. 1. ]] SLAMing on 145.712414037 meters Centerline goodness : 0.802388 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.30, Z:-0.23 [[ 0.95548081 -0.22637893 -0.18923266 2.21062405] [ 0.2337385 0.97214695 0.01722248 -0.30338857] [ 0.18006315 -0.06068671 0.98178123 -0.23441493] [ 0. 0. 0. 1. ]] SLAMing on 145.74241403699997 meters Centerline goodness : 0.798433 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.30, Z:-0.23 [[ 0.95673013 -0.22116015 -0.18909164 2.20789194] [ 0.22901645 0.97320712 0.02047847 -0.30306859] [ 0.17949631 -0.06289747 0.98174589 -0.23424289] [ 0. 0. 0. 1. ]] SLAMing on 145.77241403699998 meters Centerline goodness : 0.799302 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.30, Z:-0.24 [[ 0.95710577 -0.21987349 -0.18869072 2.20759237] [ 0.22771723 0.97350781 0.0206736 -0.30306199] [ 0.17914632 -0.06275495 0.98181893 -0.23515976] [ 0. 0. 0. 1. ]] SLAMing on 145.80241403699998 meters Centerline goodness : 0.801158 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.30, Z:-0.24 [[ 0.95736122 -0.21910314 -0.18829048 2.2086841 ] [ 0.22691807 0.9736932 0.02073031 -0.30407977] [ 0.17879508 -0.06257291 0.98189457 -0.23705749] [ 0. 0. 0. 1. ]] SLAMing on 145.83241403699998 meters Centerline goodness : 0.802771 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.31, Z:-0.24 [[ 0.9575606 -0.2204781 -0.18565316 2.20986528] [ 0.22743332 0.9736493 0.01676693 -0.30741455] [ 0.17706432 -0.05827906 0.98247228 -0.24172782] [ 0. 0. 0. 1. ]] SLAMing on 145.86241403699998 meters Centerline goodness : 0.800034 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.31, Z:-0.24 [[ 0.95786057 -0.21913257 -0.18569879 2.21088323] [ 0.22634488 0.97387522 0.01830418 -0.31059899] [ 0.1768364 -0.05956482 0.98243622 -0.24229334] [ 0. 0. 0. 1. ]] SLAMing on 145.89241403699998 meters Centerline goodness : 0.800034 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.31, Z:-0.24 [[ 0.95786057 -0.21913257 -0.18569879 2.21088323] [ 0.22634488 0.97387522 0.01830418 -0.31059899] [ 0.1768364 -0.05956482 0.98243622 -0.24229334] [ 0. 0. 0. 1. ]] SLAMing on 145.92241403699998 meters Centerline goodness : 0.802152 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.31, Z:-0.24 [[ 0.95822692 -0.21775823 -0.18542522 2.21007896] [ 0.22521012 0.9741078 0.01985927 -0.31363514] [ 0.17629963 -0.06078933 0.98245768 -0.24177135] [ 0. 0. 0. 1. ]] SLAMing on 145.95241403699998 meters Centerline goodness : 0.803921 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.32, Z:-0.24 [[ 0.95861881 -0.21597245 -0.18548822 2.20954296] [ 0.22380547 0.97438262 0.02212722 -0.31735748] [ 0.17595762 -0.06272485 0.98239733 -0.24064893] [ 0. 0. 0. 1. ]] SLAMing on 145.98241403699998 meters Centerline goodness : 0.802627 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.32, Z:-0.24 [[ 0.95865029 -0.2152251 -0.18619286 2.2116782 ] [ 0.22334094 0.97445671 0.02351494 -0.31987122] [ 0.17637588 -0.06412709 0.98223178 -0.24086862] [ 0. 0. 0. 1. ]] SLAMing on 146.01241403699999 meters Centerline goodness : 0.802894 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.32, Z:-0.24 [[ 0.95865374 -0.21477086 -0.18669893 2.21411835] [ 0.2231469 0.9744689 0.02481578 -0.32340725] [ 0.17660259 -0.06545102 0.98210371 -0.24148563] [ 0. 0. 0. 1. ]] SLAMing on 146.042414037 meters Centerline goodness : 0.801638 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.33, Z:-0.24 [[ 0.95832945 -0.21688389 -0.18591947 2.21561956] [ 0.22490698 0.97411001 0.02294655 -0.3272729 ] [ 0.17612928 -0.06380494 0.98229701 -0.24242162] [ 0. 0. 0. 1. ]] SLAMing on 146.072414037 meters Centerline goodness : 0.805021 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.34, Z:-0.24 [[ 0.95761766 -0.22114693 -0.18456014 2.21871489] [ 0.22893636 0.97319844 0.02174718 -0.33969461] [ 0.17480432 -0.06307801 0.98258059 -0.24300813] [ 0. 0. 0. 1. ]] SLAMing on 146.102414037 meters Centerline goodness : 0.802821 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.34, Z:-0.24 [[ 0.95701855 -0.22402325 -0.18419847 2.22093552] [ 0.23159434 0.97259879 0.02038747 -0.34449886] [ 0.17458394 -0.06217051 0.98267761 -0.24337708] [ 0. 0. 0. 1. ]] SLAMing on 146.132414037 meters Centerline goodness : 0.802664 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.35, Z:-0.24 [[ 0.95671051 -0.22422213 -0.18555172 2.22472388] [ 0.23236258 0.97235568 0.02306667 -0.35014801] [ 0.17525021 -0.0651834 0.98236372 -0.24294551] [ 0. 0. 0. 1. ]] SLAMing on 146.162414037 meters Centerline goodness : 0.802844 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.36, Z:-0.24 [[ 0.95627188 -0.22475184 -0.18716491 2.22879805] [ 0.23348806 0.9720193 0.02572563 -0.35516672] [ 0.17614602 -0.06830147 0.98199159 -0.24232846] [ 0. 0. 0. 1. ]] SLAMing on 146.192414037 meters Centerline goodness : 0.800768 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.37, Z:-0.24 [[ 0.95473497 -0.2285328 -0.19040453 2.2365194 ] [ 0.23822236 0.97076727 0.02934309 -0.36643318] [ 0.17813263 -0.07337349 0.98126709 -0.24203921] [ 0. 0. 0. 1. ]] SLAMing on 146.222414037 meters Centerline goodness : 0.800418 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.37, Z:-0.24 [[ 0.95406323 -0.2314479 -0.19025042 2.23957564] [ 0.24105804 0.97008625 0.02869998 -0.37326367] [ 0.17791677 -0.07324298 0.981316 -0.24218774] [ 0. 0. 0. 1. ]] SLAMing on 146.252414037 meters Centerline goodness : 0.799889 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.38, Z:-0.24 [[ 0.95337861 -0.23416855 -0.19035312 2.24288107] [ 0.24386045 0.96938095 0.0288559 -0.38171726] [ 0.17776755 -0.0739302 0.98129151 -0.24166041] [ 0. 0. 0. 1. ]] SLAMing on 146.282414037 meters Centerline goodness : 0.801123 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.40, Z:-0.24 [[ 0.95231335 -0.23690223 -0.19229305 2.24785002] [ 0.24789857 0.96815569 0.03494078 -0.40004299] [ 0.17789206 -0.08094375 0.98071531 -0.23853376] [ 0. 0. 0. 1. ]] SLAMing on 146.312414037 meters Centerline goodness : 0.802131 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.41, Z:-0.24 [[ 0.95222204 -0.2362877 -0.19349756 2.24952051] [ 0.24800942 0.96799538 0.03842239 -0.40680949] [ 0.17822601 -0.08457587 0.98034811 -0.23606264] [ 0. 0. 0. 1. ]] SLAMing on 146.342414037 meters Centerline goodness : 0.803108 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.41, Z:-0.23 [[ 0.95214163 -0.2362746 -0.19390882 2.24957154] [ 0.24838832 0.96781855 0.04037939 -0.411868 ] [ 0.17812793 -0.08661158 0.98018818 -0.23386941] [ 0. 0. 0. 1. ]] SLAMing on 146.372414037 meters Centerline goodness : 0.801763 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.42, Z:-0.23 [[ 0.95219329 -0.23520089 -0.19495761 2.25098717] [ 0.24795054 0.96779806 0.04344469 -0.41685543] [ 0.17846137 -0.08970759 0.97984901 -0.23210987] [ 0. 0. 0. 1. ]] SLAMing on 146.402414037 meters Centerline goodness : 0.801571 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.43, Z:-0.23 [[ 0.95193585 -0.23613823 -0.1950817 2.253249 ] [ 0.24922254 0.96739386 0.04513595 -0.4277394 ] [ 0.17806251 -0.09158529 0.97974786 -0.23021211] [ 0. 0. 0. 1. ]] SLAMing on 146.432414037 meters Centerline goodness : 0.802398 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.44, Z:-0.23 [[ 0.95208302 -0.23486946 -0.19589351 2.25545841] [ 0.24861154 0.96739152 0.04843496 -0.43537109] [ 0.17812982 -0.09481549 0.9794283 -0.22902457] [ 0. 0. 0. 1. ]] SLAMing on 146.462414037 meters Centerline goodness : 0.800893 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.44, Z:-0.23 [[ 0.95167429 -0.23737253 -0.19485975 2.25579039] [ 0.25074891 0.96692247 0.04675394 -0.43974266] [ 0.17731617 -0.09335539 0.97971616 -0.22896089] [ 0. 0. 0. 1. ]] SLAMing on 146.49241403699997 meters Centerline goodness : 0.800915 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.45, Z:-0.23 [[ 0.95201188 -0.23571794 -0.19521896 2.25634857] [ 0.24962711 0.96706835 0.04964997 -0.44520353] [ 0.17708668 -0.09599931 0.97950214 -0.22787532] [ 0. 0. 0. 1. ]] SLAMing on 146.52241403699998 meters Centerline goodness : 0.799359 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.45, Z:-0.23 [[ 0.95256471 -0.23327802 -0.19545288 2.25601116] [ 0.24773152 0.96739192 0.05274431 -0.45027379] [ 0.17677545 -0.09866221 0.97929373 -0.22652261] [ 0. 0. 0. 1. ]] SLAMing on 146.55241403699998 meters Centerline goodness : 0.798527 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.45, Z:-0.23 [[ 0.95263693 -0.23288351 -0.19557135 2.25750905] [ 0.24737138 0.96747549 0.05290153 -0.45105465] [ 0.17689059 -0.09877471 0.9792616 -0.22756644] [ 0. 0. 0. 1. ]] SLAMing on 146.58241403699998 meters Centerline goodness : 0.799975 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.45, Z:-0.23 [[ 0.95267649 -0.23289506 -0.19536476 2.26098782] [ 0.24725279 0.96753869 0.05229672 -0.45239913] [ 0.17684332 -0.09812634 0.97933532 -0.23048691] [ 0. 0. 0. 1. ]] SLAMing on 146.61241403699998 meters Centerline goodness : 0.798037 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.46, Z:-0.23 [[ 0.95262049 -0.23366735 -0.19471462 2.26633734] [ 0.24770762 0.9675003 0.05083401 -0.45795295] [ 0.1765082 -0.09665782 0.97954179 -0.23430677] [ 0. 0. 0. 1. ]] SLAMing on 146.64241403699998 meters Centerline goodness : 0.795724 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.46, Z:-0.23 [[ 0.95286427 -0.2327292 -0.19464532 2.26609096] [ 0.24702856 0.96759075 0.05239311 -0.46179695] [ 0.1761436 -0.09800648 0.97947341 -0.23349428] [ 0. 0. 0. 1. ]] SLAMing on 146.67241403699998 meters Centerline goodness : 0.795502 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.46, Z:-0.23 [[ 0.95298211 -0.23264468 -0.1941689 2.2633861 ] [ 0.24706251 0.96753083 0.05333114 -0.46478811] [ 0.17545719 -0.09879548 0.97951735 -0.23121307] [ 0. 0. 0. 1. ]] SLAMing on 146.70241403699998 meters Centerline goodness : 0.799012 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.47, Z:-0.23 [[ 0.95303596 -0.23241207 -0.19418315 2.26096843] [ 0.24707023 0.96745325 0.05468547 -0.46819319] [ 0.17515356 -0.1000941 0.97943984 -0.2281722 ] [ 0. 0. 0. 1. ]] SLAMing on 146.73241403699998 meters Centerline goodness : 0.802971 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.48, Z:-0.22 [[ 0.95248617 -0.23432218 -0.19458469 2.26122673] [ 0.2491397 0.96689425 0.05518083 -0.4758045 ] [ 0.17521273 -0.10103775 0.97933236 -0.22459782] [ 0. 0. 0. 1. ]] SLAMing on 146.76241403699999 meters Centerline goodness : 0.802401 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.48, Z:-0.22 [[ 0.95165113 -0.23783952 -0.1944029 2.26306987] [ 0.25224586 0.96622765 0.05268921 -0.47886262] [ 0.17530588 -0.09917908 0.97950567 -0.22417447] [ 0. 0. 0. 1. ]] SLAMing on 146.792414037 meters Centerline goodness : 0.801467 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.48, Z:-0.22 [[ 0.95096088 -0.24085323 -0.19406988 2.26524979] [ 0.25492382 0.96562879 0.05074341 -0.48278931] [ 0.17517775 -0.09772804 0.97967443 -0.22432285] [ 0. 0. 0. 1. ]] SLAMing on 146.822414037 meters Centerline goodness : 0.801911 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.49, Z:-0.22 [[ 0.9510674 -0.23900953 -0.1958194 2.26801528] [ 0.25403592 0.96561703 0.05522232 -0.4904763 ] [ 0.17588788 -0.10226531 0.97908389 -0.22194037] [ 0. 0. 0. 1. ]] SLAMing on 146.852414037 meters Centerline goodness : 0.818915 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.49, Z:-0.22 [[ 0.95041001 -0.2420939 -0.19522129 2.26908245] [ 0.25672862 0.96502227 0.05312659 -0.49415002] [ 0.17553126 -0.10061094 0.97931926 -0.22164384] [ 0. 0. 0. 1. ]] SLAMing on 146.882414037 meters Centerline goodness : 0.807241 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.50, Z:-0.22 [[ 0.95042536 -0.24210213 -0.19513637 2.26859176] [ 0.25709633 0.96480884 0.055185 -0.5048987 ] [ 0.17490889 -0.10261807 0.97922235 -0.21819866] [ 0. 0. 0. 1. ]] SLAMing on 146.912414037 meters Centerline goodness : 0.808765 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.51, Z:-0.22 [[ 0.95042292 -0.24212538 -0.19511937 2.26755082] [ 0.25728333 0.9647056 0.05611059 -0.5099795 ] [ 0.17464695 -0.10352975 0.97917314 -0.215929 ] [ 0. 0. 0. 1. ]] SLAMing on 146.942414037 meters Centerline goodness : 0.809254 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.52, Z:-0.21 [[ 0.95046393 -0.24177862 -0.19534946 2.26719035] [ 0.25716558 0.96466799 0.0572846 -0.51503415] [ 0.17459718 -0.1046841 0.97905927 -0.21396128] [ 0. 0. 0. 1. ]] SLAMing on 146.972414037 meters Centerline goodness : 0.809598 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.52, Z:-0.21 [[ 0.95069369 -0.24038033 -0.19595613 2.26864933] [ 0.25618953 0.96480006 0.05939501 -0.5203379 ] [ 0.17478109 -0.10666837 0.97881225 -0.213149 ] [ 0. 0. 0. 1. ]] SLAMing on 147.002414037 meters Centerline goodness : 0.809200 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.53, Z:-0.22 [[ 0.95209653 -0.23748306 -0.19264991 2.25685218] [ 0.25046427 0.96704535 0.04572689 -0.53489443] [ 0.17544183 -0.09178833 0.98020154 -0.21978794] [ 0. 0. 0. 1. ]] SLAMing on 147.032414037 meters Centerline goodness : 0.809313 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.54, Z:-0.23 [[ 0.95300366 -0.23700682 -0.18871086 2.24960021] [ 0.24802642 0.96805615 0.03674498 -0.54173701] [ 0.17397389 -0.08182338 0.98134501 -0.22555481] [ 0. 0. 0. 1. ]] SLAMing on 147.062414037 meters Centerline goodness : 0.809841 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.55, Z:-0.23 [[ 0.95323399 -0.23786328 -0.18645649 2.24853642] [ 0.24856112 0.96795004 0.03591796 -0.54767486] [ 0.171937 -0.08058405 0.98180644 -0.22688404] [ 0. 0. 0. 1. ]] SLAMing on 147.092414037 meters Centerline goodness : 0.809749 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.56, Z:-0.23 [[ 0.95451871 -0.2361494 -0.18200958 2.24282481] [ 0.2462321 0.9685925 0.03461689 -0.56128207] [ 0.16811835 -0.07785907 0.98268723 -0.22906669] [ 0. 0. 0. 1. ]] SLAMing on 147.122414037 meters Centerline goodness : 0.809676 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.57, Z:-0.23 [[ 0.95562229 -0.23528461 -0.17727718 2.23316497] [ 0.24413046 0.96929235 0.02954094 -0.56960058] [ 0.16488288 -0.07150874 0.98371751 -0.23162042] [ 0. 0. 0. 1. ]] SLAMing on 147.152414037 meters Centerline goodness : 0.811243 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.58, Z:-0.23 [[ 0.95634941 -0.23532963 -0.17325058 2.22822503] [ 0.24361321 0.96947102 0.0279023 -0.5764551 ] [ 0.16139518 -0.06889048 0.98448245 -0.23372734] [ 0. 0. 0. 1. ]] SLAMing on 147.182414037 meters Centerline goodness : 0.813368 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.58, Z:-0.23 [[ 0.95614301 -0.23659919 -0.1726597 2.22768328] [ 0.24479766 0.96918322 0.02753164 -0.5823207 ] [ 0.16082492 -0.06859088 0.98459669 -0.23251356] [ 0. 0. 0. 1. ]] SLAMing on 147.212414037 meters Centerline goodness : 0.814122 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.60, Z:-0.23 [[ 0.95640609 -0.23725149 -0.17029128 2.22545353] [ 0.24524705 0.96907752 0.02725145 -0.59644035] [ 0.15856 -0.06782689 0.98501687 -0.23180746] [ 0. 0. 0. 1. ]] SLAMing on 147.24241403699997 meters Centerline goodness : 0.815654 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.60, Z:-0.23 [[ 0.95584581 -0.23972426 -0.16997372 2.22636664] [ 0.24751534 0.96853738 0.0259134 -0.60279056] [ 0.15841383 -0.06684032 0.98510783 -0.23073863] [ 0. 0. 0. 1. ]] SLAMing on 147.27241403699998 meters Centerline goodness : 0.817157 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.61, Z:-0.23 [[ 0.95521487 -0.24246082 -0.16963873 2.22741205] [ 0.25005281 0.96791988 0.02459055 -0.60949957] [ 0.15823446 -0.0659079 0.98519947 -0.22975502] [ 0. 0. 0. 1. ]] SLAMing on 147.30241403699998 meters Centerline goodness : 0.817765 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.62, Z:-0.23 [[ 0.95453925 -0.24537129 -0.16925645 2.22848133] [ 0.25274867 0.96725444 0.02317225 -0.61615007] [ 0.15802825 -0.06489816 0.9852996 -0.22881223] [ 0. 0. 0. 1. ]] SLAMing on 147.33241403699998 meters Centerline goodness : 0.819628 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.63, Z:-0.23 [[ 0.95315845 -0.25126528 -0.16838861 2.23186492] [ 0.25819103 0.96588233 0.02021675 -0.62917354] [ 0.15756382 -0.0627462 0.98551335 -0.2281061 ] [ 0. 0. 0. 1. ]] SLAMing on 147.36241403699998 meters Centerline goodness : 0.818680 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.64, Z:-0.23 [[ 0.95206317 -0.25562158 -0.16802774 2.23610531] [ 0.26213921 0.96487242 0.01744282 -0.63546434] [ 0.15766657 -0.06065333 0.98562793 -0.22919744] [ 0. 0. 0. 1. ]] SLAMing on 147.39241403699998 meters Centerline goodness : 0.817098 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.64, Z:-0.23 [[ 0.95048446 -0.26220583 -0.16681548 2.2392568 ] [ 0.2679777 0.9633417 0.01267768 -0.64135723] [ 0.15737614 -0.05675277 0.98590663 -0.23000813] [ 0. 0. 0. 1. ]] SLAMing on 147.42241403699998 meters Centerline goodness : 0.818906 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.66, Z:-0.23 [[ 0.94802453 -0.27228406 -0.16465379 2.24284129] [ 0.27709565 0.96082006 0.00654395 -0.6553758 ] [ 0.15642085 -0.05182867 0.98632971 -0.22980946] [ 0. 0. 0. 1. ]] SLAMing on 147.45241403699998 meters Centerline goodness : 0.822079 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.66, Z:-0.23 [[ 0.94689692 -0.27685551 -0.16351531 2.24182488] [ 0.28120357 0.95964138 0.00360083 -0.66240651] [ 0.15591915 -0.0493907 0.98653422 -0.22737453] [ 0. 0. 0. 1. ]] SLAMing on 147.48241403699998 meters Centerline goodness : 0.822315 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.67, Z:-0.23 [[ 9.46037793e-01 -2.80053618e-01 -1.63041299e-01 2.24233031e+00] [ 2.84168917e-01 9.58772135e-01 2.00519708e-03 -6.69193985e-01] [ 1.55757891e-01 -4.82282615e-02 9.86617207e-01 -2.25647733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.51241403699999 meters Centerline goodness : 0.822793 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.68, Z:-0.22 [[ 9.44479226e-01 -2.85869215e-01 -1.61980812e-01 2.24522783e+00] [ 2.89493716e-01 9.57179059e-01 -1.27932525e-03 -6.80517125e-01] [ 1.55410361e-01 -4.56841311e-02 9.86793079e-01 -2.24774822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.542414037 meters Centerline goodness : 0.821643 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.68, Z:-0.23 [[ 9.43991548e-01 -2.87394120e-01 -1.62125187e-01 2.24884803e+00] [ 2.90915836e-01 9.56746334e-01 -2.10442562e-03 -6.84414195e-01] [ 1.55717478e-01 -4.51782243e-02 9.86767954e-01 -2.25916926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.572414037 meters Centerline goodness : 0.823260 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.69, Z:-0.23 [[ 9.44144128e-01 -2.86553414e-01 -1.62723715e-01 2.25107742e+00] [ 2.90335102e-01 9.56924871e-01 -5.64802423e-04 -6.88828220e-01] [ 1.55876216e-01 -4.67111515e-02 9.86671513e-01 -2.26202615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.602414037 meters Centerline goodness : 0.824521 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.69, Z:-0.23 [[ 9.44411141e-01 -2.85379461e-01 -1.63236513e-01 2.25234563e+00] [ 2.89435356e-01 9.57196916e-01 1.11271122e-03 -6.93188966e-01] [ 1.55931942e-01 -4.82972752e-02 9.86586338e-01 -2.25924566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.632414037 meters Centerline goodness : 0.826362 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.70, Z:-0.22 [[ 0.94465397 -0.28476399 -0.16290595 2.25050426] [ 0.28897837 0.95733292 0.00227508 -0.70129985] [ 0.15530737 -0.04922546 0.98663898 -0.22334909] [ 0. 0. 0. 1. ]] SLAMing on 147.662414037 meters Centerline goodness : 0.828821 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.70, Z:-0.22 [[ 0.94485047 -0.28394683 -0.16319247 2.25042359] [ 0.2883619 0.957515 0.00352665 -0.70491378] [ 0.15525785 -0.05039065 0.98658795 -0.2222383 ] [ 0. 0. 0. 1. ]] SLAMing on 147.692414037 meters Centerline goodness : 0.830849 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.71, Z:-0.22 [[ 0.94500342 -0.28327305 -0.16347759 2.25054305] [ 0.28786517 0.95765983 0.0046144 -0.70803869] [ 0.15524878 -0.05142013 0.98653626 -0.22131655] [ 0. 0. 0. 1. ]] SLAMing on 147.722414037 meters Centerline goodness : 0.829830 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.71, Z:-0.22 [[ 0.94506709 -0.28281699 -0.16389859 2.25124543] [ 0.28755806 0.95774766 0.00545673 -0.71075159] [ 0.15543023 -0.05228734 0.9864621 -0.22070303] [ 0. 0. 0. 1. ]] SLAMing on 147.752414037 meters Centerline goodness : 0.831137 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.71, Z:-0.22 [[ 0.94433185 -0.28549324 -0.16349605 2.25293656] [ 0.2899358 0.95703981 0.00346932 -0.71449513] [ 0.15548176 -0.05067955 0.98653789 -0.2206452 ] [ 0. 0. 0. 1. ]] SLAMing on 147.782414037 meters Centerline goodness : 0.829748 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.72, Z:-0.22 [[ 9.43471499e-01 -2.88739631e-01 -1.62760426e-01 2.25379892e+00] [ 2.92717538e-01 9.56198835e-01 4.80187885e-04 -7.15263086e-01] [ 1.55492680e-01 -4.80958747e-02 9.86665502e-01 -2.20955426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.812414037 meters Centerline goodness : 0.829748 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.72, Z:-0.22 [[ 9.43471499e-01 -2.88739631e-01 -1.62760426e-01 2.25379892e+00] [ 2.92717538e-01 9.56198835e-01 4.80187885e-04 -7.15263086e-01] [ 1.55492680e-01 -4.80958747e-02 9.86665502e-01 -2.20955426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.842414037 meters Centerline goodness : 0.828871 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.72, Z:-0.22 [[ 9.42955322e-01 -2.90430355e-01 -1.62743568e-01 2.25756512e+00] [ 2.94265728e-01 9.55723477e-01 -5.63303941e-04 -7.17797170e-01] [ 1.55701449e-01 -4.73586840e-02 9.86668239e-01 -2.22814792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.872414037 meters Centerline goodness : 0.828864 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.72, Z:-0.22 [[ 9.42966352e-01 -2.90288331e-01 -1.62932943e-01 2.25852218e+00] [ 2.94211530e-01 9.55740327e-01 -5.33370820e-05 -7.19376291e-01] [ 1.55737067e-01 -4.78864553e-02 9.86637144e-01 -2.23075048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.902414037 meters Centerline goodness : 0.830346 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.72, Z:-0.22 [[ 9.42327387e-01 -2.92859665e-01 -1.62025652e-01 2.25741348e+00] [ 2.96429280e-01 9.55052180e-01 -2.23935057e-03 -7.20445531e-01] [ 1.55398767e-01 -4.59189459e-02 9.86784005e-01 -2.22364962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.932414037 meters Centerline goodness : 0.829450 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.72, Z:-0.22 [[ 0.94131334 -0.2966534 -0.16101538 2.25779139] [ 0.29971049 0.95401418 -0.00552785 -0.72113187] [ 0.15525081 -0.04305456 0.98693642 -0.22253743] [ 0. 0. 0. 1. ]] SLAMing on 147.962414037 meters Centerline goodness : 0.828993 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.72, Z:-0.22 [[ 0.94024752 -0.30061367 -0.15989377 2.25823435] [ 0.30315703 0.95289969 -0.00883103 -0.72195166] [ 0.15501745 -0.04016957 0.98709472 -0.22290302] [ 0. 0. 0. 1. ]] SLAMing on 147.99241403699997 meters Centerline goodness : 0.830925 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.73, Z:-0.22 [[ 0.93885425 -0.30561016 -0.15860366 2.2591678 ] [ 0.30767642 0.95141572 -0.0119732 -0.72553988] [ 0.15455715 -0.03755752 0.98726973 -0.22291872] [ 0. 0. 0. 1. ]] SLAMing on 148.02241403699998 meters Centerline goodness : 0.832725 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.73, Z:-0.22 [[ 0.93773845 -0.30960651 -0.15744971 2.25857819] [ 0.31120777 0.9502233 -0.01501325 -0.72738786] [ 0.15426059 -0.03492107 0.98741288 -0.22209075] [ 0. 0. 0. 1. ]] SLAMing on 148.05241403699998 meters Centerline goodness : 0.833701 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.73, Z:-0.22 [[ 0.93666967 -0.31340574 -0.15629065 2.2573209 ] [ 0.31457816 0.94906414 -0.01782786 -0.72945568] [ 0.15391721 -0.03246681 0.9875502 -0.22073014] [ 0. 0. 0. 1. ]] SLAMing on 148.08241403699998 meters Centerline goodness : 0.834955 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.73, Z:-0.22 [[ 0.93542355 -0.31770193 -0.15507507 2.25685008] [ 0.31837033 0.94772978 -0.02117988 -0.73075242] [ 0.15369815 -0.02955914 0.98767562 -0.21999226] [ 0. 0. 0. 1. ]] SLAMing on 148.11241403699998 meters Centerline goodness : 0.837530 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.74, Z:-0.22 [[ 0.93340043 -0.3260574 -0.14983396 2.24608506] [ 0.32731057 0.94476524 -0.01692453 -0.7355546 ] [ 0.14707629 -0.03324488 0.98856631 -0.22275042] [ 0. 0. 0. 1. ]] SLAMing on 148.14241403699998 meters Centerline goodness : 0.836213 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.74, Z:-0.23 [[ 0.93241052 -0.32885242 -0.14988899 2.228574 ] [ 0.33050715 0.94369272 -0.01445929 -0.74080753] [ 0.14620412 -0.03605738 0.9885971 -0.22500921] [ 0. 0. 0. 1. ]] SLAMing on 148.17241403699998 meters Centerline goodness : 0.833522 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.74, Z:-0.23 [[ 0.93071535 -0.33159484 -0.15431717 2.21486333] [ 0.33354297 0.94263302 -0.01385906 -0.74445513] [ 0.15006005 -0.03857257 0.98792416 -0.22757881] [ 0. 0. 0. 1. ]] SLAMing on 148.20241403699998 meters Centerline goodness : 0.832608 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.75, Z:-0.23 [[ 0.92966935 -0.33259808 -0.15840905 2.1996856 ] [ 0.33485695 0.94217917 -0.013009 -0.74744338] [ 0.15357647 -0.04095031 0.98728787 -0.23037186] [ 0. 0. 0. 1. ]] SLAMing on 148.23241403699998 meters Centerline goodness : 0.831641 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.75, Z:-0.23 [[ 0.92956944 -0.3329675 -0.15821913 2.19980481] [ 0.33511674 0.94207708 -0.01369469 -0.74503653] [ 0.1536145 -0.04029171 0.98730905 -0.23128369] [ 0. 0. 0. 1. ]] SLAMing on 148.26241403699999 meters Centerline goodness : 0.831115 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.74, Z:-0.23 [[ 0.92994538 -0.33201999 -0.15800102 2.1978009 ] [ 0.33427146 0.9423886 -0.01289647 -0.74310843] [ 0.15318025 -0.04082222 0.98735473 -0.23118414] [ 0. 0. 0. 1. ]] SLAMing on 148.292414037 meters Centerline goodness : 0.829665 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.74, Z:-0.23 [[ 0.93112828 -0.33085966 -0.1534015 2.18757343] [ 0.33340447 0.94273514 -0.00958722 -0.74003018] [ 0.14778901 -0.04221782 0.98811743 -0.23473112] [ 0. 0. 0. 1. ]] SLAMing on 148.322414037 meters Centerline goodness : 0.830242 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.74, Z:-0.23 [[ 0.93147113 -0.32998833 -0.15319672 2.18482764] [ 0.33258215 0.94303012 -0.00912722 -0.73816731] [ 0.147481 -0.04244875 0.98815356 -0.23375549] [ 0. 0. 0. 1. ]] SLAMing on 148.352414037 meters Centerline goodness : 0.828281 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.74, Z:-0.24 [[ 0.93221576 -0.33025808 -0.14799788 2.16715199] [ 0.3330887 0.94287666 -0.00596021 -0.73949213] [ 0.14151215 -0.04374022 0.98896972 -0.23803597] [ 0. 0. 0. 1. ]] SLAMing on 148.382414037 meters Centerline goodness : 0.826875 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.74, Z:-0.24 [[ 0.93251571 -0.32949731 -0.14780382 2.16443409] [ 0.33235565 0.94313724 -0.0056448 -0.73681009] [ 0.14125924 -0.04385957 0.98900059 -0.23720372] [ 0. 0. 0. 1. ]] SLAMing on 148.412414037 meters Centerline goodness : 0.828978 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.73, Z:-0.24 [[ 0.93238164 -0.32999764 -0.14753314 2.16368778] [ 0.33269975 0.94300905 -0.00669423 -0.73307302] [ 0.14133416 -0.04284266 0.98903446 -0.23773664] [ 0. 0. 0. 1. ]] SLAMing on 148.442414037 meters Centerline goodness : 0.825103 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.73, Z:-0.24 [[ 0.93202381 -0.33132651 -0.146814 2.16258128] [ 0.33373922 0.94262612 -0.00861036 -0.7263835 ] [ 0.14124355 -0.04097253 0.98912664 -0.23916729] [ 0. 0. 0. 1. ]] SLAMing on 148.472414037 meters Centerline goodness : 0.825621 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.72, Z:-0.24 [[ 0.93180472 -0.33213999 -0.14636591 2.16167363] [ 0.33437377 0.9423896 -0.00979888 -0.72266975] [ 0.14118831 -0.03981028 0.98918199 -0.23973811] [ 0. 0. 0. 1. ]] SLAMing on 148.502414037 meters Centerline goodness : 0.824431 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.71, Z:-0.24 [[ 0.93204387 -0.3317302 -0.14577137 2.15811429] [ 0.33392233 0.94254871 -0.00988953 -0.71391118] [ 0.14067727 -0.03945884 0.98926887 -0.24051835] [ 0. 0. 0. 1. ]] SLAMing on 148.532414037 meters Centerline goodness : 0.822643 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.71, Z:-0.24 [[ 0.93242065 -0.33080559 -0.14546266 2.15528678] [ 0.33306502 0.94285845 -0.00925422 -0.70973013] [ 0.14021205 -0.0398197 0.98932046 -0.2403787 ] [ 0. 0. 0. 1. ]] SLAMing on 148.562414037 meters Centerline goodness : 0.824560 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.71, Z:-0.24 [[ 0.93256364 -0.33070706 -0.14476841 2.1516892 ] [ 0.33288251 0.94291901 -0.00964191 -0.70540084] [ 0.13969354 -0.03919918 0.98941859 -0.239748 ] [ 0. 0. 0. 1. ]] SLAMing on 148.592414037 meters Centerline goodness : 0.823365 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.70, Z:-0.24 [[ 0.93231902 -0.33165354 -0.1441776 2.14993685] [ 0.33359264 0.94265047 -0.01122647 -0.70076771] [ 0.13963238 -0.03762994 0.98948814 -0.23986994] [ 0. 0. 0. 1. ]] SLAMing on 148.622414037 meters Centerline goodness : 0.824845 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.69, Z:-0.24 [[ 0.93215715 -0.33271037 -0.14278257 2.14233425] [ 0.33436175 0.94235538 -0.01298278 -0.69203446] [ 0.13887143 -0.03563904 0.98966893 -0.23758339] [ 0. 0. 0. 1. ]] SLAMing on 148.652414037 meters Centerline goodness : 0.825915 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.69, Z:-0.24 [[ 0.93236562 -0.33226551 -0.14245694 2.13827317] [ 0.33389995 0.94251908 -0.01298458 -0.68778518] [ 0.13858271 -0.03545999 0.98971583 -0.23608057] [ 0. 0. 0. 1. ]] SLAMing on 148.682414037 meters Centerline goodness : 0.826461 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.68, Z:-0.24 [[ 0.93284875 -0.33095917 -0.14233494 2.13499211] [ 0.33269458 0.94295663 -0.01212926 -0.68356033] [ 0.13822996 -0.0360393 0.98974423 -0.23538811] [ 0. 0. 0. 1. ]] SLAMing on 148.712414037 meters Centerline goodness : 0.825525 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.68, Z:-0.24 [[ 0.93361996 -0.32847879 -0.14302254 2.13450335] [ 0.33045297 0.94376502 -0.0104131 -0.67920045] [ 0.13840015 -0.03754035 0.98966465 -0.23619044] [ 0. 0. 0. 1. ]] SLAMing on 148.74241403699997 meters Centerline goodness : 0.821956 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.67, Z:-0.24 [[ 0.93476565 -0.32478929 -0.14396213 2.13534682] [ 0.32705296 0.94496937 -0.00832203 -0.66837966] [ 0.13874271 -0.0393041 0.9895482 -0.2401094 ] [ 0. 0. 0. 1. ]] SLAMing on 148.77241403699998 meters Centerline goodness : 0.820820 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.66, Z:-0.24 [[ 0.93567256 -0.32181947 -0.144738 2.13479022] [ 0.32436656 0.9459105 -0.00629775 -0.66375554] [ 0.13893593 -0.04105553 0.98944997 -0.24099681] [ 0. 0. 0. 1. ]] SLAMing on 148.80241403699998 meters Centerline goodness : 0.819450 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.66, Z:-0.24 [[ 0.93658226 -0.31883043 -0.14546765 2.13382582] [ 0.3216775 0.94684019 -0.00415229 -0.66008141] [ 0.13905849 -0.0429047 0.9893543 -0.24134953] [ 0. 0. 0. 1. ]] SLAMing on 148.83241403699998 meters Centerline goodness : 0.818399 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.65, Z:-0.24 [[ 0.93719772 -0.31698495 -0.14553682 2.13063886] [ 0.3198779 0.94745154 -0.00370382 -0.65251959] [ 0.13906314 -0.0430828 0.9893459 -0.24123909] [ 0. 0. 0. 1. ]] SLAMing on 148.86241403699998 meters Centerline goodness : 0.818677 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.65, Z:-0.24 [[ 9.38117060e-01 -3.13908099e-01 -1.46280851e-01 2.12971107e+00] [ 3.17144042e-01 9.48376539e-01 -1.26360209e-03 -6.49726488e-01] [ 1.39125982e-01 -4.52066936e-02 9.89242294e-01 -2.41441719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.89241403699998 meters Centerline goodness : 0.817701 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.65, Z:-0.24 [[ 9.39015514e-01 -3.10819430e-01 -1.47109300e-01 2.12897801e+00] [ 3.14379118e-01 9.49296989e-01 9.98713921e-04 -6.45957473e-01] [ 1.39339996e-01 -4.71858998e-02 9.89119738e-01 -2.41870224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.92241403699998 meters Centerline goodness : 0.815285 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.64, Z:-0.24 [[ 0.93993525 -0.3076431 -0.14791029 2.12862733] [ 0.31152619 0.95023198 0.00325964 -0.64176259] [ 0.13954628 -0.04914178 0.98899541 -0.2427832 ] [ 0. 0. 0. 1. ]] SLAMing on 148.95241403699998 meters Centerline goodness : 0.814983 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.63, Z:-0.25 [[ 0.94151279 -0.30202692 -0.14944366 2.1293519 ] [ 0.30647077 0.95185361 0.00709786 -0.63375379] [ 0.14010474 -0.05248284 0.98874477 -0.24543305] [ 0. 0. 0. 1. ]] SLAMing on 148.98241403699998 meters Centerline goodness : 0.814874 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.63, Z:-0.25 [[ 0.94247427 -0.29858164 -0.15030389 2.12871779] [ 0.30341724 0.95280746 0.00979432 -0.63154389] [ 0.14028626 -0.05483568 0.98859133 -0.24558348] [ 0. 0. 0. 1. ]] SLAMing on 149.01241403699999 meters Centerline goodness : 0.814444 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.63, Z:-0.25 [[ 0.94348535 -0.2949406 -0.15114707 2.12788919] [ 0.30018404 0.95379799 0.01260685 -0.62940032] [ 0.1404455 -0.05726631 0.98843089 -0.2455774 ] [ 0. 0. 0. 1. ]] SLAMing on 149.042414037 meters Centerline goodness : 0.814377 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.63, Z:-0.25 [[ 0.94444679 -0.29145181 -0.1519082 2.12658427] [ 0.29707178 0.95473411 0.0152033 -0.62684729] [ 0.14060091 -0.05948635 0.98827767 -0.24527623] [ 0. 0. 0. 1. ]] SLAMing on 149.072414037 meters Centerline goodness : 0.815242 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.62, Z:-0.24 [[ 0.94611668 -0.28554625 -0.1527304 2.12204371] [ 0.29173724 0.95630365 0.01930555 -0.62120354] [ 0.14054401 -0.06282245 0.98807931 -0.24371479] [ 0. 0. 0. 1. ]] SLAMing on 149.102414037 meters Centerline goodness : 0.815548 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.62, Z:-0.24 [[ 0.9470405 -0.28207561 -0.15345239 2.12070982] [ 0.28865336 0.95718196 0.02195294 -0.6189056 ] [ 0.14068947 -0.06508487 0.98791216 -0.24339146] [ 0. 0. 0. 1. ]] SLAMing on 149.132414037 meters Centerline goodness : 0.817164 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.62, Z:-0.24 [[ 0.94723056 -0.28156283 -0.15322088 2.11918475] [ 0.2880602 0.95737013 0.02153478 -0.61568094] [ 0.1406257 -0.06453524 0.98795729 -0.24323851] [ 0. 0. 0. 1. ]] SLAMing on 149.162414037 meters Centerline goodness : 0.816233 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.61, Z:-0.24 [[ 0.94820858 -0.27796087 -0.1537473 2.11744052] [ 0.28474431 0.95831378 0.02356633 -0.61044096] [ 0.14078764 -0.06612446 0.98782913 -0.2434255 ] [ 0. 0. 0. 1. ]] SLAMing on 149.192414037 meters Centerline goodness : 0.816174 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.61, Z:-0.24 [[ 0.94830872 -0.27776019 -0.1534922 2.11641276] [ 0.28443785 0.95841952 0.02295949 -0.60719512] [ 0.14073269 -0.06543167 0.98788309 -0.24365977] [ 0. 0. 0. 1. ]] SLAMing on 149.222414037 meters Centerline goodness : 0.816704 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.60, Z:-0.24 [[ 0.94831938 -0.27788002 -0.15320915 2.11537571] [ 0.28441704 0.95844601 0.02209529 -0.60385831] [ 0.14070286 -0.06452868 0.98794674 -0.24381129] [ 0. 0. 0. 1. ]] SLAMing on 149.252414037 meters Centerline goodness : 0.818476 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.60, Z:-0.24 [[ 0.94900614 -0.27543498 -0.15337185 2.11112493] [ 0.28212851 0.95909361 0.0233013 -0.59876158] [ 0.14067997 -0.06538364 0.98789378 -0.24191589] [ 0. 0. 0. 1. ]] SLAMing on 149.282414037 meters Centerline goodness : 0.818560 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.60, Z:-0.24 [[ 0.94935235 -0.27423801 -0.15337415 2.10757328] [ 0.28100611 0.95940801 0.02391324 -0.59654748] [ 0.14059047 -0.06580117 0.9878788 -0.23978202] [ 0. 0. 0. 1. ]] SLAMing on 149.312414037 meters Centerline goodness : 0.819098 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.59, Z:-0.24 [[ 0.94935761 -0.27431311 -0.15320718 2.10633677] [ 0.2809575 0.95944176 0.02311697 -0.59376564] [ 0.14065207 -0.06499098 0.98792366 -0.23930364] [ 0. 0. 0. 1. ]] SLAMing on 149.342414037 meters Centerline goodness : 0.816744 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.59, Z:-0.24 [[ 0.94928672 -0.27443184 -0.15343367 2.10757492] [ 0.28092713 0.95947787 0.0219581 -0.59043961] [ 0.14119021 -0.06394821 0.98791495 -0.24038531] [ 0. 0. 0. 1. ]] SLAMing on 149.372414037 meters Centerline goodness : 0.816694 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.59, Z:-0.24 [[ 0.94925729 -0.2744385 -0.15360375 2.10900042] [ 0.28087504 0.95950418 0.02146951 -0.58914584] [ 0.14149138 -0.06352355 0.98789926 -0.24146455] [ 0. 0. 0. 1. ]] SLAMing on 149.402414037 meters Centerline goodness : 0.813489 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.59, Z:-0.24 [[ 0.94937927 -0.2740738 -0.15350099 2.10968736] [ 0.28047543 0.95962485 0.02129978 -0.58755249] [ 0.14146565 -0.06327483 0.98791891 -0.24269714] [ 0. 0. 0. 1. ]] SLAMing on 149.432414037 meters Centerline goodness : 0.814112 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.58, Z:-0.24 [[ 0.94953782 -0.2734627 -0.15361015 2.11047564] [ 0.27983208 0.95981769 0.02107157 -0.58494852] [ 0.14167545 -0.0629933 0.98790683 -0.24385636] [ 0. 0. 0. 1. ]] SLAMing on 149.462414037 meters Centerline goodness : 0.813813 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.58, Z:-0.25 [[ 0.95132772 -0.26606812 -0.15550985 2.11191949] [ 0.27334394 0.96153613 0.02704368 -0.58216923] [ 0.14233288 -0.06823508 0.98746409 -0.24536291] [ 0. 0. 0. 1. ]] SLAMing on 149.49241403699997 meters Centerline goodness : 0.814156 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.58, Z:-0.25 [[ 0.95159541 -0.26508513 -0.15555077 2.11201528] [ 0.27238384 0.96180256 0.02725578 -0.5813603 ] [ 0.14238403 -0.06830599 0.98745181 -0.24550752] [ 0. 0. 0. 1. ]] SLAMing on 149.52241403699998 meters Centerline goodness : 0.814743 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.58, Z:-0.25 [[ 0.95177164 -0.26425168 -0.15589031 2.11304543] [ 0.27162847 0.96200365 0.02769377 -0.58189832] [ 0.14264892 -0.06870239 0.98738608 -0.2458104 ] [ 0. 0. 0. 1. ]] SLAMing on 149.55241403699998 meters Centerline goodness : 0.814321 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.58, Z:-0.24 [[ 0.95231163 -0.26072423 -0.15851002 2.13013022] [ 0.26682726 0.9635736 0.01814217 -0.57841542] [ 0.14800597 -0.0595718 0.98719068 -0.24340302] [ 0. 0. 0. 1. ]] SLAMing on 149.58241403699998 meters Centerline goodness : 0.811997 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.58, Z:-0.24 [[ 0.95264007 -0.25917357 -0.15907843 2.13238793] [ 0.26548457 0.96391957 0.01941662 -0.57921245] [ 0.14830654 -0.06072992 0.987075 -0.24464219] [ 0. 0. 0. 1. ]] SLAMing on 149.61241403699998 meters Centerline goodness : 0.812767 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.58, Z:-0.24 [[ 0.95286983 -0.25831547 -0.15909812 2.13209387] [ 0.2647205 0.96411564 0.02010197 -0.57997943] [ 0.14819633 -0.0612711 0.9870581 -0.2444334 ] [ 0. 0. 0. 1. ]] SLAMing on 149.64241403699998 meters Centerline goodness : 0.815970 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.58, Z:-0.24 [[ 0.95328416 -0.25658432 -0.15941703 2.13035596] [ 0.26324139 0.96448408 0.02178156 -0.58223769] [ 0.14816638 -0.06272918 0.98697101 -0.24246656] [ 0. 0. 0. 1. ]] SLAMing on 149.67241403699998 meters Centerline goodness : 0.813536 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.59, Z:-0.24 [[ 0.953868 -0.25414572 -0.15983052 2.12772926] [ 0.26120916 0.96497127 0.02449932 -0.58789569] [ 0.14800547 -0.06511832 0.98684041 -0.23890662] [ 0. 0. 0. 1. ]] SLAMing on 149.70241403699998 meters Centerline goodness : 0.813536 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.59, Z:-0.24 [[ 0.95386481 -0.25417571 -0.15980185 2.12770441] [ 0.2612591 0.9649541 0.02464283 -0.58820841] [ 0.14793784 -0.06525561 0.98684148 -0.23888024] [ 0. 0. 0. 1. ]] SLAMing on 149.73241403699998 meters Centerline goodness : 0.813261 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.59, Z:-0.24 [[ 0.95338615 -0.25640825 -0.15909007 2.12718817] [ 0.26316362 0.96448665 0.02259231 -0.59024068] [ 0.14764739 -0.06340592 0.98700554 -0.23812589] [ 0. 0. 0. 1. ]] SLAMing on 149.76241403699999 meters Centerline goodness : 0.810747 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.59, Z:-0.24 [[ 0.95279429 -0.25947538 -0.15765647 2.12708483] [ 0.26579229 0.9638223 0.02002595 -0.59258355] [ 0.14675658 -0.06098449 0.98729094 -0.23867529] [ 0. 0. 0. 1. ]] SLAMing on 149.792414037 meters Centerline goodness : 0.810385 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.59, Z:-0.24 [[ 0.95191341 -0.2630825 -0.15699828 2.12841872] [ 0.26896575 0.96299799 0.01709691 -0.59467016] [ 0.14669113 -0.05850193 0.98745088 -0.23900299] [ 0. 0. 0. 1. ]] SLAMing on 149.822414037 meters Centerline goodness : 0.809099 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.60, Z:-0.24 [[ 0.95096923 -0.2669603 -0.1561721 2.12909223] [ 0.27239395 0.96208265 0.01408953 -0.59696814] [ 0.14648912 -0.05593904 0.98762936 -0.23888732] [ 0. 0. 0. 1. ]] SLAMing on 149.852414037 meters Centerline goodness : 0.812097 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.60, Z:-0.24 [[ 0.94918359 -0.27415021 -0.15457096 2.12866682] [ 0.27879471 0.96031053 0.00878584 -0.60235734] [ 0.14602748 -0.05143294 0.98794262 -0.2370686 ] [ 0. 0. 0. 1. ]] SLAMing on 149.882414037 meters Centerline goodness : 0.814904 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.61, Z:-0.24 [[ 0.9481008 -0.27832786 -0.15374808 2.12917363] [ 0.28254233 0.95923712 0.00582897 -0.60559175] [ 0.14585851 -0.04896679 0.98809289 -0.23636548] [ 0. 0. 0. 1. ]] SLAMing on 149.912414037 meters Centerline goodness : 0.813966 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.61, Z:-0.24 [[ 9.45777731e-01 -2.87033458e-01 -1.52040385e-01 2.13111533e+00] [ 2.90391107e-01 9.56908036e-01 -1.26148776e-04 -6.12451395e-01] [ 1.45524875e-01 -4.40318670e-02 9.88374274e-01 -2.35828499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.942414037 meters Centerline goodness : 0.813079 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.62, Z:-0.24 [[ 0.94465127 -0.29108726 -0.15133466 2.13326773] [ 0.29404807 0.95578612 -0.00293575 -0.61530073] [ 0.14549813 -0.04172641 0.98847823 -0.23661976] [ 0. 0. 0. 1. ]] SLAMing on 149.972414037 meters Centerline goodness : 0.814299 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.62, Z:-0.24 [[ 0.94363596 -0.29463626 -0.1508 2.13621964] [ 0.29724822 0.95478475 -0.00543829 -0.61739573] [ 0.14558386 -0.03969327 0.98854933 -0.23812532] [ 0. 0. 0. 1. ]] SLAMing on 150.002414037 meters Centerline goodness : 0.811304 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.62, Z:-0.24 [[ 0.94275845 -0.29757003 -0.15052768 2.13996195] [ 0.29990599 0.95393949 -0.00747299 -0.61910159] [ 0.14581803 -0.03809893 0.98857755 -0.24017396] [ 0. 0. 0. 1. ]] SLAMing on 150.032414037 meters Centerline goodness : 0.810987 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.62, Z:-0.24 [[ 0.94146365 -0.30205314 -0.14970004 2.14244295] [ 0.30402258 0.95261121 -0.01010693 -0.62410181] [ 0.14565876 -0.03599689 0.9886798 -0.24081157] [ 0. 0. 0. 1. ]] SLAMing on 150.062414037 meters Centerline goodness : 0.813037 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.63, Z:-0.24 [[ 0.94066664 -0.30496325 -0.14880753 2.14111221] [ 0.30660364 0.95175704 -0.01235897 -0.62681937] [ 0.14539765 -0.03399926 0.98878894 -0.23915613] [ 0. 0. 0. 1. ]] SLAMing on 150.092414037 meters Centerline goodness : 0.812806 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.63, Z:-0.24 [[ 0.9399802 -0.30748464 -0.14795409 2.13906132] [ 0.30884995 0.95100422 -0.01423653 -0.6294916 ] [ 0.14508248 -0.03231356 0.98889176 -0.23699568] [ 0. 0. 0. 1. ]] SLAMing on 150.122414037 meters Centerline goodness : 0.813677 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.63, Z:-0.23 [[ 0.93945298 -0.30939957 -0.14730919 2.1369908 ] [ 0.31057295 0.95042225 -0.0155561 -0.63169211] [ 0.14481899 -0.03113603 0.98896815 -0.23492883] [ 0. 0. 0. 1. ]] SLAMing on 150.152414037 meters Centerline goodness : 0.812333 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.63, Z:-0.23 [[ 0.93810421 -0.31398951 -0.14618848 2.1365525 ] [ 0.31465756 0.94901223 -0.01914172 -0.63237164] [ 0.14474495 -0.02804238 0.98907155 -0.23413721] [ 0. 0. 0. 1. ]] SLAMing on 150.182414037 meters Centerline goodness : 0.812335 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.63, Z:-0.23 [[ 0.93779034 -0.31497961 -0.14607234 2.1367545 ] [ 0.31562501 0.94868664 -0.0193525 -0.63368773] [ 0.14467252 -0.0279555 0.9890846 -0.23388833] [ 0. 0. 0. 1. ]] SLAMing on 150.212414037 meters Centerline goodness : 0.811581 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.63, Z:-0.23 [[ 0.93608594 -0.32081694 -0.14428999 2.13602492] [ 0.32084815 0.9468342 -0.02369538 -0.63482843] [ 0.14422058 -0.02411426 0.9892517 -0.23335377] [ 0. 0. 0. 1. ]] SLAMing on 150.24241403699997 meters Centerline goodness : 0.811517 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.64, Z:-0.23 [[ 0.93572282 -0.32198254 -0.14404873 2.13608881] [ 0.32196568 0.94644515 -0.02407644 -0.63574395] [ 0.14408642 -0.02384987 0.98927766 -0.23323431] [ 0. 0. 0. 1. ]] SLAMing on 150.27241403699998 meters Centerline goodness : 0.812642 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.64, Z:-0.23 [[ 0.93548015 -0.32279853 -0.14379846 2.13618168] [ 0.32272727 0.94617557 -0.02447262 -0.63564788] [ 0.14395831 -0.02351404 0.98930435 -0.23352826] [ 0. 0. 0. 1. ]] SLAMing on 150.30241403699998 meters Centerline goodness : 0.811608 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.63, Z:-0.24 [[ 0.93510599 -0.32404221 -0.14343441 2.13794627] [ 0.32379962 0.94577687 -0.02568877 -0.63252137] [ 0.14398119 -0.02242228 0.98932637 -0.23596216] [ 0. 0. 0. 1. ]] SLAMing on 150.33241403699998 meters Centerline goodness : 0.810600 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.63, Z:-0.24 [[ 0.93549749 -0.32259903 -0.14413295 2.14047638] [ 0.32253619 0.94624119 -0.02445444 -0.63066673] [ 0.14427352 -0.02361102 0.98925612 -0.23816755] [ 0. 0. 0. 1. ]] SLAMing on 150.36241403699998 meters Centerline goodness : 0.811774 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.63, Z:-0.24 [[ 0.93656964 -0.3190058 -0.14516408 2.14097517] [ 0.31939683 0.94738299 -0.02124005 -0.62981701] [ 0.14430168 -0.02647216 0.98917958 -0.23897128] [ 0. 0. 0. 1. ]] SLAMing on 150.39241403699998 meters Centerline goodness : 0.809832 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.63, Z:-0.24 [[ 0.9376647 -0.31531813 -0.14614849 2.14049294] [ 0.31614197 0.94853781 -0.01817333 -0.62843512] [ 0.14435775 -0.02916318 0.98909572 -0.2390919 ] [ 0. 0. 0. 1. ]] SLAMing on 150.42241403699998 meters Centerline goodness : 0.809449 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.62, Z:-0.24 [[ 0.93924253 -0.31051262 -0.14630577 2.13414736] [ 0.31171084 0.95005455 -0.01525474 -0.62388277] [ 0.14373525 -0.03127719 0.98912179 -0.23613848] [ 0. 0. 0. 1. ]] SLAMing on 150.45241403699998 meters Centerline goodness : 0.812066 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.62, Z:-0.24 [[ 0.94028312 -0.30691332 -0.14721365 2.13225967] [ 0.30846832 0.95114954 -0.01272242 -0.62095386] [ 0.14392687 -0.03344807 0.98902289 -0.23519176] [ 0. 0. 0. 1. ]] SLAMing on 150.48241403699998 meters Centerline goodness : 0.809341 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.62, Z:-0.23 [[ 0.94138261 -0.30303121 -0.14822575 2.13098686] [ 0.30497378 0.95230826 -0.00999904 -0.61742262] [ 0.14418663 -0.03579205 0.988903 -0.23485367] [ 0. 0. 0. 1. ]] SLAMing on 150.51241403699999 meters Centerline goodness : 0.810082 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.61, Z:-0.24 [[ 0.94343418 -0.29557865 -0.15021719 2.13043859] [ 0.29827274 0.95446865 -0.00479209 -0.6106678 ] [ 0.14479404 -0.04028467 0.98864141 -0.23567032] [ 0. 0. 0. 1. ]] SLAMing on 150.542414037 meters Centerline goodness : 0.809586 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.61, Z:-0.24 [[ 9.44446665e-01 -2.91743875e-01 -1.51347311e-01 2.13034066e+00] [ 2.94877273e-01 9.55533405e-01 -1.81807798e-03 -6.09049450e-01] [ 1.45147824e-01 -4.29118046e-02 9.88478976e-01 -2.35641987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.572414037 meters Centerline goodness : 0.810018 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.61, Z:-0.23 [[ 9.44843309e-01 -2.90601882e-01 -1.51068424e-01 2.12825602e+00] [ 2.93757777e-01 9.55878731e-01 -1.48997546e-03 -6.07287847e-01] [ 1.44836083e-01 -4.29697309e-02 9.88522186e-01 -2.34987309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.602414037 meters Centerline goodness : 0.808322 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.61, Z:-0.24 [[ 9.44917438e-01 -2.90470614e-01 -1.50857077e-01 2.12741768e+00] [ 2.93542202e-01 9.55944040e-01 -1.99199999e-03 -6.05097211e-01] [ 1.44789541e-01 -4.24006429e-02 9.88553577e-01 -2.35022888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.632414037 meters Centerline goodness : 0.808085 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.60, Z:-0.23 [[ 9.45749068e-01 -2.87492716e-01 -1.51349392e-01 2.12548565e+00] [ 2.90873975e-01 9.56761353e-01 2.10574342e-04 -6.01962968e-01] [ 1.44744711e-01 -4.42227498e-02 9.88480307e-01 -2.34644464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.662414037 meters Centerline goodness : 0.807628 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.60, Z:-0.23 [[ 9.45748117e-01 -2.87563523e-01 -1.51220765e-01 2.12488028e+00] [ 2.90869970e-01 9.56762557e-01 -2.66397703e-04 -5.99960608e-01] [ 1.44758972e-01 -4.37336343e-02 9.88499979e-01 -2.34700529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.692414037 meters Centerline goodness : 0.806603 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.60, Z:-0.23 [[ 9.45738829e-01 -2.87640764e-01 -1.51131926e-01 2.12446677e+00] [ 2.90901790e-01 9.56752758e-01 -5.55644986e-04 -5.98800538e-01] [ 1.44755714e-01 -4.34390529e-02 9.88513446e-01 -2.34696692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.722414037 meters Centerline goodness : 0.809687 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.60, Z:-0.23 [[ 9.45727231e-01 -2.87850403e-01 -1.50805005e-01 2.12290085e+00] [ 2.91039973e-01 9.56710410e-01 -9.61832965e-04 -5.97699005e-01] [ 1.44553582e-01 -4.29806529e-02 9.88563061e-01 -2.33957373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.752414037 meters Centerline goodness : 0.810505 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.60, Z:-0.23 [[ 9.45731538e-01 -2.87881072e-01 -1.50719428e-01 2.12221335e+00] [ 2.91049023e-01 9.56707524e-01 -1.08643497e-03 -5.97209585e-01] [ 1.44507175e-01 -4.28392666e-02 9.88575983e-01 -2.33562615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.782414037 meters Centerline goodness : 0.806661 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.60, Z:-0.23 [[ 9.45737484e-01 -2.87839755e-01 -1.50761026e-01 2.12194357e+00] [ 2.90991327e-01 9.56724929e-01 -1.20763151e-03 -5.96670787e-01] [ 1.44584436e-01 -4.27280485e-02 9.88569499e-01 -2.33331379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.812414037 meters Centerline goodness : 0.806433 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.60, Z:-0.23 [[ 9.45847009e-01 -2.87257310e-01 -1.51184237e-01 2.12319693e+00] [ 2.90449568e-01 9.56889768e-01 -1.01019543e-03 -5.95837097e-01] [ 1.44956835e-01 -4.29559060e-02 9.88505087e-01 -2.34037368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.842414037 meters Centerline goodness : 0.806972 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.60, Z:-0.23 [[ 9.45893449e-01 -2.87016903e-01 -1.51350193e-01 2.12353920e+00] [ 2.90233132e-01 9.56955568e-01 -8.77472176e-04 -5.95711405e-01] [ 1.45087259e-01 -4.30968453e-02 9.88479817e-01 -2.34111372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.872414037 meters Centerline goodness : 0.806187 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.60, Z:-0.23 [[ 9.45885079e-01 -2.86995883e-01 -1.51442336e-01 2.12342110e+00] [ 2.90219317e-01 9.56959779e-01 -8.54415690e-04 -5.95744467e-01] [ 1.45169438e-01 -4.31433124e-02 9.88465725e-01 -2.33789228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.902414037 meters Centerline goodness : 0.806062 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.60, Z:-0.23 [[ 9.45665278e-01 -2.87903605e-01 -1.51091679e-01 2.12117581e+00] [ 2.91033259e-01 9.56711821e-01 -1.46092986e-03 -5.96547501e-01] [ 1.44971803e-01 -4.25911532e-02 9.88518675e-01 -2.31886843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.932414037 meters Centerline goodness : 0.807385 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.60, Z:-0.23 [[ 9.45660004e-01 -2.87875096e-01 -1.51178984e-01 2.12133073e+00] [ 2.91029555e-01 9.56713159e-01 -1.31553977e-03 -5.97236344e-01] [ 1.45013635e-01 -4.27534991e-02 9.88505531e-01 -2.31704861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.962414037 meters Centerline goodness : 0.805936 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.60, Z:-0.23 [[ 9.45648669e-01 -2.87824547e-01 -1.51346042e-01 2.12204433e+00] [ 2.90994811e-01 9.56723810e-01 -1.25368979e-03 -5.97385551e-01] [ 1.45157204e-01 -4.28553628e-02 9.88480047e-01 -2.32009090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.99241403699997 meters Centerline goodness : 0.805407 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.60, Z:-0.23 [[ 9.45652377e-01 -2.87775468e-01 -1.51416189e-01 2.12267504e+00] [ 2.90959320e-01 9.56734700e-01 -1.17823461e-03 -5.97333792e-01] [ 1.45204189e-01 -4.29417511e-02 9.88469397e-01 -2.32507511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02241403699998 meters Centerline goodness : 0.807205 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.60, Z:-0.23 [[ 9.45659338e-01 -2.87708961e-01 -1.51499079e-01 2.12313782e+00] [ 2.90896053e-01 9.56753941e-01 -1.17566981e-03 -5.96959267e-01] [ 1.45285592e-01 -4.29587011e-02 9.88456700e-01 -2.32884340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.05241403699998 meters Centerline goodness : 0.804369 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.60, Z:-0.23 [[ 9.45642688e-01 -2.87804352e-01 -1.51421799e-01 2.12284554e+00] [ 2.90973166e-01 9.56730352e-01 -1.28457410e-03 -5.96634734e-01] [ 1.45239537e-01 -4.28449321e-02 9.88468406e-01 -2.32780203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.08241403699998 meters Centerline goodness : 0.806191 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.60, Z:-0.23 [[ 9.45623442e-01 -2.87850524e-01 -1.51454221e-01 2.12300267e+00] [ 2.91024771e-01 9.56714687e-01 -1.26096298e-03 -5.97014248e-01] [ 1.45261447e-01 -4.28845340e-02 9.88463469e-01 -2.32736964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.11241403699998 meters Centerline goodness : 0.806995 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.60, Z:-0.23 [[ 9.45607476e-01 -2.87846983e-01 -1.51560601e-01 2.12370711e+00] [ 2.91054388e-01 9.56705913e-01 -1.06693256e-03 -5.98111581e-01] [ 1.45306036e-01 -4.31034785e-02 9.88447392e-01 -2.32932920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.14241403699998 meters Centerline goodness : 0.803618 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.60, Z:-0.23 [[ 0.94473257 -0.29100527 -0.15098447 2.12671769] [ 0.29384735 0.95584545 -0.00363549 -0.60008589] [ 0.14537577 -0.04093182 0.98852945 -0.23462356] [ 0. 0. 0. 1. ]] SLAMing on 151.17241403699998 meters Centerline goodness : 0.803891 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.60, Z:-0.23 [[ 0.94468617 -0.29107457 -0.15114113 2.12774607] [ 0.29398061 0.95580586 -0.00325105 -0.60182167] [ 0.14540787 -0.04136134 0.98850685 -0.23493483] [ 0. 0. 0. 1. ]] SLAMing on 151.20241403699998 meters Centerline goodness : 0.805244 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.60, Z:-0.23 [[ 0.94467286 -0.291079 -0.15121574 2.12805038] [ 0.29403953 0.95578885 -0.00290245 -0.6029083 ] [ 0.14537515 -0.04172154 0.98849652 -0.23490348] [ 0. 0. 0. 1. ]] SLAMing on 151.23241403699998 meters Centerline goodness : 0.804834 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.60, Z:-0.23 [[ 9.44904356e-01 -2.90203184e-01 -1.51452533e-01 2.12591213e+00] [ 2.93337610e-01 9.56007370e-01 -1.71933045e-03 -6.04344138e-01] [ 1.45288693e-01 -4.28021211e-02 9.88463036e-01 -2.32766088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.26241403699999 meters Centerline goodness : 0.802275 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.61, Z:-0.23 [[ 9.44952267e-01 -2.89955648e-01 -1.51627620e-01 2.12548356e+00] [ 2.93145799e-01 9.56066763e-01 -1.37290749e-03 -6.05364828e-01] [ 1.45364210e-01 -4.31516678e-02 9.88436735e-01 -2.31857372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.292414037 meters Centerline goodness : 0.804236 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.61, Z:-0.23 [[ 9.45035206e-01 -2.89537603e-01 -1.51909300e-01 2.12524943e+00] [ 2.92800617e-01 9.56173067e-01 -9.29280446e-04 -6.06967157e-01] [ 1.45520643e-01 -4.36009340e-02 9.88394001e-01 -2.30748695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.322414037 meters Centerline goodness : 0.804633 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.61, Z:-0.23 [[ 9.45209089e-01 -2.88808977e-01 -1.52214169e-01 2.12524149e+00] [ 2.92161903e-01 9.56368808e-01 -3.53524357e-04 -6.08275563e-01] [ 1.45674985e-01 -4.41370268e-02 9.88347470e-01 -2.29986368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.352414037 meters Centerline goodness : 0.804298 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.61, Z:-0.23 [[ 9.45442170e-01 -2.87962435e-01 -1.52370402e-01 2.12532798e+00] [ 2.91367365e-01 9.56611237e-01 1.89849693e-05 -6.08188968e-01] [ 1.45753772e-01 -4.44137117e-02 9.88323459e-01 -2.29972470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.382414037 meters Centerline goodness : 0.801897 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.61, Z:-0.23 [[ 0.94695248 -0.28225702 -0.15366188 2.1261872 ] [ 0.28629483 0.9581317 0.00434851 -0.60772274] [ 0.14600092 -0.04811043 0.98811392 -0.23084031] [ 0. 0. 0. 1. ]] SLAMing on 151.412414037 meters Centerline goodness : 0.800306 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.61, Z:-0.23 [[ 0.94814837 -0.27759323 -0.1547794 2.12608182] [ 0.28223516 0.9593083 0.00842047 -0.60824007] [ 0.1461437 -0.05166804 0.98791317 -0.23073243] [ 0. 0. 0. 1. ]] SLAMing on 151.442414037 meters Centerline goodness : 0.802265 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.61, Z:-0.23 [[ 0.94997789 -0.27075583 -0.15567043 2.12320937] [ 0.27620361 0.96099598 0.01408139 -0.60965791] [ 0.14578604 -0.05637375 0.98770868 -0.22883923] [ 0. 0. 0. 1. ]] SLAMing on 151.472414037 meters Centerline goodness : 0.800242 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.61, Z:-0.23 [[ 0.95018471 -0.26993468 -0.15583415 2.1232801 ] [ 0.2754699 0.9611977 0.01467391 -0.61078834] [ 0.14582643 -0.05687054 0.98767423 -0.22848426] [ 0. 0. 0. 1. ]] SLAMing on 151.502414037 meters Centerline goodness : 0.803405 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.61, Z:-0.23 [[ 0.95035027 -0.26919038 -0.15611186 2.12369811] [ 0.27484306 0.96136549 0.01541738 -0.61294849] [ 0.14593034 -0.05755817 0.98761905 -0.2280034 ] [ 0. 0. 0. 1. ]] SLAMing on 151.532414037 meters Centerline goodness : 0.799508 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.61, Z:-0.23 [[ 0.9504862 -0.26854166 -0.15640129 2.12402703] [ 0.27431146 0.96150537 0.01614444 -0.61499944] [ 0.14604523 -0.05824773 0.98756164 -0.22744529] [ 0. 0. 0. 1. ]] SLAMing on 151.562414037 meters Centerline goodness : 0.799237 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.62, Z:-0.23 [[ 0.95080502 -0.26715872 -0.15683119 2.12343582] [ 0.27317006 0.96180272 0.01770998 -0.61759741] [ 0.14610929 -0.05968033 0.98746662 -0.2260105 ] [ 0. 0. 0. 1. ]] SLAMing on 151.592414037 meters Centerline goodness : 0.798803 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.62, Z:-0.23 [[ 0.9507846 -0.26699619 -0.15723127 2.12397429] [ 0.27309026 0.96181783 0.01811551 -0.6187412 ] [ 0.14639107 -0.06016228 0.98739564 -0.22553599] [ 0. 0. 0. 1. ]] SLAMing on 151.622414037 meters Centerline goodness : 0.798803 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.62, Z:-0.23 [[ 0.95077625 -0.26703778 -0.15721116 2.12394491] [ 0.27313757 0.96180357 0.01815915 -0.61880456] [ 0.14635708 -0.06020556 0.98739804 -0.2255537 ] [ 0. 0. 0. 1. ]] SLAMing on 151.652414037 meters Centerline goodness : 0.797127 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.62, Z:-0.22 [[ 0.95034733 -0.26885244 -0.15671094 2.12293765] [ 0.27471493 0.96138205 0.01662092 -0.62039317] [ 0.14619051 -0.05884649 0.98750465 -0.22425962] [ 0. 0. 0. 1. ]] SLAMing on 151.682414037 meters Centerline goodness : 0.796608 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.63, Z:-0.23 [[ 0.94915109 -0.27334503 -0.15618803 2.12709137] [ 0.27869959 0.96028972 0.01304578 -0.62523623] [ 0.14641976 -0.05591196 0.98764118 -0.22546401] [ 0. 0. 0. 1. ]] SLAMing on 151.712414037 meters Centerline goodness : 0.796078 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.63, Z:-0.23 [[ 0.9482329 -0.27693723 -0.15543534 2.12870207] [ 0.28186804 0.95939911 0.01018572 -0.62778369] [ 0.14630373 -0.05347069 0.98779355 -0.22600756] [ 0. 0. 0. 1. ]] SLAMing on 151.74241403699997 meters Centerline goodness : 0.797052 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.63, Z:-0.23 [[ 0.94727286 -0.28067812 -0.15457659 2.12969474] [ 0.28516297 0.95845212 0.00718479 -0.62965353] [ 0.14613765 -0.05088548 0.98795468 -0.2263309 ] [ 0. 0. 0. 1. ]] SLAMing on 151.77241403699998 meters Centerline goodness : 0.798139 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.63, Z:-0.23 [[ 0.94630588 -0.28445317 -0.1535955 2.12952843] [ 0.28856885 0.9574475 0.00472294 -0.63310253] [ 0.14571617 -0.04879222 0.98812252 -0.22558702] [ 0. 0. 0. 1. ]] SLAMing on 151.80241403699998 meters Centerline goodness : 0.797480 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.64, Z:-0.22 [[ 0.94593833 -0.2860285 -0.15293257 2.12736841] [ 0.28998027 0.95702545 0.00370684 -0.63518574] [ 0.1453001 -0.04785387 0.98822967 -0.2237304 ] [ 0. 0. 0. 1. ]] SLAMing on 151.83241403699998 meters Centerline goodness : 0.797543 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.64, Z:-0.22 [[ 9.45357538e-01 -2.88416905e-01 -1.52035569e-01 2.12594275e+00] [ 2.92090449e-01 9.56388781e-01 1.91544085e-03 -6.37872826e-01] [ 1.44852667e-01 -4.62189142e-02 9.88373167e-01 -2.22318313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.86241403699998 meters Centerline goodness : 0.796862 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.64, Z:-0.22 [[ 9.44017190e-01 -2.93417327e-01 -1.50790639e-01 2.12621510e+00] [ 2.96549819e-01 9.55015706e-01 -1.79075263e-03 -6.43415317e-01] [ 1.44532867e-01 -4.30264355e-02 9.88564098e-01 -2.21053036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.89241403699998 meters Centerline goodness : 0.797503 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.64, Z:-0.22 [[ 0.94298036 -0.29723686 -0.14979413 2.12666339] [ 0.29990945 0.95395482 -0.00495223 -0.6446093 ] [ 0.14436882 -0.04025482 0.98870481 -0.2211186 ] [ 0. 0. 0. 1. ]] SLAMing on 151.92241403699998 meters Centerline goodness : 0.796804 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.65, Z:-0.22 [[ 0.94275629 -0.29791316 -0.14986105 2.12744684] [ 0.30061412 0.95373362 -0.00483074 -0.64659605] [ 0.14436666 -0.04049614 0.98869527 -0.2210508 ] [ 0. 0. 0. 1. ]] SLAMing on 151.95241403699998 meters Centerline goodness : 0.797545 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.65, Z:-0.22 [[ 0.94168672 -0.30155964 -0.14929132 2.12969809] [ 0.30389047 0.95267747 -0.00749843 -0.64724863] [ 0.1444877 -0.03830704 0.98876482 -0.22215131] [ 0. 0. 0. 1. ]] SLAMing on 151.98241403699998 meters Centerline goodness : 0.799173 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.65, Z:-0.22 [[ 0.94153842 -0.30195549 -0.14942654 2.13036059] [ 0.30430672 0.95254515 -0.00742687 -0.64838445] [ 0.1445781 -0.03847882 0.98874494 -0.22210374] [ 0. 0. 0. 1. ]] SLAMing on 152.01241403699999 meters Centerline goodness : 0.799507 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.65, Z:-0.22 [[ 0.94102084 -0.3039712 -0.14859773 2.12859801] [ 0.30608365 0.95196204 -0.00900383 -0.64966726] [ 0.1441963 -0.03701054 0.98885674 -0.2208199 ] [ 0. 0. 0. 1. ]] SLAMing on 152.042414037 meters Centerline goodness : 0.795470 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.65, Z:-0.22 [[ 0.94037935 -0.306374 -0.14772154 2.12713338] [ 0.30818309 0.95126282 -0.0110558 -0.65120236] [ 0.14390922 -0.03512863 0.9889672 -0.2195008 ] [ 0. 0. 0. 1. ]] SLAMing on 152.072414037 meters Centerline goodness : 0.799746 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.65, Z:-0.22 [[ 0.93922816 -0.31037239 -0.1466951 2.12818887] [ 0.31172485 0.95006526 -0.01426949 -0.65313311] [ 0.14379877 -0.0323262 0.98907883 -0.21977291] [ 0. 0. 0. 1. ]] SLAMing on 152.102414037 meters Centerline goodness : 0.797177 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.65, Z:-0.22 [[ 0.93920749 -0.3103796 -0.14681214 2.12930405] [ 0.31177398 0.95005302 -0.01400853 -0.65403503] [ 0.14382728 -0.03261529 0.98906519 -0.2204728 ] [ 0. 0. 0. 1. ]] SLAMing on 152.132414037 meters Centerline goodness : 0.796937 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.65, Z:-0.22 [[ 0.93919281 -0.31038911 -0.14688592 2.12998455] [ 0.31179519 0.95004699 -0.01394575 -0.65379766] [ 0.14387713 -0.03270057 0.98905513 -0.22108714] [ 0. 0. 0. 1. ]] SLAMing on 152.162414037 meters Centerline goodness : 0.797613 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.65, Z:-0.22 [[ 0.93966236 -0.30889487 -0.14703267 2.12755457] [ 0.3105286 0.95048452 -0.01229493 -0.65361505] [ 0.14355012 -0.03410477 0.98905522 -0.21975914] [ 0. 0. 0. 1. ]] SLAMing on 152.192414037 meters Centerline goodness : 0.797562 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.65, Z:-0.22 [[ 0.93967554 -0.30878557 -0.14717794 2.12685069] [ 0.31043258 0.95051673 -0.01222976 -0.65361766] [ 0.14367147 -0.03419683 0.98903442 -0.21882213] [ 0. 0. 0. 1. ]] SLAMing on 152.222414037 meters Centerline goodness : 0.797860 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.65, Z:-0.22 [[ 0.93968902 -0.30867245 -0.14732913 2.12659518] [ 0.31035605 0.95054458 -0.01200541 -0.65462284] [ 0.14374864 -0.03444313 0.98901466 -0.21803597] [ 0. 0. 0. 1. ]] SLAMing on 152.252414037 meters Centerline goodness : 0.797328 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.66, Z:-0.22 [[ 0.93966037 -0.30868327 -0.14748905 2.12699286] [ 0.31039907 0.95053281 -0.01182375 -0.65598782] [ 0.14384297 -0.03467015 0.98899301 -0.21766424] [ 0. 0. 0. 1. ]] SLAMing on 152.282414037 meters Centerline goodness : 0.798213 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.66, Z:-0.22 [[ 0.93953331 -0.30905421 -0.14752174 2.12748518] [ 0.31074949 0.95041607 -0.01200224 -0.65670355] [ 0.14391638 -0.0345658 0.98898599 -0.2176273 ] [ 0. 0. 0. 1. ]] SLAMing on 152.312414037 meters Centerline goodness : 0.798911 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.66, Z:-0.22 [[ 0.93952431 -0.30913961 -0.14740006 2.12693928] [ 0.31080316 0.95039603 -0.01219764 -0.65577073] [ 0.14385921 -0.03435242 0.98900174 -0.21749283] [ 0. 0. 0. 1. ]] SLAMing on 152.342414037 meters Centerline goodness : 0.798335 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.66, Z:-0.22 [[ 0.94010344 -0.30719048 -0.14778205 2.12482441] [ 0.30912213 0.95096665 -0.01029303 -0.65531246] [ 0.14369772 -0.03600619 0.98896639 -0.21618487] [ 0. 0. 0. 1. ]] SLAMing on 152.372414037 meters Centerline goodness : 0.799413 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.65, Z:-0.21 [[ 0.94146376 -0.30277958 -0.14822452 2.11974205] [ 0.30517714 0.95227098 -0.00684765 -0.6524217 ] [ 0.14322324 -0.03878792 0.98893003 -0.21374598] [ 0. 0. 0. 1. ]] SLAMing on 152.402414037 meters Centerline goodness : 0.798010 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.65, Z:-0.21 [[ 0.94253372 -0.29894519 -0.14920444 2.11896308] [ 0.30180114 0.95336388 -0.00365805 -0.6512669 ] [ 0.14333968 -0.04158224 0.9887996 -0.21336685] [ 0. 0. 0. 1. ]] SLAMing on 152.432414037 meters Centerline goodness : 0.798152 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.65, Z:-0.21 [[ 9.43581631e-01 -2.95106470e-01 -1.50219427e-01 2.11847095e+00] [ 2.98420567e-01 9.54434341e-01 -5.03156277e-04 -6.50205526e-01] [ 1.43523065e-01 -4.43537976e-02 9.88652553e-01 -2.13078728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.462414037 meters Centerline goodness : 0.799319 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.65, Z:-0.21 [[ 9.44036083e-01 -2.93694160e-01 -1.50131993e-01 2.11637184e+00] [ 2.97064249e-01 9.54857493e-01 2.19848578e-05 -6.48256509e-01] [ 1.43348202e-01 -4.46196023e-02 9.88665962e-01 -2.12321856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.49241403699997 meters Centerline goodness : 0.798353 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.64, Z:-0.21 [[ 9.44995451e-01 -2.90315746e-01 -1.50666402e-01 2.11562983e+00] [ 2.93969993e-01 9.55812393e-01 2.07689433e-03 -6.44190810e-01] [ 1.43405859e-01 -4.62540567e-02 9.88582481e-01 -2.13014331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52241403699998 meters Centerline goodness : 0.798126 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.64, Z:-0.21 [[ 9.44998081e-01 -2.90415461e-01 -1.50457589e-01 2.11547022e+00] [ 2.93964047e-01 9.55815440e-01 1.40822556e-03 -6.41428083e-01] [ 1.43400716e-01 -4.55598922e-02 9.88615462e-01 -2.13754853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.55241403699998 meters Centerline goodness : 0.794702 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.64, Z:-0.21 [[ 9.44937175e-01 -2.90707740e-01 -1.50275565e-01 2.11542415e+00] [ 2.94155581e-01 9.55757257e-01 7.48702628e-04 -6.38815808e-01] [ 1.43409308e-01 -4.49118732e-02 9.88643866e-01 -2.14465053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.58241403699998 meters Centerline goodness : 0.798546 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.64, Z:-0.21 [[ 9.44831085e-01 -2.91092072e-01 -1.50198624e-01 2.11536257e+00] [ 2.94452808e-01 9.55666010e-01 1.42261560e-04 -6.36800353e-01] [ 1.43498309e-01 -4.43608199e-02 9.88655831e-01 -2.14752946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.61241403699998 meters Centerline goodness : 0.792006 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.64, Z:-0.21 [[ 9.44619047e-01 -2.91930922e-01 -1.49903946e-01 2.11422050e+00] [ 2.95163526e-01 9.55446482e-01 -7.15683247e-04 -6.35336945e-01] [ 1.43434128e-01 -4.35701292e-02 9.88700306e-01 -2.14042612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64241403699998 meters Centerline goodness : 0.792994 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.64, Z:-0.21 [[ 9.44511522e-01 -2.92285571e-01 -1.49890390e-01 2.11390609e+00] [ 2.95492380e-01 9.55344656e-01 -9.17347311e-04 -6.35219285e-01] [ 1.43465110e-01 -4.34250228e-02 9.88702195e-01 -2.13557374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.67241403699998 meters Centerline goodness : 0.793552 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.63, Z:-0.21 [[ 9.44364818e-01 -2.92813259e-01 -1.49784797e-01 2.11355902e+00] [ 2.95968843e-01 9.55196737e-01 -1.27988190e-03 -6.34481058e-01] [ 1.43448716e-01 -4.31229576e-02 9.88717794e-01 -2.13334670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.70241403699998 meters Centerline goodness : 0.793308 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.63, Z:-0.21 [[ 9.44224851e-01 -2.93344173e-01 -1.49628295e-01 2.11315593e+00] [ 2.96443729e-01 9.55048877e-01 -1.66069623e-03 -6.33313760e-01] [ 1.43389491e-01 -4.27882992e-02 9.88740924e-01 -2.13298548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.73241403699998 meters Centerline goodness : 0.791910 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.63, Z:-0.21 [[ 0.94380305 -0.29484385 -0.14934156 2.1134094 ] [ 0.29778095 0.95463008 -0.00281395 -0.63003346] [ 0.14339562 -0.04181526 0.98878166 -0.21424038] [ 0. 0. 0. 1. ]] SLAMing on 152.76241403699999 meters Centerline goodness : 0.791849 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.63, Z:-0.21 [[ 0.94364573 -0.29540578 -0.1492252 2.11377354] [ 0.29829018 0.95446991 -0.00318758 -0.62924967] [ 0.14337259 -0.04150446 0.9887981 -0.21469681] [ 0. 0. 0. 1. ]] SLAMing on 152.792414037 meters Centerline goodness : 0.791496 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.63, Z:-0.21 [[ 0.94346094 -0.29606595 -0.14908526 2.1137448 ] [ 0.29888329 0.95428265 -0.00366159 -0.6289458 ] [ 0.14335355 -0.04110453 0.98881757 -0.21467358] [ 0. 0. 0. 1. ]] SLAMing on 152.822414037 meters Centerline goodness : 0.791353 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.63, Z:-0.21 [[ 0.94332209 -0.29659178 -0.14891862 2.11361553] [ 0.2993607 0.95413168 -0.0039891 -0.6287524 ] [ 0.14327111 -0.04081738 0.98884141 -0.21462861] [ 0. 0. 0. 1. ]] SLAMing on 152.852414037 meters Centerline goodness : 0.792213 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.63, Z:-0.21 [[ 0.94320283 -0.29710308 -0.14865455 2.11311846] [ 0.29980931 0.95398906 -0.00438666 -0.62816216] [ 0.14311811 -0.0404305 0.98887946 -0.21455131] [ 0. 0. 0. 1. ]] SLAMing on 152.882414037 meters Centerline goodness : 0.792495 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.63, Z:-0.21 [[ 0.94314717 -0.2975084 -0.14819637 2.11187872] [ 0.30009086 0.95389675 -0.00514489 -0.62550956] [ 0.14289469 -0.03961999 0.98894457 -0.2145578 ] [ 0. 0. 0. 1. ]] SLAMing on 152.912414037 meters Centerline goodness : 0.791975 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.62, Z:-0.21 [[ 0.94319109 -0.29741067 -0.14811302 2.11161143] [ 0.29993401 0.95394396 -0.00552301 -0.62319293] [ 0.14293412 -0.03921488 0.98895502 -0.21491557] [ 0. 0. 0. 1. ]] SLAMing on 152.942414037 meters Centerline goodness : 0.791088 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.62, Z:-0.22 [[ 0.94423707 -0.29357818 -0.14909125 2.11166231] [ 0.29658976 0.95500262 -0.00212539 -0.62264373] [ 0.14300651 -0.04221207 0.98882116 -0.21519687] [ 0. 0. 0. 1. ]] SLAMing on 152.972414037 meters Centerline goodness : 0.791308 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.62, Z:-0.21 [[ 0.94633231 -0.28597669 -0.15057389 2.10919295] [ 0.28984395 0.95706589 0.00391935 -0.62098969] [ 0.14298829 -0.04735194 0.98859099 -0.21401216] [ 0. 0. 0. 1. ]] SLAMing on 153.002414037 meters Centerline goodness : 0.792219 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.62, Z:-0.21 [[ 0.94752005 -0.28146243 -0.15160694 2.1083311 ] [ 0.28583812 0.95824913 0.00742854 -0.61986962] [ 0.14318636 -0.05037373 0.98841295 -0.21341992] [ 0. 0. 0. 1. ]] SLAMing on 153.032414037 meters Centerline goodness : 0.793089 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.62, Z:-0.21 [[ 0.94867084 -0.27700403 -0.15261851 2.10760171] [ 0.2818771 0.95938932 0.01083669 -0.61833473] [ 0.14341876 -0.05330012 0.98822576 -0.21300363] [ 0. 0. 0. 1. ]] SLAMing on 153.062414037 meters Centerline goodness : 0.794269 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.61, Z:-0.21 [[ 0.95149269 -0.26855316 -0.15013613 2.11128297] [ 0.27287775 0.96201033 0.00859402 -0.61190672] [ 0.14212455 -0.04914595 0.98862798 -0.20954556] [ 0. 0. 0. 1. ]] SLAMing on 153.092414037 meters Centerline goodness : 0.794829 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.61, Z:-0.21 [[ 9.52655163e-01 -2.66188088e-01 -1.46942309e-01 2.11562223e+00] [ 2.69289372e-01 9.63058485e-01 1.26045081e-03 -6.06894982e-01] [ 1.41178520e-01 -4.07707770e-02 9.89144261e-01 -2.05918207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.122414037 meters Centerline goodness : 0.794875 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.61, Z:-0.21 [[ 9.52915284e-01 -2.65305698e-01 -1.46851451e-01 2.11471516e+00] [ 2.68418914e-01 9.63301209e-01 1.43809138e-03 -6.05632054e-01] [ 1.41080646e-01 -4.07880862e-02 9.89157512e-01 -2.05363018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.152414037 meters Centerline goodness : 0.793663 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.61, Z:-0.21 [[ 9.53033617e-01 -2.64955252e-01 -1.46716186e-01 2.11483853e+00] [ 2.68062339e-01 9.63400460e-01 1.46138156e-03 -6.05435309e-01] [ 1.40959241e-01 -4.07218298e-02 9.89177550e-01 -2.05318610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.182414037 meters Centerline goodness : 0.793933 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.61, Z:-0.21 [[ 9.52562349e-01 -2.66686620e-01 -1.46639757e-01 2.11760164e+00] [ 2.69601806e-01 9.62971893e-01 5.52752611e-06 -6.05575401e-01] [ 1.41208490e-01 -3.95396086e-02 9.89189962e-01 -2.06930346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.212414037 meters Centerline goodness : 0.793442 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.61, Z:-0.21 [[ 9.52033635e-01 -2.68641200e-01 -1.46505510e-01 2.12011406e+00] [ 2.71322764e-01 9.62486843e-01 -1.74206820e-03 -6.06347632e-01] [ 1.41477617e-01 -3.80917723e-02 9.89208320e-01 -2.08142278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24241403699997 meters Centerline goodness : 0.792666 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.61, Z:-0.21 [[ 0.95119765 -0.2719297 -0.14586727 2.12165496] [ 0.27428816 0.96163887 -0.00408537 -0.60980466] [ 0.14138257 -0.03612367 0.98929573 -0.20847124] [ 0. 0. 0. 1. ]] SLAMing on 153.27241403699998 meters Centerline goodness : 0.793934 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.61, Z:-0.21 [[ 0.95124484 -0.2716365 -0.1461057 2.12283808] [ 0.27413747 0.96168543 -0.0031279 -0.61278028] [ 0.14135737 -0.03707765 0.98926404 -0.20869509] [ 0. 0. 0. 1. ]] SLAMing on 153.30241403699998 meters Centerline goodness : 0.795295 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.62, Z:-0.21 [[ 9.51321910e-01 -2.71197816e-01 -1.46418473e-01 2.12407873e+00] [ 2.73874420e-01 9.61763486e-01 -1.94934685e-03 -6.16053247e-01] [ 1.41348599e-01 -3.82458179e-02 9.89220820e-01 -2.08814514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.33241403699998 meters Centerline goodness : 0.793618 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.62, Z:-0.21 [[ 9.51479261e-01 -2.70296414e-01 -1.47061429e-01 2.12630723e+00] [ 2.73268125e-01 9.61937904e-01 3.99427058e-06 -6.22079903e-01] [ 1.41462883e-01 -4.01910015e-02 9.89127361e-01 -2.08784767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.36241403699998 meters Centerline goodness : 0.793111 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.63, Z:-0.21 [[ 9.51593269e-01 -2.69718808e-01 -1.47383904e-01 2.12734444e+00] [ 2.72862458e-01 9.62052359e-01 1.15659337e-03 -6.25353914e-01] [ 1.41479078e-01 -4.13161409e-02 9.89078686e-01 -2.08706350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.39241403699998 meters Centerline goodness : 0.793405 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.63, Z:-0.21 [[ 0.95165959 -0.26926059 -0.14779295 2.12860797] [ 0.27258033 0.96213028 0.00229998 -0.62920579] [ 0.14157678 -0.04247425 0.98901565 -0.20844561] [ 0. 0. 0. 1. ]] SLAMing on 153.42241403699998 meters Centerline goodness : 0.793596 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.63, Z:-0.21 [[ 9.50851377e-01 -2.72486238e-01 -1.47081302e-01 2.12937605e+00] [ 2.75449421e-01 9.61315538e-01 -2.29760125e-04 -6.32026033e-01] [ 1.41454148e-01 -4.02949918e-02 9.89124379e-01 -2.08278324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.45241403699998 meters Centerline goodness : 0.793876 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.64, Z:-0.21 [[ 0.94951558 -0.27787872 -0.14561451 2.12971184] [ 0.28031161 0.95990091 -0.00395428 -0.63986884] [ 0.14087431 -0.03706279 0.9893335 -0.20690833] [ 0. 0. 0. 1. ]] SLAMing on 153.48241403699998 meters Centerline goodness : 0.795073 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.64, Z:-0.21 [[ 0.94867346 -0.28110454 -0.14490997 2.12986195] [ 0.28322491 0.95903338 -0.00621543 -0.64375355] [ 0.14072068 -0.0351457 0.98942532 -0.20592118] [ 0. 0. 0. 1. ]] SLAMing on 153.51241403699999 meters Centerline goodness : 0.795073 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.64, Z:-0.21 [[ 0.94867346 -0.28110454 -0.14490997 2.12986195] [ 0.28322491 0.95903338 -0.00621543 -0.64375355] [ 0.14072068 -0.0351457 0.98942532 -0.20592118] [ 0. 0. 0. 1. ]] SLAMing on 153.542414037 meters Centerline goodness : 0.796404 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.65, Z:-0.20 [[ 0.94787135 -0.28413377 -0.14424947 2.12955063] [ 0.28597943 0.95820052 -0.00821783 -0.64772965] [ 0.14055488 -0.03346293 0.98950723 -0.20448294] [ 0. 0. 0. 1. ]] SLAMing on 153.572414037 meters Centerline goodness : 0.799261 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.65, Z:-0.20 [[ 0.94625972 -0.29018654 -0.14277367 2.12873177] [ 0.29148014 0.95649861 -0.01223686 -0.65474804] [ 0.14011379 -0.03003644 0.98967972 -0.20194474] [ 0. 0. 0. 1. ]] SLAMing on 153.602414037 meters Centerline goodness : 0.797253 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.66, Z:-0.20 [[ 0.94523498 -0.29389104 -0.14198202 2.12914211] [ 0.29480091 0.95543992 -0.01506597 -0.65679583] [ 0.14008305 -0.02761555 0.98975458 -0.20144887] [ 0. 0. 0. 1. ]] SLAMing on 153.632414037 meters Centerline goodness : 0.798582 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.66, Z:-0.20 [[ 0.94508061 -0.29422884 -0.14230963 2.13030139] [ 0.2952609 0.95530972 -0.01429502 -0.66007988] [ 0.14015578 -0.02850852 0.98971896 -0.20107246] [ 0. 0. 0. 1. ]] SLAMing on 153.662414037 meters Centerline goodness : 0.798495 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.66, Z:-0.20 [[ 0.94499929 -0.2943125 -0.14267616 2.13175335] [ 0.29547136 0.95525645 -0.01348291 -0.66334915] [ 0.14026051 -0.02941538 0.98967759 -0.2010628 ] [ 0. 0. 0. 1. ]] SLAMing on 153.692414037 meters Centerline goodness : 0.798732 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.67, Z:-0.20 [[ 0.94415608 -0.29720611 -0.14225968 2.13497445] [ 0.29814272 0.95440049 -0.01518624 -0.66916662] [ 0.14028616 -0.02807551 0.98971287 -0.20188659] [ 0. 0. 0. 1. ]] SLAMing on 153.722414037 meters Centerline goodness : 0.798358 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.67, Z:-0.20 [[ 0.94421142 -0.29695998 -0.14240637 2.13626549] [ 0.29802623 0.95445082 -0.01428255 -0.67253311] [ 0.14016123 -0.02895509 0.98970523 -0.20222432] [ 0. 0. 0. 1. ]] SLAMing on 153.752414037 meters Centerline goodness : 0.800173 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.67, Z:-0.20 [[ 0.94425839 -0.29675529 -0.14252157 2.1369318 ] [ 0.29792339 0.9544933 -0.01357175 -0.67490567] [ 0.14006337 -0.02964527 0.98969865 -0.20227184] [ 0. 0. 0. 1. ]] SLAMing on 153.782414037 meters Centerline goodness : 0.799498 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.68, Z:-0.20 [[ 0.9443148 -0.29652826 -0.14262028 2.13748212] [ 0.2977869 0.95454472 -0.01293581 -0.6765354 ] [ 0.13997327 -0.03025497 0.98969294 -0.20243174] [ 0. 0. 0. 1. ]] SLAMing on 153.812414037 meters Centerline goodness : 0.801903 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.68, Z:-0.20 [[ 0.94429347 -0.29652269 -0.14277302 2.13822477] [ 0.2979111 0.95451754 -0.01205133 -0.67940378] [ 0.13985285 -0.03115367 0.98968208 -0.20232837] [ 0. 0. 0. 1. ]] SLAMing on 153.842414037 meters Centerline goodness : 0.799358 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.68, Z:-0.20 [[ 0.94430607 -0.29637911 -0.14298762 2.13893115] [ 0.29785245 0.95454279 -0.01148819 -0.68120889] [ 0.13989266 -0.03174085 0.9896578 -0.20224645] [ 0. 0. 0. 1. ]] SLAMing on 153.872414037 meters Centerline goodness : 0.802006 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.68, Z:-0.20 [[ 0.9437796 -0.29836749 -0.14232674 2.13774589] [ 0.29962897 0.95396734 -0.01299212 -0.68462712] [ 0.13965149 -0.03038351 0.98973446 -0.2004652 ] [ 0. 0. 0. 1. ]] SLAMing on 153.902414037 meters Centerline goodness : 0.802310 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.69, Z:-0.20 [[ 0.94393879 -0.29772337 -0.1426196 2.13816583] [ 0.2991018 0.95414348 -0.01217937 -0.6869067 ] [ 0.13970564 -0.0311612 0.98970264 -0.19999502] [ 0. 0. 0. 1. ]] SLAMing on 153.932414037 meters Centerline goodness : 0.802309 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.69, Z:-0.20 [[ 0.94411388 -0.29701496 -0.14293735 2.13854659] [ 0.29849319 0.95434259 -0.01149082 -0.68832352] [ 0.13982414 -0.03181719 0.98966503 -0.19968948] [ 0. 0. 0. 1. ]] SLAMing on 153.962414037 meters Centerline goodness : 0.803122 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.69, Z:-0.20 [[ 0.94471514 -0.29499704 -0.14314346 2.13722436] [ 0.29671775 0.95491629 -0.0096667 -0.68991825] [ 0.13954167 -0.03334093 0.98965474 -0.19874133] [ 0. 0. 0. 1. ]] SLAMing on 153.99241403699997 meters Centerline goodness : 0.804245 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.69, Z:-0.20 [[ 9.47275434e-01 -2.85364632e-01 -1.45726730e-01 2.13756163e+00] [ 2.88295910e-01 9.57540794e-01 -1.04746224e-03 -6.91540819e-01] [ 1.39838197e-01 -4.10201848e-02 9.89324327e-01 -1.98550570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02241403699998 meters Centerline goodness : 0.803932 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.69, Z:-0.20 [[ 0.9486391 -0.28012721 -0.14701226 2.13782831] [ 0.28368565 0.95891135 0.00338839 -0.69177014] [ 0.14002255 -0.04491963 0.98912887 -0.19879777] [ 0. 0. 0. 1. ]] SLAMing on 154.05241403699998 meters Centerline goodness : 0.805523 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.69, Z:-0.20 [[ 0.94998439 -0.27482477 -0.14832737 2.13833814] [ 0.27902211 0.96025253 0.00785743 -0.69222333] [ 0.14027232 -0.04885105 0.9889071 -0.1991266 ] [ 0. 0. 0. 1. ]] SLAMing on 154.08241403699998 meters Centerline goodness : 0.804359 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.69, Z:-0.20 [[ 0.95121781 -0.26982008 -0.1496055 2.13902007] [ 0.2746439 0.96146883 0.01218253 -0.69316363] [ 0.14055393 -0.05267647 0.98867071 -0.19938365] [ 0. 0. 0. 1. ]] SLAMing on 154.11241403699998 meters Centerline goodness : 0.806188 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.70, Z:-0.20 [[ 0.9527947 -0.26345791 -0.15090456 2.13870845] [ 0.2690889 0.96295042 0.01782306 -0.69674772] [ 0.14061798 -0.05758846 0.98838765 -0.19848782] [ 0. 0. 0. 1. ]] SLAMing on 154.14241403699998 meters Centerline goodness : 0.809189 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.70, Z:-0.20 [[ 0.95297402 -0.26271725 -0.15106347 2.13838191] [ 0.26846039 0.96311112 0.01860062 -0.69842148] [ 0.1406042 -0.05828047 0.98834905 -0.19770454] [ 0. 0. 0. 1. ]] SLAMing on 154.17241403699998 meters Centerline goodness : 0.807692 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.70, Z:-0.20 [[ 0.95307515 -0.26222954 -0.15127267 2.13834357] [ 0.26808111 0.96320279 0.01931096 -0.70054215] [ 0.14064235 -0.05895814 0.98830343 -0.19689448] [ 0. 0. 0. 1. ]] SLAMing on 154.20241403699998 meters Centerline goodness : 0.809410 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.71, Z:-0.20 [[ 0.95241868 -0.26477186 -0.15097851 2.13938511] [ 0.27037694 0.96259527 0.01751182 -0.70508537] [ 0.14069456 -0.0574997 0.98838192 -0.19605534] [ 0. 0. 0. 1. ]] SLAMing on 154.23241403699998 meters Centerline goodness : 0.809042 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.71, Z:-0.20 [[ 0.95162148 -0.26796624 -0.1503684 2.14035122] [ 0.27318654 0.961847 0.01481464 -0.70729235] [ 0.14066157 -0.05517655 0.98851903 -0.19602933] [ 0. 0. 0. 1. ]] SLAMing on 154.26241403699999 meters Centerline goodness : 0.810095 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.71, Z:-0.20 [[ 0.95087272 -0.27091439 -0.14982145 2.1410944 ] [ 0.27579101 0.96113778 0.01238871 -0.70995627] [ 0.14064277 -0.0530995 0.98863545 -0.19567177] [ 0. 0. 0. 1. ]] SLAMing on 154.292414037 meters Centerline goodness : 0.814387 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.71, Z:-0.19 [[ 0.95044219 -0.27278833 -0.14915149 2.14014951] [ 0.27747291 0.96066878 0.01114795 -0.71379358] [ 0.14024415 -0.05198098 0.98875151 -0.19428618] [ 0. 0. 0. 1. ]] SLAMing on 154.322414037 meters Centerline goodness : 0.815733 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.72, Z:-0.19 [[ 0.95003538 -0.27439645 -0.14879304 2.14007716] [ 0.27908964 0.96019948 0.01122161 -0.72300648] [ 0.13979183 -0.05218753 0.98880469 -0.19184601] [ 0. 0. 0. 1. ]] SLAMing on 154.352414037 meters Centerline goodness : 0.818376 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.73, Z:-0.19 [[ 0.94955103 -0.27637619 -0.14821959 2.13953839] [ 0.28089019 0.95968763 0.01001728 -0.72738439] [ 0.13947597 -0.05114535 0.98890374 -0.19046612] [ 0. 0. 0. 1. ]] SLAMing on 154.382414037 meters Centerline goodness : 0.818908 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.73, Z:-0.19 [[ 0.94884981 -0.27903542 -0.147727 2.14055771] [ 0.28328004 0.95900315 0.00808498 -0.73115893] [ 0.13941466 -0.04951955 0.98899513 -0.19012742] [ 0. 0. 0. 1. ]] SLAMing on 154.412414037 meters Centerline goodness : 0.820326 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.74, Z:-0.19 [[ 0.94850788 -0.28026774 -0.14758998 2.14388615] [ 0.28455688 0.95862273 0.00835698 -0.7422109 ] [ 0.13914092 -0.0499244 0.98901333 -0.18997573] [ 0. 0. 0. 1. ]] SLAMing on 154.442414037 meters Centerline goodness : 0.820590 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.75, Z:-0.19 [[ 0.94791162 -0.28257466 -0.14702079 2.14486578] [ 0.28664761 0.95801161 0.00684796 -0.74704079] [ 0.13891257 -0.04863441 0.9891097 -0.18962068] [ 0. 0. 0. 1. ]] SLAMing on 154.472414037 meters Centerline goodness : 0.822501 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.75, Z:-0.19 [[ 0.94736766 -0.28470351 -0.14641866 2.14512411] [ 0.28856612 0.95744476 0.0053977 -0.75138751] [ 0.13865103 -0.04736507 0.98920799 -0.18885792] [ 0. 0. 0. 1. ]] SLAMing on 154.502414037 meters Centerline goodness : 0.822744 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.76, Z:-0.19 [[ 0.9472069 -0.28536083 -0.14617893 2.14734407] [ 0.28929193 0.95722261 0.0059207 -0.7604448 ] [ 0.13823624 -0.04789651 0.98924045 -0.18875636] [ 0. 0. 0. 1. ]] SLAMing on 154.532414037 meters Centerline goodness : 0.824474 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.76, Z:-0.19 [[ 0.94657462 -0.28776471 -0.14556085 2.14847728] [ 0.2914515 0.95657638 0.00420213 -0.76434557] [ 0.13803085 -0.04640156 0.98934038 -0.18880297] [ 0. 0. 0. 1. ]] SLAMing on 154.562414037 meters Centerline goodness : 0.825418 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.77, Z:-0.19 [[ 0.94592228 -0.29020247 -0.14496059 2.14918312] [ 0.29366206 0.9559058 0.00258868 -0.76878525] [ 0.13781742 -0.04501811 0.98943404 -0.18830162] [ 0. 0. 0. 1. ]] SLAMing on 154.592414037 meters Centerline goodness : 0.825953 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.78, Z:-0.19 [[ 9.44524862e-01 -2.95335886e-01 -1.43699340e-01 2.15183386e+00] [ 2.98356069e-01 9.54454476e-01 -5.56254502e-04 -7.78936766e-01] [ 1.37318760e-01 -4.23481738e-02 9.89621236e-01 -1.87885452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.622414037 meters Centerline goodness : 0.826160 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.78, Z:-0.19 [[ 0.9436004 -0.29853408 -0.14316315 2.1535436 ] [ 0.30130533 0.95352462 -0.00242911 -0.78441511] [ 0.13723476 -0.04084371 0.98969612 -0.1874902 ] [ 0. 0. 0. 1. ]] SLAMing on 154.652414037 meters Centerline goodness : 0.828600 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.79, Z:-0.19 [[ 0.94268255 -0.30167277 -0.14262939 2.15533386] [ 0.30422879 0.95259033 -0.00406217 -0.79056667] [ 0.13709282 -0.03956263 0.98976783 -0.18700854] [ 0. 0. 0. 1. ]] SLAMing on 154.682414037 meters Centerline goodness : 0.828424 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.80, Z:-0.19 [[ 0.94045373 -0.30914771 -0.1413311 2.16011785] [ 0.31114676 0.9503257 -0.00829176 -0.80166592] [ 0.13687396 -0.03617669 0.98992766 -0.18703407] [ 0. 0. 0. 1. ]] SLAMing on 154.712414037 meters Centerline goodness : 0.830664 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.81, Z:-0.19 [[ 0.93943734 -0.31253326 -0.14064296 2.16139866] [ 0.314274 0.94927711 -0.01023826 -0.80674668] [ 0.13670894 -0.03458222 0.99000744 -0.18646615] [ 0. 0. 0. 1. ]] SLAMing on 154.74241403699997 meters Centerline goodness : 0.829841 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.81, Z:-0.19 [[ 0.93841273 -0.31589096 -0.13998018 2.16269855] [ 0.31736057 0.94822528 -0.01229175 -0.81127035] [ 0.1366156 -0.03288946 0.99007801 -0.18600615] [ 0. 0. 0. 1. ]] SLAMing on 154.77241403699998 meters Centerline goodness : 0.831490 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.82, Z:-0.19 [[ 0.93702343 -0.320104 -0.13971584 2.16809621] [ 0.3213626 0.94685159 -0.01407642 -0.81922351] [ 0.13679608 -0.03170951 0.99009158 -0.18719159] [ 0. 0. 0. 1. ]] SLAMing on 154.80241403699998 meters Centerline goodness : 0.831744 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.82, Z:-0.19 [[ 0.9359642 -0.3234849 -0.13902711 2.16971804] [ 0.32441975 0.94576896 -0.01651987 -0.82250478] [ 0.13683145 -0.02964113 0.99015077 -0.187293 ] [ 0. 0. 0. 1. ]] SLAMing on 154.83241403699998 meters Centerline goodness : 0.830451 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.83, Z:-0.19 [[ 0.93489895 -0.32685721 -0.13830517 2.17086837] [ 0.32745012 0.94467546 -0.01909698 -0.82539439] [ 0.13689548 -0.0274343 0.99020553 -0.18706362] [ 0. 0. 0. 1. ]] SLAMing on 154.86241403699998 meters Centerline goodness : 0.830765 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.83, Z:-0.19 [[ 0.93385236 -0.33022164 -0.13738062 2.17134382] [ 0.33045027 0.94357143 -0.02180764 -0.82768534] [ 0.13682978 -0.02503235 0.99027824 -0.18671654] [ 0. 0. 0. 1. ]] SLAMing on 154.89241403699998 meters Centerline goodness : 0.831139 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.83, Z:-0.19 [[ 0.93294508 -0.33304311 -0.13673246 2.17251147] [ 0.33304841 0.94261633 -0.02352039 -0.83313961] [ 0.13671955 -0.0235953 0.99032875 -0.18592794] [ 0. 0. 0. 1. ]] SLAMing on 154.92241403699998 meters Centerline goodness : 0.832951 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.84, Z:-0.19 [[ 0.9331046 -0.33243712 -0.13711809 2.17342012] [ 0.33257817 0.94280581 -0.02256034 -0.83576022] [ 0.13677563 -0.02455133 0.99029776 -0.18569786] [ 0. 0. 0. 1. ]] SLAMing on 154.95241403699998 meters Centerline goodness : 0.832545 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.84, Z:-0.19 [[ 0.93329044 -0.33184168 -0.13729552 2.1734918 ] [ 0.33206888 0.94300031 -0.02192424 -0.83672549] [ 0.1367451 -0.02512989 0.99028747 -0.18555915] [ 0. 0. 0. 1. ]] SLAMing on 154.98241403699998 meters Centerline goodness : 0.834142 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.84, Z:-0.18 [[ 0.93382316 -0.33027691 -0.13744621 2.17137731] [ 0.33067459 0.94352 -0.02059921 -0.83712806] [ 0.13648669 -0.02621395 0.99029501 -0.18421432] [ 0. 0. 0. 1. ]] SLAMing on 155.01241403699999 meters Centerline goodness : 0.835157 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.84, Z:-0.18 [[ 0.93584256 -0.32391614 -0.13884176 2.16789445] [ 0.32504923 0.94557697 -0.01507289 -0.83854538] [ 0.13616793 -0.03102456 0.99019986 -0.18152543] [ 0. 0. 0. 1. ]] SLAMing on 155.042414037 meters Centerline goodness : 0.834154 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.84, Z:-0.18 [[ 0.93644356 -0.3220574 -0.13911326 2.16606102] [ 0.32336992 0.94617359 -0.01369052 -0.83976828] [ 0.13603442 -0.03216464 0.99018184 -0.17995842] [ 0. 0. 0. 1. ]] SLAMing on 155.072414037 meters Centerline goodness : 0.833381 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.84, Z:-0.18 [[ 0.93678799 -0.32087542 -0.13952498 2.16606274] [ 0.32228022 0.94655465 -0.01302909 -0.84068397] [ 0.13624873 -0.03276065 0.99013283 -0.17944834] [ 0. 0. 0. 1. ]] SLAMing on 155.102414037 meters Centerline goodness : 0.831373 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.84, Z:-0.18 [[ 0.93766584 -0.31803873 -0.14012184 2.16482722] [ 0.31970836 0.9474517 -0.01103841 -0.84262255] [ 0.13626932 -0.03444779 0.99007274 -0.17821878] [ 0. 0. 0. 1. ]] SLAMing on 155.132414037 meters Centerline goodness : 0.831561 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.84, Z:-0.18 [[ 0.9381082 -0.31663774 -0.1403337 2.16351152] [ 0.3184666 0.94788312 -0.00982969 -0.84361511] [ 0.13613239 -0.03547028 0.99005547 -0.17717672] [ 0. 0. 0. 1. ]] SLAMing on 155.162414037 meters Centerline goodness : 0.832847 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.84, Z:-0.18 [[ 0.93828334 -0.31608057 -0.14041885 2.16302132] [ 0.31799012 0.94804917 -0.00922305 -0.8443192 ] [ 0.1360392 -0.03599797 0.99004923 -0.17672322] [ 0. 0. 0. 1. ]] SLAMing on 155.192414037 meters Centerline goodness : 0.831256 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.85, Z:-0.18 [[ 0.93835951 -0.31564674 -0.14088494 2.16424842] [ 0.31775941 0.94813897 -0.00783905 -0.84846236] [ 0.13605287 -0.03741167 0.98999494 -0.17616386] [ 0. 0. 0. 1. ]] SLAMing on 155.222414037 meters Centerline goodness : 0.832641 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.85, Z:-0.18 [[ 0.93724708 -0.31936712 -0.13990192 2.16498431] [ 0.32106628 0.94699437 -0.01086788 -0.85005404] [ 0.13595717 -0.0347319 0.99010572 -0.17629169] [ 0. 0. 0. 1. ]] SLAMing on 155.252414037 meters Centerline goodness : 0.832363 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.85, Z:-0.18 [[ 0.93612717 -0.3230357 -0.13897427 2.16594252] [ 0.32435117 0.94583739 -0.01370975 -0.85241421] [ 0.1358758 -0.0322424 0.99020109 -0.17631619] [ 0. 0. 0. 1. ]] SLAMing on 155.282414037 meters Centerline goodness : 0.832779 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.86, Z:-0.18 [[ 0.93435703 -0.32857494 -0.13789652 2.16949482] [ 0.32938797 0.94403167 -0.01754344 -0.85824858] [ 0.13594302 -0.02902962 0.99029126 -0.17681246] [ 0. 0. 0. 1. ]] SLAMing on 155.312414037 meters Centerline goodness : 0.832343 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.86, Z:-0.18 [[ 0.93367642 -0.33062243 -0.13761234 2.17201963] [ 0.33128079 0.94334562 -0.01876399 -0.86095548] [ 0.1360198 -0.02806883 0.99030841 -0.17763219] [ 0. 0. 0. 1. ]] SLAMing on 155.342414037 meters Centerline goodness : 0.832858 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.86, Z:-0.18 [[ 0.93326311 -0.33169337 -0.13783858 2.17499194] [ 0.33234623 0.94296742 -0.01893205 -0.86343078] [ 0.13625692 -0.02814155 0.99027375 -0.17860087] [ 0. 0. 0. 1. ]] SLAMing on 155.372414037 meters Centerline goodness : 0.830165 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.87, Z:-0.18 [[ 0.93192275 -0.33570858 -0.13718503 2.17954478] [ 0.33602323 0.94160688 -0.02156071 -0.86626362] [ 0.13641249 -0.02600444 0.99031076 -0.1809086 ] [ 0. 0. 0. 1. ]] SLAMing on 155.402414037 meters Centerline goodness : 0.831989 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.87, Z:-0.18 [[ 0.93186382 -0.33578882 -0.13738883 2.1806515 ] [ 0.33617919 0.94156262 -0.02105684 -0.86823158] [ 0.13643084 -0.02656516 0.99029335 -0.18100643] [ 0. 0. 0. 1. ]] SLAMing on 155.432414037 meters Centerline goodness : 0.831989 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.87, Z:-0.18 [[ 0.93186382 -0.33578882 -0.13738883 2.1806515 ] [ 0.33617919 0.94156262 -0.02105684 -0.86823158] [ 0.13643084 -0.02656516 0.99029335 -0.18100643] [ 0. 0. 0. 1. ]] SLAMing on 155.462414037 meters Centerline goodness : 0.830924 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.87, Z:-0.18 [[ 0.93183187 -0.33579001 -0.13760245 2.1812959 ] [ 0.33626659 0.94154427 -0.02047372 -0.87038318] [ 0.13643367 -0.02719304 0.99027592 -0.18060795] [ 0. 0. 0. 1. ]] SLAMing on 155.49241403699997 meters Centerline goodness : 0.830948 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.87, Z:-0.18 [[ 0.9306488 -0.33958345 -0.1362934 2.18084444] [ 0.33960687 0.94026625 -0.02380259 -0.87098302] [ 0.13623504 -0.02413432 0.99038253 -0.18027191] [ 0. 0. 0. 1. ]] SLAMing on 155.52241403699998 meters Centerline goodness : 0.830313 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.87, Z:-0.18 [[ 0.92920014 -0.34404365 -0.13498543 2.18149602] [ 0.34360943 0.93871733 -0.02724598 -0.87297483] [ 0.13608697 -0.0210653 0.99047291 -0.18009874] [ 0. 0. 0. 1. ]] SLAMing on 155.55241403699998 meters Centerline goodness : 0.830233 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.87, Z:-0.18 [[ 0.92899929 -0.34461552 -0.13490913 2.18214577] [ 0.34417368 0.93850809 -0.02733211 -0.87361621] [ 0.13603237 -0.02104066 0.99048094 -0.18035792] [ 0. 0. 0. 1. ]] SLAMing on 155.58241403699998 meters Centerline goodness : 0.830998 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.87, Z:-0.18 [[ 0.9288068 -0.34516473 -0.13483036 2.18230982] [ 0.34469696 0.93830966 -0.0275496 -0.87350061] [ 0.13602178 -0.02088736 0.99048563 -0.18038188] [ 0. 0. 0. 1. ]] SLAMing on 155.61241403699998 meters Centerline goodness : 0.833785 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.87, Z:-0.18 [[ 0.9285691 -0.34611101 -0.13403954 2.18078483] [ 0.34558118 0.93797248 -0.02795144 -0.8731961 ] [ 0.13539971 -0.0203667 0.99058171 -0.1800306 ] [ 0. 0. 0. 1. ]] SLAMing on 155.64241403699998 meters Centerline goodness : 0.833545 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.87, Z:-0.18 [[ 0.92716505 -0.35056177 -0.13217952 2.17889603] [ 0.34948416 0.9363944 -0.03203654 -0.87081446] [ 0.13500295 -0.01649149 0.99070795 -0.17983238] [ 0. 0. 0. 1. ]] SLAMing on 155.67241403699998 meters Centerline goodness : 0.832817 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.87, Z:-0.18 [[ 0.92691486 -0.35129772 -0.13198014 2.17911652] [ 0.35015805 0.9361259 -0.03252155 -0.87027976] [ 0.13497477 -0.0160692 0.99071873 -0.18009871] [ 0. 0. 0. 1. ]] SLAMing on 155.70241403699998 meters Centerline goodness : 0.832213 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.87, Z:-0.18 [[ 0.92667332 -0.3519924 -0.13182528 2.1795512 ] [ 0.35079102 0.9358719 -0.03300674 -0.86983968] [ 0.13498969 -0.01565666 0.9907233 -0.18049821] [ 0. 0. 0. 1. ]] SLAMing on 155.73241403699998 meters Centerline goodness : 0.831430 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.87, Z:-0.18 [[ 0.92519372 -0.35653091 -0.13000882 2.17819505] [ 0.35476692 0.93421115 -0.03728231 -0.86740892] [ 0.13474798 -0.01162947 0.99081166 -0.18052669] [ 0. 0. 0. 1. ]] SLAMing on 155.76241403699999 meters Centerline goodness : 0.830897 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.87, Z:-0.18 [[ 0.92518949 -0.35683607 -0.12919916 2.17602644] [ 0.35506822 0.93409746 -0.03726249 -0.86641062] [ 0.13398121 -0.01139965 0.9909183 -0.18015387] [ 0. 0. 0. 1. ]] SLAMing on 155.792414037 meters Centerline goodness : 0.831672 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.86, Z:-0.18 [[ 0.92501193 -0.35738243 -0.12896015 2.17541541] [ 0.35553094 0.93389579 -0.03789999 -0.86429386] [ 0.13398013 -0.01079138 0.99092526 -0.18028856] [ 0. 0. 0. 1. ]] SLAMing on 155.822414037 meters Centerline goodness : 0.833207 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.86, Z:-0.18 [[ 0.92494262 -0.35864165 -0.12592584 2.16898951] [ 0.3571334 0.93339206 -0.03514256 -0.86039366] [ 0.13014176 -0.01246747 0.99141701 -0.18244158] [ 0. 0. 0. 1. ]] SLAMing on 155.852414037 meters Centerline goodness : 0.832500 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.86, Z:-0.18 [[ 0.92393024 -0.35898153 -0.1322315 2.15594435] [ 0.35830556 0.93313174 -0.02970337 -0.86241556] [ 0.13405237 -0.01993544 0.99077371 -0.18171591] [ 0. 0. 0. 1. ]] SLAMing on 155.882414037 meters Centerline goodness : 0.831802 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.86, Z:-0.18 [[ 0.92377512 -0.35952406 -0.13184071 2.15529963] [ 0.35870023 0.93294523 -0.03077889 -0.8586276 ] [ 0.13406591 -0.01885852 0.99079296 -0.18259428] [ 0. 0. 0. 1. ]] SLAMing on 155.912414037 meters Centerline goodness : 0.830699 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.85, Z:-0.18 [[ 0.92444884 -0.35764684 -0.13222362 2.15430369] [ 0.35694128 0.93365065 -0.02982264 -0.85208986] [ 0.13411664 -0.01962657 0.99077118 -0.18394152] [ 0. 0. 0. 1. ]] SLAMing on 155.942414037 meters Centerline goodness : 0.830351 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.85, Z:-0.18 [[ 0.92454247 -0.3575621 -0.13179742 2.15161067] [ 0.35679461 0.93369419 -0.03021218 -0.84910413] [ 0.13386121 -0.01909217 0.99081616 -0.18315671] [ 0. 0. 0. 1. ]] SLAMing on 155.972414037 meters Centerline goodness : 0.830373 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.85, Z:-0.18 [[ 0.92464333 -0.35746576 -0.13135044 2.14891514] [ 0.35663971 0.93374154 -0.03057539 -0.84609379] [ 0.13357701 -0.01857346 0.99086437 -0.18245068] [ 0. 0. 0. 1. ]] SLAMing on 156.002414037 meters Centerline goodness : 0.829727 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.84, Z:-0.18 [[ 0.92497052 -0.35722928 -0.1296795 2.14382864] [ 0.35653548 0.93382129 -0.02932997 -0.84329817] [ 0.13157501 -0.01910599 0.99112208 -0.18228846] [ 0. 0. 0. 1. ]] SLAMing on 156.032414037 meters Centerline goodness : 0.829591 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.83, Z:-0.18 [[ 0.92548903 -0.35577327 -0.12998247 2.14214901] [ 0.35511526 0.93437259 -0.02900017 -0.83433223] [ 0.13176955 -0.01931942 0.9910921 -0.18355391] [ 0. 0. 0. 1. ]] SLAMing on 156.062414037 meters Centerline goodness : 0.828810 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.83, Z:-0.18 [[ 0.92563464 -0.35554541 -0.1295684 2.13918111] [ 0.35484483 0.93446774 -0.02924363 -0.83004778] [ 0.13147493 -0.01890776 0.99113916 -0.1830095 ] [ 0. 0. 0. 1. ]] SLAMing on 156.092414037 meters Centerline goodness : 0.829765 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.83, Z:-0.18 [[ 0.92571256 -0.35549793 -0.12914134 2.13600214] [ 0.35471516 0.93449941 -0.02979932 -0.82631283] [ 0.1312761 -0.01822278 0.99117835 -0.1819031 ] [ 0. 0. 0. 1. ]] SLAMing on 156.122414037 meters Centerline goodness : 0.828692 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.82, Z:-0.18 [[ 0.92585071 -0.35532731 -0.12861945 2.13211816] [ 0.35447806 0.93457594 -0.03021774 -0.82318457] [ 0.13094183 -0.01761566 0.99123354 -0.18022839] [ 0. 0. 0. 1. ]] SLAMing on 156.152414037 meters Centerline goodness : 0.827950 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.81, Z:-0.18 [[ 0.92676509 -0.35291829 -0.12866678 2.12620773] [ 0.35214003 0.93548184 -0.02951472 -0.8143337 ] [ 0.13078172 -0.01795552 0.99124858 -0.17855113] [ 0. 0. 0. 1. ]] SLAMing on 156.182414037 meters Centerline goodness : 0.827199 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.81, Z:-0.18 [[ 0.92785613 -0.34975342 -0.12944321 2.12492445] [ 0.34920455 0.9366381 -0.02766307 -0.80835387] [ 0.1309167 -0.01953481 0.99120089 -0.17944848] [ 0. 0. 0. 1. ]] SLAMing on 156.212414037 meters Centerline goodness : 0.824789 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.79, Z:-0.18 [[ 0.93098359 -0.34049717 -0.13164818 2.12397709] [ 0.34053718 0.93995183 -0.02291264 -0.79475315] [ 0.13154464 -0.02349981 0.99103167 -0.18448582] [ 0. 0. 0. 1. ]] SLAMing on 156.24241403699997 meters Centerline goodness : 0.821738 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.79, Z:-0.18 [[ 0.93257681 -0.33583761 -0.13233894 2.12109042] [ 0.33628993 0.94155462 -0.01959561 -0.78900944] [ 0.13118528 -0.02622984 0.99101081 -0.18486798] [ 0. 0. 0. 1. ]] SLAMing on 156.27241403699998 meters Centerline goodness : 0.822516 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.78, Z:-0.18 [[ 0.9341185 -0.33126154 -0.13299781 2.11752656] [ 0.33209128 0.94310209 -0.01654798 -0.7838792 ] [ 0.13091222 -0.02870964 0.99097818 -0.18431827] [ 0. 0. 0. 1. ]] SLAMing on 156.30241403699998 meters Centerline goodness : 0.820017 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.78, Z:-0.18 [[ 0.93551904 -0.32699858 -0.13370135 2.11310316] [ 0.32816848 0.94451806 -0.01382333 -0.77900796] [ 0.13080354 -0.03094458 0.99092526 -0.18263762] [ 0. 0. 0. 1. ]] SLAMing on 156.33241403699998 meters Centerline goodness : 0.820248 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.77, Z:-0.18 [[ 0.93811009 -0.32011326 -0.13220041 2.10194855] [ 0.32149903 0.94684235 -0.01131094 -0.769028 ] [ 0.12879373 -0.0318914 0.99115847 -0.17795261] [ 0. 0. 0. 1. ]] SLAMing on 156.36241403699998 meters Centerline goodness : 0.820184 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.77, Z:-0.18 [[ 0.93943941 -0.31584296 -0.13302937 2.09822069] [ 0.31761664 0.94818345 -0.00823489 -0.76557149] [ 0.12873718 -0.03451616 0.99107788 -0.17616942] [ 0. 0. 0. 1. ]] SLAMing on 156.39241403699998 meters Centerline goodness : 0.820170 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.76, Z:-0.18 [[ 0.94049846 -0.31230075 -0.13390623 2.0969645 ] [ 0.31439128 0.94927584 -0.00578799 -0.76189885] [ 0.12892154 -0.03665536 0.9909771 -0.1760711 ] [ 0. 0. 0. 1. ]] SLAMing on 156.42241403699998 meters Centerline goodness : 0.818648 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.76, Z:-0.18 [[ 0.94147835 -0.30892048 -0.13485794 2.09657212] [ 0.31134994 0.95028986 -0.00322388 -0.7588508 ] [ 0.12915006 -0.0389528 0.9908597 -0.17651234] [ 0. 0. 0. 1. ]] SLAMing on 156.45241403699998 meters Centerline goodness : 0.817603 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.75, Z:-0.18 [[ 9.42210477e-01 -3.06472685e-01 -1.35328895e-01 2.09521920e+00] [ 3.09094518e-01 9.51029771e-01 -1.71843881e-03 -7.52844763e-01] [ 1.29228462e-01 -4.02102883e-02 9.90799242e-01 -1.77336762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.48241403699998 meters Centerline goodness : 0.817716 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.75, Z:-0.18 [[ 0.94210419 -0.3069206 -0.13505349 2.09428189] [ 0.30942705 0.95091976 -0.00254965 -0.74972198] [ 0.12920757 -0.03938717 0.99083503 -0.17758232] [ 0. 0. 0. 1. ]] SLAMing on 156.51241403699999 meters Centerline goodness : 0.817059 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.75, Z:-0.18 [[ 0.9419649 -0.30747625 -0.13476084 2.09332785] [ 0.30986884 0.95077333 -0.00337379 -0.74684384] [ 0.12916437 -0.03858019 0.99087241 -0.17774531] [ 0. 0. 0. 1. ]] SLAMing on 156.542414037 meters Centerline goodness : 0.813967 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.74, Z:-0.18 [[ 0.94172953 -0.30832492 -0.13446649 2.09232988] [ 0.31053701 0.95054951 -0.0047315 -0.74254354] [ 0.12927589 -0.03730103 0.99090685 -0.17799397] [ 0. 0. 0. 1. ]] SLAMing on 156.572414037 meters Centerline goodness : 0.814238 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.74, Z:-0.18 [[ 0.94169878 -0.30844205 -0.13441321 2.09205056] [ 0.31058873 0.95053003 -0.00522568 -0.74082385] [ 0.12937561 -0.03682622 0.99091159 -0.17811239] [ 0. 0. 0. 1. ]] SLAMing on 156.602414037 meters Centerline goodness : 0.812586 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.74, Z:-0.18 [[ 0.94167146 -0.30858331 -0.13428027 2.09178451] [ 0.31065167 0.95050614 -0.00579771 -0.73878631] [ 0.1294233 -0.03625485 0.99092643 -0.17850591] [ 0. 0. 0. 1. ]] SLAMing on 156.632414037 meters Centerline goodness : 0.811819 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.74, Z:-0.18 [[ 0.94236064 -0.30639045 -0.1344668 2.08894753] [ 0.30862946 0.95117223 -0.00438647 -0.73575165] [ 0.12924506 -0.03736678 0.99090839 -0.17745007] [ 0. 0. 0. 1. ]] SLAMing on 156.662414037 meters Centerline goodness : 0.811969 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.73, Z:-0.18 [[ 0.94294148 -0.30456859 -0.13453377 2.08611564] [ 0.30695835 0.95171784 -0.00311894 -0.73459509] [ 0.12898812 -0.03835529 0.9909041 -0.17597821] [ 0. 0. 0. 1. ]] SLAMing on 156.692414037 meters Centerline goodness : 0.811253 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.73, Z:-0.18 [[ 9.44095179e-01 -3.00486226e-01 -1.35618289e-01 2.08551496e+00] [ 3.03319626e-01 9.52888843e-01 2.40558226e-04 -7.33440222e-01] [ 1.29156871e-01 -4.13627987e-02 9.90761133e-01 -1.75750413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.722414037 meters Centerline goodness : 0.807889 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.73, Z:-0.18 [[ 0.9466133 -0.29149652 -0.13767005 2.0842001 ] [ 0.29522788 0.95540085 0.0070503 -0.72963421] [ 0.12947494 -0.04731795 0.99045305 -0.17592606] [ 0. 0. 0. 1. ]] SLAMing on 156.752414037 meters Centerline goodness : 0.807368 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.73, Z:-0.18 [[ 0.94779377 -0.28710498 -0.13877209 2.0839037 ] [ 0.29129511 0.95657618 0.01044814 -0.72808967] [ 0.12974636 -0.05032631 0.99026923 -0.17603256] [ 0. 0. 0. 1. ]] SLAMing on 156.782414037 meters Centerline goodness : 0.807844 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.73, Z:-0.18 [[ 0.94893427 -0.2827384 -0.13993836 2.08391845] [ 0.2874226 0.95770079 0.01405165 -0.72767754] [ 0.13004614 -0.05355554 0.99006051 -0.1759707 ] [ 0. 0. 0. 1. ]] SLAMing on 156.812414037 meters Centerline goodness : 0.806245 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.73, Z:-0.18 [[ 0.95038172 -0.27729802 -0.14099782 2.08359555] [ 0.28254586 0.95907987 0.01826604 -0.72776187] [ 0.13016303 -0.05719806 0.98984139 -0.17597558] [ 0. 0. 0. 1. ]] SLAMing on 156.842414037 meters Centerline goodness : 0.805049 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.73, Z:-0.18 [[ 0.9506761 -0.27621959 -0.14113007 2.08346327] [ 0.2815305 0.95936884 0.01876179 -0.72764321] [ 0.13021341 -0.05756881 0.98981327 -0.17598333] [ 0. 0. 0. 1. ]] SLAMing on 156.872414037 meters Centerline goodness : 0.805486 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.73, Z:-0.18 [[ 0.95095447 -0.27518411 -0.14127738 2.08357579] [ 0.28058542 0.95963187 0.01945478 -0.72827829] [ 0.13022063 -0.05814099 0.98977887 -0.17605359] [ 0. 0. 0. 1. ]] SLAMing on 156.902414037 meters Centerline goodness : 0.805795 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.73, Z:-0.18 [[ 0.95116278 -0.27434571 -0.14150545 2.08383298] [ 0.27985364 0.95982973 0.02021975 -0.72961557] [ 0.13027394 -0.05883309 0.98973096 -0.17585758] [ 0. 0. 0. 1. ]] SLAMing on 156.932414037 meters Centerline goodness : 0.806237 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.74, Z:-0.17 [[ 0.95153352 -0.27269682 -0.14219848 2.08444815] [ 0.27855039 0.96015482 0.02263641 -0.73581624] [ 0.13035968 -0.06114874 0.9895793 -0.17428674] [ 0. 0. 0. 1. ]] SLAMing on 156.962414037 meters Centerline goodness : 0.806898 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.74, Z:-0.17 [[ 0.95093177 -0.27511752 -0.14155961 2.08380581] [ 0.28072848 0.9595591 0.02092488 -0.73923936] [ 0.13007801 -0.05963795 0.98970856 -0.17292026] [ 0. 0. 0. 1. ]] SLAMing on 156.99241403699997 meters Centerline goodness : 0.805317 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.74, Z:-0.17 [[ 0.95010269 -0.27825634 -0.14099039 2.08467161] [ 0.28356976 0.95876923 0.01870176 -0.74287667] [ 0.12997337 -0.05774921 0.98983431 -0.17239112] [ 0. 0. 0. 1. ]] SLAMing on 157.02241403699998 meters Centerline goodness : 0.807542 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.75, Z:-0.17 [[ 0.94843505 -0.28452305 -0.13970533 2.08788729] [ 0.28930269 0.95712399 0.01475227 -0.75219126] [ 0.12951796 -0.0544087 0.99008322 -0.17239268] [ 0. 0. 0. 1. ]] SLAMing on 157.05241403699998 meters Centerline goodness : 0.806601 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.76, Z:-0.17 [[ 0.94749111 -0.28796556 -0.13905553 2.0894947 ] [ 0.29245853 0.95619534 0.01258873 -0.75753468] [ 0.12933913 -0.05259569 0.99020457 -0.17204603] [ 0. 0. 0. 1. ]] SLAMing on 157.08241403699998 meters Centerline goodness : 0.808446 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.76, Z:-0.17 [[ 0.94659193 -0.29117771 -0.1384892 2.09091038] [ 0.2954118 0.95531112 0.01060822 -0.76288654] [ 0.12921139 -0.050953 0.99030713 -0.17143206] [ 0. 0. 0. 1. ]] SLAMing on 157.11241403699998 meters Centerline goodness : 0.811402 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.77, Z:-0.17 [[ 0.9450207 -0.29688442 -0.13709676 2.09250462] [ 0.30064432 0.9537099 0.00710078 -0.77249221] [ 0.12864243 -0.04792774 0.99053221 -0.17017936] [ 0. 0. 0. 1. ]] SLAMing on 157.14241403699998 meters Centerline goodness : 0.811437 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.78, Z:-0.17 [[ 0.94422359 -0.2996964 -0.13646932 2.09280948] [ 0.30321907 0.9529061 0.00530573 -0.77683537] [ 0.12845234 -0.0463899 0.99063009 -0.16911081] [ 0. 0. 0. 1. ]] SLAMing on 157.17241403699998 meters Centerline goodness : 0.811553 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.78, Z:-0.17 [[ 0.94332298 -0.30280432 -0.13583552 2.09351448] [ 0.30605224 0.95200937 0.00319175 -0.78080382] [ 0.12835021 -0.04458362 0.99072626 -0.16832831] [ 0. 0. 0. 1. ]] SLAMing on 157.20241403699998 meters Centerline goodness : 0.812989 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.78, Z:-0.17 [[ 9.42401316e-01 -3.05941441e-01 -1.35202052e-01 2.09447174e+00] [ 3.08902773e-01 9.51093124e-01 9.73200830e-04 -7.84336614e-01] [ 1.28291999e-01 -4.26814345e-02 9.90817571e-01 -1.67872985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.23241403699998 meters Centerline goodness : 0.812767 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.79, Z:-0.17 [[ 9.41138985e-01 -3.09957898e-01 -1.34846254e-01 2.09951652e+00] [ 3.12643070e-01 9.49869753e-01 -1.32781404e-03 -7.91669146e-01] [ 1.28497945e-01 -4.09090892e-02 9.90865644e-01 -1.69142829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26241403699999 meters Centerline goodness : 0.813066 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.80, Z:-0.17 [[ 0.94016754 -0.31323294 -0.13405266 2.10048382] [ 0.31559671 0.94888583 -0.0037934 -0.79511116] [ 0.12838888 -0.03874015 0.99096695 -0.16884367] [ 0. 0. 0. 1. ]] SLAMing on 157.292414037 meters Centerline goodness : 0.815053 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.80, Z:-0.17 [[ 0.93922234 -0.31642759 -0.13317273 2.10081391] [ 0.31846344 0.94791425 -0.00629441 -0.79824798] [ 0.12822805 -0.03649879 0.99107286 -0.1682017 ] [ 0. 0. 0. 1. ]] SLAMing on 157.322414037 meters Centerline goodness : 0.815053 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.80, Z:-0.17 [[ 0.93922234 -0.31642759 -0.13317273 2.10081391] [ 0.31846344 0.94791425 -0.00629441 -0.79824798] [ 0.12822805 -0.03649879 0.99107286 -0.1682017 ] [ 0. 0. 0. 1. ]] SLAMing on 157.352414037 meters Centerline goodness : 0.815175 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.80, Z:-0.17 [[ 0.9384091 -0.3192308 -0.13221218 2.10012705] [ 0.32097172 0.94705056 -0.00850841 -0.80096451] [ 0.12792777 -0.034452 0.99118492 -0.16716302] [ 0. 0. 0. 1. ]] SLAMing on 157.382414037 meters Centerline goodness : 0.815540 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.81, Z:-0.17 [[ 0.93750304 -0.32217628 -0.13149329 2.10109853] [ 0.32369017 0.9461072 -0.0102878 -0.80594361] [ 0.12772123 -0.03291824 0.99126368 -0.16655044] [ 0. 0. 0. 1. ]] SLAMing on 157.412414037 meters Centerline goodness : 0.815748 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.81, Z:-0.17 [[ 0.93758358 -0.32176257 -0.13193136 2.10221375] [ 0.32343455 0.94620633 -0.00914759 -0.80966983] [ 0.12777764 -0.03409453 0.99121665 -0.16601609] [ 0. 0. 0. 1. ]] SLAMing on 157.442414037 meters Centerline goodness : 0.816791 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.81, Z:-0.17 [[ 0.93654245 -0.32514613 -0.13102763 2.10265465] [ 0.32645882 0.94513598 -0.01194222 -0.81181787] [ 0.12772189 -0.03159073 0.99130679 -0.16563624] [ 0. 0. 0. 1. ]] SLAMing on 157.472414037 meters Centerline goodness : 0.816675 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.82, Z:-0.17 [[ 0.93537502 -0.32869528 -0.13051044 2.10556649] [ 0.3297642 0.9439601 -0.01396084 -0.81809177] [ 0.12778551 -0.02997905 0.99134864 -0.16564815] [ 0. 0. 0. 1. ]] SLAMing on 157.502414037 meters Centerline goodness : 0.816322 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.82, Z:-0.17 [[ 0.93498598 -0.3296718 -0.13083471 2.10893808] [ 0.33073575 0.94361738 -0.01414574 -0.82019017] [ 0.12812136 -0.03004565 0.99130327 -0.1670967 ] [ 0. 0. 0. 1. ]] SLAMing on 157.532414037 meters Centerline goodness : 0.817348 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.82, Z:-0.17 [[ 0.93483768 -0.33000681 -0.13104969 2.11067346] [ 0.33114682 0.94348075 -0.0136326 -0.82258757] [ 0.12814171 -0.03065242 0.99128206 -0.16760502] [ 0. 0. 0. 1. ]] SLAMing on 157.562414037 meters Centerline goodness : 0.818294 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.83, Z:-0.17 [[ 0.93368393 -0.33362142 -0.13011947 2.11083521] [ 0.33451974 0.94226054 -0.01554415 -0.82780488] [ 0.1277923 -0.02901421 0.99137647 -0.16605472] [ 0. 0. 0. 1. ]] SLAMing on 157.592414037 meters Centerline goodness : 0.819627 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.83, Z:-0.16 [[ 0.93266766 -0.33683042 -0.12913678 2.10988537] [ 0.33742299 0.94118237 -0.01792941 -0.83087167] [ 0.12758043 -0.02685154 0.99146469 -0.16430155] [ 0. 0. 0. 1. ]] SLAMing on 157.622414037 meters Centerline goodness : 0.819523 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.83, Z:-0.16 [[ 0.93151216 -0.34036344 -0.12821012 2.11002008] [ 0.34059832 0.93997942 -0.0207718 -0.83326503] [ 0.12758484 -0.02431896 0.99152947 -0.16333919] [ 0. 0. 0. 1. ]] SLAMing on 157.652414037 meters Centerline goodness : 0.819566 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.84, Z:-0.16 [[ 0.93000271 -0.3427696 -0.13267993 2.09583564] [ 0.34345306 0.93898909 -0.01842511 -0.84100013] [ 0.13090057 -0.02843392 0.99098766 -0.16321247] [ 0. 0. 0. 1. ]] SLAMing on 157.682414037 meters Centerline goodness : 0.817432 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.84, Z:-0.16 [[ 0.9300147 -0.34253647 -0.13319692 2.09821291] [ 0.34330783 0.93905316 -0.01785791 -0.84292075] [ 0.13119598 -0.02911942 0.99092869 -0.16407526] [ 0. 0. 0. 1. ]] SLAMing on 157.712414037 meters Centerline goodness : 0.817953 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.84, Z:-0.16 [[ 0.93022309 -0.34193243 -0.13329371 2.09816398] [ 0.34273737 0.93926672 -0.01758174 -0.84226255] [ 0.13121011 -0.0293298 0.99092062 -0.16439376] [ 0. 0. 0. 1. ]] SLAMing on 157.74241403699997 meters Centerline goodness : 0.820432 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.84, Z:-0.16 [[ 0.9316071 -0.33755454 -0.1347781 2.09847273] [ 0.33889246 0.94072692 -0.01359285 -0.84284188] [ 0.13137772 -0.03301209 0.99078257 -0.16429173] [ 0. 0. 0. 1. ]] SLAMing on 157.77241403699998 meters Centerline goodness : 0.820666 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.84, Z:-0.16 [[ 0.93364053 -0.33128503 -0.13625561 2.09637914] [ 0.3333248 0.94277609 -0.00823499 -0.84433023] [ 0.13118666 -0.03772886 0.99063949 -0.16277426] [ 0. 0. 0. 1. ]] SLAMing on 157.80241403699998 meters Centerline goodness : 0.819562 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.84, Z:-0.16 [[ 0.93409307 -0.32998347 -0.13631231 2.09479485] [ 0.33214499 0.94320059 -0.00723539 -0.84480361] [ 0.13095741 -0.03851692 0.99063949 -0.16182656] [ 0. 0. 0. 1. ]] SLAMing on 157.83241403699998 meters Centerline goodness : 0.818777 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.84, Z:-0.16 [[ 0.93423641 -0.32960049 -0.13625653 2.09407202] [ 0.33178226 0.94332975 -0.0070373 -0.84452637] [ 0.13085433 -0.038633 0.99064859 -0.16153908] [ 0. 0. 0. 1. ]] SLAMing on 157.86241403699998 meters Centerline goodness : 0.819921 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.84, Z:-0.16 [[ 0.93432079 -0.32937241 -0.13622954 2.09322073] [ 0.33156944 0.94340561 -0.00689685 -0.84426969] [ 0.13079134 -0.03872568 0.99065329 -0.16096358] [ 0. 0. 0. 1. ]] SLAMing on 157.89241403699998 meters Centerline goodness : 0.819939 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.84, Z:-0.16 [[ 0.934406 -0.32924343 -0.13595659 2.09108491] [ 0.33144137 0.94345132 -0.00679882 -0.84361365] [ 0.13050689 -0.03870878 0.99069147 -0.159771 ] [ 0. 0. 0. 1. ]] SLAMing on 157.92241403699998 meters Centerline goodness : 0.819472 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.84, Z:-0.16 [[ 0.93434538 -0.3294337 -0.13591231 2.09083641] [ 0.33160649 0.94339189 -0.00699041 -0.84294286] [ 0.13052145 -0.03853794 0.99069621 -0.15967954] [ 0. 0. 0. 1. ]] SLAMing on 157.95241403699998 meters Centerline goodness : 0.819749 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.84, Z:-0.16 [[ 0.93422365 -0.32979939 -0.13586216 2.09089656] [ 0.33192192 0.94327796 -0.00738384 -0.84194566] [ 0.13059097 -0.03819747 0.99070023 -0.15990001] [ 0. 0. 0. 1. ]] SLAMing on 157.98241403699998 meters Centerline goodness : 0.819331 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.84, Z:-0.16 [[ 0.93398047 -0.33054635 -0.13571883 2.09162238] [ 0.33255591 0.94304743 -0.00825358 -0.84011576] [ 0.13071748 -0.03742542 0.99071301 -0.1609065 ] [ 0. 0. 0. 1. ]] SLAMing on 158.01241403699999 meters Centerline goodness : 0.817232 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.84, Z:-0.16 [[ 0.93392234 -0.33071174 -0.13571592 2.09175879] [ 0.33268932 0.94299811 -0.00850717 -0.83943609] [ 0.13079328 -0.0372062 0.99071127 -0.16109359] [ 0. 0. 0. 1. ]] SLAMing on 158.042414037 meters Centerline goodness : 0.817359 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.84, Z:-0.16 [[ 0.93388997 -0.33083549 -0.13563705 2.09160896] [ 0.33277214 0.94296617 -0.00880374 -0.83821389] [ 0.13081374 -0.03691451 0.99071948 -0.16134884] [ 0. 0. 0. 1. ]] SLAMing on 158.072414037 meters Centerline goodness : 0.815527 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.84, Z:-0.16 [[ 0.93385432 -0.33101757 -0.1354381 2.09064762] [ 0.33286443 0.94292743 -0.00944094 -0.83513629] [ 0.13083342 -0.03626606 0.99074083 -0.16155665] [ 0. 0. 0. 1. ]] SLAMing on 158.102414037 meters Centerline goodness : 0.815324 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.83, Z:-0.16 [[ 0.93387666 -0.33096221 -0.13541935 2.09011521] [ 0.33279932 0.94294976 -0.00950539 -0.83456471] [ 0.13083957 -0.03619061 0.99074278 -0.1612383 ] [ 0. 0. 0. 1. ]] SLAMing on 158.132414037 meters Centerline goodness : 0.814748 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.83, Z:-0.16 [[ 0.93389335 -0.3308915 -0.13547703 2.08976858] [ 0.33272405 0.94297587 -0.00955087 -0.83419878] [ 0.13091187 -0.03615697 0.99073445 -0.16084181] [ 0. 0. 0. 1. ]] SLAMing on 158.162414037 meters Centerline goodness : 0.815723 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.83, Z:-0.16 [[ 0.93404296 -0.33046611 -0.13548397 2.08932931] [ 0.33229367 0.94312753 -0.00955927 -0.83308004] [ 0.13093768 -0.0360917 0.99073342 -0.16088106] [ 0. 0. 0. 1. ]] SLAMing on 158.192414037 meters Centerline goodness : 0.814015 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.83, Z:-0.16 [[ 0.93410549 -0.33025707 -0.13556255 2.08939952] [ 0.33206661 0.94320604 -0.009702 -0.8318172 ] [ 0.13106757 -0.0359531 0.99072129 -0.16122536] [ 0. 0. 0. 1. ]] SLAMing on 158.222414037 meters Centerline goodness : 0.814178 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.83, Z:-0.16 [[ 0.93423437 -0.3298283 -0.13571823 2.08930149] [ 0.33163793 0.94335674 -0.00971282 -0.83083125] [ 0.13123427 -0.03593526 0.99069987 -0.16126597] [ 0. 0. 0. 1. ]] SLAMing on 158.252414037 meters Centerline goodness : 0.813210 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.83, Z:-0.16 [[ 0.93515628 -0.32693971 -0.13635676 2.08712548] [ 0.32902519 0.94429057 -0.00759853 -0.83123022] [ 0.13124467 -0.03775899 0.99063066 -0.15955991] [ 0. 0. 0. 1. ]] SLAMing on 158.282414037 meters Centerline goodness : 0.814089 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.83, Z:-0.16 [[ 0.93560241 -0.32559316 -0.13651823 2.08544947] [ 0.32782762 0.94471573 -0.0064216 -0.83229338] [ 0.13106174 -0.03874638 0.99061675 -0.15815413] [ 0. 0. 0. 1. ]] SLAMing on 158.312414037 meters Centerline goodness : 0.813828 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.83, Z:-0.16 [[ 0.93580659 -0.32497827 -0.13658385 2.08478814] [ 0.32727597 0.94491027 -0.00591796 -0.83277039] [ 0.13098269 -0.03916255 0.99061084 -0.15759009] [ 0. 0. 0. 1. ]] SLAMing on 158.342414037 meters Centerline goodness : 0.814447 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.83, Z:-0.16 [[ 0.93594477 -0.32455802 -0.13663634 2.08453181] [ 0.32689971 0.94504262 -0.00557015 -0.83287384] [ 0.130935 -0.03945303 0.99060562 -0.15748002] [ 0. 0. 0. 1. ]] SLAMing on 158.372414037 meters Centerline goodness : 0.813080 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.83, Z:-0.16 [[ 0.93607912 -0.32417302 -0.13662992 2.08426854] [ 0.32655001 0.94516522 -0.00527277 -0.83230966] [ 0.13084714 -0.03968078 0.99060813 -0.15770728] [ 0. 0. 0. 1. ]] SLAMing on 158.402414037 meters Centerline goodness : 0.814924 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.83, Z:-0.16 [[ 0.93612067 -0.32403957 -0.13666177 2.08399352] [ 0.3264385 0.94520465 -0.00510661 -0.83216437] [ 0.13082809 -0.03983126 0.9906046 -0.15752696] [ 0. 0. 0. 1. ]] SLAMing on 158.432414037 meters Centerline goodness : 0.814123 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.83, Z:-0.16 [[ 0.93614789 -0.32392443 -0.13674828 2.08376568] [ 0.32635941 0.9452333 -0.00485187 -0.83270174] [ 0.13083067 -0.04008702 0.99059395 -0.1570465 ] [ 0. 0. 0. 1. ]] SLAMing on 158.462414037 meters Centerline goodness : 0.815147 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.83, Z:-0.16 [[ 0.93539311 -0.32654847 -0.13566804 2.08165752] [ 0.32863352 0.94442874 -0.00737265 -0.83330243] [ 0.13053633 -0.03768875 0.99072692 -0.15546825] [ 0. 0. 0. 1. ]] SLAMing on 158.49241403699997 meters Centerline goodness : 0.814158 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.83, Z:-0.16 [[ 0.93543265 -0.32632298 -0.13593774 2.08205642] [ 0.32844802 0.94449512 -0.00713166 -0.83400399] [ 0.13071976 -0.03797729 0.99069171 -0.15516068] [ 0. 0. 0. 1. ]] SLAMing on 158.52241403699998 meters Centerline goodness : 0.814366 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.83, Z:-0.16 [[ 0.93549866 -0.32608611 -0.13605182 2.08218705] [ 0.3282243 0.94457352 -0.00704813 -0.83401784] [ 0.13080925 -0.038062 0.99067665 -0.15511669] [ 0. 0. 0. 1. ]] SLAMing on 158.55241403699998 meters Centerline goodness : 0.813521 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.83, Z:-0.16 [[ 0.9355766 -0.32582922 -0.13613131 2.08206718] [ 0.32796705 0.94466282 -0.00705533 -0.83338188] [ 0.13089702 -0.03804578 0.99066568 -0.15509329] [ 0. 0. 0. 1. ]] SLAMing on 158.58241403699998 meters Centerline goodness : 0.814781 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.83, Z:-0.15 [[ 0.93617742 -0.32402455 -0.13630822 2.07987657] [ 0.32631144 0.94524423 -0.00584655 -0.8326264 ] [ 0.13073898 -0.03900552 0.99064923 -0.15402524] [ 0. 0. 0. 1. ]] SLAMing on 158.61241403699998 meters Centerline goodness : 0.815426 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.83, Z:-0.15 [[ 0.93629515 -0.3236746 -0.13633104 2.07942589] [ 0.32598817 0.94535711 -0.00562559 -0.83247372] [ 0.13070238 -0.03917509 0.99064736 -0.15380877] [ 0. 0. 0. 1. ]] SLAMing on 158.64241403699998 meters Centerline goodness : 0.816223 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.83, Z:-0.15 [[ 0.9363685 -0.32340329 -0.13647106 2.07900718] [ 0.32577162 0.94543401 -0.00523322 -0.83319158] [ 0.13071682 -0.03955818 0.99063024 -0.153051 ] [ 0. 0. 0. 1. ]] SLAMing on 158.67241403699998 meters Centerline goodness : 0.817382 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.83, Z:-0.15 [[ 0.93547193 -0.32642893 -0.13541205 2.07737075] [ 0.32845572 0.94448772 -0.00773206 -0.83484634] [ 0.13041899 -0.03724374 0.9907592 -0.15137522] [ 0. 0. 0. 1. ]] SLAMing on 158.70241403699998 meters Centerline goodness : 0.814854 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.84, Z:-0.15 [[ 0.93535901 -0.32664984 -0.13565912 2.0785514 ] [ 0.32872609 0.94439596 -0.00744423 -0.83667415] [ 0.13054758 -0.03763166 0.9907276 -0.15138985] [ 0. 0. 0. 1. ]] SLAMing on 158.73241403699998 meters Centerline goodness : 0.814383 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.84, Z:-0.15 [[ 0.93414864 -0.33055753 -0.13452895 2.07917744] [ 0.3321753 0.94315473 -0.01089578 -0.83703233] [ 0.1304833 -0.03450892 0.99084976 -0.1517823 ] [ 0. 0. 0. 1. ]] SLAMing on 158.76241403699999 meters Centerline goodness : 0.814412 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.84, Z:-0.15 [[ 0.9339954 -0.33093544 -0.13466374 2.0807833 ] [ 0.33259324 0.94301018 -0.01065562 -0.83872061] [ 0.1305156 -0.03483595 0.99083406 -0.15242207] [ 0. 0. 0. 1. ]] SLAMing on 158.792414037 meters Centerline goodness : 0.814995 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.84, Z:-0.15 [[ 0.93346421 -0.33240955 -0.13471625 2.08432165] [ 0.33400573 0.94250396 -0.01124532 -0.83962464] [ 0.13070865 -0.0344989 0.9908204 -0.15466396] [ 0. 0. 0. 1. ]] SLAMing on 158.822414037 meters Centerline goodness : 0.814834 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.84, Z:-0.15 [[ 0.93348248 -0.33232731 -0.13479252 2.0844588 ] [ 0.33396262 0.94252256 -0.01096306 -0.84022234] [ 0.13068831 -0.03478184 0.9908132 -0.15454911] [ 0. 0. 0. 1. ]] SLAMing on 158.852414037 meters Centerline goodness : 0.813399 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.84, Z:-0.15 [[ 0.93357888 -0.33200602 -0.13491653 2.08396564] [ 0.33371 0.94261784 -0.01045232 -0.84127949] [ 0.13064496 -0.03526493 0.99080184 -0.15372811] [ 0. 0. 0. 1. ]] SLAMing on 158.882414037 meters Centerline goodness : 0.815525 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.84, Z:-0.15 [[ 0.93360442 -0.33189443 -0.13501433 2.08344829] [ 0.33364282 0.94264509 -0.01013405 -0.84247478] [ 0.13063403 -0.03558536 0.99079182 -0.15268957] [ 0. 0. 0. 1. ]] SLAMing on 158.912414037 meters Centerline goodness : 0.816293 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.84, Z:-0.15 [[ 0.93289432 -0.33430142 -0.13398041 2.08093551] [ 0.33574452 0.94187209 -0.01235272 -0.84393474] [ 0.13032193 -0.03345941 0.99090699 -0.15041062] [ 0. 0. 0. 1. ]] SLAMing on 158.942414037 meters Centerline goodness : 0.816244 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.84, Z:-0.15 [[ 0.93299692 -0.33393193 -0.13418721 2.08108649] [ 0.33542465 0.94199058 -0.01200243 -0.8446446 ] [ 0.13041108 -0.03381147 0.99088331 -0.15012448] [ 0. 0. 0. 1. ]] SLAMing on 158.972414037 meters Centerline goodness : 0.817195 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.84, Z:-0.15 [[ 0.93310464 -0.3335725 -0.13433215 2.081245 ] [ 0.33509487 0.94211064 -0.01178892 -0.84481613] [ 0.1304882 -0.03401371 0.99086624 -0.15011015] [ 0. 0. 0. 1. ]] SLAMing on 159.002414037 meters Centerline goodness : 0.815664 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.85, Z:-0.15 [[ 0.93440013 -0.33137754 -0.1307108 2.05673046] [ 0.33318162 0.9428247 -0.00846128 -0.8520399 ] [ 0.12604125 -0.03564421 0.99138443 -0.15455633] [ 0. 0. 0. 1. ]] SLAMing on 159.032414037 meters Centerline goodness : 0.817000 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.85, Z:-0.15 [[ 0.93447245 -0.33119229 -0.13066333 2.05587212] [ 0.33299418 0.942891 -0.00845176 -0.85116119] [ 0.12600044 -0.03561219 0.99139077 -0.15419689] [ 0. 0. 0. 1. ]] SLAMing on 159.062414037 meters Centerline goodness : 0.817365 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.85, Z:-0.15 [[ 0.93451765 -0.3310155 -0.13078798 2.05540908] [ 0.33282909 0.94294991 -0.00838285 -0.85097901] [ 0.12610136 -0.03569613 0.99137492 -0.15360798] [ 0. 0. 0. 1. ]] SLAMing on 159.092414037 meters Centerline goodness : 0.817079 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.85, Z:-0.15 [[ 0.93455969 -0.3308105 -0.13100609 2.05532903] [ 0.33265148 0.94301405 -0.00821554 -0.85131751] [ 0.12625837 -0.03590145 0.99134752 -0.15305318] [ 0. 0. 0. 1. ]] SLAMing on 159.122414037 meters Centerline goodness : 0.815247 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.85, Z:-0.15 [[ 0.93449384 -0.3309275 -0.13118024 2.05577999] [ 0.33276178 0.94297416 -0.00832629 -0.85159924] [ 0.12645497 -0.0358709 0.99132357 -0.15285751] [ 0. 0. 0. 1. ]] SLAMing on 159.152414037 meters Centerline goodness : 0.814634 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.85, Z:-0.15 [[ 0.9344144 -0.33108955 -0.13133708 2.05668254] [ 0.33290078 0.94292298 -0.00856318 -0.85096476] [ 0.12667593 -0.03572066 0.99130078 -0.15351384] [ 0. 0. 0. 1. ]] SLAMing on 159.182414037 meters Centerline goodness : 0.813746 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.85, Z:-0.15 [[ 0.93430977 -0.33135589 -0.13140975 2.05793727] [ 0.33313076 0.94283875 -0.00888703 -0.85039155] [ 0.12684298 -0.03547339 0.9912883 -0.15458649] [ 0. 0. 0. 1. ]] SLAMing on 159.212414037 meters Centerline goodness : 0.811582 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.85, Z:-0.16 [[ 0.93427803 -0.33141551 -0.13148505 2.05865237] [ 0.33318565 0.94281877 -0.00894953 -0.85026129] [ 0.12693258 -0.03544758 0.99127776 -0.15513939] [ 0. 0. 0. 1. ]] SLAMing on 159.24241403699997 meters Centerline goodness : 0.811582 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.85, Z:-0.16 [[ 0.93427803 -0.33141551 -0.13148505 2.05865237] [ 0.33318565 0.94281877 -0.00894953 -0.85026129] [ 0.12693258 -0.03544758 0.99127776 -0.15513939] [ 0. 0. 0. 1. ]] SLAMing on 159.27241403699998 meters Centerline goodness : 0.812586 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.85, Z:-0.15 [[ 0.93450729 -0.33091382 -0.1311189 2.05619244] [ 0.33271675 0.94298802 -0.00855355 -0.8496237 ] [ 0.12647404 -0.0356321 0.99132975 -0.15407821] [ 0. 0. 0. 1. ]] SLAMing on 159.30241403699998 meters Centerline goodness : 0.813473 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.85, Z:-0.15 [[ 0.9348473 -0.3299697 -0.13107452 2.05400461] [ 0.33185713 0.94329732 -0.0078108 -0.84945911] [ 0.12621958 -0.03619611 0.99134175 -0.15272821] [ 0. 0. 0. 1. ]] SLAMing on 159.33241403699998 meters Centerline goodness : 0.811818 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.85, Z:-0.15 [[ 0.93533067 -0.32852196 -0.13126255 2.05212944] [ 0.33050175 0.94377914 -0.00703741 -0.84891506] [ 0.1261948 -0.03680019 0.99132266 -0.15149225] [ 0. 0. 0. 1. ]] SLAMing on 159.36241403699998 meters Centerline goodness : 0.812047 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.85, Z:-0.15 [[ 0.93548832 -0.32800725 -0.13142617 2.05199099] [ 0.33000809 0.943953 -0.00688382 -0.8486249 ] [ 0.12631807 -0.03693197 0.99130206 -0.15132004] [ 0. 0. 0. 1. ]] SLAMing on 159.39241403699998 meters Centerline goodness : 0.812152 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.85, Z:-0.15 [[ 0.93568239 -0.32738097 -0.13160608 2.05155602] [ 0.32941755 0.94416119 -0.0066122 -0.84851287] [ 0.12642206 -0.03716643 0.99128004 -0.15084507] [ 0. 0. 0. 1. ]] SLAMing on 159.42241403699998 meters Centerline goodness : 0.810764 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.85, Z:-0.15 [[ 0.93617101 -0.32596199 -0.13165342 2.04941071] [ 0.32813259 0.94461582 -0.00547368 -0.84896905] [ 0.12614612 -0.03807548 0.99128069 -0.14944586] [ 0. 0. 0. 1. ]] SLAMing on 159.45241403699998 meters Centerline goodness : 0.810821 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.85, Z:-0.15 [[ 0.9369106 -0.32364485 -0.13210808 2.0467937 ] [ 0.32605734 0.94534333 -0.00354952 -0.84979096] [ 0.12603628 -0.03974923 0.99122896 -0.14723379] [ 0. 0. 0. 1. ]] SLAMing on 159.48241403699998 meters Centerline goodness : 0.812147 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.85, Z:-0.15 [[ 0.93706506 -0.32310592 -0.13233154 2.0470143 ] [ 0.3255995 0.94550319 -0.00294535 -0.85086335] [ 0.12607155 -0.0403271 0.99120113 -0.14701283] [ 0. 0. 0. 1. ]] SLAMing on 159.51241403699999 meters Centerline goodness : 0.811151 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.85, Z:-0.15 [[ 0.93650228 -0.3250528 -0.13154526 2.04599863] [ 0.32733238 0.94489846 -0.00451838 -0.853723 ] [ 0.12576562 -0.03882755 0.99129987 -0.14569469] [ 0. 0. 0. 1. ]] SLAMing on 159.542414037 meters Centerline goodness : 0.812858 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.86, Z:-0.15 [[ 0.93662843 -0.32459985 -0.13176541 2.04603301] [ 0.32698095 0.94502347 -0.00375537 -0.85567937] [ 0.1257404 -0.03956739 0.99127381 -0.14503693] [ 0. 0. 0. 1. ]] SLAMing on 159.572414037 meters Centerline goodness : 0.814202 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.86, Z:-0.14 [[ 0.93688147 -0.32372945 -0.13210734 2.04545382] [ 0.32627243 0.9452724 -0.00252763 -0.85814118] [ 0.12569569 -0.04073489 0.99123219 -0.14366825] [ 0. 0. 0. 1. ]] SLAMing on 159.602414037 meters Centerline goodness : 0.812491 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.86, Z:-0.14 [[ 9.36990181e-01 -3.23324960e-01 -1.32326755e-01 2.04511137e+00] [ 3.25961995e-01 9.45381103e-01 -1.82970792e-03 -8.60069406e-01] [ 1.25690804e-01 -4.14190747e-02 9.91204460e-01 -1.42553483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.632414037 meters Centerline goodness : 0.814290 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.86, Z:-0.14 [[ 0.93664034 -0.324456 -0.13203476 2.043785 ] [ 0.32696843 0.94503112 -0.00279618 -0.86302567] [ 0.1256842 -0.04055218 0.99124114 -0.14040351] [ 0. 0. 0. 1. ]] SLAMing on 159.662414037 meters Centerline goodness : 0.812815 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.86, Z:-0.14 [[ 0.93675481 -0.32401017 -0.1323172 2.04490114] [ 0.32659041 0.94516311 -0.00232262 -0.86400679] [ 0.12581389 -0.0410378 0.9912047 -0.14090559] [ 0. 0. 0. 1. ]] SLAMing on 159.692414037 meters Centerline goodness : 0.813083 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.86, Z:-0.14 [[ 9.36900291e-01 -3.23450703e-01 -1.32655520e-01 2.04602335e+00] [ 3.26106231e-01 9.45331411e-01 -1.80231351e-03 -8.64793925e-01] [ 1.25986390e-01 -4.15712037e-02 9.91160565e-01 -1.41397044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.722414037 meters Centerline goodness : 0.811246 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.87, Z:-0.14 [[ 9.37087556e-01 -3.22769266e-01 -1.32992158e-01 2.04675412e+00] [ 3.25510015e-01 9.45537835e-01 -1.19682597e-03 -8.66008389e-01] [ 1.26135416e-01 -4.21687487e-02 9.91116367e-01 -1.41454283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.752414037 meters Centerline goodness : 0.812518 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.87, Z:-0.14 [[ 9.37856669e-01 -3.20329418e-01 -1.33468844e-01 2.04524890e+00] [ 3.23376638e-01 9.46269549e-01 1.22097917e-03 -8.70634161e-01] [ 1.25906387e-01 -4.43058093e-02 9.91052257e-01 -1.39043948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.782414037 meters Centerline goodness : 0.813853 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.87, Z:-0.14 [[ 0.93835041 -0.31877654 -0.13371622 2.04378903] [ 0.32202208 0.94672801 0.00280348 -0.87298489] [ 0.12569921 -0.04569022 0.9910157 -0.13739775] [ 0. 0. 0. 1. ]] SLAMing on 159.812414037 meters Centerline goodness : 0.813479 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.88, Z:-0.14 [[ 0.93877563 -0.31737534 -0.13406418 2.04299583] [ 0.32080129 0.94713723 0.00419521 -0.87513142] [ 0.12564572 -0.04694632 0.99096377 -0.13616686] [ 0. 0. 0. 1. ]] SLAMing on 159.842414037 meters Centerline goodness : 0.813382 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.88, Z:-0.14 [[ 0.93906772 -0.31637936 -0.13437234 2.04322838] [ 0.31993476 0.94742548 0.0051688 -0.87673812] [ 0.12567248 -0.04784424 0.99091743 -0.13588078] [ 0. 0. 0. 1. ]] SLAMing on 159.872414037 meters Centerline goodness : 0.811474 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.88, Z:-0.14 [[ 0.93980775 -0.31395284 -0.13488887 2.04360577] [ 0.31781134 0.94812409 0.00752707 -0.88103813] [ 0.12552825 -0.04994321 0.99083214 -0.13537816] [ 0. 0. 0. 1. ]] SLAMing on 159.902414037 meters Centerline goodness : 0.813578 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.88, Z:-0.13 [[ 0.94011368 -0.31286366 -0.13528711 2.04364794] [ 0.31688482 0.94842389 0.00872505 -0.88355164] [ 0.12557978 -0.05107298 0.99076802 -0.13450056] [ 0. 0. 0. 1. ]] SLAMing on 159.932414037 meters Centerline goodness : 0.814618 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.89, Z:-0.13 [[ 0.94045228 -0.31169219 -0.13563731 2.04311768] [ 0.31589182 0.94874178 0.01006937 -0.88618258] [ 0.12554624 -0.05231647 0.99070739 -0.13320566] [ 0. 0. 0. 1. ]] SLAMing on 159.962414037 meters Centerline goodness : 0.812550 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.89, Z:-0.13 [[ 0.94073466 -0.31066198 -0.13604204 2.04289438] [ 0.31504276 0.94900903 0.01139809 -0.88915388] [ 0.12556417 -0.05358164 0.99063749 -0.13189994] [ 0. 0. 0. 1. ]] SLAMing on 159.99241403699997 meters Centerline goodness : 0.814198 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.90, Z:-0.13 [[ 0.94027695 -0.3122478 -0.13557494 2.042497 ] [ 0.31652708 0.94852328 0.01068645 -0.89571574] [ 0.12525917 -0.05296137 0.99070946 -0.12963546] [ 0. 0. 0. 1. ]] SLAMing on 160.02241403699998 meters Centerline goodness : 0.817485 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.90, Z:-0.13 [[ 0.93941518 -0.31521093 -0.13468926 2.04269713] [ 0.31916872 0.94766151 0.00830565 -0.89841966] [ 0.1250218 -0.05079105 0.99085308 -0.12914994] [ 0. 0. 0. 1. ]] SLAMing on 160.05241403699998 meters Centerline goodness : 0.814890 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.90, Z:-0.13 [[ 0.93846374 -0.31841492 -0.13378247 2.04337882] [ 0.32203391 0.94671062 0.00575834 -0.90072218] [ 0.12481975 -0.04848648 0.99099399 -0.12916419] [ 0. 0. 0. 1. ]] SLAMing on 160.08241403699998 meters Centerline goodness : 0.815877 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.90, Z:-0.13 [[ 0.93742263 -0.3218707 -0.13280838 2.04393297] [ 0.32512932 0.94566473 0.00302548 -0.9026774 ] [ 0.12461839 -0.04601605 0.99113711 -0.12913247] [ 0. 0. 0. 1. ]] SLAMing on 160.11241403699998 meters Centerline goodness : 0.816626 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.91, Z:-0.13 [[ 9.36218175e-01 -3.25680716e-01 -1.32013633e-01 2.04631558e+00] [ 3.28698237e-01 9.44434323e-01 1.13031281e-03 -9.08752457e-01] [ 1.24310085e-01 -4.44508680e-02 9.91247256e-01 -1.29012660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14241403699998 meters Centerline goodness : 0.816658 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.91, Z:-0.13 [[ 9.35107828e-01 -3.29240631e-01 -1.31049443e-01 2.04717778e+00] [ 3.31925911e-01 9.43304373e-01 -1.43159075e-03 -9.12006321e-01] [ 1.24090851e-01 -4.21600141e-02 9.91374800e-01 -1.28727079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.17241403699998 meters Centerline goodness : 0.816933 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.92, Z:-0.13 [[ 0.9339749 -0.33280458 -0.13012306 2.04821506] [ 0.33517576 0.94214762 -0.00388322 -0.91594509] [ 0.12388748 -0.03998726 0.99149025 -0.12825903] [ 0. 0. 0. 1. ]] SLAMing on 160.20241403699998 meters Centerline goodness : 0.819874 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.93, Z:-0.13 [[ 0.93044122 -0.34165193 -0.13248808 2.0352665 ] [ 0.34403722 0.93894178 -0.00516923 -0.92863816] [ 0.12616467 -0.04077116 0.99117112 -0.1273292 ] [ 0. 0. 0. 1. ]] SLAMing on 160.23241403699998 meters Centerline goodness : 0.820561 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.93, Z:-0.13 [[ 0.92918591 -0.34548351 -0.13135713 2.03600452] [ 0.34749979 0.93764603 -0.00798836 -0.93085473] [ 0.12592633 -0.0382239 0.99130293 -0.12731849] [ 0. 0. 0. 1. ]] SLAMing on 160.26241403699999 meters Centerline goodness : 0.819206 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.93, Z:-0.13 [[ 0.92791121 -0.34932973 -0.13019036 2.03646634] [ 0.35095953 0.93632644 -0.01096378 -0.93247208] [ 0.12573065 -0.03551813 0.9914284 -0.1272031 ] [ 0. 0. 0. 1. ]] SLAMing on 160.292414037 meters Centerline goodness : 0.820998 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.93, Z:-0.13 [[ 0.9267243 -0.35285613 -0.12913022 2.03659645] [ 0.3541372 0.93509348 -0.01367552 -0.93454642] [ 0.12557432 -0.03305638 0.99153334 -0.12659426] [ 0. 0. 0. 1. ]] SLAMing on 160.322414037 meters Centerline goodness : 0.823089 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.94, Z:-0.12 [[ 0.92572466 -0.35566482 -0.12859391 2.03683909] [ 0.35678386 0.93406628 -0.01501552 -0.9405528 ] [ 0.12545572 -0.03198 0.99158365 -0.12411659] [ 0. 0. 0. 1. ]] SLAMing on 160.352414037 meters Centerline goodness : 0.824488 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.94, Z:-0.12 [[ 0.92487213 -0.35823636 -0.12758625 2.03562636] [ 0.35906899 0.93315227 -0.01721322 -0.94260464] [ 0.1252238 -0.02989223 0.9916781 -0.12266814] [ 0. 0. 0. 1. ]] SLAMing on 160.382414037 meters Centerline goodness : 0.824412 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.94, Z:-0.12 [[ 0.92497099 -0.3578159 -0.12804859 2.0368689 ] [ 0.35874796 0.93328846 -0.01650931 -0.94472041] [ 0.12541357 -0.03066654 0.99163048 -0.12254593] [ 0. 0. 0. 1. ]] SLAMing on 160.412414037 meters Centerline goodness : 0.824029 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.94, Z:-0.12 [[ 0.92493945 -0.35776401 -0.12842093 2.03973773] [ 0.35869926 0.93330606 -0.01657219 -0.94462493] [ 0.12578497 -0.03073622 0.99158128 -0.12471038] [ 0. 0. 0. 1. ]] SLAMing on 160.442414037 meters Centerline goodness : 0.825577 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.94, Z:-0.13 [[ 0.92501289 -0.35761744 -0.12830014 2.0399879 ] [ 0.35855058 0.93336361 -0.01654866 -0.94376739] [ 0.12566877 -0.03069437 0.99159731 -0.12565555] [ 0. 0. 0. 1. ]] SLAMing on 160.472414037 meters Centerline goodness : 0.825283 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.94, Z:-0.13 [[ 0.92510955 -0.35739903 -0.12821177 2.03979772] [ 0.35834097 0.93344599 -0.01644185 -0.94309827] [ 0.12555506 -0.03073302 0.99161051 -0.12609458] [ 0. 0. 0. 1. ]] SLAMing on 160.502414037 meters Centerline goodness : 0.827083 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.94, Z:-0.13 [[ 0.9241552 -0.36045198 -0.1265367 2.03729514] [ 0.36102091 0.93235972 -0.01921623 -0.94276384] [ 0.12490425 -0.02792361 0.99177578 -0.12524682] [ 0. 0. 0. 1. ]] SLAMing on 160.532414037 meters Centerline goodness : 0.827100 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.94, Z:-0.12 [[ 0.92308988 -0.36368812 -0.1250441 2.03505081] [ 0.36389229 0.93118061 -0.02202447 -0.94375021] [ 0.12444868 -0.02517202 0.9919067 -0.12357716] [ 0. 0. 0. 1. ]] SLAMing on 160.562414037 meters Centerline goodness : 0.829224 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.94, Z:-0.12 [[ 0.92193462 -0.36709903 -0.12359154 2.03325996] [ 0.36693347 0.929913 -0.02493284 -0.94476871] [ 0.1240822 -0.02236342 0.9920199 -0.12210633] [ 0. 0. 0. 1. ]] SLAMing on 160.592414037 meters Centerline goodness : 0.831844 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.95, Z:-0.12 [[ 0.92067976 -0.37073692 -0.12207748 2.03194406] [ 0.37018104 0.92853602 -0.02805097 -0.9451693 ] [ 0.12375286 -0.01936481 0.9921241 -0.1212957 ] [ 0. 0. 0. 1. ]] SLAMing on 160.622414037 meters Centerline goodness : 0.832031 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.95, Z:-0.12 [[ 0.91817919 -0.37498313 -0.12780701 2.02338781] [ 0.37525496 0.92663947 -0.02286941 -0.94846868] [ 0.12700666 -0.026962 0.99153535 -0.11955816] [ 0. 0. 0. 1. ]] SLAMing on 160.652414037 meters Centerline goodness : 0.833454 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.95, Z:-0.12 [[ 0.91544933 -0.38110255 -0.12928017 2.00294129] [ 0.38281373 0.92374323 -0.0123324 -0.95466405] [ 0.12412159 -0.03820054 0.99153142 -0.12462761] [ 0. 0. 0. 1. ]] SLAMing on 160.682414037 meters Centerline goodness : 0.833568 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.95, Z:-0.13 [[ 0.91527488 -0.38160636 -0.12902901 2.00284562] [ 0.38328977 0.92354338 -0.01251295 -0.95399269] [ 0.1239389 -0.03800271 0.99156187 -0.12501534] [ 0. 0. 0. 1. ]] SLAMing on 160.712414037 meters Centerline goodness : 0.835938 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.95, Z:-0.12 [[ 0.91508374 -0.38308454 -0.12596816 1.99718352] [ 0.38469698 0.9229617 -0.0122444 -0.95492967] [ 0.12095443 -0.03725492 0.99195872 -0.12451513] [ 0. 0. 0. 1. ]] SLAMing on 160.74241403699997 meters Centerline goodness : 0.835483 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.96, Z:-0.12 [[ 0.91298262 -0.38953664 -0.12134225 1.9788745 ] [ 0.3911245 0.92026672 -0.01143648 -0.95919209] [ 0.11612216 -0.03701862 0.99254484 -0.1247632 ] [ 0. 0. 0. 1. ]] SLAMing on 160.77241403699998 meters Centerline goodness : 0.834986 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.96, Z:-0.13 [[ 0.91113803 -0.39275322 -0.12478943 1.96393502] [ 0.39468304 0.91876389 -0.00991068 -0.96339545] [ 0.11854448 -0.04022227 0.99213375 -0.12517409] [ 0. 0. 0. 1. ]] SLAMing on 160.80241403699998 meters Centerline goodness : 0.833854 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.97, Z:-0.13 [[ 0.90933988 -0.39498571 -0.13071831 1.95151352] [ 0.39725105 0.91766196 -0.00938766 -0.96576397] [ 0.12366321 -0.04339142 0.9913751 -0.12702312] [ 0. 0. 0. 1. ]] SLAMing on 160.83241403699998 meters Centerline goodness : 0.829312 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.96, Z:-0.13 [[ 0.90772719 -0.39576874 -0.13927835 1.94389806] [ 0.3985342 0.91711272 -0.00864607 -0.96209426] [ 0.13115579 -0.04765891 0.99021553 -0.13194977] [ 0. 0. 0. 1. ]] SLAMing on 160.86241403699998 meters Centerline goodness : 0.830520 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.96, Z:-0.14 [[ 0.90754272 -0.39642233 -0.13862019 1.92312166] [ 0.39923742 0.91681199 -0.00807767 -0.96477928] [ 0.13029082 -0.04801153 0.99031267 -0.13721512] [ 0. 0. 0. 1. ]] SLAMing on 160.89241403699998 meters Centerline goodness : 0.828751 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.97, Z:-0.14 [[ 0.90815979 -0.39627343 -0.13495613 1.90011756] [ 0.39913848 0.91686906 -0.00629338 -0.96891821] [ 0.126231 -0.04815079 0.99083159 -0.14277294] [ 0. 0. 0. 1. ]] SLAMing on 160.92241403699998 meters Centerline goodness : 0.829884 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.97, Z:-0.15 [[ 0.90835183 -0.39729093 -0.13060196 1.88177632] [ 0.40028997 0.91638159 -0.00356785 -0.97102257] [ 0.12109871 -0.04903779 0.99142846 -0.14630527] [ 0. 0. 0. 1. ]] SLAMing on 160.95241403699998 meters Centerline goodness : 0.830025 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.98, Z:-0.15 [[ 0.91095593 -0.39356342 -0.1235602 1.84927463] [ 0.3960795 0.918205 -0.00453975 -0.9765529 ] [ 0.11524027 -0.04480415 0.99232669 -0.15345294] [ 0. 0. 0. 1. ]] SLAMing on 160.98241403699998 meters Centerline goodness : 0.829686 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.98, Z:-0.16 [[ 9.12453393e-01 -3.91363029e-01 -1.19431086e-01 1.82520000e+00] [ 3.94037959e-01 9.19093217e-01 -1.32153901e-03 -9.81060988e-01] [ 1.10285502e-01 -4.58545385e-02 9.92841613e-01 -1.57356619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.01241403699999 meters Centerline goodness : 0.832790 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.98, Z:-0.16 [[ 0.91378887 -0.38906105 -0.11671074 1.80504639] [ 0.39217789 0.91988027 0.0040973 -0.98282282] [ 0.10576581 -0.04951544 0.9931575 -0.15935823] [ 0. 0. 0. 1. ]] SLAMing on 161.042414037 meters Centerline goodness : 0.832011 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.98, Z:-0.16 [[ 0.91760773 -0.37906979 -0.11959159 1.79956426] [ 0.38309286 0.92363492 0.01176404 -0.97518128] [ 0.10599957 -0.05660946 0.99275347 -0.15828199] [ 0. 0. 0. 1. ]] SLAMing on 161.072414037 meters Centerline goodness : 0.829748 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.97, Z:-0.16 [[ 0.9190139 -0.37526844 -0.12077682 1.79824995] [ 0.37962149 0.92502931 0.01443259 -0.97157255] [ 0.106306 -0.05911323 0.99257476 -0.15853515] [ 0. 0. 0. 1. ]] SLAMing on 161.102414037 meters Centerline goodness : 0.829621 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.97, Z:-0.16 [[ 0.91924695 -0.37477699 -0.12052903 1.79631578] [ 0.37906757 0.92526282 0.01401728 -0.96809099] [ 0.10626767 -0.05857399 0.99261083 -0.15864766] [ 0. 0. 0. 1. ]] SLAMing on 161.132414037 meters Centerline goodness : 0.829621 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.97, Z:-0.16 [[ 0.91924695 -0.37477699 -0.12052903 1.79631578] [ 0.37906757 0.92526282 0.01401728 -0.96809099] [ 0.10626767 -0.05857399 0.99261083 -0.15864766] [ 0. 0. 0. 1. ]] SLAMing on 161.162414037 meters Centerline goodness : 0.830104 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.97, Z:-0.16 [[ 0.91921694 -0.37494261 -0.12024249 1.79551295] [ 0.37913622 0.92524587 0.01325935 -0.96564701] [ 0.10628237 -0.0577765 0.992656 -0.15906394] [ 0. 0. 0. 1. ]] SLAMing on 161.192414037 meters Centerline goodness : 0.828596 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.96, Z:-0.16 [[ 0.91891272 -0.37586511 -0.11968636 1.79467608] [ 0.37988129 0.92495939 0.01184584 -0.96249106] [ 0.10625258 -0.0563519 0.99274108 -0.15967119] [ 0. 0. 0. 1. ]] SLAMing on 161.222414037 meters Centerline goodness : 0.830281 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.96, Z:-0.16 [[ 0.91868802 -0.3765124 -0.11937643 1.79410979] [ 0.38043362 0.92474182 0.01108298 -0.96067802] [ 0.10621949 -0.05559661 0.99278721 -0.15992696] [ 0. 0. 0. 1. ]] SLAMing on 161.252414037 meters Centerline goodness : 0.828456 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.96, Z:-0.16 [[ 0.91853189 -0.37699104 -0.11906689 1.79348458] [ 0.38084032 0.92458071 0.01054309 -0.95880641] [ 0.1061123 -0.05502963 0.99283026 -0.16033716] [ 0. 0. 0. 1. ]] SLAMing on 161.282414037 meters Centerline goodness : 0.829724 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.96, Z:-0.16 [[ 0.91693161 -0.3813288 -0.11757876 1.7751113 ] [ 0.38519788 0.92276539 0.0112528 -0.96006038] [ 0.10420659 -0.05560913 0.9929998 -0.16299553] [ 0. 0. 0. 1. ]] SLAMing on 161.312414037 meters Centerline goodness : 0.829580 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.96, Z:-0.16 [[ 0.91672966 -0.3818558 -0.11744309 1.77490862] [ 0.38565759 0.92258049 0.01065228 -0.95879225] [ 0.10428307 -0.05505808 0.99302248 -0.16311397] [ 0. 0. 0. 1. ]] SLAMing on 161.342414037 meters Centerline goodness : 0.827695 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.96, Z:-0.16 [[ 0.91661952 -0.3821657 -0.1172946 1.77441912] [ 0.3859196 0.92247541 0.01025604 -0.95805334] [ 0.10428188 -0.05466718 0.9930442 -0.16290089] [ 0. 0. 0. 1. ]] SLAMing on 161.372414037 meters Centerline goodness : 0.827986 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.97, Z:-0.17 [[ 0.91738412 -0.3822499 -0.11086652 1.74682902] [ 0.38542197 0.92270664 0.00789663 -0.96735921] [ 0.09927879 -0.04997463 0.99380393 -0.16967447] [ 0. 0. 0. 1. ]] SLAMing on 161.402414037 meters Centerline goodness : 0.826437 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.97, Z:-0.17 [[ 0.91744795 -0.3833123 -0.10658769 1.7221129 ] [ 0.38608326 0.9224452 0.00587973 -0.97245112] [ 0.09606753 -0.04654607 0.99428592 -0.17363455] [ 0. 0. 0. 1. ]] SLAMing on 161.432414037 meters Centerline goodness : 0.826851 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.97, Z:-0.17 [[ 0.91747822 -0.38324282 -0.106577 1.72143568] [ 0.38596728 0.92249662 0.00540801 -0.97027149] [ 0.09624434 -0.04609697 0.99428974 -0.17368166] [ 0. 0. 0. 1. ]] SLAMing on 161.462414037 meters Centerline goodness : 0.825758 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.97, Z:-0.18 [[ 0.91668715 -0.38389732 -0.11093924 1.70635949] [ 0.38696039 0.92207217 0.0066756 -0.97272628] [ 0.09973124 -0.04904853 0.99380477 -0.17516394] [ 0. 0. 0. 1. ]] SLAMing on 161.49241403699997 meters Centerline goodness : 0.825392 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.98, Z:-0.18 [[ 0.91569108 -0.38508115 -0.11498851 1.69072378] [ 0.38839144 0.92146778 0.00701558 -0.97534923] [ 0.10325664 -0.05108466 0.99334205 -0.17699937] [ 0. 0. 0. 1. ]] SLAMing on 161.52241403699998 meters Centerline goodness : 0.824562 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.98, Z:-0.18 [[ 0.91532578 -0.38590765 -0.11512606 1.67051978] [ 0.38894244 0.9212522 0.00426286 -0.9786661 ] [ 0.10441506 -0.04867931 0.99334174 -0.18217151] [ 0. 0. 0. 1. ]] SLAMing on 161.55241403699998 meters Centerline goodness : 0.824616 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.98, Z:-0.18 [[ 0.91520554 -0.38620552 -0.11508309 1.67064809] [ 0.38919034 0.92114956 0.00378957 -0.97800597] [ 0.10454518 -0.04825746 0.99334864 -0.18228085] [ 0. 0. 0. 1. ]] SLAMing on 161.58241403699998 meters Centerline goodness : 0.825579 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.98, Z:-0.18 [[ 9.14388662e-01 -3.88495591e-01 -1.13861985e-01 1.66834619e+00] [ 3.91187828e-01 9.20309770e-01 1.41773954e-03 -9.77188619e-01] [ 1.04237512e-01 -4.58377876e-02 9.93495565e-01 -1.81073058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.61241403699998 meters Centerline goodness : 0.824279 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.98, Z:-0.18 [[ 9.14065702e-01 -3.90240936e-01 -1.10435065e-01 1.64465727e+00] [ 3.92619905e-01 9.19700800e-01 -2.21957189e-04 -9.84615526e-01] [ 1.01653834e-01 -4.31561211e-02 9.93883317e-01 -1.84779432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64241403699998 meters Centerline goodness : 0.825775 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.99, Z:-0.19 [[ 9.12765706e-01 -3.92816060e-01 -1.12046012e-01 1.62720345e+00] [ 3.95350616e-01 9.18530184e-01 4.37995910e-04 -9.86952872e-01] [ 1.02745592e-01 -4.46972476e-02 9.93702923e-01 -1.86397569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.67241403699998 meters Centerline goodness : 0.825376 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.99, Z:-0.19 [[ 0.91161249 -0.3949345 -0.11397108 1.61095673] [ 0.39774555 0.91749335 0.00210611 -0.99058208] [ 0.10373593 -0.04725145 0.99348183 -0.18816379] [ 0. 0. 0. 1. ]] SLAMing on 161.70241403699998 meters Centerline goodness : 0.823875 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.99, Z:-0.19 [[ 0.91148244 -0.39526012 -0.11388236 1.61084872] [ 0.39802896 0.91737123 0.00172235 -0.98933336] [ 0.10379162 -0.04689837 0.99349275 -0.1884425 ] [ 0. 0. 0. 1. ]] SLAMing on 161.73241403699998 meters Centerline goodness : 0.824281 Centerline is valid? [False, False] Translation: X:1.59, Y:-1.00, Z:-0.19 [[ 9.11113421e-01 -3.97154592e-01 -1.10184225e-01 1.58789558e+00] [ 3.99722580e-01 9.16635198e-01 1.33167241e-03 -9.96774248e-01] [ 1.00469859e-01 -4.52564273e-02 9.93910289e-01 -1.91998082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.76241403699999 meters Centerline goodness : 0.825355 Centerline is valid? [False, False] Translation: X:1.56, Y:-1.00, Z:-0.19 [[ 9.09999825e-01 -4.01409454e-01 -1.03782315e-01 1.56272389e+00] [ 4.03448131e-01 9.15001338e-01 -1.46903087e-03 -1.00488282e+00] [ 9.55506399e-02 -4.05339631e-02 9.94598951e-01 -1.94947487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.792414037 meters Centerline goodness : 0.824725 Centerline is valid? [False, False] Translation: X:1.54, Y:-1.01, Z:-0.20 [[ 0.90963791 -0.4033014 -0.09953317 1.5396642 ] [ 0.40510432 0.91426762 -0.0022823 -1.01305393] [ 0.09192041 -0.03824525 0.99503163 -0.19901344] [ 0. 0. 0. 1. ]] SLAMing on 161.822414037 meters Centerline goodness : 0.826970 Centerline is valid? [False, False] Translation: X:1.52, Y:-1.02, Z:-0.20 [[ 0.90956505 -0.40421738 -0.0964351 1.51654179] [ 0.40583694 0.91394036 -0.00306401 -1.02072059] [ 0.08937446 -0.03635001 0.99533456 -0.20345863] [ 0. 0. 0. 1. ]] SLAMing on 161.852414037 meters Centerline goodness : 0.827461 Centerline is valid? [False, False] Translation: X:1.49, Y:-1.03, Z:-0.21 [[ 9.10507185e-01 -4.02789977e-01 -9.34713885e-02 1.49285604e+00] [ 4.04488698e-01 9.14542609e-01 -8.42295165e-04 -1.02636886e+00] [ 8.58228355e-02 -3.70412045e-02 9.95621610e-01 -2.07827739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.882414037 meters Centerline goodness : 0.826461 Centerline is valid? [False, False] Translation: X:1.49, Y:-1.03, Z:-0.21 [[ 9.10943138e-01 -4.01831960e-01 -9.33470639e-02 1.49030811e+00] [ 4.03571075e-01 9.14948258e-01 -2.69422375e-04 -1.02500438e+00] [ 8.55159960e-02 -3.74267465e-02 9.95633594e-01 -2.06851316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.912414037 meters Centerline goodness : 0.826703 Centerline is valid? [False, False] Translation: X:1.47, Y:-1.03, Z:-0.21 [[ 9.11962955e-01 -4.00369813e-01 -8.95967689e-02 1.46577885e+00] [ 4.02008964e-01 9.15635691e-01 2.72248312e-04 -1.03204599e+00] [ 8.19289994e-02 -3.62669846e-02 9.95978085e-01 -2.10987797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.942414037 meters Centerline goodness : 0.825941 Centerline is valid? [False, False] Translation: X:1.44, Y:-1.04, Z:-0.22 [[ 9.15027215e-01 -3.94151826e-01 -8.58459837e-02 1.43611624e+00] [ 3.95597646e-01 9.18423904e-01 -1.84592235e-04 -1.03936093e+00] [ 7.89157609e-02 -3.37915622e-02 9.96308403e-01 -2.16808452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.972414037 meters Centerline goodness : 0.826918 Centerline is valid? [False, False] Translation: X:1.43, Y:-1.04, Z:-0.22 [[ 9.15561978e-01 -3.92888746e-01 -8.59342644e-02 1.43373735e+00] [ 3.94372633e-01 9.18950557e-01 3.17183613e-04 -1.03753507e+00] [ 7.88447223e-02 -3.41805234e-02 9.96300759e-01 -2.15719531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.002414037 meters Centerline goodness : 0.823100 Centerline is valid? [False, False] Translation: X:1.41, Y:-1.05, Z:-0.22 [[ 9.17170643e-01 -3.90032336e-01 -8.16871400e-02 1.40649205e+00] [ 3.91239553e-01 9.20287914e-01 -1.32961725e-03 -1.04607322e+00] [ 7.56942814e-02 -3.07397542e-02 9.96657134e-01 -2.21738832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.032414037 meters Centerline goodness : 0.825528 Centerline is valid? [False, False] Translation: X:1.41, Y:-1.04, Z:-0.22 [[ 0.91734666 -0.38965041 -0.08153317 1.40551276] [ 0.39082674 0.92046277 -0.00165678 -1.04420551] [ 0.07569381 -0.0303455 0.99666925 -0.2217337 ] [ 0. 0. 0. 1. ]] SLAMing on 162.062414037 meters Centerline goodness : 0.822720 Centerline is valid? [False, False] Translation: X:1.40, Y:-1.04, Z:-0.22 [[ 9.18843759e-01 -3.85847628e-01 -8.27511632e-02 1.40465172e+00] [ 3.87264073e-01 9.21968108e-01 1.15972680e-03 -1.04165240e+00] [ 7.58464555e-02 -3.31121603e-02 9.96569566e-01 -2.22020817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.092414037 meters Centerline goodness : 0.823859 Centerline is valid? [False, False] Translation: X:1.40, Y:-1.04, Z:-0.22 [[ 0.9193364 -0.38468872 -0.08267508 1.40225378] [ 0.38615718 0.92243098 0.00192996 -1.04057627] [ 0.07551962 -0.03369986 0.99657469 -0.22102255] [ 0. 0. 0. 1. ]] SLAMing on 162.122414037 meters Centerline goodness : 0.824766 Centerline is valid? [False, False] Translation: X:1.40, Y:-1.04, Z:-0.22 [[ 0.91979996 -0.38359284 -0.08261094 1.39978092] [ 0.38511894 0.92286279 0.00276989 -1.03978636] [ 0.07517605 -0.03436278 0.99657803 -0.21978503] [ 0. 0. 0. 1. ]] SLAMing on 162.152414037 meters Centerline goodness : 0.826009 Centerline is valid? [False, False] Translation: X:1.40, Y:-1.04, Z:-0.22 [[ 0.92128767 -0.37970774 -0.0839706 1.3983414 ] [ 0.38152571 0.92433774 0.00615385 -1.03847834] [ 0.07528053 -0.03770641 0.99644923 -0.21888525] [ 0. 0. 0. 1. ]] SLAMing on 162.182414037 meters Centerline goodness : 0.826760 Centerline is valid? [False, False] Translation: X:1.40, Y:-1.04, Z:-0.22 [[ 0.92137698 -0.37951452 -0.08386416 1.39751293] [ 0.38132125 0.92442268 0.00606692 -1.03729395] [ 0.07522345 -0.03756911 0.99645873 -0.21876 ] [ 0. 0. 0. 1. ]] SLAMing on 162.212414037 meters Centerline goodness : 0.824594 Centerline is valid? [False, False] Translation: X:1.40, Y:-1.04, Z:-0.22 [[ 0.92135829 -0.37954059 -0.08395138 1.39755193] [ 0.3813316 0.92442004 0.00581419 -1.03642389] [ 0.07539962 -0.03737027 0.99645289 -0.21881907] [ 0. 0. 0. 1. ]] SLAMing on 162.24241403699997 meters Centerline goodness : 0.824054 Centerline is valid? [False, False] Translation: X:1.39, Y:-1.04, Z:-0.22 [[ 0.91944915 -0.38286779 -0.08958522 1.38632236] [ 0.3846583 0.92305426 0.00296929 -1.03944956] [ 0.08155518 -0.03718982 0.99597473 -0.22191017] [ 0. 0. 0. 1. ]] SLAMing on 162.27241403699998 meters Centerline goodness : 0.823276 Centerline is valid? [False, False] Translation: X:1.36, Y:-1.05, Z:-0.23 [[ 0.91888115 -0.38499828 -0.08621922 1.36456295] [ 0.38656 0.92226297 0.00154307 -1.04711841] [ 0.07892271 -0.0347468 0.99627499 -0.22621558] [ 0. 0. 0. 1. ]] SLAMing on 162.30241403699998 meters Centerline goodness : 0.823069 Centerline is valid? [False, False] Translation: X:1.36, Y:-1.05, Z:-0.22 [[ 9.17970117e-01 -3.87449899e-01 -8.49319703e-02 1.36226036e+00] [ 3.88801712e-01 9.21321210e-01 -6.76503801e-04 -1.04652093e+00] [ 7.85117370e-02 -3.24006852e-02 9.96386523e-01 -2.24982860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.33241403699998 meters Centerline goodness : 0.823749 Centerline is valid? [False, False] Translation: X:1.36, Y:-1.05, Z:-0.22 [[ 0.9172896 -0.38928812 -0.08387225 1.36001828] [ 0.39050588 0.92059818 -0.00203824 -1.04613008] [ 0.0780061 -0.03088294 0.99647443 -0.22381804] [ 0. 0. 0. 1. ]] SLAMing on 162.36241403699998 meters Centerline goodness : 0.823429 Centerline is valid? [False, False] Translation: X:1.34, Y:-1.05, Z:-0.23 [[ 0.91509113 -0.39486994 -0.08176773 1.34245042] [ 0.39601747 0.91823993 -0.00236368 -1.05201961] [ 0.07601574 -0.03021847 0.99664861 -0.22506896] [ 0. 0. 0. 1. ]] SLAMing on 162.39241403699998 meters Centerline goodness : 0.822394 Centerline is valid? [False, False] Translation: X:1.34, Y:-1.05, Z:-0.22 [[ 0.91393553 -0.39783879 -0.08028788 1.34127425] [ 0.39873752 0.91705033 -0.00520394 -1.05201486] [ 0.07569835 -0.02725772 0.99675813 -0.22453036] [ 0. 0. 0. 1. ]] SLAMing on 162.42241403699998 meters Centerline goodness : 0.821465 Centerline is valid? [False, False] Translation: X:1.33, Y:-1.06, Z:-0.23 [[ 0.9122137 -0.40102956 -0.08391344 1.32693818] [ 0.40197273 0.91563145 -0.00608067 -1.05684123] [ 0.07927231 -0.02818404 0.9964545 -0.22634061] [ 0. 0. 0. 1. ]] SLAMing on 162.45241403699998 meters Centerline goodness : 0.822658 Centerline is valid? [False, False] Translation: X:1.33, Y:-1.06, Z:-0.23 [[ 0.91222017 -0.40103825 -0.08380148 1.32653042] [ 0.40197076 0.91563168 -0.00617514 -1.05583161] [ 0.07920775 -0.02805265 0.99646334 -0.22656163] [ 0. 0. 0. 1. ]] SLAMing on 162.48241403699998 meters Centerline goodness : 0.820835 Centerline is valid? [False, False] Translation: X:1.30, Y:-1.06, Z:-0.23 [[ 0.91286791 -0.40047734 -0.07931009 1.30356297] [ 0.40144092 0.91587576 -0.00409722 -1.06316129] [ 0.07427903 -0.02809809 0.99684157 -0.23053534] [ 0. 0. 0. 1. ]] SLAMing on 162.51241403699999 meters Centerline goodness : 0.820958 Centerline is valid? [False, False] Translation: X:1.30, Y:-1.06, Z:-0.23 [[ 0.91333143 -0.3994197 -0.07930705 1.30128009] [ 0.40044533 0.91631501 -0.00321493 -1.06302867] [ 0.07395434 -0.02882184 0.99684505 -0.22912799] [ 0. 0. 0. 1. ]] SLAMing on 162.542414037 meters Centerline goodness : 0.823822 Centerline is valid? [False, False] Translation: X:1.28, Y:-1.07, Z:-0.23 [[ 9.14372401e-01 -3.98147770e-01 -7.34946583e-02 1.27680005e+00] [ 3.99192649e-01 9.16866928e-01 -5.14074469e-04 -1.07080957e+00] [ 6.75894992e-02 -2.88684719e-02 9.97295478e-01 -2.31877398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.572414037 meters Centerline goodness : 0.823510 Centerline is valid? [False, False] Translation: X:1.28, Y:-1.07, Z:-0.23 [[ 9.14676491e-01 -3.97429319e-01 -7.35992757e-02 1.27509687e+00] [ 3.98517931e-01 9.17160534e-01 1.15436519e-04 -1.07102336e+00] [ 6.74564731e-02 -2.94362181e-02 9.97287889e-01 -2.30386090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.602414037 meters Centerline goodness : 0.823550 Centerline is valid? [False, False] Translation: X:1.27, Y:-1.07, Z:-0.23 [[ 9.14697160e-01 -3.97385270e-01 -7.35802424e-02 1.27442737e+00] [ 3.98469174e-01 9.17181724e-01 5.59202819e-05 -1.07054270e+00] [ 6.74642316e-02 -2.93706085e-02 9.97289298e-01 -2.29878956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.632414037 meters Centerline goodness : 0.824269 Centerline is valid? [False, False] Translation: X:1.27, Y:-1.07, Z:-0.23 [[ 9.14661394e-01 -3.97473988e-01 -7.35456561e-02 1.27399432e+00] [ 3.98543728e-01 9.17149321e-01 -1.41905501e-04 -1.06971127e+00] [ 6.75087523e-02 -2.91813645e-02 9.97291841e-01 -2.29659300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.662414037 meters Centerline goodness : 0.823595 Centerline is valid? [False, False] Translation: X:1.27, Y:-1.07, Z:-0.23 [[ 9.14576723e-01 -3.97712057e-01 -7.33112400e-02 1.27371253e+00] [ 3.98732818e-01 9.17066813e-01 -7.74441096e-04 -1.06696714e+00] [ 6.75393098e-02 -2.85233115e-02 9.97308810e-01 -2.30678212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.692414037 meters Centerline goodness : 0.821728 Centerline is valid? [False, False] Translation: X:1.27, Y:-1.07, Z:-0.23 [[ 9.14618134e-01 -3.97611769e-01 -7.33385983e-02 1.27411368e+00] [ 3.98619047e-01 9.17116074e-01 -9.80873029e-04 -1.06585981e+00] [ 6.76500140e-02 -2.83370379e-02 9.97306617e-01 -2.31471107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.722414037 meters Centerline goodness : 0.819628 Centerline is valid? [False, False] Translation: X:1.28, Y:-1.06, Z:-0.24 [[ 9.14960283e-01 -3.96708555e-01 -7.39594639e-02 1.27736885e+00] [ 3.97714084e-01 9.17508581e-01 -1.22922048e-03 -1.06299406e+00] [ 6.83460851e-02 -2.82900325e-02 9.97260491e-01 -2.35018272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.752414037 meters Centerline goodness : 0.818786 Centerline is valid? [False, False] Translation: X:1.28, Y:-1.06, Z:-0.24 [[ 0.91511467 -0.39635642 -0.0739373 1.27720829] [ 0.39734811 0.91766688 -0.00140765 -1.06137864] [ 0.06840774 -0.02809068 0.9972619 -0.23566055] [ 0. 0. 0. 1. ]] SLAMing on 162.782414037 meters Centerline goodness : 0.817780 Centerline is valid? [False, False] Translation: X:1.28, Y:-1.06, Z:-0.23 [[ 9.15620423e-01 -3.95180000e-01 -7.39730278e-02 1.27547294e+00] [ 3.96227073e-01 9.18152377e-01 -5.65835546e-04 -1.06103401e+00] [ 6.81421181e-02 -2.87920257e-02 9.97260082e-01 -2.34813678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.812414037 meters Centerline goodness : 0.820601 Centerline is valid? [False, False] Translation: X:1.27, Y:-1.06, Z:-0.23 [[ 0.91659961 -0.39286021 -0.07420253 1.27115379] [ 0.39404876 0.9190883 0.00150552 -1.06193498] [ 0.06760722 -0.03061938 0.99724206 -0.23139373] [ 0. 0. 0. 1. ]] SLAMing on 162.842414037 meters Centerline goodness : 0.821797 Centerline is valid? [False, False] Translation: X:1.27, Y:-1.06, Z:-0.23 [[ 0.91692782 -0.39206298 -0.07436389 1.26931578] [ 0.3933113 0.91940237 0.00234569 -1.06307379] [ 0.06745068 -0.03139899 0.99722841 -0.22934762] [ 0. 0. 0. 1. ]] SLAMing on 162.872414037 meters Centerline goodness : 0.824737 Centerline is valid? [False, False] Translation: X:1.27, Y:-1.06, Z:-0.23 [[ 0.91717622 -0.39144648 -0.07454825 1.26806706] [ 0.39275204 0.91963908 0.00313019 -1.06440063] [ 0.06733218 -0.03214991 0.9972125 -0.22770912] [ 0. 0. 0. 1. ]] SLAMing on 162.902414037 meters Centerline goodness : 0.823548 Centerline is valid? [False, False] Translation: X:1.27, Y:-1.07, Z:-0.23 [[ 0.91730737 -0.39109843 -0.07476094 1.26772155] [ 0.39244627 0.91976762 0.00366753 -1.06567189] [ 0.06732833 -0.0327039 0.99719474 -0.22671256] [ 0. 0. 0. 1. ]] SLAMing on 162.932414037 meters Centerline goodness : 0.823952 Centerline is valid? [False, False] Translation: X:1.27, Y:-1.07, Z:-0.23 [[ 0.91737394 -0.39086489 -0.07516441 1.2686017 ] [ 0.39225959 0.9198451 0.00417181 -1.06755481] [ 0.067509 -0.03331107 0.99716243 -0.22628064] [ 0. 0. 0. 1. ]] SLAMing on 162.962414037 meters Centerline goodness : 0.821343 Centerline is valid? [False, False] Translation: X:1.27, Y:-1.07, Z:-0.23 [[ 0.91748819 -0.39055209 -0.07539557 1.26916884] [ 0.39198066 0.91996211 0.00456922 -1.06805834] [ 0.06757655 -0.03374581 0.99714323 -0.22652446] [ 0. 0. 0. 1. ]] SLAMing on 162.99241403699997 meters Centerline goodness : 0.823800 Centerline is valid? [False, False] Translation: X:1.25, Y:-1.07, Z:-0.23 [[ 0.91680174 -0.39144353 -0.07903504 1.25373547] [ 0.39309156 0.91948073 0.00584849 -1.07470395] [ 0.07038185 -0.03642991 0.99685468 -0.22742338] [ 0. 0. 0. 1. ]] SLAMing on 163.02241403699998 meters Centerline goodness : 0.823951 Centerline is valid? [False, False] Translation: X:1.25, Y:-1.07, Z:-0.23 [[ 0.91684093 -0.39134897 -0.07904868 1.25438366] [ 0.39300748 0.91951574 0.00599387 -1.07461591] [ 0.07034081 -0.03656215 0.99685274 -0.22826006] [ 0. 0. 0. 1. ]] SLAMing on 163.05241403699998 meters Centerline goodness : 0.823951 Centerline is valid? [False, False] Translation: X:1.25, Y:-1.07, Z:-0.23 [[ 0.91684093 -0.39134897 -0.07904868 1.25438366] [ 0.39300748 0.91951574 0.00599387 -1.07461591] [ 0.07034081 -0.03656215 0.99685274 -0.22826006] [ 0. 0. 0. 1. ]] SLAMing on 163.08241403699998 meters Centerline goodness : 0.822788 Centerline is valid? [False, False] Translation: X:1.26, Y:-1.08, Z:-0.23 [[ 0.91682363 -0.39140365 -0.07897855 1.25546159] [ 0.39307369 0.91948612 0.00619193 -1.07505966] [ 0.07019614 -0.0367213 0.99685709 -0.22950829] [ 0. 0. 0. 1. ]] SLAMing on 163.11241403699998 meters Centerline goodness : 0.822873 Centerline is valid? [False, False] Translation: X:1.26, Y:-1.08, Z:-0.23 [[ 0.916808 -0.39142664 -0.07904609 1.25599921] [ 0.3931097 0.91946972 0.0063403 -1.07590312] [ 0.07019872 -0.03688663 0.9968508 -0.22962152] [ 0. 0. 0. 1. ]] SLAMing on 163.14241403699998 meters Centerline goodness : 0.822158 Centerline is valid? [False, False] Translation: X:1.25, Y:-1.08, Z:-0.23 [[ 0.91622341 -0.39301059 -0.07795727 1.25438331] [ 0.39454744 0.91886328 0.00475395 -1.07819508] [ 0.06976372 -0.03511352 0.99694537 -0.22799881] [ 0. 0. 0. 1. ]] SLAMing on 163.17241403699998 meters Centerline goodness : 0.824056 Centerline is valid? [False, False] Translation: X:1.25, Y:-1.08, Z:-0.23 [[ 0.91636985 -0.39263483 -0.07812931 1.2544258 ] [ 0.39420112 0.91901003 0.00510264 -1.07903839] [ 0.06979815 -0.03547457 0.99693017 -0.22758704] [ 0. 0. 0. 1. ]] SLAMing on 163.20241403699998 meters Centerline goodness : 0.822871 Centerline is valid? [False, False] Translation: X:1.25, Y:-1.08, Z:-0.23 [[ 0.916849 -0.3914612 -0.07839667 1.25333945] [ 0.39310702 0.91947216 0.0061496 -1.08007817] [ 0.06967623 -0.03645654 0.99690328 -0.22642456] [ 0. 0. 0. 1. ]] SLAMing on 163.23241403699998 meters Centerline goodness : 0.822737 Centerline is valid? [False, False] Translation: X:1.25, Y:-1.08, Z:-0.23 [[ 0.91870645 -0.38666057 -0.08044918 1.25356119] [ 0.38868676 0.92130862 0.01063178 -1.08190083] [ 0.07000763 -0.04103702 0.99670201 -0.22540509] [ 0. 0. 0. 1. ]] SLAMing on 163.26241403699999 meters Centerline goodness : 0.822594 Centerline is valid? [False, False] Translation: X:1.25, Y:-1.08, Z:-0.22 [[ 0.91931638 -0.38512866 -0.08082892 1.25251411] [ 0.38726619 0.92188916 0.01205274 -1.0836959 ] [ 0.06987345 -0.04238259 0.99665511 -0.22400692] [ 0. 0. 0. 1. ]] SLAMing on 163.292414037 meters Centerline goodness : 0.820920 Centerline is valid? [False, False] Translation: X:1.25, Y:-1.09, Z:-0.23 [[ 0.9207634 -0.38218731 -0.07827915 1.24915407] [ 0.38424617 0.92314482 0.01259041 -1.08773352] [ 0.0674511 -0.04167126 0.99685197 -0.22710634] [ 0. 0. 0. 1. ]] SLAMing on 163.322414037 meters Centerline goodness : 0.820565 Centerline is valid? [False, False] Translation: X:1.25, Y:-1.09, Z:-0.23 [[ 0.92084325 -0.38191384 -0.07867357 1.25039143] [ 0.38401036 0.92323851 0.01291128 -1.08873805] [ 0.06770347 -0.04210073 0.99681682 -0.22742333] [ 0. 0. 0. 1. ]] SLAMing on 163.352414037 meters Centerline goodness : 0.820352 Centerline is valid? [False, False] Translation: X:1.25, Y:-1.09, Z:-0.23 [[ 0.92093393 -0.38162214 -0.0790268 1.25168913] [ 0.38376758 0.92333219 0.01342047 -1.09038559] [ 0.06784644 -0.04268729 0.99678215 -0.22767154] [ 0. 0. 0. 1. ]] SLAMing on 163.382414037 meters Centerline goodness : 0.822752 Centerline is valid? [False, False] Translation: X:1.25, Y:-1.09, Z:-0.23 [[ 0.92022041 -0.38355001 -0.07799857 1.25054115] [ 0.38553231 0.92262168 0.01157896 -1.09179499] [ 0.06752206 -0.04072616 0.99688623 -0.22659289] [ 0. 0. 0. 1. ]] SLAMing on 163.412414037 meters Centerline goodness : 0.820514 Centerline is valid? [False, False] Translation: X:1.25, Y:-1.09, Z:-0.23 [[ 0.9193803 -0.38580689 -0.0767652 1.24920577] [ 0.38760393 0.92177731 0.00947542 -1.09308435] [ 0.06710474 -0.03846601 0.99700417 -0.22550498] [ 0. 0. 0. 1. ]] SLAMing on 163.442414037 meters Centerline goodness : 0.822274 Centerline is valid? [False, False] Translation: X:1.25, Y:-1.09, Z:-0.22 [[ 0.91865075 -0.38777553 -0.0755707 1.24755845] [ 0.38941506 0.92103001 0.00772174 -1.09459642] [ 0.06660858 -0.03652195 0.99711055 -0.22422973] [ 0. 0. 0. 1. ]] SLAMing on 163.472414037 meters Centerline goodness : 0.821242 Centerline is valid? [False, False] Translation: X:1.25, Y:-1.10, Z:-0.22 [[ 0.91754697 -0.39057704 -0.07454622 1.24805748] [ 0.39203629 0.91993357 0.00545665 -1.09723558] [ 0.06644633 -0.03423156 0.99720263 -0.22372361] [ 0. 0. 0. 1. ]] SLAMing on 163.502414037 meters Centerline goodness : 0.822558 Centerline is valid? [False, False] Translation: X:1.25, Y:-1.10, Z:-0.22 [[ 0.91666641 -0.39286646 -0.07333915 1.24678533] [ 0.39415775 0.91903635 0.00344451 -1.09882637] [ 0.06604811 -0.03206466 0.99730111 -0.22255392] [ 0. 0. 0. 1. ]] SLAMing on 163.532414037 meters Centerline goodness : 0.822764 Centerline is valid? [False, False] Translation: X:1.25, Y:-1.10, Z:-0.22 [[ 0.91580803 -0.3950754 -0.07218778 1.24547716] [ 0.39620555 0.91816068 0.00146186 -1.10044651] [ 0.06570243 -0.02993998 0.99738999 -0.22123982] [ 0. 0. 0. 1. ]] SLAMing on 163.562414037 meters Centerline goodness : 0.824349 Centerline is valid? [False, False] Translation: X:1.24, Y:-1.10, Z:-0.22 [[ 9.14931875e-01 -3.97276638e-01 -7.12105151e-02 1.24465709e+00] [ 3.98274386e-01 9.17266304e-01 -2.04223057e-04 -1.10350250e+00] [ 6.54001390e-02 -2.81744740e-02 9.97461288e-01 -2.19570177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.592414037 meters Centerline goodness : 0.822815 Centerline is valid? [False, False] Translation: X:1.24, Y:-1.11, Z:-0.22 [[ 0.91420226 -0.39913417 -0.07018646 1.24277638] [ 0.40000468 0.91651134 -0.0017925 -1.10510583] [ 0.06504214 -0.02643621 0.99753228 -0.21771912] [ 0. 0. 0. 1. ]] SLAMing on 163.622414037 meters Centerline goodness : 0.823409 Centerline is valid? [False, False] Translation: X:1.24, Y:-1.11, Z:-0.22 [[ 0.9126089 -0.40297512 -0.06896414 1.24363156] [ 0.40365644 0.91490019 -0.00437256 -1.10896089] [ 0.06485734 -0.02384738 0.99760956 -0.21665001] [ 0. 0. 0. 1. ]] SLAMing on 163.652414037 meters Centerline goodness : 0.822594 Centerline is valid? [False, False] Translation: X:1.23, Y:-1.12, Z:-0.21 [[ 0.90955851 -0.40857687 -0.07594903 1.2348368 ] [ 0.40955637 0.91228017 -0.00291111 -1.11584328] [ 0.07047621 -0.02845759 0.99710745 -0.21306484] [ 0. 0. 0. 1. ]] SLAMing on 163.682414037 meters Centerline goodness : 0.824458 Centerline is valid? [False, False] Translation: X:1.22, Y:-1.12, Z:-0.21 [[ 0.9065665 -0.4145134 -0.07947214 1.22151531] [ 0.41553908 0.90956676 -0.00394846 -1.12466404] [ 0.0739219 -0.02944423 0.99682927 -0.21214852] [ 0. 0. 0. 1. ]] SLAMing on 163.712414037 meters Centerline goodness : 0.825167 Centerline is valid? [False, False] Translation: X:1.21, Y:-1.13, Z:-0.21 [[ 0.90338253 -0.42058642 -0.08370824 1.20934998] [ 0.42169929 0.90672317 -0.0047747 -1.13349643] [ 0.07790838 -0.03098632 0.99647887 -0.21080859] [ 0. 0. 0. 1. ]] SLAMing on 163.74241403699997 meters Centerline goodness : 0.823687 Centerline is valid? [False, False] Translation: X:1.19, Y:-1.15, Z:-0.21 [[ 0.89736319 -0.43331911 -0.08350957 1.18970036] [ 0.4347004 0.9005733 -0.00181403 -1.14671569] [ 0.07599254 -0.0346738 0.99650532 -0.21440871] [ 0. 0. 0. 1. ]] SLAMing on 163.77241403699998 meters Centerline goodness : 0.822350 Centerline is valid? [False, False] Translation: X:1.16, Y:-1.16, Z:-0.22 [[ 0.89464538 -0.43883565 -0.08386244 1.16096448] [ 0.44058047 0.89770942 0.00258026 -1.16045575] [ 0.0741518 -0.03925657 0.996474 -0.21954909] [ 0. 0. 0. 1. ]] SLAMing on 163.80241403699998 meters Centerline goodness : 0.823908 Centerline is valid? [False, False] Translation: X:1.12, Y:-1.18, Z:-0.22 [[ 0.893606 -0.44095371 -0.08383403 1.1233826 ] [ 0.44282578 0.89659775 0.00421868 -1.1785178 ] [ 0.07330516 -0.04089371 0.9964708 -0.22498362] [ 0. 0. 0. 1. ]] SLAMing on 163.83241403699998 meters Centerline goodness : 0.821283 Centerline is valid? [False, False] Translation: X:1.09, Y:-1.19, Z:-0.23 [[ 0.89147574 -0.444821 -0.08605398 1.09079279] [ 0.44698277 0.89451769 0.00667074 -1.19215969] [ 0.07400952 -0.04441145 0.99626814 -0.22822628] [ 0. 0. 0. 1. ]] SLAMing on 163.86241403699998 meters Centerline goodness : 0.822522 Centerline is valid? [False, False] Translation: X:1.06, Y:-1.21, Z:-0.23 [[ 0.88879677 -0.45023813 -0.08559157 1.05630176] [ 0.45236987 0.8918082 0.00629523 -1.20527243] [ 0.07349691 -0.04431423 0.99631042 -0.23304421] [ 0. 0. 0. 1. ]] SLAMing on 163.89241403699998 meters Centerline goodness : 0.822082 Centerline is valid? [False, False] Translation: X:1.03, Y:-1.22, Z:-0.24 [[ 0.88923741 -0.45011337 -0.08157686 1.02510436] [ 0.45151492 0.89226245 -0.00141341 -1.21777384] [ 0.07342417 -0.03557631 0.99666605 -0.23739007] [ 0. 0. 0. 1. ]] SLAMing on 163.92241403699998 meters Centerline goodness : 0.821078 Centerline is valid? [False, False] Translation: X:1.00, Y:-1.22, Z:-0.24 [[ 0.88792046 -0.45290387 -0.08046949 1.00373602] [ 0.45395407 0.89100634 -0.00578005 -1.22258492] [ 0.07431663 -0.03139723 0.99674031 -0.24159371] [ 0. 0. 0. 1. ]] SLAMing on 163.95241403699998 meters Centerline goodness : 0.819765 Centerline is valid? [False, False] Translation: X:0.97, Y:-1.24, Z:-0.25 [[ 0.88749948 -0.45378433 -0.08015273 0.96626904] [ 0.45500338 0.89048324 -0.00339447 -1.23643935] [ 0.07291502 -0.03345717 0.99677681 -0.24758811] [ 0. 0. 0. 1. ]] SLAMing on 163.98241403699998 meters Centerline goodness : 0.821775 Centerline is valid? [False, False] Translation: X:0.93, Y:-1.25, Z:-0.26 [[ 8.88265792e-01 -4.53509837e-01 -7.28883408e-02 9.30965688e-01] [ 4.54710781e-01 8.90639146e-01 -1.31449003e-04 -1.24928414e+00] [ 6.49768230e-02 -3.30263527e-02 9.97340099e-01 -2.56573527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.01241403699999 meters Centerline goodness : 0.820732 Centerline is valid? [False, False] Translation: X:0.90, Y:-1.26, Z:-0.26 [[ 0.88856209 -0.45434417 -0.06347268 0.8968524 ] [ 0.4554834 0.89023543 0.00397024 -1.25684573] [ 0.05470177 -0.03243855 0.99797568 -0.26281252] [ 0. 0. 0. 1. ]] SLAMing on 164.042414037 meters Centerline goodness : 0.822978 Centerline is valid? [False, False] Translation: X:0.87, Y:-1.27, Z:-0.27 [[ 0.88924956 -0.45389951 -0.05666081 0.86740758] [ 0.45479394 0.8905906 0.00329467 -1.26599005] [ 0.04896614 -0.02869878 0.99838805 -0.26503996] [ 0. 0. 0. 1. ]] SLAMing on 164.072414037 meters Centerline goodness : 0.823781 Centerline is valid? [False, False] Translation: X:0.84, Y:-1.27, Z:-0.27 [[ 0.88961223 -0.45399448 -0.04979043 0.83846275] [ 0.45462431 0.89068204 0.00149877 -1.27457001] [ 0.04366701 -0.02396926 0.99875856 -0.26741112] [ 0. 0. 0. 1. ]] SLAMing on 164.102414037 meters Centerline goodness : 0.823230 Centerline is valid? [False, False] Translation: X:0.80, Y:-1.28, Z:-0.27 [[ 0.8896458 -0.45470196 -0.04214825 0.8007617 ] [ 0.45519496 0.89038858 0.00239289 -1.28462565] [ 0.03644027 -0.0213145 0.9991085 -0.2734032 ] [ 0. 0. 0. 1. ]] SLAMing on 164.132414037 meters Centerline goodness : 0.823230 Centerline is valid? [False, False] Translation: X:0.77, Y:-1.30, Z:-0.28 [[ 8.90977671e-01 -4.52432232e-01 -3.82605049e-02 7.72185711e-01] [ 4.52735354e-01 8.91644557e-01 -8.27113451e-04 -1.29745724e+00] [ 3.44889837e-02 -1.65849436e-02 9.99267457e-01 -2.77233895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.162414037 meters Centerline goodness : 0.822357 Centerline is valid? [False, False] Translation: X:0.74, Y:-1.30, Z:-0.28 [[ 8.90289358e-01 -4.53726031e-01 -3.89557294e-02 7.35330378e-01] [ 4.54055400e-01 8.90973344e-01 -4.39174498e-04 -1.30486780e+00] [ 3.49077814e-02 -1.72970669e-02 9.99240841e-01 -2.82964008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.192414037 meters Centerline goodness : 0.821744 Centerline is valid? [False, False] Translation: X:0.70, Y:-1.32, Z:-0.29 [[ 0.89084468 -0.45304558 -0.03384459 0.69928424] [ 0.45338761 0.8913091 0.00278606 -1.31577153] [ 0.02890378 -0.01782666 0.99942322 -0.28988074] [ 0. 0. 0. 1. ]] SLAMing on 164.222414037 meters Centerline goodness : 0.822082 Centerline is valid? [False, False] Translation: X:0.66, Y:-1.33, Z:-0.29 [[ 0.89070653 -0.45344362 -0.03210543 0.66016006] [ 0.45377804 0.89110741 0.00361618 -1.32666406] [ 0.02696966 -0.01778969 0.99947795 -0.29429416] [ 0. 0. 0. 1. ]] SLAMing on 164.252414037 meters Centerline goodness : 0.820511 Centerline is valid? [False, False] Translation: X:0.62, Y:-1.33, Z:-0.30 [[ 0.89076385 -0.45378813 -0.02482144 0.62001535] [ 0.45400616 0.89099098 0.00367229 -1.33214389] [ 0.02044924 -0.01454023 0.99968516 -0.30096635] [ 0. 0. 0. 1. ]] SLAMing on 164.282414037 meters Centerline goodness : 0.819478 Centerline is valid? [False, False] Translation: X:0.58, Y:-1.34, Z:-0.31 [[ 0.89073108 -0.45398007 -0.02236617 0.57999645] [ 0.45415679 0.8909157 0.00329027 -1.34244373] [ 0.01843265 -0.01308849 0.99974443 -0.30502026] [ 0. 0. 0. 1. ]] SLAMing on 164.312414037 meters Centerline goodness : 0.820803 Centerline is valid? [False, False] Translation: X:0.54, Y:-1.35, Z:-0.31 [[ 0.89102296 -0.45352221 -0.01989223 0.53998844] [ 0.45366576 0.8911663 0.0031619 -1.35221693] [ 0.01629329 -0.01184175 0.99979713 -0.30947814] [ 0. 0. 0. 1. ]] SLAMing on 164.342414037 meters Centerline goodness : 0.817057 Centerline is valid? [False, False] Translation: X:0.50, Y:-1.35, Z:-0.32 [[ 0.89177865 -0.45213235 -0.01752658 0.49938711] [ 0.45223555 0.89189575 0.00223002 -1.35359847] [ 0.01462362 -0.00991483 0.99984391 -0.31507897] [ 0. 0. 0. 1. ]] SLAMing on 164.372414037 meters Centerline goodness : 0.816348 Centerline is valid? [False, False] Translation: X:0.47, Y:-1.36, Z:-0.32 [[ 8.92640659e-01 -4.50549706e-01 -1.40576276e-02 4.74231380e-01] [ 4.50591110e-01 8.92730413e-01 -2.47520811e-04 -1.35537498e+00] [ 1.26611921e-02 -6.11329489e-03 9.99901156e-01 -3.17310788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.402414037 meters Centerline goodness : 0.814715 Centerline is valid? [False, False] Translation: X:0.45, Y:-1.36, Z:-0.32 [[ 8.93279553e-01 -4.49382643e-01 -1.03383056e-02 4.50679691e-01] [ 4.49407941e-01 8.93326638e-01 1.39187158e-04 -1.35634318e+00] [ 9.17293548e-03 -4.77044967e-03 9.99946549e-01 -3.17849229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.432414037 meters Centerline goodness : 0.815944 Centerline is valid? [False, False] Translation: X:0.43, Y:-1.35, Z:-0.31 [[ 8.94923926e-01 -4.46129227e-01 -8.93750176e-03 4.26119537e-01] [ 4.46152404e-01 8.94956740e-01 6.82743973e-04 -1.34907637e+00] [ 7.69408540e-03 -4.59849181e-03 9.99959827e-01 -3.14016449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.462414037 meters Centerline goodness : 0.815735 Centerline is valid? [False, False] Translation: X:0.40, Y:-1.35, Z:-0.31 [[ 8.96121460e-01 -4.43767866e-01 -6.03410849e-03 4.01892113e-01] [ 4.43758819e-01 8.96141765e-01 -2.83697394e-03 -1.34993958e+00] [ 6.66637450e-03 -1.35415625e-04 9.99977770e-01 -3.14757093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.49241403699997 meters Centerline goodness : 0.814423 Centerline is valid? [False, False] Translation: X:0.39, Y:-1.34, Z:-0.31 [[ 0.89723608 -0.44143735 -0.01002364 0.38522615] [ 0.44134833 0.89728082 -0.00993928 -1.33988623] [ 0.01338159 0.00449396 0.99990036 -0.312436 ] [ 0. 0. 0. 1. ]] SLAMing on 164.52241403699998 meters Centerline goodness : 0.812381 Centerline is valid? [False, False] Translation: X:0.37, Y:-1.34, Z:-0.31 [[ 0.8976771 -0.44051265 -0.01115507 0.3665487 ] [ 0.44039367 0.89772935 -0.01163786 -1.33985992] [ 0.01514085 0.00553442 0.99987005 -0.31188636] [ 0. 0. 0. 1. ]] SLAMing on 164.55241403699998 meters Centerline goodness : 0.812797 Centerline is valid? [False, False] Translation: X:0.34, Y:-1.34, Z:-0.31 [[ 0.89869618 -0.43850592 -0.00759823 0.34224923] [ 0.43842561 0.89870909 -0.01024448 -1.34353003] [ 0.01132087 0.00587541 0.99991866 -0.31368704] [ 0. 0. 0. 1. ]] SLAMing on 164.58241403699998 meters Centerline goodness : 0.811142 Centerline is valid? [False, False] Translation: X:0.32, Y:-1.35, Z:-0.31 [[ 0.89921321 -0.43747705 -0.00542411 0.32220663] [ 0.43743357 0.89921839 -0.00762636 -1.34564161] [ 0.00821382 0.00448504 0.99995621 -0.31355659] [ 0. 0. 0. 1. ]] SLAMing on 164.61241403699998 meters Centerline goodness : 0.812258 Centerline is valid? [False, False] Translation: X:0.30, Y:-1.35, Z:-0.31 [[ 0.89938234 -0.4371549 -0.0026463 0.30075643] [ 0.43713766 0.89937898 -0.00530278 -1.3486318 ] [ 0.00469817 0.00361243 0.99998244 -0.31314467] [ 0. 0. 0. 1. ]] SLAMing on 164.64241403699998 meters Centerline goodness : 0.812754 Centerline is valid? [False, False] Translation: X:0.27, Y:-1.35, Z:-0.31 [[ 8.98100803e-01 -4.39788059e-01 1.18756289e-03 2.71777015e-01] [ 4.39787280e-01 8.98101552e-01 8.65816200e-04 -1.35070457e+00] [-1.44732770e-03 -2.55315171e-04 9.99998920e-01 -3.13910909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.67241403699998 meters Centerline goodness : 0.814686 Centerline is valid? [False, False] Translation: X:0.25, Y:-1.35, Z:-0.32 [[ 8.95184735e-01 -4.45695262e-01 -1.50384956e-04 2.45073268e-01] [ 4.45690746e-01 8.95174039e-01 4.81644959e-03 -1.35337799e+00] [-2.01204806e-03 -4.37863734e-03 9.99988390e-01 -3.15249528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.70241403699998 meters Centerline goodness : 0.814686 Centerline is valid? [False, False] Translation: X:0.24, Y:-1.35, Z:-0.32 [[ 0.8955818 -0.44489222 0.00203936 0.24201886] [ 0.44487652 0.89557525 0.00546364 -1.35493342] [-0.00425713 -0.00398587 0.99998299 -0.31609944] [ 0. 0. 0. 1. ]] SLAMing on 164.73241403699998 meters Centerline goodness : 0.814502 Centerline is valid? [False, False] Translation: X:0.24, Y:-1.35, Z:-0.32 [[ 0.89490989 -0.44623882 0.00268328 0.24131769] [ 0.4462275 0.89491089 0.0039393 -1.35190595] [-0.00415916 -0.00232796 0.99998864 -0.31668453] [ 0. 0. 0. 1. ]] SLAMing on 164.76241403699999 meters Centerline goodness : 0.815968 Centerline is valid? [False, False] Translation: X:0.21, Y:-1.35, Z:-0.32 [[ 0.89108248 -0.45383055 0.00313784 0.21197515] [ 0.45380669 0.89107854 0.00620679 -1.35293946] [-0.00561289 -0.00410679 0.99997581 -0.31694923] [ 0. 0. 0. 1. ]] SLAMing on 164.792414037 meters Centerline goodness : 0.816438 Centerline is valid? [False, False] Translation: X:0.17, Y:-1.36, Z:-0.32 [[ 0.89002847 -0.45588829 0.00389791 0.17431953] [ 0.45586245 0.89002971 0.00604471 -1.36154163] [-0.00622497 -0.00360306 0.99997413 -0.31645616] [ 0. 0. 0. 1. ]] SLAMing on 164.822414037 meters Centerline goodness : 0.816222 Centerline is valid? [False, False] Translation: X:0.16, Y:-1.35, Z:-0.31 [[ 8.89556678e-01 -4.56824728e-01 2.89498870e-04 1.57179522e-01] [ 4.56823778e-01 8.89553117e-01 -2.69943903e-03 -1.35202302e+00] [ 9.75645881e-04 2.53355399e-03 9.99996315e-01 -3.12727034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.852414037 meters Centerline goodness : 0.816559 Centerline is valid? [False, False] Translation: X:0.14, Y:-1.35, Z:-0.31 [[ 0.88989955 -0.45614997 -0.00244883 0.13997723] [ 0.4561252 0.88988852 -0.00694476 -1.34977407] [ 0.00534704 0.00506317 0.99997289 -0.31190082] [ 0. 0. 0. 1. ]] SLAMing on 164.882414037 meters Centerline goodness : 0.814961 Centerline is valid? [False, False] Translation: X:0.12, Y:-1.35, Z:-0.31 [[ 0.89053353 -0.45489719 -0.0043108 0.1220039 ] [ 0.45483173 0.89050955 -0.01099241 -1.34721429] [ 0.00883923 0.00782842 0.99993029 -0.31107506] [ 0. 0. 0. 1. ]] SLAMing on 164.912414037 meters Centerline goodness : 0.814121 Centerline is valid? [False, False] Translation: X:0.10, Y:-1.35, Z:-0.31 [[ 0.89167289 -0.45266776 -0.00336913 0.10142753] [ 0.4526123 0.89164326 -0.01069621 -1.34697097] [ 0.00784589 0.00801262 0.99993712 -0.31164255] [ 0. 0. 0. 1. ]] SLAMing on 164.942414037 meters Centerline goodness : 0.814121 Centerline is valid? [False, False] Translation: X:0.08, Y:-1.35, Z:-0.31 [[ 8.92069444e-01 -4.51898331e-01 6.90074494e-05 8.47351146e-02] [ 4.51885108e-01 8.92042151e-01 -7.78780305e-03 -1.35464648e+00] [ 3.45773765e-03 6.97844458e-03 9.99969672e-01 -3.13384158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.972414037 meters Centerline goodness : 0.815143 Centerline is valid? [False, False] Translation: X:0.08, Y:-1.34, Z:-0.31 [[ 8.94199685e-01 -4.47668300e-01 -1.31555601e-04 7.73198966e-02] [ 4.47659549e-01 8.94183969e-01 -5.99650693e-03 -1.34187634e+00] [ 2.80208097e-03 5.30318248e-03 9.99982012e-01 -3.13385807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.002414037 meters Centerline goodness : 0.814781 Centerline is valid? [False, False] Translation: X:0.05, Y:-1.35, Z:-0.32 [[ 0.89524237 -0.44552102 0.00721914 0.04578403] [ 0.44555483 0.8952458 -0.00398081 -1.34623169] [-0.00468937 0.00678031 0.99996602 -0.31616747] [ 0. 0. 0. 1. ]] SLAMing on 165.032414037 meters Centerline goodness : 0.815442 Centerline is valid? [False, False] Translation: X:0.02, Y:-1.35, Z:-0.32 [[ 0.8963801 -0.44317836 0.00978094 0.02480824] [ 0.44323323 0.89639597 -0.00430919 -1.34660848] [-0.00685785 0.00819791 0.99994288 -0.3151824 ] [ 0. 0. 0. 1. ]] SLAMing on 165.062414037 meters Centerline goodness : 0.815506 Centerline is valid? [False, False] Translation: X:0.00, Y:-1.35, Z:-0.31 [[ 0.8974431 -0.44096429 0.01209837 0.00340325] [ 0.44103241 0.89748413 -0.00355777 -1.34797869] [-0.00928924 0.00852867 0.99992048 -0.31393847] [ 0. 0. 0. 1. ]] SLAMing on 165.092414037 meters Centerline goodness : 0.817001 Centerline is valid? [False, False] Translation: X:-0.00, Y:-1.34, Z:-0.31 [[ 8.98348997e-01 -4.39126948e-01 1.16877066e-02 -3.16229383e-04] [ 4.39181894e-01 8.98394667e-01 -2.50741550e-03 -1.34293240e+00] [-9.39909953e-03 7.38556330e-03 9.99928553e-01 -3.12558499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.122414037 meters Centerline goodness : 0.814800 Centerline is valid? [False, False] Translation: X:-0.02, Y:-1.34, Z:-0.31 [[ 0.89926382 -0.43720581 0.01325384 -0.02418587] [ 0.43728133 0.89931866 -0.00331528 -1.33895797] [-0.01046996 0.00877696 0.99990667 -0.30895167] [ 0. 0. 0. 1. ]] SLAMing on 165.152414037 meters Centerline goodness : 0.814275 Centerline is valid? [False, False] Translation: X:-0.04, Y:-1.34, Z:-0.31 [[ 0.89978719 -0.43622592 0.00948479 -0.0391742 ] [ 0.43630158 0.89976179 -0.00834534 -1.33838861] [-0.0048936 0.01164726 0.99992019 -0.30701774] [ 0. 0. 0. 1. ]] SLAMing on 165.182414037 meters Centerline goodness : 0.811071 Centerline is valid? [False, False] Translation: X:-0.05, Y:-1.33, Z:-0.31 [[ 0.89997553 -0.43593822 0.00138322 -0.04912005] [ 0.43591447 0.8998828 -0.01376655 -1.33267775] [ 0.00475663 0.01299252 0.99990428 -0.30681351] [ 0. 0. 0. 1. ]] SLAMing on 165.212414037 meters Centerline goodness : 0.809260 Centerline is valid? [False, False] Translation: X:-0.08, Y:-1.34, Z:-0.31 [[ 8.99091965e-01 -4.37758888e-01 -8.90850587e-04 -7.62455376e-02] [ 4.37744425e-01 8.99075589e-01 -6.55007666e-03 -1.34020325e+00] [ 3.66829629e-03 5.49915642e-03 9.99978151e-01 -3.08741308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24241403699997 meters Centerline goodness : 0.809592 Centerline is valid? [False, False] Translation: X:-0.12, Y:-1.35, Z:-0.31 [[ 8.98392842e-01 -4.39192164e-01 -7.37629944e-04 -1.20419653e-01] [ 4.39192521e-01 8.98392874e-01 4.15636887e-04 -1.35456874e+00] [ 4.80137021e-04 -6.97366759e-04 9.99999642e-01 -3.11157928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.27241403699998 meters Centerline goodness : 0.808735 Centerline is valid? [False, False] Translation: X:-0.14, Y:-1.36, Z:-0.31 [[ 8.98716801e-01 -4.38523569e-01 2.27854978e-03 -1.40949301e-01] [ 4.38520769e-01 8.98719565e-01 1.63654207e-03 -1.35929357e+00] [-2.76543953e-03 -4.71596448e-04 9.99996065e-01 -3.10781000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.30241403699998 meters Centerline goodness : 0.808419 Centerline is valid? [False, False] Translation: X:-0.18, Y:-1.37, Z:-0.31 [[ 0.89604708 -0.44392762 0.00528177 -0.17990627] [ 0.44385472 0.89603102 0.01101767 -1.36643938] [-0.00962367 -0.00752801 0.99992535 -0.31157919] [ 0. 0. 0. 1. ]] SLAMing on 165.33241403699998 meters Centerline goodness : 0.807969 Centerline is valid? [False, False] Translation: X:-0.22, Y:-1.38, Z:-0.32 [[ 0.89526949 -0.44542287 0.00953944 -0.22030429] [ 0.44523945 0.89525704 0.01663322 -1.37948538] [-0.01594907 -0.01064388 0.99981615 -0.31616608] [ 0. 0. 0. 1. ]] SLAMing on 165.36241403699998 meters Centerline goodness : 0.805257 Centerline is valid? [False, False] Translation: X:-0.26, Y:-1.39, Z:-0.32 [[ 0.89472028 -0.44651057 0.01019465 -0.26005465] [ 0.44630426 0.89470843 0.01758782 -1.39093917] [-0.01697439 -0.01118627 0.99979335 -0.31865976] [ 0. 0. 0. 1. ]] SLAMing on 165.39241403699998 meters Centerline goodness : 0.805450 Centerline is valid? [False, False] Translation: X:-0.30, Y:-1.40, Z:-0.32 [[ 0.8941169 -0.4477231 0.00994963 -0.30159275] [ 0.44747373 0.89406835 0.0202249 -1.40273215] [-0.0179508 -0.01363122 0.99974595 -0.32188208] [ 0. 0. 0. 1. ]] SLAMing on 165.42241403699998 meters Centerline goodness : 0.803360 Centerline is valid? [False, False] Translation: X:-0.35, Y:-1.41, Z:-0.32 [[ 0.89346302 -0.44902069 0.01021057 -0.34632028] [ 0.44878272 0.89343047 0.01939242 -1.40769287] [-0.01783003 -0.01274408 0.99975981 -0.32310732] [ 0. 0. 0. 1. ]] SLAMing on 165.45241403699998 meters Centerline goodness : 0.802638 Centerline is valid? [False, False] Translation: X:-0.40, Y:-1.41, Z:-0.32 [[ 0.89426489 -0.44736621 0.01240113 -0.39816396] [ 0.4470277 0.89422506 0.02297365 -1.4146525 ] [-0.02136704 -0.01500088 0.99965915 -0.31902605] [ 0. 0. 0. 1. ]] SLAMing on 165.48241403699998 meters Centerline goodness : 0.804605 Centerline is valid? [False, False] Translation: X:-0.45, Y:-1.43, Z:-0.32 [[ 0.89493777 -0.44607901 0.00999495 -0.44959615] [ 0.44555724 0.89463591 0.03324662 -1.42975702] [-0.02377246 -0.02530033 0.9993972 -0.31702398] [ 0. 0. 0. 1. ]] SLAMing on 165.51241403699999 meters Centerline goodness : 0.802946 Centerline is valid? [False, False] Translation: X:-0.49, Y:-1.44, Z:-0.32 [[ 0.89631994 -0.44332235 0.00870933 -0.49357509] [ 0.44264546 0.89575748 0.04103094 -1.44286846] [-0.02599138 -0.03292171 0.99911992 -0.31802133] [ 0. 0. 0. 1. ]] SLAMing on 165.542414037 meters Centerline goodness : 0.799720 Centerline is valid? [False, False] Translation: X:-0.53, Y:-1.45, Z:-0.32 [[ 0.89806316 -0.43979735 0.00780073 -0.53364815] [ 0.43906786 0.89735978 0.04432645 -1.45374985] [-0.02649472 -0.03638291 0.99898664 -0.31888261] [ 0. 0. 0. 1. ]] SLAMing on 165.572414037 meters Centerline goodness : 0.803828 Centerline is valid? [False, False] Translation: X:-0.57, Y:-1.46, Z:-0.32 [[ 0.89936274 -0.43719605 0.00250588 -0.5715501 ] [ 0.43634515 0.89794176 0.05747608 -1.45809729] [-0.02737845 -0.05059841 0.99834374 -0.31717718] [ 0. 0. 0. 1. ]] SLAMing on 165.602414037 meters Centerline goodness : 0.801515 Centerline is valid? [False, False] Translation: X:-0.61, Y:-1.47, Z:-0.32 [[ 0.90062348 -0.43459323 0.00246567 -0.6120806 ] [ 0.43364874 0.89901247 0.06103569 -1.46959197] [-0.02874237 -0.05390094 0.99813254 -0.3165075 ] [ 0. 0. 0. 1. ]] SLAMing on 165.632414037 meters Centerline goodness : 0.803102 Centerline is valid? [False, False] Translation: X:-0.62, Y:-1.47, Z:-0.31 [[ 0.90314416 -0.42932772 0.00288606 -0.62350278] [ 0.42850111 0.90178392 0.05632551 -1.47023289] [-0.02678471 -0.04963337 0.99840829 -0.31412542] [ 0. 0. 0. 1. ]] SLAMing on 165.662414037 meters Centerline goodness : 0.801077 Centerline is valid? [False, False] Translation: X:-0.63, Y:-1.47, Z:-0.31 [[ 9.05400079e-01 -4.24559402e-01 1.03454801e-04 -6.34229656e-01] [ 4.23986064e-01 9.04190006e-01 5.17324838e-02 -1.47129634e+00] [-2.20570552e-02 -4.67947315e-02 9.98660973e-01 -3.10634581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.692414037 meters Centerline goodness : 0.803954 Centerline is valid? [False, False] Translation: X:-0.64, Y:-1.47, Z:-0.31 [[ 9.07241145e-01 -4.20610184e-01 7.60236301e-04 -6.42692361e-01] [ 4.20185374e-01 9.06403163e-01 4.33308033e-02 -1.47037141e+00] [-1.89144577e-02 -3.89920474e-02 9.99060490e-01 -3.10406571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.722414037 meters Centerline goodness : 0.805788 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.47, Z:-0.31 [[ 0.90877912 -0.41723419 -0.00601199 -0.65050428] [ 0.41714607 0.90803697 0.03818407 -1.46968388] [-0.01047259 -0.03720876 0.99925264 -0.30662074] [ 0. 0. 0. 1. ]] SLAMing on 165.752414037 meters Centerline goodness : 0.807236 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.46, Z:-0.30 [[ 0.90844266 -0.41757695 -0.01901134 -0.65561007] [ 0.41800653 0.9076676 0.03755098 -1.46334824] [ 0.00157556 -0.04205977 0.99911385 -0.30120121] [ 0. 0. 0. 1. ]] SLAMing on 165.782414037 meters Centerline goodness : 0.808556 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.47, Z:-0.30 [[ 0.9091968 -0.41525138 -0.03045431 -0.66073559] [ 0.41619809 0.90847537 0.03810049 -1.46582662] [ 0.01184571 -0.04731587 0.99880974 -0.2967563 ] [ 0. 0. 0. 1. ]] SLAMing on 165.812414037 meters Centerline goodness : 0.810656 Centerline is valid? [False, False] Translation: X:-0.67, Y:-1.47, Z:-0.29 [[ 0.90971171 -0.4131185 -0.04192512 -0.66504514] [ 0.41464183 0.90917767 0.03831604 -1.46933959] [ 0.02228831 -0.05224046 0.99838578 -0.29245509] [ 0. 0. 0. 1. ]] SLAMing on 165.842414037 meters Centerline goodness : 0.810701 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.46, Z:-0.29 [[ 0.90842024 -0.41595943 -0.04183805 -0.66464741] [ 0.41741107 0.90802678 0.03543101 -1.46385041] [ 0.02325221 -0.04964991 0.99849598 -0.29343144] [ 0. 0. 0. 1. ]] SLAMing on 165.872414037 meters Centerline goodness : 0.813463 Centerline is valid? [False, False] Translation: X:-0.67, Y:-1.46, Z:-0.29 [[ 0.90797247 -0.41694389 -0.04175859 -0.66506281] [ 0.41835965 0.9076416 0.03408715 -1.46072452] [ 0.0236894 -0.0484203 0.99854609 -0.29364181] [ 0. 0. 0. 1. ]] SLAMing on 165.902414037 meters Centerline goodness : 0.813102 Centerline is valid? [False, False] Translation: X:-0.67, Y:-1.46, Z:-0.29 [[ 0.90756656 -0.4178379 -0.04164651 -0.666091 ] [ 0.41921297 0.90730157 0.03262438 -1.45710186] [ 0.02415425 -0.04706755 0.99859963 -0.29335757] [ 0. 0. 0. 1. ]] SLAMing on 165.932414037 meters Centerline goodness : 0.816697 Centerline is valid? [False, False] Translation: X:-0.67, Y:-1.45, Z:-0.29 [[ 0.90802936 -0.41676346 -0.04231904 -0.66968746] [ 0.41817705 0.90777013 0.03288389 -1.45049556] [ 0.02471115 -0.04755639 0.99856284 -0.29199174] [ 0. 0. 0. 1. ]] SLAMing on 165.962414037 meters Centerline goodness : 0.820998 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.45, Z:-0.29 [[ 0.90989907 -0.41200342 -0.0483412 -0.67762683] [ 0.41358924 0.91000271 0.0289656 -1.44979343] [ 0.0320567 -0.04634917 0.9984108 -0.2882085 ] [ 0. 0. 0. 1. ]] SLAMing on 165.99241403699997 meters Centerline goodness : 0.820936 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.45, Z:-0.29 [[ 0.91176583 -0.40714617 -0.05399133 -0.68533476] [ 0.40880787 0.91230494 0.02399621 -1.44843668] [ 0.03948659 -0.04395101 0.99825303 -0.28509591] [ 0. 0. 0. 1. ]] SLAMing on 166.02241403699998 meters Centerline goodness : 0.823236 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.44, Z:-0.28 [[ 0.91268172 -0.4048733 -0.05558506 -0.68587672] [ 0.40667435 0.91321119 0.0257158 -1.44460616] [ 0.04034926 -0.04607536 0.99812274 -0.28497927] [ 0. 0. 0. 1. ]] SLAMing on 166.05241403699998 meters Centerline goodness : 0.824587 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.44, Z:-0.28 [[ 0.91357828 -0.4028228 -0.05575408 -0.69067328] [ 0.40460861 0.91414322 0.02518036 -1.43544957] [ 0.04082399 -0.04556281 0.99812696 -0.28428609] [ 0. 0. 0. 1. ]] SLAMing on 166.08241403699998 meters Centerline goodness : 0.825790 Centerline is valid? [False, False] Translation: X:-0.70, Y:-1.43, Z:-0.28 [[ 0.91635687 -0.39634805 -0.05655362 -0.69908679] [ 0.39795344 0.91718264 0.0202254 -1.43463458] [ 0.0438537 -0.04103939 0.99819468 -0.28370908] [ 0. 0. 0. 1. ]] SLAMing on 166.11241403699998 meters Centerline goodness : 0.826524 Centerline is valid? [False, False] Translation: X:-0.71, Y:-1.43, Z:-0.28 [[ 0.91907283 -0.38964532 -0.05900556 -0.70656051] [ 0.39109301 0.92023046 0.01490482 -1.43309161] [ 0.04849112 -0.03677528 0.99814638 -0.28292625] [ 0. 0. 0. 1. ]] SLAMing on 166.14241403699998 meters Centerline goodness : 0.828117 Centerline is valid? [False, False] Translation: X:-0.72, Y:-1.43, Z:-0.28 [[ 0.92238606 -0.38052727 -0.06635468 -0.71560696] [ 0.38206979 0.9240574 0.01185752 -1.42692434] [ 0.05680343 -0.03628933 0.99772564 -0.28003934] [ 0. 0. 0. 1. ]] SLAMing on 166.17241403699998 meters Centerline goodness : 0.829130 Centerline is valid? [False, False] Translation: X:-0.72, Y:-1.42, Z:-0.28 [[ 0.92331477 -0.37812459 -0.06716864 -0.71803096] [ 0.37975278 0.92499798 0.012906 -1.4222212 ] [ 0.05725078 -0.03742378 0.99765816 -0.27922486] [ 0. 0. 0. 1. ]] SLAMing on 166.20241403699998 meters Centerline goodness : 0.827877 Centerline is valid? [False, False] Translation: X:-0.72, Y:-1.42, Z:-0.28 [[ 0.92436547 -0.37541747 -0.06789845 -0.72023948] [ 0.37715444 0.92603847 0.01439692 -1.41840474] [ 0.05747172 -0.03891621 0.99758836 -0.27872512] [ 0. 0. 0. 1. ]] SLAMing on 166.23241403699998 meters Centerline goodness : 0.825838 Centerline is valid? [False, False] Translation: X:-0.72, Y:-1.41, Z:-0.28 [[ 0.92547305 -0.37268327 -0.06787346 -0.72397903] [ 0.37439663 0.92716159 0.01409063 -1.41123356] [ 0.05767832 -0.0384521 0.99759443 -0.2787549 ] [ 0. 0. 0. 1. ]] SLAMing on 166.26241403699999 meters Centerline goodness : 0.835761 Centerline is valid? [False, False] Translation: X:-0.73, Y:-1.41, Z:-0.27 [[ 0.92760431 -0.3646643 -0.08105679 -0.72545173] [ 0.36707813 0.93004088 0.01666174 -1.41435391] [ 0.06931018 -0.04520968 0.99657021 -0.27419477] [ 0. 0. 0. 1. ]] SLAMing on 166.292414037 meters Centerline goodness : 0.833218 Centerline is valid? [False, False] Translation: X:-0.73, Y:-1.41, Z:-0.27 [[ 0.92883708 -0.36142898 -0.0814295 -0.72929266] [ 0.36380085 0.93134028 0.01594452 -1.41406886] [ 0.07007576 -0.04443398 0.99655156 -0.27255065] [ 0. 0. 0. 1. ]] SLAMing on 166.322414037 meters Centerline goodness : 0.831364 Centerline is valid? [False, False] Translation: X:-0.73, Y:-1.42, Z:-0.27 [[ 0.93049591 -0.35371426 -0.0952029 -0.73027124] [ 0.35700222 0.93390023 0.01948765 -1.41718351] [ 0.08201696 -0.05212083 0.99526712 -0.26720698] [ 0. 0. 0. 1. ]] SLAMing on 166.352414037 meters Centerline goodness : 0.832514 Centerline is valid? [False, False] Translation: X:-0.73, Y:-1.41, Z:-0.27 [[ 0.93101718 -0.35200284 -0.09644178 -0.73215343] [ 0.35548966 0.93444053 0.02116572 -1.41358626] [ 0.08266871 -0.05398971 0.99511356 -0.26534316] [ 0. 0. 0. 1. ]] SLAMing on 166.382414037 meters Centerline goodness : 0.832088 Centerline is valid? [False, False] Translation: X:-0.73, Y:-1.42, Z:-0.26 [[ 0.93186467 -0.34561026 -0.1103711 -0.73212465] [ 0.35009657 0.93641558 0.02362754 -1.41682973] [ 0.0951873 -0.06065821 0.99360956 -0.26007294] [ 0. 0. 0. 1. ]] SLAMing on 166.412414037 meters Centerline goodness : 0.836281 Centerline is valid? [False, False] Translation: X:-0.73, Y:-1.42, Z:-0.26 [[ 0.93234713 -0.34005106 -0.12285805 -0.73235894] [ 0.34539217 0.9381385 0.02450309 -1.41955592] [ 0.10692557 -0.06527959 0.99212172 -0.25516832] [ 0. 0. 0. 1. ]] SLAMing on 166.442414037 meters Centerline goodness : 0.836492 Centerline is valid? [False, False] Translation: X:-0.73, Y:-1.42, Z:-0.25 [[ 0.93253184 -0.33430412 -0.13647393 -0.73232695] [ 0.34080352 0.93975483 0.02671737 -1.42288203] [ 0.11932031 -0.0714256 0.99028332 -0.2499003 ] [ 0. 0. 0. 1. ]] SLAMing on 166.472414037 meters Centerline goodness : 0.836738 Centerline is valid? [False, False] Translation: X:-0.73, Y:-1.43, Z:-0.25 [[ 0.93258273 -0.32844383 -0.1497134 -0.73190514] [ 0.33606373 0.94142067 0.02807646 -1.42573593] [ 0.13172175 -0.07649687 0.98833072 -0.24541372] [ 0. 0. 0. 1. ]] SLAMing on 166.502414037 meters Centerline goodness : 0.842031 Centerline is valid? [False, False] Translation: X:-0.73, Y:-1.43, Z:-0.24 [[ 0.93211334 -0.32353972 -0.16274759 -0.73093616] [ 0.33199009 0.94289754 0.02695941 -1.42581686] [ 0.14473187 -0.07915982 0.98629935 -0.24226333] [ 0. 0. 0. 1. ]] SLAMing on 166.532414037 meters Centerline goodness : 0.841525 Centerline is valid? [False, False] Translation: X:-0.73, Y:-1.43, Z:-0.24 [[ 0.93168949 -0.31775371 -0.17603202 -0.73010382] [ 0.32722432 0.94456414 0.02688545 -1.4277501 ] [ 0.15773059 -0.08265085 0.98401723 -0.23849712] [ 0. 0. 0. 1. ]] SLAMing on 166.562414037 meters Centerline goodness : 0.833661 Centerline is valid? [False, False] Translation: X:-0.73, Y:-1.43, Z:-0.24 [[ 0.93128068 -0.31228385 -0.18760353 -0.73132684] [ 0.3224206 0.94625589 0.02539206 -1.42684377] [ 0.16959142 -0.08413438 0.98191657 -0.23568065] [ 0. 0. 0. 1. ]] SLAMing on 166.592414037 meters Centerline goodness : 0.836545 Centerline is valid? [False, False] Translation: X:-0.73, Y:-1.43, Z:-0.23 [[ 0.93197176 -0.30950833 -0.18876768 -0.73169032] [ 0.32017332 0.94694188 0.02810909 -1.42614659] [ 0.17005202 -0.08663526 0.9816194 -0.23494524] [ 0. 0. 0. 1. ]] SLAMing on 166.622414037 meters Centerline goodness : 0.831675 Centerline is valid? [False, False] Translation: X:-0.73, Y:-1.43, Z:-0.23 [[ 0.93301875 -0.30572142 -0.18976415 -0.73355444] [ 0.31699971 0.9479033 0.03147239 -1.4260523 ] [ 0.17025629 -0.08951951 0.98132515 -0.23339613] [ 0. 0. 0. 1. ]] SLAMing on 166.652414037 meters Centerline goodness : 0.816643 Centerline is valid? [False, False] Translation: X:-0.74, Y:-1.42, Z:-0.23 [[ 0.93417103 -0.30152796 -0.19080194 -0.7355814 ] [ 0.3134278 0.94897151 0.03487239 -1.4248832 ] [ 0.17055061 -0.09237941 0.98100894 -0.23198264] [ 0. 0. 0. 1. ]] SLAMing on 166.682414037 meters Centerline goodness : 0.832536 Centerline is valid? [False, False] Translation: X:-0.74, Y:-1.42, Z:-0.23 [[ 0.93672461 -0.29260598 -0.19216851 -0.74077525] [ 0.30543322 0.95136298 0.04023718 -1.41963045] [ 0.17104836 -0.0963858 0.98053671 -0.23019057] [ 0. 0. 0. 1. ]] SLAMing on 166.712414037 meters Centerline goodness : 0.826678 Centerline is valid? [False, False] Translation: X:-0.74, Y:-1.42, Z:-0.23 [[ 0.9376439 -0.28901214 -0.19312145 -0.74099689] [ 0.30218873 0.95232202 0.04200877 -1.41631149] [ 0.17177277 -0.09774839 0.98027515 -0.23094418] [ 0. 0. 0. 1. ]] SLAMing on 166.74241403699997 meters Centerline goodness : 0.809812 Centerline is valid? [False, False] Translation: X:-0.74, Y:-1.41, Z:-0.23 [[ 0.93799746 -0.28826713 -0.19251708 -0.74071168] [ 0.30096541 0.95280868 0.03969186 -1.4120333 ] [ 0.17199009 -0.09517185 0.98049056 -0.23382879] [ 0. 0. 0. 1. ]] SLAMing on 166.77241403699998 meters Centerline goodness : 0.806481 Centerline is valid? [False, False] Translation: X:-0.74, Y:-1.41, Z:-0.24 [[ 0.93877253 -0.2873009 -0.19016923 -0.74055106] [ 0.29888699 0.95365714 0.03470772 -1.40612373] [ 0.17138468 -0.08942177 0.98113762 -0.24048298] [ 0. 0. 0. 1. ]] SLAMing on 166.80241403699998 meters Centerline goodness : 0.807429 Centerline is valid? [False, False] Translation: X:-0.74, Y:-1.41, Z:-0.24 [[ 0.93929386 -0.28588006 -0.18973568 -0.74036012] [ 0.29731909 0.95416463 0.03422316 -1.40512067] [ 0.17125536 -0.08855764 0.98123858 -0.24230916] [ 0. 0. 0. 1. ]] SLAMing on 166.83241403699998 meters Centerline goodness : 0.806078 Centerline is valid? [False, False] Translation: X:-0.74, Y:-1.40, Z:-0.24 [[ 0.94056312 -0.28145753 -0.19005968 -0.74329533] [ 0.29342273 0.95524835 0.0374659 -1.40415497] [ 0.17100914 -0.09100687 0.9810574 -0.24124419] [ 0. 0. 0. 1. ]] SLAMing on 166.86241403699998 meters Centerline goodness : 0.806078 Centerline is valid? [False, False] Translation: X:-0.74, Y:-1.40, Z:-0.24 [[ 0.94056312 -0.28145753 -0.19005968 -0.74329533] [ 0.29342273 0.95524835 0.0374659 -1.40415497] [ 0.17100914 -0.09100687 0.9810574 -0.24124419] [ 0. 0. 0. 1. ]] SLAMing on 166.89241403699998 meters Centerline goodness : 0.804010 Centerline is valid? [False, False] Translation: X:-0.74, Y:-1.40, Z:-0.24 [[ 0.94078818 -0.28053828 -0.19030471 -0.74378087] [ 0.29256246 0.95550084 0.03775389 -1.40264338] [ 0.1712449 -0.09119442 0.98099886 -0.24095434] [ 0. 0. 0. 1. ]] SLAMing on 166.92241403699998 meters Centerline goodness : 0.803054 Centerline is valid? [False, False] Translation: X:-0.74, Y:-1.40, Z:-0.24 [[ 0.94084636 -0.28048456 -0.19009613 -0.74422098] [ 0.29242971 0.95555467 0.03741841 -1.40186398] [ 0.17115196 -0.09079473 0.98105215 -0.24108255] [ 0. 0. 0. 1. ]] SLAMing on 166.95241403699998 meters Centerline goodness : 0.804948 Centerline is valid? [False, False] Translation: X:-0.74, Y:-1.40, Z:-0.24 [[ 0.94083859 -0.28050238 -0.19010828 -0.74308473] [ 0.29241267 0.955568 0.03721052 -1.40180138] [ 0.17122375 -0.09059916 0.9810577 -0.24212918] [ 0. 0. 0. 1. ]] SLAMing on 166.98241403699998 meters Centerline goodness : 0.802905 Centerline is valid? [False, False] Translation: X:-0.74, Y:-1.40, Z:-0.24 [[ 0.94078565 -0.28146817 -0.18893924 -0.74165502] [ 0.29297475 0.95546355 0.03542868 -1.40377096] [ 0.17055251 -0.08868522 0.98134946 -0.24432204] [ 0. 0. 0. 1. ]] SLAMing on 167.01241403699999 meters Centerline goodness : 0.802767 Centerline is valid? [False, False] Translation: X:-0.74, Y:-1.41, Z:-0.24 [[ 0.94086885 -0.28084399 -0.18945306 -0.74063985] [ 0.29260726 0.95552865 0.03668761 -1.40546121] [ 0.17072433 -0.08995357 0.98120414 -0.24399823] [ 0. 0. 0. 1. ]] SLAMing on 167.042414037 meters Centerline goodness : 0.804624 Centerline is valid? [False, False] Translation: X:-0.74, Y:-1.41, Z:-0.24 [[ 0.94091727 -0.28036019 -0.18992858 -0.73980649] [ 0.29232474 0.95557843 0.03763122 -1.40645238] [ 0.17094136 -0.09092869 0.98107646 -0.24374864] [ 0. 0. 0. 1. ]] SLAMing on 167.072414037 meters Centerline goodness : 0.808159 Centerline is valid? [False, False] Translation: X:-0.74, Y:-1.41, Z:-0.24 [[ 0.94083485 -0.28049304 -0.19014055 -0.73950161] [ 0.2925005 0.95551993 0.03775086 -1.40685493] [ 0.17109423 -0.09113353 0.98103081 -0.24339841] [ 0. 0. 0. 1. ]] SLAMing on 167.102414037 meters Centerline goodness : 0.801798 Centerline is valid? [False, False] Translation: X:-0.74, Y:-1.41, Z:-0.24 [[ 0.94076789 -0.28064178 -0.19025238 -0.73824495] [ 0.29253667 0.95553697 0.03703244 -1.40603999] [ 0.17140033 -0.09049473 0.98103651 -0.24444867] [ 0. 0. 0. 1. ]] SLAMing on 167.132414037 meters Centerline goodness : 0.804287 Centerline is valid? [False, False] Translation: X:-0.74, Y:-1.41, Z:-0.25 [[ 0.94087907 -0.28025339 -0.1902751 -0.73749386] [ 0.29212417 0.95566762 0.03691719 -1.40629484] [ 0.17149359 -0.09031857 0.98103645 -0.24512964] [ 0. 0. 0. 1. ]] SLAMing on 167.162414037 meters Centerline goodness : 0.802961 Centerline is valid? [False, False] Translation: X:-0.74, Y:-1.41, Z:-0.25 [[ 0.94114789 -0.27963521 -0.18985468 -0.73772389] [ 0.29142342 0.95588896 0.03672455 -1.40672355] [ 0.17121051 -0.08989133 0.98112512 -0.24580842] [ 0. 0. 0. 1. ]] SLAMing on 167.192414037 meters Centerline goodness : 0.804166 Centerline is valid? [False, False] Translation: X:-0.74, Y:-1.41, Z:-0.25 [[ 0.94268461 -0.27564065 -0.1880637 -0.74126117] [ 0.28730014 0.95711426 0.03729495 -1.40796179] [ 0.16971844 -0.0891881 0.98144849 -0.24691719] [ 0. 0. 0. 1. ]] SLAMing on 167.222414037 meters Centerline goodness : 0.803180 Centerline is valid? [False, False] Translation: X:-0.74, Y:-1.41, Z:-0.25 [[ 0.94397217 -0.2709632 -0.18840248 -0.74333922] [ 0.28321619 0.95818116 0.04095681 -1.40912425] [ 0.16942592 -0.09202072 0.98123751 -0.24623444] [ 0. 0. 0. 1. ]] SLAMing on 167.252414037 meters Centerline goodness : 0.803690 Centerline is valid? [False, False] Translation: X:-0.75, Y:-1.41, Z:-0.25 [[ 0.94531231 -0.26596821 -0.1888003 -0.74508585] [ 0.27882029 0.95930536 0.04463724 -1.40979779] [ 0.16924505 -0.09483748 0.98100049 -0.24593741] [ 0. 0. 0. 1. ]] SLAMing on 167.282414037 meters Centerline goodness : 0.804928 Centerline is valid? [False, False] Translation: X:-0.75, Y:-1.41, Z:-0.25 [[ 0.9473119 -0.25932338 -0.18802008 -0.74788946] [ 0.272514 0.96097279 0.04761748 -1.40985862] [ 0.16833386 -0.09634671 0.98101021 -0.24757977] [ 0. 0. 0. 1. ]] SLAMing on 167.312414037 meters Centerline goodness : 0.803891 Centerline is valid? [False, False] Translation: X:-0.75, Y:-1.41, Z:-0.25 [[ 0.94773137 -0.25844407 -0.1871147 -0.74807745] [ 0.2713986 0.96132677 0.04683629 -1.41005272] [ 0.16777381 -0.09517089 0.9812209 -0.24942529] [ 0. 0. 0. 1. ]] SLAMing on 167.342414037 meters Centerline goodness : 0.803359 Centerline is valid? [False, False] Translation: X:-0.75, Y:-1.41, Z:-0.25 [[ 0.94776629 -0.25990179 -0.18490571 -0.74856782] [ 0.27205012 0.96131159 0.04322921 -1.41124235] [ 0.16651665 -0.0912748 0.98180503 -0.25192313] [ 0. 0. 0. 1. ]] SLAMing on 167.372414037 meters Centerline goodness : 0.812070 Centerline is valid? [False, False] Translation: X:-0.75, Y:-1.41, Z:-0.25 [[ 0.94775799 -0.2610782 -0.18328382 -0.74786648] [ 0.27262978 0.96126662 0.04049071 -1.4133178 ] [ 0.16561338 -0.08834403 0.98222581 -0.25419129] [ 0. 0. 0. 1. ]] SLAMing on 167.402414037 meters Centerline goodness : 0.813476 Centerline is valid? [False, False] Translation: X:-0.75, Y:-1.42, Z:-0.26 [[ 0.94779895 -0.26223158 -0.18141593 -0.74795236] [ 0.27324294 0.96118723 0.03817593 -1.41626431] [ 0.16436374 -0.08575373 0.98266518 -0.25596827] [ 0. 0. 0. 1. ]] SLAMing on 167.432414037 meters Centerline goodness : 0.806683 Centerline is valid? [False, False] Translation: X:-0.75, Y:-1.42, Z:-0.26 [[ 0.94838131 -0.26009648 -0.18144619 -0.74694557] [ 0.27163806 0.96150365 0.04151504 -1.42368838] [ 0.16366326 -0.08865978 0.98252419 -0.25550764] [ 0. 0. 0. 1. ]] SLAMing on 167.462414037 meters Centerline goodness : 0.808833 Centerline is valid? [False, False] Translation: X:-0.75, Y:-1.43, Z:-0.25 [[ 0.94872604 -0.25867993 -0.18166892 -0.74626927] [ 0.27057649 0.96170881 0.04364091 -1.42791354] [ 0.16342357 -0.09055861 0.9823909 -0.25495825] [ 0. 0. 0. 1. ]] SLAMing on 167.49241403699997 meters Centerline goodness : 0.816119 Centerline is valid? [False, False] Translation: X:-0.75, Y:-1.43, Z:-0.25 [[ 0.94891211 -0.25795118 -0.18173332 -0.7462062 ] [ 0.27014403 0.96174673 0.04544703 -1.43195854] [ 0.16305831 -0.0922194 0.98229709 -0.25399976] [ 0. 0. 0. 1. ]] SLAMing on 167.52241403699998 meters Centerline goodness : 0.810385 Centerline is valid? [False, False] Translation: X:-0.74, Y:-1.44, Z:-0.25 [[ 0.94924317 -0.25740393 -0.18077781 -0.74493437] [ 0.26969518 0.96181566 0.04663838 -1.44051145] [ 0.16187002 -0.09302607 0.98241755 -0.25426805] [ 0. 0. 0. 1. ]] SLAMing on 167.55241403699998 meters Centerline goodness : 0.816590 Centerline is valid? [False, False] Translation: X:-0.74, Y:-1.44, Z:-0.26 [[ 0.94918903 -0.2585556 -0.17941345 -0.74421247] [ 0.27048345 0.96166659 0.04512285 -1.44464856] [ 0.16086916 -0.09135848 0.98273839 -0.25554297] [ 0. 0. 0. 1. ]] SLAMing on 167.58241403699998 meters Centerline goodness : 0.804044 Centerline is valid? [False, False] Translation: X:-0.74, Y:-1.45, Z:-0.26 [[ 0.94951949 -0.25760175 -0.17903653 -0.74232762] [ 0.26963469 0.96186049 0.04606016 -1.4498334 ] [ 0.16034299 -0.09200948 0.98276365 -0.2566986 ] [ 0. 0. 0. 1. ]] SLAMing on 167.61241403699998 meters Centerline goodness : 0.815037 Centerline is valid? [False, False] Translation: X:-0.74, Y:-1.46, Z:-0.26 [[ 0.94986638 -0.25738376 -0.17750343 -0.74190498] [ 0.26935526 0.96191303 0.04659469 -1.45889365] [ 0.15875015 -0.09207021 0.98301651 -0.25702521] [ 0. 0. 0. 1. ]] SLAMing on 167.64241403699998 meters Centerline goodness : 0.812136 Centerline is valid? [False, False] Translation: X:-0.74, Y:-1.46, Z:-0.26 [[ 0.95027397 -0.25574915 -0.17768442 -0.74101376] [ 0.26805575 0.96217216 0.04869134 -1.4632475 ] [ 0.15851023 -0.09389944 0.98288219 -0.25681913] [ 0. 0. 0. 1. ]] SLAMing on 167.67241403699998 meters Centerline goodness : 0.811039 Centerline is valid? [False, False] Translation: X:-0.74, Y:-1.47, Z:-0.26 [[ 0.95063014 -0.25447902 -0.17760285 -0.74063803] [ 0.26702056 0.96237737 0.05029729 -1.4672509 ] [ 0.15812136 -0.09523773 0.98281606 -0.25661316] [ 0. 0. 0. 1. ]] SLAMing on 167.70241403699998 meters Centerline goodness : 0.811123 Centerline is valid? [False, False] Translation: X:-0.74, Y:-1.48, Z:-0.26 [[ 0.95155182 -0.25251193 -0.17546183 -0.7402943 ] [ 0.26496624 0.96289665 0.05121464 -1.47684988] [ 0.1560193 -0.09522484 0.9831532 -0.25856143] [ 0. 0. 0. 1. ]] SLAMing on 167.73241403699998 meters Centerline goodness : 0.813974 Centerline is valid? [False, False] Translation: X:-0.74, Y:-1.48, Z:-0.26 [[ 0.95208195 -0.25107853 -0.17464117 -0.73957687] [ 0.26361866 0.9632041 0.05237428 -1.48279489] [ 0.15506503 -0.09590327 0.98323822 -0.25935258] [ 0. 0. 0. 1. ]] SLAMing on 167.76241403699999 meters Centerline goodness : 0.824061 Centerline is valid? [False, False] Translation: X:-0.74, Y:-1.49, Z:-0.26 [[ 0.9519533 -0.2431395 -0.18619369 -0.74016125] [ 0.25752361 0.96458671 0.05704451 -1.49475356] [ 0.16573018 -0.10225298 0.98085566 -0.25588342] [ 0. 0. 0. 1. ]] SLAMing on 167.792414037 meters Centerline goodness : 0.815141 Centerline is valid? [False, False] Translation: X:-0.74, Y:-1.50, Z:-0.26 [[ 0.95222444 -0.24202872 -0.18625445 -0.73944183] [ 0.25680748 0.96463353 0.05943126 -1.50052793] [ 0.16528322 -0.10442343 0.9807024 -0.25514153] [ 0. 0. 0. 1. ]] SLAMing on 167.822414037 meters Centerline goodness : 0.813508 Centerline is valid? [False, False] Translation: X:-0.74, Y:-1.51, Z:-0.25 [[ 0.95233941 -0.24186396 -0.18588024 -0.73775714] [ 0.25703741 0.96440827 0.06203592 -1.51224301] [ 0.16426019 -0.10685743 0.98061209 -0.25368978] [ 0. 0. 0. 1. ]] SLAMing on 167.852414037 meters Centerline goodness : 0.808616 Centerline is valid? [False, False] Translation: X:-0.74, Y:-1.52, Z:-0.25 [[ 0.95200986 -0.24344148 -0.18550868 -0.73654383] [ 0.25860702 0.96398347 0.06211498 -1.51907209] [ 0.16370594 -0.10710792 0.98067745 -0.25251288] [ 0. 0. 0. 1. ]] SLAMing on 167.882414037 meters Centerline goodness : 0.809924 Centerline is valid? [False, False] Translation: X:-0.73, Y:-1.53, Z:-0.25 [[ 0.95150654 -0.2452395 -0.18572259 -0.73397326] [ 0.26055444 0.96341891 0.06273272 -1.52699963] [ 0.16354411 -0.10808144 0.98059764 -0.25104733] [ 0. 0. 0. 1. ]] SLAMing on 167.912414037 meters Centerline goodness : 0.807505 Centerline is valid? [False, False] Translation: X:-0.73, Y:-1.54, Z:-0.25 [[ 0.95088608 -0.24739791 -0.18603746 -0.73036349] [ 0.26283797 0.9627738 0.06310957 -1.53542357] [ 0.16349882 -0.10890772 0.98051377 -0.25008614] [ 0. 0. 0. 1. ]] SLAMing on 167.942414037 meters Centerline goodness : 0.806929 Centerline is valid? [False, False] Translation: X:-0.73, Y:-1.55, Z:-0.25 [[ 0.94967902 -0.24336941 -0.1971829 -0.72998387] [ 0.26051418 0.96322113 0.0658591 -1.55044307] [ 0.17390264 -0.11391395 0.97815208 -0.24636198] [ 0. 0. 0. 1. ]] SLAMing on 167.972414037 meters Centerline goodness : 0.814751 Centerline is valid? [False, False] Translation: X:-0.73, Y:-1.56, Z:-0.25 [[ 0.94895401 -0.24597926 -0.19743477 -0.72605283] [ 0.2632013 0.9624864 0.06591662 -1.55874579] [ 0.17381417 -0.11451693 0.97809739 -0.2457393 ] [ 0. 0. 0. 1. ]] SLAMing on 168.002414037 meters Centerline goodness : 0.807622 Centerline is valid? [False, False] Translation: X:-0.72, Y:-1.58, Z:-0.24 [[ 0.94784189 -0.24678934 -0.20171955 -0.71614601] [ 0.26569011 0.96134418 0.07229203 -1.57612225] [ 0.17608101 -0.1221163 0.97677177 -0.24448401] [ 0. 0. 0. 1. ]] SLAMing on 168.032414037 meters Centerline goodness : 0.810357 Centerline is valid? [False, False] Translation: X:-0.71, Y:-1.58, Z:-0.24 [[ 0.94734078 -0.24898686 -0.20137276 -0.71417498] [ 0.26781552 0.96077901 0.07196216 -1.58239084] [ 0.17555709 -0.12210344 0.97686768 -0.24391215] [ 0. 0. 0. 1. ]] SLAMing on 168.062414037 meters Centerline goodness : 0.808439 Centerline is valid? [False, False] Translation: X:-0.71, Y:-1.59, Z:-0.24 [[ 0.94672841 -0.25149861 -0.20113122 -0.7121696 ] [ 0.27021946 0.96015258 0.07133354 -1.58914409] [ 0.17517637 -0.12188306 0.97696354 -0.24283755] [ 0. 0. 0. 1. ]] SLAMing on 168.092414037 meters Centerline goodness : 0.812678 Centerline is valid? [False, False] Translation: X:-0.71, Y:-1.61, Z:-0.24 [[ 0.94659418 -0.25262488 -0.20035003 -0.70685253] [ 0.27148297 0.95970345 0.07256914 -1.6079561 ] [ 0.17394384 -0.12308515 0.97703305 -0.24180491] [ 0. 0. 0. 1. ]] SLAMing on 168.122414037 meters Centerline goodness : 0.823290 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.62, Z:-0.23 [[ 0.94534439 -0.24741326 -0.21239272 -0.69466077] [ 0.27188459 0.95767291 0.09455876 -1.62207727] [ 0.18000766 -0.1471369 0.97259857 -0.23025476] [ 0. 0. 0. 1. ]] SLAMing on 168.152414037 meters Centerline goodness : 0.841267 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.63, Z:-0.23 [[ 0.94486933 -0.24934132 -0.21225186 -0.69281026] [ 0.27376275 0.95716622 0.09426975 -1.62854399] [ 0.17965497 -0.14717925 0.97265737 -0.22888226] [ 0. 0. 0. 1. ]] SLAMing on 168.182414037 meters Centerline goodness : 0.826186 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.64, Z:-0.22 [[ 0.94469927 -0.25015371 -0.21205284 -0.69269599] [ 0.27494009 0.95662038 0.09636073 -1.64359299] [ 0.17874907 -0.14933374 0.97249586 -0.22369255] [ 0. 0. 0. 1. ]] SLAMing on 168.212414037 meters Centerline goodness : 0.830898 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.65, Z:-0.22 [[ 0.94412054 -0.25251531 -0.21183113 -0.69153281] [ 0.27713493 0.95607547 0.0954774 -1.64970268] [ 0.17841704 -0.14884798 0.9726313 -0.22190725] [ 0. 0. 0. 1. ]] SLAMing on 168.24241403699997 meters Centerline goodness : 0.835302 Centerline is valid? [False, False] Translation: X:-0.70, Y:-1.66, Z:-0.22 [[ 0.94464773 -0.25460901 -0.20691765 -0.69716482] [ 0.27734278 0.95663669 0.08903498 -1.65789029] [ 0.17527591 -0.14149381 0.97429865 -0.22472387] [ 0. 0. 0. 1. ]] SLAMing on 168.27241403699998 meters Centerline goodness : 0.831841 Centerline is valid? [False, False] Translation: X:-0.71, Y:-1.68, Z:-0.23 [[ 0.94413967 -0.2593275 -0.20334582 -0.70512238] [ 0.27881248 0.95753778 0.07338258 -1.67589561] [ 0.17568118 -0.12597876 0.97635315 -0.22615412] [ 0. 0. 0. 1. ]] SLAMing on 168.30241403699998 meters Centerline goodness : 0.833460 Centerline is valid? [False, False] Translation: X:-0.70, Y:-1.68, Z:-0.22 [[ 0.94350214 -0.26208911 -0.20276344 -0.70346452] [ 0.28153448 0.95674197 0.07336986 -1.68456057] [ 0.17476286 -0.12630952 0.97647522 -0.22441195] [ 0. 0. 0. 1. ]] SLAMing on 168.33241403699998 meters Centerline goodness : 0.836400 Centerline is valid? [False, False] Translation: X:-0.70, Y:-1.69, Z:-0.22 [[ 0.94204542 -0.26834186 -0.20135311 -0.70301045] [ 0.28695339 0.95544007 0.06922447 -1.69164776] [ 0.173805 -0.12299155 0.97706955 -0.2226024 ] [ 0. 0. 0. 1. ]] SLAMing on 168.36241403699998 meters Centerline goodness : 0.838400 Centerline is valid? [False, False] Translation: X:-0.70, Y:-1.70, Z:-0.22 [[ 0.94047535 -0.27480362 -0.1999727 -0.70250184] [ 0.29255048 0.95405147 0.06480745 -1.69869937] [ 0.17297493 -0.11945192 0.97765583 -0.22070404] [ 0. 0. 0. 1. ]] SLAMing on 168.39241403699998 meters Centerline goodness : 0.834639 Centerline is valid? [False, False] Translation: X:-0.70, Y:-1.71, Z:-0.22 [[ 0.93885762 -0.28131529 -0.19851466 -0.7020824 ] [ 0.2981947 0.95259446 0.06036318 -1.70574434] [ 0.17212288 -0.11586845 0.9782373 -0.21879157] [ 0. 0. 0. 1. ]] SLAMing on 168.42241403699998 meters Centerline goodness : 0.834624 Centerline is valid? [False, False] Translation: X:-0.70, Y:-1.72, Z:-0.22 [[ 0.93627292 -0.29094873 -0.19682953 -0.69920016] [ 0.30671391 0.95024982 0.05433104 -1.71902309] [ 0.17122968 -0.11123904 0.97893119 -0.2158239 ] [ 0. 0. 0. 1. ]] SLAMing on 168.45241403699998 meters Centerline goodness : 0.833805 Centerline is valid? [False, False] Translation: X:-0.70, Y:-1.72, Z:-0.21 [[ 0.93535332 -0.29414725 -0.19644736 -0.69739309] [ 0.30961916 0.949403 0.05263002 -1.724882 ] [ 0.17102674 -0.11005153 0.97910087 -0.21482653] [ 0. 0. 0. 1. ]] SLAMing on 168.48241403699998 meters Centerline goodness : 0.832251 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.74, Z:-0.21 [[ 0.93386939 -0.29928664 -0.19574336 -0.69318896] [ 0.31425091 0.94803645 0.04973179 -1.73626061] [ 0.17068778 -0.10795552 0.97939333 -0.21359526] [ 0. 0. 0. 1. ]] SLAMing on 168.51241403699999 meters Centerline goodness : 0.833679 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.74, Z:-0.21 [[ 0.93305531 -0.30206624 -0.1953555 -0.69041116] [ 0.31673802 0.94729483 0.04805758 -1.74183196] [ 0.17054268 -0.10671689 0.97955434 -0.21350925] [ 0. 0. 0. 1. ]] SLAMing on 168.542414037 meters Centerline goodness : 0.830211 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.75, Z:-0.21 [[ 0.93233344 -0.30454932 -0.19494633 -0.68768345] [ 0.31895379 0.94662585 0.04656166 -1.74716491] [ 0.17036091 -0.10558986 0.97970809 -0.21358016] [ 0. 0. 0. 1. ]] SLAMing on 168.572414037 meters Centerline goodness : 0.831086 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.76, Z:-0.21 [[ 0.93184761 -0.30706597 -0.19331457 -0.68606577] [ 0.32109893 0.94596551 0.04521882 -1.75841887] [ 0.16898375 -0.10421015 0.98009425 -0.21315822] [ 0. 0. 0. 1. ]] SLAMing on 168.602414037 meters Centerline goodness : 0.830690 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.76, Z:-0.21 [[ 0.93124648 -0.30922001 -0.19277699 -0.68581887] [ 0.32300038 0.94538021 0.0438978 -1.76301224] [ 0.16867348 -0.10314671 0.98026018 -0.21184965] [ 0. 0. 0. 1. ]] SLAMing on 168.632414037 meters Centerline goodness : 0.830340 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.77, Z:-0.21 [[ 0.93057279 -0.31159832 -0.19219983 -0.68521376] [ 0.32508373 0.94473747 0.04232815 -1.7671162 ] [ 0.168389 -0.10187046 0.98044253 -0.21094301] [ 0. 0. 0. 1. ]] SLAMing on 168.662414037 meters Centerline goodness : 0.831382 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.77, Z:-0.21 [[ 0.93006098 -0.3135366 -0.1915238 -0.68499027] [ 0.32676899 0.9442104 0.04109446 -1.77144103] [ 0.16795415 -0.10080439 0.98062729 -0.21002835] [ 0. 0. 0. 1. ]] SLAMing on 168.692414037 meters Centerline goodness : 0.831324 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.78, Z:-0.21 [[ 0.92970781 -0.31496469 -0.19089429 -0.68520421] [ 0.3280097 0.9438163 0.04025458 -1.7760751 ] [ 0.16749038 -0.10004018 0.98078486 -0.20879269] [ 0. 0. 0. 1. ]] SLAMing on 168.722414037 meters Centerline goodness : 0.832429 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.78, Z:-0.21 [[ 0.92963015 -0.31546386 -0.19044774 -0.68627137] [ 0.32845803 0.94366342 0.04018309 -1.78117108] [ 0.16704225 -0.0999095 0.9808746 -0.20683987] [ 0. 0. 0. 1. ]] SLAMing on 168.752414037 meters Centerline goodness : 0.832429 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.78, Z:-0.21 [[ 0.92963015 -0.31546386 -0.19044774 -0.68627137] [ 0.32845803 0.94366342 0.04018309 -1.78117108] [ 0.16704225 -0.0999095 0.9808746 -0.20683987] [ 0. 0. 0. 1. ]] SLAMing on 168.782414037 meters Centerline goodness : 0.836404 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.79, Z:-0.21 [[ 0.93162181 -0.31160085 -0.18704468 -0.69309762] [ 0.32451458 0.944942 0.04212967 -1.79487313] [ 0.16361873 -0.09994764 0.98144759 -0.20642978] [ 0. 0. 0. 1. ]] SLAMing on 168.812414037 meters Centerline goodness : 0.836727 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.80, Z:-0.21 [[ 0.93191854 -0.31036848 -0.18761458 -0.69210442] [ 0.32360202 0.94517913 0.04379675 -1.79915875] [ 0.16373626 -0.10152746 0.98126582 -0.20552579] [ 0. 0. 0. 1. ]] SLAMing on 168.842414037 meters Centerline goodness : 0.835618 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.80, Z:-0.21 [[ 0.93213375 -0.30935542 -0.1882177 -0.69069084] [ 0.32288008 0.9453578 0.04524476 -1.80295463] [ 0.16393636 -0.10294591 0.98108461 -0.20500696] [ 0. 0. 0. 1. ]] SLAMing on 168.872414037 meters Centerline goodness : 0.834290 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.81, Z:-0.20 [[ 0.93156319 -0.31117603 -0.18804125 -0.68745708] [ 0.32458355 0.94480961 0.0445008 -1.80980137] [ 0.1638156 -0.1024904 0.98115247 -0.20485881] [ 0. 0. 0. 1. ]] SLAMing on 168.902414037 meters Centerline goodness : 0.830839 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.81, Z:-0.20 [[ 0.93065384 -0.31428717 -0.18736864 -0.68584662] [ 0.32728233 0.94398443 0.04218617 -1.81329361] [ 0.16361451 -0.10058316 0.98138337 -0.20468329] [ 0. 0. 0. 1. ]] SLAMing on 168.932414037 meters Centerline goodness : 0.830620 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.82, Z:-0.20 [[ 0.92966965 -0.31760287 -0.18666215 -0.68347365] [ 0.33017422 0.94308087 0.03979254 -1.81733917] [ 0.16339928 -0.09862495 0.98161795 -0.20491938] [ 0. 0. 0. 1. ]] SLAMing on 168.96241403699997 meters Centerline goodness : 0.832130 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.82, Z:-0.21 [[ 0.92786028 -0.32364088 -0.18528867 -0.67849652] [ 0.33546535 0.9413797 0.0355986 -1.82433664] [ 0.16290583 -0.09518845 0.98203913 -0.20621265] [ 0. 0. 0. 1. ]] SLAMing on 168.99241403699997 meters Centerline goodness : 0.830429 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.83, Z:-0.21 [[ 0.92683719 -0.32718171 -0.18418726 -0.67802612] [ 0.3385086 0.94038698 0.03292813 -1.82613075] [ 0.16243382 -0.09286799 0.98233945 -0.20627541] [ 0. 0. 0. 1. ]] SLAMing on 169.02241403699998 meters Centerline goodness : 0.831765 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.83, Z:-0.20 [[ 0.92620979 -0.3295846 -0.18305575 -0.67995603] [ 0.34057297 0.93969642 0.03131587 -1.82855831] [ 0.16169561 -0.09134891 0.98260364 -0.20481466] [ 0. 0. 0. 1. ]] SLAMing on 169.05241403699998 meters Centerline goodness : 0.832817 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.83, Z:-0.20 [[ 0.92561226 -0.33174944 -0.18216545 -0.68181087] [ 0.34243306 0.93907027 0.02977623 -1.830998 ] [ 0.16118791 -0.08994072 0.98281693 -0.20303379] [ 0. 0. 0. 1. ]] SLAMing on 169.08241403699998 meters Centerline goodness : 0.831121 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.84, Z:-0.20 [[ 0.92487046 -0.33409856 -0.18163916 -0.68087412] [ 0.34454123 0.9383417 0.02839368 -1.83665531] [ 0.16095331 -0.08884265 0.98295525 -0.20167616] [ 0. 0. 0. 1. ]] SLAMing on 169.11241403699998 meters Centerline goodness : 0.830689 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.84, Z:-0.20 [[ 0.92399696 -0.33693793 -0.18083819 -0.68005159] [ 0.3469323 0.93753403 0.02584421 -1.8386286 ] [ 0.16083406 -0.08661858 0.98317324 -0.20147821] [ 0. 0. 0. 1. ]] SLAMing on 169.14241403699998 meters Centerline goodness : 0.831429 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.84, Z:-0.20 [[ 0.92346568 -0.33883883 -0.1799983 -0.68062901] [ 0.34851909 0.93698905 0.02420656 -1.84120978] [ 0.16045431 -0.08508677 0.98336903 -0.20056649] [ 0. 0. 0. 1. ]] SLAMing on 169.17241403699998 meters Centerline goodness : 0.830262 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.85, Z:-0.20 [[ 0.92396468 -0.33706347 -0.18076913 -0.67905564] [ 0.34714621 0.93743904 0.02641147 -1.84701752] [ 0.1605577 -0.08715658 0.98317087 -0.19960394] [ 0. 0. 0. 1. ]] SLAMing on 169.20241403699998 meters Centerline goodness : 0.831240 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.85, Z:-0.20 [[ 0.92421758 -0.33608795 -0.18129191 -0.67830746] [ 0.34638081 0.93769098 0.02749487 -1.84960612] [ 0.1607551 -0.08820728 0.9830449 -0.19894021] [ 0. 0. 0. 1. ]] SLAMing on 169.23241403699998 meters Centerline goodness : 0.829835 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.85, Z:-0.20 [[ 0.92451622 -0.33494939 -0.18187541 -0.67753624] [ 0.34548901 0.93798145 0.02877728 -1.85294608] [ 0.16095683 -0.08944101 0.9829004 -0.19799739] [ 0. 0. 0. 1. ]] SLAMing on 169.26241403699999 meters Centerline goodness : 0.830300 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.86, Z:-0.20 [[ 0.9248585 -0.33366178 -0.18250089 -0.67632336] [ 0.34449434 0.93829851 0.03032404 -1.85714207] [ 0.16112234 -0.09091598 0.98273795 -0.19718814] [ 0. 0. 0. 1. ]] SLAMing on 169.292414037 meters Centerline goodness : 0.828509 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.87, Z:-0.20 [[ 0.92728107 -0.32963104 -0.17746321 -0.68368945] [ 0.3396972 0.94009386 0.02879846 -1.87036136] [ 0.1573392 -0.08698802 0.98370598 -0.20234695] [ 0. 0. 0. 1. ]] SLAMing on 169.322414037 meters Centerline goodness : 0.829347 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.88, Z:-0.20 [[ 0.92813083 -0.32673686 -0.17837094 -0.68047628] [ 0.33740494 0.94080555 0.03229268 -1.8778959 ] [ 0.15726116 -0.09015506 0.98343327 -0.20266177] [ 0. 0. 0. 1. ]] SLAMing on 169.352414037 meters Centerline goodness : 0.829347 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.88, Z:-0.20 [[ 0.92813083 -0.32673686 -0.17837094 -0.68047628] [ 0.33740494 0.94080555 0.03229268 -1.8778959 ] [ 0.15726116 -0.09015506 0.98343327 -0.20266177] [ 0. 0. 0. 1. ]] SLAMing on 169.382414037 meters Centerline goodness : 0.827706 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.89, Z:-0.20 [[ 0.92905159 -0.32429966 -0.17802491 -0.68081543] [ 0.33535641 0.94143567 0.03514192 -1.88634629] [ 0.15620249 -0.09235046 0.98339828 -0.20196906] [ 0. 0. 0. 1. ]] SLAMing on 169.412414037 meters Centerline goodness : 0.829394 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.89, Z:-0.20 [[ 0.92852989 -0.32618954 -0.17729249 -0.68170896] [ 0.33700653 0.94089151 0.03390816 -1.89067141] [ 0.15575251 -0.09123347 0.9835739 -0.20018853] [ 0. 0. 0. 1. ]] SLAMing on 169.442414037 meters Centerline goodness : 0.831760 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.90, Z:-0.20 [[ 0.9273913 -0.33065866 -0.17495777 -0.68229036] [ 0.34083513 0.93961725 0.03083576 -1.90185126] [ 0.15419723 -0.08822857 0.98409295 -0.19819937] [ 0. 0. 0. 1. ]] SLAMing on 169.472414037 meters Centerline goodness : 0.829639 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.91, Z:-0.20 [[ 0.926338 -0.33397708 -0.17423327 -0.68114354] [ 0.3437815 0.93861419 0.02859524 -1.9063427 ] [ 0.15398766 -0.08638703 0.98428912 -0.19721211] [ 0. 0. 0. 1. ]] SLAMing on 169.502414037 meters Centerline goodness : 0.830740 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.91, Z:-0.20 [[ 0.92519617 -0.33755267 -0.17340774 -0.67985349] [ 0.3469419 0.93752342 0.0260991 -1.91004044] [ 0.153764 -0.0843092 0.98450424 -0.19668973] [ 0. 0. 0. 1. ]] SLAMing on 169.532414037 meters Centerline goodness : 0.830080 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.91, Z:-0.20 [[ 0.92411466 -0.34090995 -0.17260506 -0.67885163] [ 0.3499112 0.93648134 0.0237667 -1.91341164] [ 0.15353911 -0.0823596 0.98470434 -0.19611433] [ 0. 0. 0. 1. ]] SLAMing on 169.562414037 meters Centerline goodness : 0.831353 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.92, Z:-0.20 [[ 0.92302777 -0.34426364 -0.1717623 -0.67798831] [ 0.35287304 0.9354261 0.02141577 -1.91649637] [ 0.15329827 -0.08037763 0.98490562 -0.19560273] [ 0. 0. 0. 1. ]] SLAMing on 169.592414037 meters Centerline goodness : 0.830539 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.92, Z:-0.20 [[ 0.92190849 -0.34771581 -0.17081701 -0.67706382] [ 0.35591482 0.93432576 0.01897389 -1.91952509] [ 0.15300121 -0.0782885 0.98512006 -0.19526137] [ 0. 0. 0. 1. ]] SLAMing on 169.622414037 meters Centerline goodness : 0.829736 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.93, Z:-0.19 [[ 0.91977629 -0.35420045 -0.16897814 -0.67521733] [ 0.3616471 0.93220251 0.01448638 -1.92635944] [ 0.15239076 -0.07443469 0.98551334 -0.19430791] [ 0. 0. 0. 1. ]] SLAMing on 169.652414037 meters Centerline goodness : 0.828424 Centerline is valid? [False, False] Translation: X:-0.67, Y:-1.93, Z:-0.19 [[ 0.91862069 -0.35761673 -0.16806638 -0.67404761] [ 0.36464993 0.93106792 0.01195663 -1.92969308] [ 0.15220532 -0.072269 0.98570317 -0.19385187] [ 0. 0. 0. 1. ]] SLAMing on 169.682414037 meters Centerline goodness : 0.828484 Centerline is valid? [False, False] Translation: X:-0.67, Y:-1.93, Z:-0.19 [[ 0.91749915 -0.36090715 -0.16715662 -0.67263012] [ 0.36753963 0.92995932 0.00950205 -1.93306254] [ 0.1520195 -0.07015481 0.98588456 -0.19367546] [ 0. 0. 0. 1. ]] SLAMing on 169.71241403699997 meters Centerline goodness : 0.827584 Centerline is valid? [False, False] Translation: X:-0.67, Y:-1.94, Z:-0.19 [[ 0.91641175 -0.364111 -0.16617066 -0.67133406] [ 0.37033237 0.9288729 0.00700546 -1.93583693] [ 0.15180065 -0.06795826 0.98607213 -0.1937807 ] [ 0. 0. 0. 1. ]] SLAMing on 169.74241403699997 meters Centerline goodness : 0.827492 Centerline is valid? [False, False] Translation: X:-0.67, Y:-1.94, Z:-0.19 [[ 0.91559464 -0.3664662 -0.16549618 -0.66989408] [ 0.3724873 0.92801917 0.00579907 -1.94167121] [ 0.15145847 -0.06695482 0.98619338 -0.19305476] [ 0. 0. 0. 1. ]] SLAMing on 169.77241403699998 meters Centerline goodness : 0.827648 Centerline is valid? [False, False] Translation: X:-0.67, Y:-1.95, Z:-0.19 [[ 0.91487169 -0.36872025 -0.16448457 -0.67141177] [ 0.37447174 0.9272284 0.00429041 -1.94519213] [ 0.1509328 -0.06552 0.98637033 -0.19118421] [ 0. 0. 0. 1. ]] SLAMing on 169.80241403699998 meters Centerline goodness : 0.829792 Centerline is valid? [False, False] Translation: X:-0.67, Y:-1.95, Z:-0.19 [[ 9.13258894e-01 -3.73574470e-01 -1.62481718e-01 -6.72790729e-01] [ 3.78790042e-01 9.25481839e-01 1.21236859e-03 -1.95395768e+00] [ 1.49920969e-01 -6.26536633e-02 9.86710809e-01 -1.87835886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.83241403699998 meters Centerline goodness : 0.827229 Centerline is valid? [False, False] Translation: X:-0.67, Y:-1.96, Z:-0.19 [[ 9.12130853e-01 -3.76687421e-01 -1.61628878e-01 -6.71743699e-01] [ 3.81573169e-01 9.24338220e-01 -8.78061530e-04 -1.95790287e+00] [ 1.49730504e-01 -6.08723363e-02 9.86851222e-01 -1.87105341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.86241403699998 meters Centerline goodness : 0.824512 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.97, Z:-0.19 [[ 9.09409141e-01 -3.80459742e-01 -1.68004163e-01 -6.80480190e-01] [ 3.86129403e-01 9.22443880e-01 1.17168848e-03 -1.97095828e+00] [ 1.54528632e-01 -6.59368915e-02 9.85785589e-01 -1.86217852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.89241403699998 meters Centerline goodness : 0.828056 Centerline is valid? [False, False] Translation: X:-0.70, Y:-1.98, Z:-0.19 [[ 0.90817162 -0.38183823 -0.17153391 -0.69700609] [ 0.38798115 0.92166395 0.00248898 -1.981547 ] [ 0.15714624 -0.06881234 0.98517507 -0.18810572] [ 0. 0. 0. 1. ]] SLAMing on 169.92241403699998 meters Centerline goodness : 0.827093 Centerline is valid? [False, False] Translation: X:-0.70, Y:-1.98, Z:-0.19 [[ 9.06880794e-01 -3.85414087e-01 -1.70361987e-01 -6.96533399e-01] [ 3.91065187e-01 9.20362887e-01 -4.18608414e-04 -1.98253701e+00] [ 1.56956188e-01 -6.62430145e-02 9.85381458e-01 -1.88149026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.95241403699998 meters Centerline goodness : 0.826027 Centerline is valid? [False, False] Translation: X:-0.70, Y:-1.98, Z:-0.19 [[ 0.90552529 -0.38913756 -0.16910327 -0.6958154 ] [ 0.39430217 0.91897494 -0.0032943 -1.98396414] [ 0.1566836 -0.06369472 0.98559283 -0.18828942] [ 0. 0. 0. 1. ]] SLAMing on 169.98241403699998 meters Centerline goodness : 0.821478 Centerline is valid? [False, False] Translation: X:-0.71, Y:-1.99, Z:-0.19 [[ 0.90111032 -0.39732823 -0.17358129 -0.7055728 ] [ 0.40254202 0.91538434 -0.00560701 -1.99482623] [ 0.16112142 -0.06482123 0.98480358 -0.18776752] [ 0. 0. 0. 1. ]] SLAMing on 170.01241403699999 meters Centerline goodness : 0.822853 Centerline is valid? [False, False] Translation: X:-0.71, Y:-2.00, Z:-0.19 [[ 0.89862217 -0.40412325 -0.17077059 -0.70693391] [ 0.40833415 0.91276253 -0.01130428 -1.99689468] [ 0.16044131 -0.05957319 0.98524597 -0.1865616 ] [ 0. 0. 0. 1. ]] SLAMing on 170.042414037 meters Centerline goodness : 0.822316 Centerline is valid? [False, False] Translation: X:-0.73, Y:-2.01, Z:-0.19 [[ 0.89848194 -0.40700287 -0.1645566 -0.73252336] [ 0.41070297 0.91168418 -0.01245091 -2.01072735] [ 0.1550912 -0.05639696 0.98628906 -0.19343644] [ 0. 0. 0. 1. ]] SLAMing on 170.072414037 meters Centerline goodness : 0.825801 Centerline is valid? [False, False] Translation: X:-0.77, Y:-2.03, Z:-0.20 [[ 0.89785286 -0.41157495 -0.15641711 -0.76672266] [ 0.41578184 0.90944223 -0.00634663 -2.02754544] [ 0.14486444 -0.05933706 0.9876707 -0.20310364] [ 0. 0. 0. 1. ]] SLAMing on 170.102414037 meters Centerline goodness : 0.826213 Centerline is valid? [False, False] Translation: X:-0.79, Y:-2.03, Z:-0.21 [[ 0.89723912 -0.41356486 -0.15468057 -0.78772448] [ 0.41793753 0.90846388 -0.0046472 -2.03453215] [ 0.14244362 -0.06047717 0.98795361 -0.20567308] [ 0. 0. 0. 1. ]] SLAMing on 170.132414037 meters Centerline goodness : 0.826464 Centerline is valid? [False, False] Translation: X:-0.82, Y:-2.05, Z:-0.21 [[ 0.89878156 -0.41200489 -0.14981212 -0.81512459] [ 0.4162527 0.90924303 -0.00328627 -2.0451666 ] [ 0.13756959 -0.05940606 0.98870902 -0.21208777] [ 0. 0. 0. 1. ]] SLAMing on 170.162414037 meters Centerline goodness : 0.827925 Centerline is valid? [False, False] Translation: X:-0.84, Y:-2.06, Z:-0.22 [[ 0.90062126 -0.40989451 -0.14445702 -0.84498295] [ 0.41375975 0.91037903 -0.00358956 -2.05640504] [ 0.13298198 -0.05653767 0.98950457 -0.21895646] [ 0. 0. 0. 1. ]] SLAMing on 170.192414037 meters Centerline goodness : 0.826306 Centerline is valid? [False, False] Translation: X:-0.87, Y:-2.06, Z:-0.23 [[ 0.90235894 -0.40757325 -0.14011559 -0.8734935 ] [ 0.41089839 0.91166363 -0.00565159 -2.06446185] [ 0.13004173 -0.05247351 0.99011902 -0.22685305] [ 0. 0. 0. 1. ]] SLAMing on 170.222414037 meters Centerline goodness : 0.824909 Centerline is valid? [False, False] Translation: X:-0.90, Y:-2.07, Z:-0.23 [[ 0.90343344 -0.40630119 -0.13684792 -0.89915743] [ 0.40921813 0.9124067 -0.00738477 -2.07318137] [ 0.1278614 -0.04932901 0.99056454 -0.23454633] [ 0. 0. 0. 1. ]] SLAMing on 170.252414037 meters Centerline goodness : 0.822646 Centerline is valid? [False, False] Translation: X:-0.93, Y:-2.08, Z:-0.24 [[ 0.90497465 -0.40399989 -0.13343526 -0.92690657] [ 0.40647483 0.91361392 -0.00937165 -2.0827404 ] [ 0.12569446 -0.04575697 0.99101322 -0.24189443] [ 0. 0. 0. 1. ]] SLAMing on 170.282414037 meters Centerline goodness : 0.822015 Centerline is valid? [False, False] Translation: X:-0.95, Y:-2.09, Z:-0.25 [[ 0.90542628 -0.40332806 -0.13239986 -0.95028056] [ 0.40569194 0.9139571 -0.00982183 -2.08849106] [ 0.12496921 -0.04482061 0.99114772 -0.24635849] [ 0. 0. 0. 1. ]] SLAMing on 170.312414037 meters Centerline goodness : 0.824135 Centerline is valid? [False, False] Translation: X:-0.96, Y:-2.09, Z:-0.25 [[ 0.90679833 -0.40152915 -0.1284178 -0.96308421] [ 0.40448076 0.91454032 -0.0033649 -2.08604954] [ 0.11879436 -0.04889124 0.99171445 -0.24915955] [ 0. 0. 0. 1. ]] SLAMing on 170.342414037 meters Centerline goodness : 0.825195 Centerline is valid? [False, False] Translation: X:-0.99, Y:-2.09, Z:-0.25 [[ 9.07204358e-01 -4.01553088e-01 -1.25440705e-01 -9.85382431e-01] [ 4.04534568e-01 9.14520819e-01 -1.85853574e-03 -2.09110230e+00] [ 1.15464437e-01 -4.90590296e-02 9.92099378e-01 -2.53192283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.372414037 meters Centerline goodness : 0.824444 Centerline is valid? [False, False] Translation: X:-1.01, Y:-2.10, Z:-0.26 [[ 0.90726343 -0.40196391 -0.12368542 -1.00796546] [ 0.40481354 0.91439642 -0.00227868 -2.09663349] [ 0.11401346 -0.04800217 0.99231886 -0.25732293] [ 0. 0. 0. 1. ]] SLAMing on 170.402414037 meters Centerline goodness : 0.824898 Centerline is valid? [False, False] Translation: X:-1.03, Y:-2.10, Z:-0.26 [[ 0.90697371 -0.40282596 -0.12300378 -1.03009422] [ 0.40541182 0.91412381 -0.00434902 -2.10059942] [ 0.11419258 -0.04592274 0.99239667 -0.26174928] [ 0. 0. 0. 1. ]] SLAMing on 170.432414037 meters Centerline goodness : 0.824898 Centerline is valid? [False, False] Translation: X:-1.03, Y:-2.10, Z:-0.26 [[ 0.90697371 -0.40282596 -0.12300378 -1.03009422] [ 0.40541182 0.91412381 -0.00434902 -2.10059942] [ 0.11419258 -0.04592274 0.99239667 -0.26174928] [ 0. 0. 0. 1. ]] SLAMing on 170.46241403699997 meters Centerline goodness : 0.826048 Centerline is valid? [False, False] Translation: X:-1.05, Y:-2.10, Z:-0.26 [[ 0.90502441 -0.40772107 -0.12122027 -1.04880058] [ 0.41026676 0.91195539 -0.00430618 -2.10400951] [ 0.1123032 -0.04583545 0.99261629 -0.26311712] [ 0. 0. 0. 1. ]] SLAMing on 170.49241403699997 meters Centerline goodness : 0.826316 Centerline is valid? [False, False] Translation: X:-1.07, Y:-2.11, Z:-0.26 [[ 0.90312611 -0.4118887 -0.12128864 -1.06747178] [ 0.41443156 0.91006864 -0.00464201 -2.10891496] [ 0.11229298 -0.04607352 0.99260643 -0.26409984] [ 0. 0. 0. 1. ]] SLAMing on 170.52241403699998 meters Centerline goodness : 0.827179 Centerline is valid? [False, False] Translation: X:-1.08, Y:-2.11, Z:-0.26 [[ 0.89984906 -0.41707789 -0.1277408 -1.07803768] [ 0.42024622 0.90740705 -0.00235827 -2.10988148] [ 0.11689649 -0.05156051 0.99180478 -0.26178173] [ 0. 0. 0. 1. ]] SLAMing on 170.55241403699998 meters Centerline goodness : 0.827450 Centerline is valid? [False, False] Translation: X:-1.10, Y:-2.12, Z:-0.27 [[ 0.89917473 -0.4192981 -0.12519546 -1.10234513] [ 0.42208547 0.90654405 -0.00466161 -2.11750173] [ 0.11544981 -0.04865159 0.99212114 -0.2655731 ] [ 0. 0. 0. 1. ]] SLAMing on 170.58241403699998 meters Centerline goodness : 0.827629 Centerline is valid? [False, False] Translation: X:-1.13, Y:-2.12, Z:-0.27 [[ 0.89860123 -0.42159335 -0.121552 -1.12593034] [ 0.42409161 0.90560067 -0.00580803 -2.12448672] [ 0.1125262 -0.04633008 0.99256807 -0.26909704] [ 0. 0. 0. 1. ]] SLAMing on 170.61241403699998 meters Centerline goodness : 0.826644 Centerline is valid? [False, False] Translation: X:-1.15, Y:-2.13, Z:-0.27 [[ 0.89717058 -0.42530164 -0.11917834 -1.14555779] [ 0.42768723 0.90390635 -0.00607874 -2.12579947] [ 0.11031135 -0.04551739 0.99285426 -0.2708221 ] [ 0. 0. 0. 1. ]] SLAMing on 170.64241403699998 meters Centerline goodness : 0.828508 Centerline is valid? [False, False] Translation: X:-1.17, Y:-2.13, Z:-0.27 [[ 0.89721789 -0.4263505 -0.11500137 -1.17029204] [ 0.42855454 0.90349547 -0.00607769 -2.1272562 ] [ 0.10649444 -0.04383134 0.99334674 -0.27280639] [ 0. 0. 0. 1. ]] SLAMing on 170.67241403699998 meters Centerline goodness : 0.828508 Centerline is valid? [False, False] Translation: X:-1.19, Y:-2.14, Z:-0.28 [[ 0.89727769 -0.42677669 -0.11293537 -1.19316128] [ 0.42882341 0.90336323 -0.00673559 -2.13633407] [ 0.10489625 -0.04238564 0.99357951 -0.27668093] [ 0. 0. 0. 1. ]] SLAMing on 170.70241403699998 meters Centerline goodness : 0.828508 Centerline is valid? [False, False] Translation: X:-1.22, Y:-2.15, Z:-0.28 [[ 0.89731326 -0.42722202 -0.11095165 -1.2158086 ] [ 0.42913745 0.90321037 -0.00721607 -2.14534619] [ 0.10329554 -0.04113843 0.99379961 -0.28044689] [ 0. 0. 0. 1. ]] SLAMing on 170.73241403699998 meters Centerline goodness : 0.829219 Centerline is valid? [False, False] Translation: X:-1.24, Y:-2.14, Z:-0.28 [[ 0.89719686 -0.42807007 -0.10859933 -1.23740807] [ 0.42987873 0.90285658 -0.00736684 -2.14441678] [ 0.10120314 -0.04007503 0.99405831 -0.28103136] [ 0. 0. 0. 1. ]] SLAMing on 170.76241403699999 meters Centerline goodness : 0.827431 Centerline is valid? [False, False] Translation: X:-1.27, Y:-2.15, Z:-0.29 [[ 0.89882694 -0.42565126 -0.10455213 -1.26624997] [ 0.42706104 0.90417142 -0.00963861 -2.15272444] [ 0.09863573 -0.0359867 0.9944727 -0.28698682] [ 0. 0. 0. 1. ]] SLAMing on 170.792414037 meters Centerline goodness : 0.826163 Centerline is valid? [False, False] Translation: X:-1.30, Y:-2.16, Z:-0.29 [[ 0.90056018 -0.42293759 -0.10057416 -1.29510112] [ 0.42395207 0.90560347 -0.01212436 -2.16083435] [ 0.09620815 -0.0317199 0.99485569 -0.29360509] [ 0. 0. 0. 1. ]] SLAMing on 170.822414037 meters Centerline goodness : 0.827201 Centerline is valid? [False, False] Translation: X:-1.32, Y:-2.17, Z:-0.30 [[ 0.90135071 -0.42183508 -0.09809208 -1.31899554] [ 0.4227519 0.90616242 -0.01226779 -2.16611732] [ 0.09406234 -0.03041103 0.99510173 -0.29788275] [ 0. 0. 0. 1. ]] SLAMing on 170.852414037 meters Centerline goodness : 0.825713 Centerline is valid? [False, False] Translation: X:-1.34, Y:-2.17, Z:-0.30 [[ 0.90285687 -0.41941526 -0.09455318 -1.34493062] [ 0.42030119 0.90731414 -0.01131192 -2.16869615] [ 0.09053383 -0.02952777 0.99545554 -0.30184896] [ 0. 0. 0. 1. ]] SLAMing on 170.882414037 meters Centerline goodness : 0.826536 Centerline is valid? [False, False] Translation: X:-1.37, Y:-2.18, Z:-0.31 [[ 0.90346967 -0.41890128 -0.09090801 -1.36899128] [ 0.41971674 0.90758991 -0.01088169 -2.17500313] [ 0.08706554 -0.02832434 0.99579984 -0.30563506] [ 0. 0. 0. 1. ]] SLAMing on 170.912414037 meters Centerline goodness : 0.825807 Centerline is valid? [False, False] Translation: X:-1.39, Y:-2.18, Z:-0.31 [[ 0.90386296 -0.41886158 -0.08710179 -1.39370434] [ 0.41951952 0.90767351 -0.01149696 -2.18171614] [ 0.08387562 -0.02614923 0.99613307 -0.30946266] [ 0. 0. 0. 1. ]] SLAMing on 170.942414037 meters Centerline goodness : 0.825911 Centerline is valid? [False, False] Translation: X:-1.41, Y:-2.19, Z:-0.31 [[ 0.9032323 -0.42049725 -0.08575237 -1.41266838] [ 0.42126202 0.9068854 -0.0098581 -2.1857617 ] [ 0.08191288 -0.02722006 0.99626771 -0.31051681] [ 0. 0. 0. 1. ]] SLAMing on 170.972414037 meters Centerline goodness : 0.825012 Centerline is valid? [False, False] Translation: X:-1.43, Y:-2.19, Z:-0.31 [[ 0.90237389 -0.42274366 -0.08372073 -1.43184887] [ 0.42357282 0.9058224 -0.00847602 -2.18972115] [ 0.0794193 -0.02781329 0.99645321 -0.31207744] [ 0. 0. 0. 1. ]] SLAMing on 171.002414037 meters Centerline goodness : 0.826853 Centerline is valid? [False, False] Translation: X:-1.45, Y:-2.19, Z:-0.31 [[ 0.9012941 -0.42507667 -0.08353903 -1.45024547] [ 0.42600044 0.90469326 -0.00732972 -2.19406888] [ 0.07869289 -0.02898142 0.99647755 -0.31277585] [ 0. 0. 0. 1. ]] SLAMing on 171.032414037 meters Centerline goodness : 0.825291 Centerline is valid? [False, False] Translation: X:-1.48, Y:-2.20, Z:-0.32 [[ 0.89939211 -0.42869652 -0.08551686 -1.48322552] [ 0.42978507 0.90291003 -0.00618698 -2.20440628] [ 0.07986637 -0.03118935 0.99631751 -0.31630344] [ 0. 0. 0. 1. ]] SLAMing on 171.062414037 meters Centerline goodness : 0.822559 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.21, Z:-0.32 [[ 0.89927269 -0.42912259 -0.08463113 -1.50607124] [ 0.42991834 0.90281759 -0.00951901 -2.21242263] [ 0.08049129 -0.02782428 0.99636688 -0.31965351] [ 0. 0. 0. 1. ]] SLAMing on 171.092414037 meters Centerline goodness : 0.822241 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.22, Z:-0.32 [[ 0.89961703 -0.42863858 -0.08341559 -1.5286583 ] [ 0.42929436 0.90309977 -0.01082395 -2.22019379] [ 0.07997216 -0.02607243 0.99645606 -0.32338683] [ 0. 0. 0. 1. ]] SLAMing on 171.122414037 meters Centerline goodness : 0.822652 Centerline is valid? [False, False] Translation: X:-1.55, Y:-2.23, Z:-0.33 [[ 0.9003317 -0.42737862 -0.08216042 -1.55233108] [ 0.42783922 0.90376412 -0.01280725 -2.22744684] [ 0.07972718 -0.02362068 0.99653682 -0.32696571] [ 0. 0. 0. 1. ]] SLAMing on 171.152414037 meters Centerline goodness : 0.824211 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.24, Z:-0.33 [[ 0.90426657 -0.41963368 -0.07880062 -1.58428132] [ 0.42001882 0.90743029 -0.01242801 -2.2364788 ] [ 0.07672128 -0.02185951 0.99681292 -0.33169141] [ 0. 0. 0. 1. ]] SLAMing on 171.182414037 meters Centerline goodness : 0.823523 Centerline is valid? [False, False] Translation: X:-1.61, Y:-2.25, Z:-0.34 [[ 0.90721613 -0.4139983 -0.07459419 -1.61383755] [ 0.41432488 0.91005291 -0.01177232 -2.24676789] [ 0.07275838 -0.02022619 0.99714448 -0.33619396] [ 0. 0. 0. 1. ]] SLAMing on 171.21241403699997 meters Centerline goodness : 0.824632 Centerline is valid? [False, False] Translation: X:-1.62, Y:-2.24, Z:-0.34 [[ 0.91057768 -0.40604379 -0.07730936 -1.61595631] [ 0.40688131 0.91346564 -0.0053035 -2.24335465] [ 0.0727729 -0.02662649 0.99699305 -0.33611478] [ 0. 0. 0. 1. ]] SLAMing on 171.24241403699997 meters Centerline goodness : 0.823651 Centerline is valid? [False, False] Translation: X:-1.62, Y:-2.24, Z:-0.34 [[ 9.12216874e-01 -4.02062154e-01 -7.87807065e-02 -1.61669302e+00] [ 4.03170418e-01 9.15122737e-01 -1.99745115e-03 -2.24206781e+00] [ 7.28971153e-02 -2.99399417e-02 9.96889969e-01 -3.35969237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.27241403699998 meters Centerline goodness : 0.824808 Centerline is valid? [False, False] Translation: X:-1.62, Y:-2.24, Z:-0.33 [[ 9.13330069e-01 -3.99399073e-01 -7.94264805e-02 -1.61916233e+00] [ 4.00662354e-01 9.16225778e-01 -3.46428239e-05 -2.24053300e+00] [ 7.27864253e-02 -3.17915603e-02 9.96840726e-01 -3.34841636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.30241403699998 meters Centerline goodness : 0.823173 Centerline is valid? [False, False] Translation: X:-1.62, Y:-2.24, Z:-0.33 [[ 0.91496217 -0.39534265 -0.08092223 -1.61993123] [ 0.39689638 0.91785704 0.0034247 -2.23981532] [ 0.07292111 -0.03525121 0.99671453 -0.33437018] [ 0. 0. 0. 1. ]] SLAMing on 171.33241403699998 meters Centerline goodness : 0.824577 Centerline is valid? [False, False] Translation: X:-1.62, Y:-2.24, Z:-0.33 [[ 0.91593604 -0.39299027 -0.08136222 -1.6230995 ] [ 0.39467937 0.91880442 0.0051604 -2.23896235] [ 0.07272798 -0.03683858 0.99667124 -0.33236069] [ 0. 0. 0. 1. ]] SLAMing on 171.36241403699998 meters Centerline goodness : 0.824603 Centerline is valid? [False, False] Translation: X:-1.63, Y:-2.24, Z:-0.33 [[ 0.91786659 -0.3882802 -0.08221559 -1.62967567] [ 0.39027532 0.92065309 0.00911405 -2.23988508] [ 0.07215324 -0.04045219 0.99657289 -0.32694313] [ 0. 0. 0. 1. ]] SLAMing on 171.39241403699998 meters Centerline goodness : 0.824884 Centerline is valid? [False, False] Translation: X:-1.63, Y:-2.24, Z:-0.32 [[ 0.91842474 -0.38692314 -0.08238017 -1.63208674] [ 0.38899532 0.9211839 0.0101427 -2.24057817] [ 0.07196284 -0.04136081 0.99654936 -0.32474506] [ 0. 0. 0. 1. ]] SLAMing on 171.42241403699998 meters Centerline goodness : 0.824253 Centerline is valid? [False, False] Translation: X:-1.63, Y:-2.24, Z:-0.32 [[ 0.91869375 -0.386251 -0.08253461 -1.63267275] [ 0.38835506 0.92144974 0.01052268 -2.24096709] [ 0.0719871 -0.04171985 0.99653264 -0.32397478] [ 0. 0. 0. 1. ]] SLAMing on 171.45241403699998 meters Centerline goodness : 0.821773 Centerline is valid? [False, False] Translation: X:-1.64, Y:-2.24, Z:-0.33 [[ 0.91972329 -0.38449434 -0.0792034 -1.63811845] [ 0.38615085 0.92241502 0.0061686 -2.2430463 ] [ 0.07068661 -0.03625786 0.99683939 -0.32822528] [ 0. 0. 0. 1. ]] SLAMing on 171.48241403699998 meters Centerline goodness : 0.821398 Centerline is valid? [False, False] Translation: X:-1.64, Y:-2.24, Z:-0.33 [[ 0.91994224 -0.38394672 -0.07931704 -1.63805247] [ 0.38563137 0.92262984 0.00652928 -2.24317232] [ 0.07067337 -0.0365937 0.99682806 -0.32834546] [ 0. 0. 0. 1. ]] SLAMing on 171.51241403699999 meters Centerline goodness : 0.818100 Centerline is valid? [False, False] Translation: X:-1.64, Y:-2.24, Z:-0.33 [[ 0.92022103 -0.38324002 -0.07950054 -1.63791659] [ 0.38496617 0.92290377 0.00704783 -2.24352644] [ 0.07067034 -0.03709058 0.99680991 -0.3284873 ] [ 0. 0. 0. 1. ]] SLAMing on 171.542414037 meters Centerline goodness : 0.821044 Centerline is valid? [False, False] Translation: X:-1.64, Y:-2.25, Z:-0.33 [[ 0.92097485 -0.38128803 -0.08015456 -1.63651331] [ 0.38315489 0.92364257 0.00876011 -2.24574496] [ 0.07069404 -0.03877946 0.99674395 -0.32916525] [ 0. 0. 0. 1. ]] SLAMing on 171.572414037 meters Centerline goodness : 0.819402 Centerline is valid? [False, False] Translation: X:-1.64, Y:-2.25, Z:-0.33 [[ 0.92131066 -0.38037622 -0.08062632 -1.63527935] [ 0.38233722 0.92397024 0.00986092 -2.2483263 ] [ 0.07074546 -0.03991141 0.99669562 -0.3292382 ] [ 0. 0. 0. 1. ]] SLAMing on 171.602414037 meters Centerline goodness : 0.818381 Centerline is valid? [False, False] Translation: X:-1.63, Y:-2.25, Z:-0.33 [[ 0.92161736 -0.37948855 -0.08130116 -1.63364787] [ 0.38156407 0.9242755 0.01112043 -2.25194988] [ 0.0709246 -0.04127039 0.99662754 -0.32890612] [ 0. 0. 0. 1. ]] SLAMing on 171.632414037 meters Centerline goodness : 0.817589 Centerline is valid? [False, False] Translation: X:-1.63, Y:-2.26, Z:-0.33 [[ 0.92117605 -0.38070735 -0.08060141 -1.63428623] [ 0.38269293 0.9238192 0.01020826 -2.25568618] [ 0.07057478 -0.04024919 0.99669414 -0.3273979 ] [ 0. 0. 0. 1. ]] SLAMing on 171.662414037 meters Centerline goodness : 0.819054 Centerline is valid? [False, False] Translation: X:-1.63, Y:-2.26, Z:-0.33 [[ 0.92091924 -0.38136228 -0.08043979 -1.63333544] [ 0.38337307 0.92353238 0.01063186 -2.26427542] [ 0.07023416 -0.04062953 0.99670277 -0.32512441] [ 0. 0. 0. 1. ]] SLAMing on 171.692414037 meters Centerline goodness : 0.818308 Centerline is valid? [False, False] Translation: X:-1.63, Y:-2.27, Z:-0.32 [[ 0.92031911 -0.38295039 -0.07976056 -1.63366412] [ 0.38486564 0.92292269 0.00959878 -2.2682874 ] [ 0.06993697 -0.03953104 0.99676783 -0.32354447] [ 0. 0. 0. 1. ]] SLAMing on 171.722414037 meters Centerline goodness : 0.818447 Centerline is valid? [False, False] Translation: X:-1.63, Y:-2.27, Z:-0.32 [[ 0.91939594 -0.38531284 -0.0790261 -1.63266324] [ 0.38708003 0.92201314 0.00779888 -2.27187613] [ 0.06985809 -0.03775968 0.99684204 -0.32293484] [ 0. 0. 0. 1. ]] SLAMing on 171.752414037 meters Centerline goodness : 0.818450 Centerline is valid? [False, False] Translation: X:-1.63, Y:-2.28, Z:-0.32 [[ 0.91835997 -0.38792788 -0.07827463 -1.63143623] [ 0.38954001 0.9209908 0.00587597 -2.2757308 ] [ 0.06981076 -0.03588736 0.99691452 -0.32231314] [ 0. 0. 0. 1. ]] SLAMing on 171.782414037 meters Centerline goodness : 0.817136 Centerline is valid? [False, False] Translation: X:-1.63, Y:-2.28, Z:-0.32 [[ 0.91729832 -0.39057898 -0.07753618 -1.62995137] [ 0.39204898 0.91993517 0.00410804 -2.28035651] [ 0.06972374 -0.03416628 0.99698108 -0.32156905] [ 0. 0. 0. 1. ]] SLAMing on 171.812414037 meters Centerline goodness : 0.818275 Centerline is valid? [False, False] Translation: X:-1.63, Y:-2.29, Z:-0.32 [[ 9.16163753e-01 -3.93381645e-01 -7.67779797e-02 -1.62819759e+00] [ 3.94702841e-01 9.18806132e-01 2.22678933e-03 -2.28505260e+00] [ 6.96681005e-02 -3.23445904e-02 9.97045728e-01 -3.21004957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.842414037 meters Centerline goodness : 0.814977 Centerline is valid? [False, False] Translation: X:-1.63, Y:-2.29, Z:-0.32 [[ 9.13954017e-01 -3.98853489e-01 -7.48595351e-02 -1.62577021e+00] [ 3.99887425e-01 9.16563370e-01 -1.27945485e-03 -2.29472125e+00] [ 6.91238228e-02 -2.87660238e-02 9.97193268e-01 -3.19532662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.872414037 meters Centerline goodness : 0.815789 Centerline is valid? [False, False] Translation: X:-1.62, Y:-2.30, Z:-0.32 [[ 0.91282382 -0.40159831 -0.07396944 -1.62487692] [ 0.40249736 0.91541629 -0.0029804 -2.29956845] [ 0.06890975 -0.02705192 0.99725606 -0.31834865] [ 0. 0. 0. 1. ]] SLAMing on 171.902414037 meters Centerline goodness : 0.817631 Centerline is valid? [False, False] Translation: X:-1.62, Y:-2.30, Z:-0.32 [[ 0.91170244 -0.40429526 -0.07310262 -1.62380881] [ 0.40506135 0.91427749 -0.004687 -2.30439498] [ 0.06873101 -0.02533789 0.99731341 -0.31730274] [ 0. 0. 0. 1. ]] SLAMing on 171.932414037 meters Centerline goodness : 0.817729 Centerline is valid? [False, False] Translation: X:-1.65, Y:-2.32, Z:-0.32 [[ 0.9124356 -0.40350652 -0.06814522 -1.64972012] [ 0.40422242 0.91465384 -0.00354919 -2.3242955 ] [ 0.06376141 -0.02430742 0.9976691 -0.32080684] [ 0. 0. 0. 1. ]] SLAMing on 171.96241403699997 meters Centerline goodness : 0.817161 Centerline is valid? [False, False] Translation: X:-1.65, Y:-2.33, Z:-0.32 [[ 0.9115322 -0.40570205 -0.06719298 -1.64952955] [ 0.40630994 0.91372178 -0.00497382 -2.3288456 ] [ 0.06341358 -0.02276738 0.9977276 -0.31948999] [ 0. 0. 0. 1. ]] SLAMing on 171.99241403699997 meters Centerline goodness : 0.822028 Centerline is valid? [False, False] Translation: X:-1.65, Y:-2.34, Z:-0.32 [[ 0.91115307 -0.40663129 -0.06671641 -1.64878081] [ 0.40724886 0.91330523 -0.00468314 -2.33691847] [ 0.06283676 -0.02290313 0.99776099 -0.31755299] [ 0. 0. 0. 1. ]] SLAMing on 172.02241403699998 meters Centerline goodness : 0.824652 Centerline is valid? [False, False] Translation: X:-1.65, Y:-2.34, Z:-0.32 [[ 0.91160885 -0.40549578 -0.06739784 -1.64822454] [ 0.4062339 0.91376425 -0.00298426 -2.34065679] [ 0.06279584 -0.02465881 0.99772172 -0.31635872] [ 0. 0. 0. 1. ]] SLAMing on 172.05241403699998 meters Centerline goodness : 0.823817 Centerline is valid? [False, False] Translation: X:-1.65, Y:-2.34, Z:-0.32 [[ 9.12028681e-01 -4.04438220e-01 -6.80691669e-02 -1.64750360e+00] [ 4.05291418e-01 9.14186489e-01 -1.38916605e-03 -2.34437724e+00] [ 6.27897446e-02 -2.63208899e-02 9.97679637e-01 -3.15262309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.08241403699998 meters Centerline goodness : 0.824236 Centerline is valid? [False, False] Translation: X:-1.65, Y:-2.35, Z:-0.31 [[ 0.91147093 -0.40581967 -0.06731379 -1.64834176] [ 0.40658865 0.91360799 -0.00247132 -2.34785972] [ 0.06250133 -0.02511649 0.99772879 -0.3135228 ] [ 0. 0. 0. 1. ]] SLAMing on 172.11241403699998 meters Centerline goodness : 0.823084 Centerline is valid? [False, False] Translation: X:-1.65, Y:-2.35, Z:-0.31 [[ 0.9105357 -0.40806763 -0.06637426 -1.64771048] [ 0.4086993 0.91265856 -0.00438581 -2.35120542] [ 0.06236674 -0.02313368 0.99778516 -0.31288206] [ 0. 0. 0. 1. ]] SLAMing on 172.14241403699998 meters Centerline goodness : 0.824114 Centerline is valid? [False, False] Translation: X:-1.65, Y:-2.35, Z:-0.31 [[ 0.90947754 -0.41055898 -0.06551287 -1.64579831] [ 0.41104807 0.91159082 -0.00645382 -2.35478259] [ 0.0623706 -0.02105934 0.99783085 -0.3130823 ] [ 0. 0. 0. 1. ]] SLAMing on 172.17241403699998 meters Centerline goodness : 0.821525 Centerline is valid? [False, False] Translation: X:-1.66, Y:-2.38, Z:-0.32 [[ 0.91087594 -0.40712281 -0.06749851 -1.66336387] [ 0.40765062 0.91311565 -0.00638633 -2.37747593] [ 0.06423397 -0.02169865 0.99769894 -0.31895426] [ 0. 0. 0. 1. ]] SLAMing on 172.20241403699998 meters Centerline goodness : 0.821265 Centerline is valid? [False, False] Translation: X:-1.66, Y:-2.38, Z:-0.32 [[ 0.90989023 -0.40950469 -0.06637524 -1.66257169] [ 0.40988799 0.91209752 -0.00836365 -2.37954548] [ 0.06396565 -0.01959641 0.99775968 -0.31942968] [ 0. 0. 0. 1. ]] SLAMing on 172.23241403699998 meters Centerline goodness : 0.821873 Centerline is valid? [False, False] Translation: X:-1.66, Y:-2.38, Z:-0.32 [[ 0.90915454 -0.41129468 -0.06538124 -1.66327196] [ 0.41158469 0.911321 -0.00959574 -2.38270545] [ 0.06352998 -0.01818591 0.99781422 -0.31823289] [ 0. 0. 0. 1. ]] SLAMing on 172.26241403699999 meters Centerline goodness : 0.822383 Centerline is valid? [False, False] Translation: X:-1.66, Y:-2.39, Z:-0.32 [[ 0.90843866 -0.41300541 -0.06454255 -1.6638302 ] [ 0.41321044 0.91057193 -0.01076495 -2.38673933] [ 0.06321661 -0.01689035 0.99785689 -0.31647711] [ 0. 0. 0. 1. ]] SLAMing on 172.292414037 meters Centerline goodness : 0.819534 Centerline is valid? [False, False] Translation: X:-1.66, Y:-2.40, Z:-0.31 [[ 0.90824155 -0.41352283 -0.06400125 -1.66254009] [ 0.41376518 0.91032824 -0.01004343 -2.39926572] [ 0.06241534 -0.01735963 0.99789928 -0.31370126] [ 0. 0. 0. 1. ]] SLAMing on 172.322414037 meters Centerline goodness : 0.815190 Centerline is valid? [False, False] Translation: X:-1.66, Y:-2.41, Z:-0.31 [[ 0.90842631 -0.4129438 -0.06510802 -1.65942005] [ 0.41330629 0.91055303 -0.00843093 -2.40560575] [ 0.06276581 -0.01925068 0.99784261 -0.31274521] [ 0. 0. 0. 1. ]] SLAMing on 172.352414037 meters Centerline goodness : 0.812279 Centerline is valid? [False, False] Translation: X:-1.66, Y:-2.41, Z:-0.31 [[ 0.9086048 -0.41235883 -0.0663138 -1.65586471] [ 0.41284706 0.91077494 -0.00680509 -2.41139749] [ 0.06320309 -0.02119432 0.99777561 -0.31236372] [ 0. 0. 0. 1. ]] SLAMing on 172.382414037 meters Centerline goodness : 0.809505 Centerline is valid? [False, False] Translation: X:-1.65, Y:-2.42, Z:-0.31 [[ 0.90883785 -0.41168786 -0.06728204 -1.65311241] [ 0.41230953 0.91103002 -0.00501611 -2.4167836 ] [ 0.06336103 -0.02318219 0.99772139 -0.31192537] [ 0. 0. 0. 1. ]] SLAMing on 172.412414037 meters Centerline goodness : 0.805970 Centerline is valid? [False, False] Translation: X:-1.65, Y:-2.43, Z:-0.31 [[ 9.09166439e-01 -4.10735832e-01 -6.86473742e-02 -1.64906832e+00] [ 4.11607274e-01 9.11359943e-01 -1.58294108e-03 -2.42674866e+00] [ 6.32126376e-02 -2.68166016e-02 9.97639731e-01 -3.10424981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.442414037 meters Centerline goodness : 0.805418 Centerline is valid? [False, False] Translation: X:-1.65, Y:-2.43, Z:-0.31 [[ 0.90805782 -0.41347713 -0.06684056 -1.64842801] [ 0.4141905 0.91018365 -0.00345894 -2.43058166] [ 0.06226738 -0.0245438 0.99775767 -0.31034316] [ 0. 0. 0. 1. ]] SLAMing on 172.472414037 meters Centerline goodness : 0.803328 Centerline is valid? [False, False] Translation: X:-1.65, Y:-2.44, Z:-0.31 [[ 0.9069828 -0.4160086 -0.0657195 -1.64788997] [ 0.41660945 0.90907218 -0.0049336 -2.43579504] [ 0.06179619 -0.02290467 0.99782594 -0.30898592] [ 0. 0. 0. 1. ]] SLAMing on 172.502414037 meters Centerline goodness : 0.800676 Centerline is valid? [False, False] Translation: X:-1.65, Y:-2.45, Z:-0.30 [[ 0.90550073 -0.41957257 -0.06346093 -1.64934727] [ 0.42003656 0.90748397 -0.00649162 -2.44847241] [ 0.06031348 -0.02077774 0.99796321 -0.30410676] [ 0. 0. 0. 1. ]] SLAMing on 172.532414037 meters Centerline goodness : 0.799549 Centerline is valid? [False, False] Translation: X:-1.65, Y:-2.45, Z:-0.30 [[ 0.90431767 -0.4223024 -0.06221121 -1.64895818] [ 0.42263291 0.90626208 -0.00839452 -2.4531027 ] [ 0.05992469 -0.01870119 0.9980277 -0.30288118] [ 0. 0. 0. 1. ]] SLAMing on 172.562414037 meters Centerline goodness : 0.799549 Centerline is valid? [False, False] Translation: X:-1.65, Y:-2.45, Z:-0.30 [[ 0.90432036 -0.42229639 -0.0622129 -1.6489523 ] [ 0.42262783 0.90626459 -0.00837952 -2.45313864] [ 0.05991999 -0.01871514 0.99802772 -0.30287605] [ 0. 0. 0. 1. ]] SLAMing on 172.592414037 meters Centerline goodness : 0.800617 Centerline is valid? [False, False] Translation: X:-1.66, Y:-2.47, Z:-0.30 [[ 0.90525942 -0.41907437 -0.0698717 -1.66362338] [ 0.41908335 0.90781985 -0.01524052 -2.4690648 ] [ 0.06981782 -0.01548544 0.99743956 -0.29825916] [ 0. 0. 0. 1. ]] SLAMing on 172.622414037 meters Centerline goodness : 0.800253 Centerline is valid? [False, False] Translation: X:-1.67, Y:-2.48, Z:-0.29 [[ 0.90539716 -0.41854581 -0.07124175 -1.66504694] [ 0.41899442 0.90794171 -0.00924798 -2.47625865] [ 0.06855406 -0.0214768 0.99741621 -0.29475979] [ 0. 0. 0. 1. ]] SLAMing on 172.652414037 meters Centerline goodness : 0.798409 Centerline is valid? [False, False] Translation: X:-1.66, Y:-2.48, Z:-0.30 [[ 0.90554949 -0.41771626 -0.07411641 -1.65831962] [ 0.41849677 0.90820215 -0.00541403 -2.48465737] [ 0.06957421 -0.0261148 0.9972349 -0.29653114] [ 0. 0. 0. 1. ]] SLAMing on 172.682414037 meters Centerline goodness : 0.797080 Centerline is valid? [False, False] Translation: X:-1.66, Y:-2.49, Z:-0.30 [[ 9.06483821e-01 -4.15358223e-01 -7.59251525e-02 -1.65926144e+00] [ 4.16698144e-01 9.09042717e-01 1.99879285e-03 -2.49144112e+00] [ 6.81889919e-02 -3.34497435e-02 9.97111516e-01 -2.95483056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.71241403699997 meters Centerline goodness : 0.799189 Centerline is valid? [False, False] Translation: X:-1.66, Y:-2.50, Z:-0.30 [[ 0.90674261 -0.41464371 -0.07673617 -1.6584339 ] [ 0.41621833 0.90925066 0.00505411 -2.49615613] [ 0.06767676 -0.03652178 0.99703862 -0.29557065] [ 0. 0. 0. 1. ]] SLAMing on 172.74241403699997 meters Centerline goodness : 0.798508 Centerline is valid? [False, False] Translation: X:-1.66, Y:-2.50, Z:-0.29 [[ 0.90695757 -0.41403304 -0.07748936 -1.66120347] [ 0.41610681 0.9092352 0.01210248 -2.5033341 ] [ 0.06544522 -0.04322029 0.99691972 -0.29253551] [ 0. 0. 0. 1. ]] SLAMing on 172.77241403699998 meters Centerline goodness : 0.794075 Centerline is valid? [False, False] Translation: X:-1.66, Y:-2.51, Z:-0.29 [[ 0.90610313 -0.41581956 -0.07791804 -1.66233258] [ 0.41841605 0.90803815 0.01986791 -2.51463196] [ 0.06249108 -0.05060454 0.99676178 -0.28772507] [ 0. 0. 0. 1. ]] SLAMing on 172.80241403699998 meters Centerline goodness : 0.793323 Centerline is valid? [False, False] Translation: X:-1.66, Y:-2.52, Z:-0.29 [[ 0.90551681 -0.41708974 -0.07794517 -1.66164139] [ 0.41977006 0.90738412 0.02114617 -2.51936523] [ 0.06190636 -0.05186726 0.99673336 -0.28742197] [ 0. 0. 0. 1. ]] SLAMing on 172.83241403699998 meters Centerline goodness : 0.794046 Centerline is valid? [False, False] Translation: X:-1.66, Y:-2.53, Z:-0.28 [[ 0.90366031 -0.42120236 -0.07737317 -1.66186333] [ 0.4239924 0.90536597 0.02330037 -2.52797573] [ 0.06023687 -0.05386125 0.9967299 -0.28482996] [ 0. 0. 0. 1. ]] SLAMing on 172.86241403699998 meters Centerline goodness : 0.794938 Centerline is valid? [False, False] Translation: X:-1.66, Y:-2.53, Z:-0.28 [[ 0.90254226 -0.42376845 -0.07640532 -1.66220635] [ 0.42645902 0.90422877 0.0224286 -2.53149894] [ 0.05958335 -0.0528265 0.99682455 -0.28394524] [ 0. 0. 0. 1. ]] SLAMing on 172.89241403699998 meters Centerline goodness : 0.795818 Centerline is valid? [False, False] Translation: X:-1.66, Y:-2.54, Z:-0.28 [[ 0.90161693 -0.42586256 -0.07568349 -1.66283022] [ 0.42850127 0.90327006 0.02213296 -2.53548248] [ 0.05893703 -0.05238593 0.99688622 -0.28247432] [ 0. 0. 0. 1. ]] SLAMing on 172.92241403699998 meters Centerline goodness : 0.796002 Centerline is valid? [False, False] Translation: X:-1.67, Y:-2.54, Z:-0.28 [[ 0.90114962 -0.42682797 -0.07581055 -1.6657384 ] [ 0.429778 0.90252029 0.02734951 -2.54230907] [ 0.05674703 -0.05722771 0.99674709 -0.27805228] [ 0. 0. 0. 1. ]] SLAMing on 172.95241403699998 meters Centerline goodness : 0.795754 Centerline is valid? [False, False] Translation: X:-1.67, Y:-2.55, Z:-0.28 [[ 0.90045388 -0.42832927 -0.07560976 -1.66503107] [ 0.43129006 0.90178789 0.02770347 -2.54606617] [ 0.05631776 -0.05755543 0.99675257 -0.27763169] [ 0. 0. 0. 1. ]] SLAMing on 172.98241403699998 meters Centerline goodness : 0.795475 Centerline is valid? [False, False] Translation: X:-1.66, Y:-2.55, Z:-0.28 [[ 0.90008001 -0.42892372 -0.0766839 -1.66213449] [ 0.43209456 0.90131968 0.03028395 -2.55212504] [ 0.0561272 -0.06039267 0.99659544 -0.27823591] [ 0. 0. 0. 1. ]] SLAMing on 173.01241403699999 meters Centerline goodness : 0.795708 Centerline is valid? [False, False] Translation: X:-1.66, Y:-2.55, Z:-0.28 [[ 0.90040045 -0.42814996 -0.07724406 -1.66144494] [ 0.43146846 0.90154902 0.03231607 -2.55439364] [ 0.05580318 -0.06242578 0.99648835 -0.27879216] [ 0. 0. 0. 1. ]] SLAMing on 173.042414037 meters Centerline goodness : 0.794276 Centerline is valid? [False, False] Translation: X:-1.66, Y:-2.56, Z:-0.28 [[ 0.90082563 -0.42720688 -0.07750786 -1.66256215] [ 0.43072939 0.90177432 0.03571095 -2.5585285 ] [ 0.05463864 -0.06555425 0.99635198 -0.27833661] [ 0. 0. 0. 1. ]] SLAMing on 173.072414037 meters Centerline goodness : 0.797333 Centerline is valid? [False, False] Translation: X:-1.67, Y:-2.56, Z:-0.27 [[ 0.90151056 -0.42573145 -0.07766241 -1.66772852] [ 0.42965987 0.90195978 0.04313883 -2.56433184] [ 0.05168281 -0.07225853 0.99604598 -0.27340308] [ 0. 0. 0. 1. ]] SLAMing on 173.102414037 meters Centerline goodness : 0.795878 Centerline is valid? [False, False] Translation: X:-1.67, Y:-2.57, Z:-0.27 [[ 0.90128933 -0.42632305 -0.0769818 -1.66911347] [ 0.43018536 0.90172514 0.04280576 -2.56653636] [ 0.05116734 -0.07169682 0.99611318 -0.27162021] [ 0. 0. 0. 1. ]] SLAMing on 173.132414037 meters Centerline goodness : 0.795637 Centerline is valid? [False, False] Translation: X:-1.67, Y:-2.57, Z:-0.27 [[ 0.90064594 -0.42781528 -0.07622984 -1.67121392] [ 0.43168103 0.90095572 0.04393485 -2.57001052] [ 0.04988371 -0.07247672 0.99612185 -0.27021913] [ 0. 0. 0. 1. ]] SLAMing on 173.162414037 meters Centerline goodness : 0.794693 Centerline is valid? [False, False] Translation: X:-1.67, Y:-2.57, Z:-0.27 [[ 0.90065701 -0.42786556 -0.07581567 -1.6737284 ] [ 0.43180367 0.9007931 0.04601494 -2.57247511] [ 0.04860603 -0.07418116 0.99605954 -0.26915608] [ 0. 0. 0. 1. ]] SLAMing on 173.192414037 meters Centerline goodness : 0.794501 Centerline is valid? [False, False] Translation: X:-1.67, Y:-2.57, Z:-0.27 [[ 0.90034799 -0.42858084 -0.07544513 -1.67430719] [ 0.43253769 0.90039136 0.04697385 -2.57385446] [ 0.04779805 -0.07492567 0.99604292 -0.26949737] [ 0. 0. 0. 1. ]] SLAMing on 173.222414037 meters Centerline goodness : 0.795061 Centerline is valid? [False, False] Translation: X:-1.68, Y:-2.58, Z:-0.27 [[ 0.8993604 -0.43075854 -0.07481948 -1.67550858] [ 0.4347475 0.89923677 0.04866056 -2.57594941] [ 0.04631948 -0.07629097 0.99600913 -0.27015402] [ 0. 0. 0. 1. ]] SLAMing on 173.252414037 meters Centerline goodness : 0.793849 Centerline is valid? [False, False] Translation: X:-1.68, Y:-2.58, Z:-0.27 [[ 0.89911139 -0.43139843 -0.0741222 -1.67924632] [ 0.43546157 0.89873395 0.05148307 -2.57813793] [ 0.04440642 -0.07856639 0.99591937 -0.26922088] [ 0. 0. 0. 1. ]] SLAMing on 173.282414037 meters Centerline goodness : 0.794086 Centerline is valid? [False, False] Translation: X:-1.68, Y:-2.58, Z:-0.27 [[ 0.89884546 -0.43208784 -0.07332754 -1.68300232] [ 0.43621619 0.898193 0.05444977 -2.58036782] [ 0.0423352 -0.08092859 0.99582041 -0.26850026] [ 0. 0. 0. 1. ]] SLAMing on 173.312414037 meters Centerline goodness : 0.794847 Centerline is valid? [False, False] Translation: X:-1.68, Y:-2.58, Z:-0.27 [[ 0.89795207 -0.43406399 -0.07259846 -1.68492985] [ 0.43822453 0.89707525 0.05670321 -2.58207157] [ 0.04051346 -0.08273119 0.99574807 -0.26959286] [ 0. 0. 0. 1. ]] SLAMing on 173.342414037 meters Centerline goodness : 0.792756 Centerline is valid? [False, False] Translation: X:-1.69, Y:-2.58, Z:-0.27 [[ 0.8983602 -0.4332505 -0.0724083 -1.68995215] [ 0.43759217 0.89705641 0.06166758 -2.58445761] [ 0.03823682 -0.087085 0.9954668 -0.26793711] [ 0. 0. 0. 1. ]] SLAMing on 173.372414037 meters Centerline goodness : 0.794083 Centerline is valid? [False, False] Translation: X:-1.70, Y:-2.59, Z:-0.27 [[ 0.8990507 -0.43186835 -0.07209413 -1.69587707] [ 0.43638683 0.89725194 0.06712289 -2.58707981] [ 0.03569835 -0.09180781 0.99513665 -0.2654525 ] [ 0. 0. 0. 1. ]] SLAMing on 173.402414037 meters Centerline goodness : 0.792192 Centerline is valid? [False, False] Translation: X:-1.70, Y:-2.59, Z:-0.26 [[ 0.89943787 -0.43111247 -0.07178834 -1.69924734] [ 0.43567748 0.89743886 0.06919993 -2.5876603 ] [ 0.03459269 -0.09351761 0.99501648 -0.26402336] [ 0. 0. 0. 1. ]] SLAMing on 173.432414037 meters Centerline goodness : 0.795384 Centerline is valid? [False, False] Translation: X:-1.71, Y:-2.59, Z:-0.26 [[ 0.90046138 -0.42906798 -0.07120381 -1.70604148] [ 0.43377614 0.89789167 0.07502541 -2.58818097] [ 0.0317423 -0.09844399 0.99463622 -0.26293144] [ 0. 0. 0. 1. ]] SLAMing on 173.46241403699997 meters Centerline goodness : 0.793478 Centerline is valid? [False, False] Translation: X:-1.71, Y:-2.59, Z:-0.26 [[ 0.90148116 -0.42694525 -0.07105965 -1.71194814] [ 0.43183409 0.89829225 0.081181 -2.5896872 ] [ 0.02917249 -0.10386912 0.99416305 -0.26191789] [ 0. 0. 0. 1. ]] SLAMing on 173.49241403699997 meters Centerline goodness : 0.793554 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.59, Z:-0.26 [[ 0.90264388 -0.42469327 -0.06978293 -1.72179132] [ 0.42975681 0.89817281 0.09270755 -2.593752 ] [ 0.02330486 -0.11367159 0.99324501 -0.25849458] [ 0. 0. 0. 1. ]] SLAMing on 173.52241403699998 meters Centerline goodness : 0.791338 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.59, Z:-0.26 [[ 0.90281911 -0.42437628 -0.06944375 -1.72522799] [ 0.42946314 0.89803392 0.09537554 -2.59365622] [ 0.02188772 -0.11593039 0.99301615 -0.25811694] [ 0. 0. 0. 1. ]] SLAMing on 173.55241403699998 meters Centerline goodness : 0.793580 Centerline is valid? [False, False] Translation: X:-1.74, Y:-2.60, Z:-0.25 [[ 0.90298038 -0.42470345 -0.0652182 -1.73732691] [ 0.42942761 0.89721028 0.10298367 -2.596395 ] [ 0.01477692 -0.12099873 0.99254267 -0.25337983] [ 0. 0. 0. 1. ]] SLAMing on 173.58241403699998 meters Centerline goodness : 0.795469 Centerline is valid? [False, False] Translation: X:-1.74, Y:-2.60, Z:-0.25 [[ 9.06170943e-01 -4.19543494e-01 -5.32679954e-02 -1.74407770e+00] [ 4.22911560e-01 8.99010276e-01 1.13694050e-01 -2.60182374e+00] [ 1.88876287e-04 -1.25553895e-01 9.92086782e-01 -2.53179393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.61241403699998 meters Centerline goodness : 0.794979 Centerline is valid? [False, False] Translation: X:-1.75, Y:-2.60, Z:-0.25 [[ 0.90667016 -0.41879291 -0.0506134 -1.75360897] [ 0.4218149 0.89875029 0.11966662 -2.60413611] [-0.00462672 -0.12984764 0.99152316 -0.24935974] [ 0. 0. 0. 1. ]] SLAMing on 173.64241403699998 meters Centerline goodness : 0.796631 Centerline is valid? [False, False] Translation: X:-1.76, Y:-2.61, Z:-0.25 [[ 0.91041768 -0.41179048 -0.0396011 -1.76065649] [ 0.4132522 0.90087287 0.13285591 -2.60751641] [-0.01903324 -0.13731961 0.99034391 -0.25050051] [ 0. 0. 0. 1. ]] SLAMing on 173.67241403699998 meters Centerline goodness : 0.796187 Centerline is valid? [False, False] Translation: X:-1.76, Y:-2.61, Z:-0.25 [[ 0.91121847 -0.40996024 -0.04016842 -1.76255384] [ 0.41145981 0.90122994 0.13596111 -2.60672038] [-0.01953767 -0.14041797 0.98989953 -0.25053094] [ 0. 0. 0. 1. ]] SLAMing on 173.70241403699998 meters Centerline goodness : 0.795698 Centerline is valid? [False, False] Translation: X:-1.77, Y:-2.61, Z:-0.25 [[ 0.91245424 -0.40715427 -0.04065295 -1.7659285 ] [ 0.40867099 0.90186491 0.14009891 -2.60635905] [-0.0203784 -0.14444753 0.9893026 -0.24966199] [ 0. 0. 0. 1. ]] SLAMing on 173.73241403699998 meters Centerline goodness : 0.796091 Centerline is valid? [False, False] Translation: X:-1.78, Y:-2.61, Z:-0.25 [[ 0.91462374 -0.40238589 -0.03935735 -1.77819945] [ 0.40348122 0.90220769 0.15239487 -2.60644191] [-0.02581305 -0.15526392 0.98753572 -0.24733485] [ 0. 0. 0. 1. ]] SLAMing on 173.76241403699999 meters Centerline goodness : 0.793704 Centerline is valid? [False, False] Translation: X:-1.78, Y:-2.61, Z:-0.25 [[ 0.91536364 -0.40075632 -0.03877845 -1.78460005] [ 0.40165329 0.90220419 0.15716945 -2.60602626] [-0.02800057 -0.15944269 0.98681001 -0.24586839] [ 0. 0. 0. 1. ]] SLAMing on 173.792414037 meters Centerline goodness : 0.794694 Centerline is valid? [False, False] Translation: X:-1.79, Y:-2.61, Z:-0.25 [[ 0.91826258 -0.3950871 -0.02645772 -1.791478 ] [ 0.39371468 0.90386302 0.16739296 -2.60955822] [-0.04222064 -0.16412748 0.98553518 -0.24835414] [ 0. 0. 0. 1. ]] SLAMing on 173.822414037 meters Centerline goodness : 0.794686 Centerline is valid? [False, False] Translation: X:-1.80, Y:-2.61, Z:-0.24 [[ 0.91879056 -0.39395943 -0.02489724 -1.79988687] [ 0.39216448 0.90376551 0.17150778 -2.60924424] [-0.04506584 -0.16734355 0.98486812 -0.24489664] [ 0. 0. 0. 1. ]] SLAMing on 173.852414037 meters Centerline goodness : 0.797855 Centerline is valid? [False, False] Translation: X:-1.81, Y:-2.61, Z:-0.24 [[ 0.91946941 -0.39260996 -0.02081867 -1.8134823 ] [ 0.38981662 0.90347529 0.17825659 -2.6072629 ] [-0.05117616 -0.17201695 0.98376378 -0.24073113] [ 0. 0. 0. 1. ]] SLAMing on 173.882414037 meters Centerline goodness : 0.798862 Centerline is valid? [False, False] Translation: X:-1.82, Y:-2.61, Z:-0.24 [[ 0.92246071 -0.38599575 -0.00857467 -1.82123507] [ 0.38050411 0.90512365 0.18965178 -2.61098597] [-0.06544364 -0.17820901 0.98181397 -0.24183723] [ 0. 0. 0. 1. ]] SLAMing on 173.912414037 meters Centerline goodness : 0.799529 Centerline is valid? [False, False] Translation: X:-1.83, Y:-2.61, Z:-0.25 [[ 0.92517179 -0.37952991 0.00376861 -1.82547909] [ 0.37130204 0.90708419 0.19832565 -2.61392531] [-0.07868896 -0.182086 0.98012894 -0.24560675] [ 0. 0. 0. 1. ]] SLAMing on 173.942414037 meters Centerline goodness : 0.799335 Centerline is valid? [False, False] Translation: X:-1.84, Y:-2.61, Z:-0.25 [[ 0.9253641 -0.37902926 0.00617218 -1.84112687] [ 0.37140815 0.90977651 0.18537177 -2.60969424] [-0.07587663 -0.16924398 0.98264908 -0.24948911] [ 0. 0. 0. 1. ]] SLAMing on 173.972414037 meters Centerline goodness : 0.800019 Centerline is valid? [False, False] Translation: X:-1.85, Y:-2.61, Z:-0.26 [[ 0.92500734 -0.3798006 0.01062721 -1.84969955] [ 0.37206814 0.91113324 0.17720473 -2.60662361] [-0.07698526 -0.15996163 0.98411663 -0.25530781] [ 0. 0. 0. 1. ]] SLAMing on 174.002414037 meters Centerline goodness : 0.800288 Centerline is valid? [False, False] Translation: X:-1.86, Y:-2.60, Z:-0.26 [[ 0.92480746 -0.38015513 0.01460261 -1.85902769] [ 0.37252487 0.91269686 0.16795732 -2.60396968] [-0.07717759 -0.14988835 0.98568611 -0.26102277] [ 0. 0. 0. 1. ]] SLAMing on 174.032414037 meters Centerline goodness : 0.800067 Centerline is valid? [False, False] Translation: X:-1.87, Y:-2.60, Z:-0.27 [[ 0.92504719 -0.37945463 0.01737458 -1.87128238] [ 0.37228136 0.91474785 0.15698076 -2.5997515 ] [-0.07546044 -0.13874638 0.98744882 -0.26567941] [ 0. 0. 0. 1. ]] SLAMing on 174.062414037 meters Centerline goodness : 0.800361 Centerline is valid? [False, False] Translation: X:-1.88, Y:-2.60, Z:-0.27 [[ 0.92482732 -0.37974158 0.02215312 -1.88265174] [ 0.37269018 0.91623216 0.14703969 -2.59897857] [-0.07613448 -0.12773007 0.98888249 -0.27017685] [ 0. 0. 0. 1. ]] SLAMing on 174.092414037 meters Centerline goodness : 0.804466 Centerline is valid? [False, False] Translation: X:-1.89, Y:-2.60, Z:-0.27 [[ 0.92371102 -0.38221494 0.02587854 -1.88724815] [ 0.37511224 0.9161231 0.14145411 -2.59586121] [-0.0777738 -0.12095536 0.98960651 -0.27355794] [ 0. 0. 0. 1. ]] SLAMing on 174.122414037 meters Centerline goodness : 0.804861 Centerline is valid? [False, False] Translation: X:-1.90, Y:-2.59, Z:-0.28 [[ 0.92410113 -0.38116116 0.02744591 -1.90156274] [ 0.37486797 0.91810768 0.12865572 -2.59359262] [-0.07423686 -0.1086023 0.99130945 -0.27702167] [ 0. 0. 0. 1. ]] SLAMing on 174.152414037 meters Centerline goodness : 0.802760 Centerline is valid? [False, False] Translation: X:-1.91, Y:-2.59, Z:-0.28 [[ 0.92307924 -0.38336094 0.03096943 -1.90574405] [ 0.37715509 0.9180251 0.12240895 -2.58921826] [-0.07535752 -0.10131288 0.99199644 -0.2818101 ] [ 0. 0. 0. 1. ]] SLAMing on 174.182414037 meters Centerline goodness : 0.802455 Centerline is valid? [False, False] Translation: X:-1.91, Y:-2.59, Z:-0.29 [[ 0.9228781 -0.38350578 0.03491895 -1.91313877] [ 0.3775258 0.91890457 0.11440573 -2.5866864 ] [-0.07596244 -0.09239974 0.99282022 -0.28802473] [ 0. 0. 0. 1. ]] SLAMing on 174.21241403699997 meters Centerline goodness : 0.801948 Centerline is valid? [False, False] Translation: X:-1.92, Y:-2.58, Z:-0.29 [[ 0.9233688 -0.38216038 0.03665376 -1.92124625] [ 0.37671829 0.92032117 0.10531988 -2.58120911] [-0.07398231 -0.08344095 0.99376266 -0.29385634] [ 0. 0. 0. 1. ]] SLAMing on 174.24241403699997 meters Centerline goodness : 0.801108 Centerline is valid? [False, False] Translation: X:-1.93, Y:-2.58, Z:-0.30 [[ 0.92338939 -0.38169196 0.04078334 -1.93004287] [ 0.37639722 0.92115604 0.09897818 -2.57906998] [-0.075347 -0.07604467 0.99425351 -0.29766151] [ 0. 0. 0. 1. ]] SLAMing on 174.27241403699998 meters Centerline goodness : 0.803476 Centerline is valid? [False, False] Translation: X:-1.94, Y:-2.58, Z:-0.30 [[ 0.92396866 -0.37977465 0.04531158 -1.94199541] [ 0.37467929 0.922565 0.09213718 -2.57834332] [-0.07679424 -0.06815455 0.99471483 -0.30091425] [ 0. 0. 0. 1. ]] SLAMing on 174.30241403699998 meters Centerline goodness : 0.807878 Centerline is valid? [False, False] Translation: X:-1.96, Y:-2.58, Z:-0.30 [[ 0.92554079 -0.37534937 0.04987086 -1.96019114] [ 0.37051708 0.92492434 0.08504154 -2.57719513] [-0.07804707 -0.06023141 0.99512855 -0.30074797] [ 0. 0. 0. 1. ]] SLAMing on 174.33241403699998 meters Centerline goodness : 0.809856 Centerline is valid? [False, False] Translation: X:-1.96, Y:-2.57, Z:-0.30 [[ 0.92549727 -0.37532489 0.05085305 -1.964408 ] [ 0.37050616 0.92501277 0.08412227 -2.57417247] [-0.0786129 -0.05901356 0.99515698 -0.29873546] [ 0. 0. 0. 1. ]] SLAMing on 174.36241403699998 meters Centerline goodness : 0.812987 Centerline is valid? [False, False] Translation: X:-1.97, Y:-2.57, Z:-0.30 [[ 0.92569362 -0.37445058 0.05364779 -1.97171951] [ 0.36959841 0.92552048 0.08251577 -2.57195944] [-0.08055021 -0.05655618 0.99514474 -0.29823062] [ 0. 0. 0. 1. ]] SLAMing on 174.39241403699998 meters Centerline goodness : 0.815736 Centerline is valid? [False, False] Translation: X:-1.98, Y:-2.57, Z:-0.30 [[ 0.92568282 -0.37421049 0.05547814 -1.9766415 ] [ 0.36937513 0.92573855 0.08105645 -2.5687124 ] [-0.08169043 -0.05454032 0.99516432 -0.29795104] [ 0. 0. 0. 1. ]] SLAMing on 174.42241403699998 meters Centerline goodness : 0.818013 Centerline is valid? [False, False] Translation: X:-1.98, Y:-2.57, Z:-0.30 [[ 0.92573481 -0.37366331 0.05823058 -1.9820584 ] [ 0.36889092 0.9261493 0.07852997 -2.56553388] [-0.08327398 -0.05121719 0.99520965 -0.30023715] [ 0. 0. 0. 1. ]] SLAMing on 174.45241403699998 meters Centerline goodness : 0.818826 Centerline is valid? [False, False] Translation: X:-1.99, Y:-2.56, Z:-0.30 [[ 0.92729943 -0.3700712 0.05624123 -1.99377737] [ 0.36620548 0.92801385 0.06843854 -2.56187754] [-0.07751977 -0.04286717 0.99606882 -0.30172683] [ 0. 0. 0. 1. ]] SLAMing on 174.48241403699998 meters Centerline goodness : 0.818826 Centerline is valid? [False, False] Translation: X:-1.99, Y:-2.56, Z:-0.30 [[ 0.92729943 -0.3700712 0.05624123 -1.99377737] [ 0.36620548 0.92801385 0.06843854 -2.56187754] [-0.07751977 -0.04286717 0.99606882 -0.30172683] [ 0. 0. 0. 1. ]] SLAMing on 174.51241403699999 meters Centerline goodness : 0.822065 Centerline is valid? [False, False] Translation: X:-2.00, Y:-2.56, Z:-0.30 [[ 0.92635641 -0.37214014 0.05809917 -1.99596495] [ 0.36848693 0.92737407 0.06476666 -2.55784862] [-0.07798194 -0.03858823 0.99620769 -0.30307653] [ 0. 0. 0. 1. ]] SLAMing on 174.542414037 meters Centerline goodness : 0.823580 Centerline is valid? [False, False] Translation: X:-2.00, Y:-2.55, Z:-0.31 [[ 0.92570837 -0.37307705 0.06226987 -2.00396213] [ 0.36980327 0.92728924 0.05813963 -2.55479687] [-0.07943274 -0.03079274 0.99636452 -0.30581005] [ 0. 0. 0. 1. ]] SLAMing on 174.572414037 meters Centerline goodness : 0.825256 Centerline is valid? [False, False] Translation: X:-2.01, Y:-2.55, Z:-0.31 [[ 0.92427145 -0.37631278 0.0641169 -2.00531515] [ 0.37332547 0.92612936 0.05396768 -2.55200577] [-0.07968927 -0.02594431 0.99648207 -0.30632259] [ 0. 0. 0. 1. ]] SLAMing on 174.602414037 meters Centerline goodness : 0.823680 Centerline is valid? [False, False] Translation: X:-2.01, Y:-2.55, Z:-0.31 [[ 0.9227512 -0.37969686 0.06603415 -2.00627898] [ 0.37701106 0.92487275 0.04972991 -2.54952945] [-0.07995548 -0.02099273 0.99657736 -0.30721543] [ 0. 0. 0. 1. ]] SLAMing on 174.632414037 meters Centerline goodness : 0.824912 Centerline is valid? [False, False] Translation: X:-2.01, Y:-2.55, Z:-0.31 [[ 0.92114723 -0.38324013 0.06793226 -2.0070088 ] [ 0.38087295 0.92351058 0.04543132 -2.54717276] [-0.08014726 -0.01597538 0.99665501 -0.30807147] [ 0. 0. 0. 1. ]] SLAMing on 174.662414037 meters Centerline goodness : 0.822669 Centerline is valid? [False, False] Translation: X:-2.01, Y:-2.54, Z:-0.31 [[ 0.91925496 -0.38741904 0.06983408 -2.00718467] [ 0.3854276 0.92184517 0.04058384 -2.54438087] [-0.08009916 -0.01039092 0.99673274 -0.30921488] [ 0. 0. 0. 1. ]] SLAMing on 174.692414037 meters Centerline goodness : 0.825414 Centerline is valid? [False, False] Translation: X:-2.01, Y:-2.54, Z:-0.31 [[ 0.91787374 -0.39036215 0.07159046 -2.0089524 ] [ 0.38864709 0.92064046 0.03707528 -2.5428696 ] [-0.08038186 -0.006207 0.99674482 -0.30847226] [ 0. 0. 0. 1. ]] SLAMing on 174.722414037 meters Centerline goodness : 0.824122 Centerline is valid? [False, False] Translation: X:-2.01, Y:-2.54, Z:-0.31 [[ 9.16381835e-01 -3.93502186e-01 7.34871500e-02 -2.01064626e+00] [ 3.92091518e-01 9.19322045e-01 3.33349429e-02 -2.54085796e+00] [-8.06757300e-02 -1.73384800e-03 9.96738893e-01 -3.08165104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.752414037 meters Centerline goodness : 0.819816 Centerline is valid? [False, False] Translation: X:-2.02, Y:-2.54, Z:-0.31 [[ 9.13744766e-01 -4.00419933e-01 6.88068260e-02 -2.02286388e+00] [ 3.99229223e-01 9.16331457e-01 3.08656473e-02 -2.54141364e+00] [-7.54090795e-02 -7.33628016e-04 9.97152412e-01 -3.06915533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.782414037 meters Centerline goodness : 0.821520 Centerline is valid? [False, False] Translation: X:-2.02, Y:-2.54, Z:-0.31 [[ 0.91216019 -0.40371542 0.07055249 -2.0238122 ] [ 0.40284402 0.914876 0.02680665 -2.53907592] [-0.07536904 0.00396969 0.99714781 -0.307092 ] [ 0. 0. 0. 1. ]] SLAMing on 174.812414037 meters Centerline goodness : 0.821748 Centerline is valid? [False, False] Translation: X:-2.03, Y:-2.54, Z:-0.31 [[ 0.91067927 -0.40671028 0.07245698 -2.02569899] [ 0.40613771 0.91351896 0.02313594 -2.53704576] [-0.07560045 0.00835809 0.99710316 -0.30654953] [ 0. 0. 0. 1. ]] SLAMing on 174.842414037 meters Centerline goodness : 0.822319 Centerline is valid? [False, False] Translation: X:-2.03, Y:-2.53, Z:-0.31 [[ 0.90864442 -0.41030488 0.07755782 -2.03253922] [ 0.41025645 0.91180621 0.01729424 -2.53435732] [-0.07781361 0.01610428 0.99683785 -0.30702598] [ 0. 0. 0. 1. ]] SLAMing on 174.872414037 meters Centerline goodness : 0.821196 Centerline is valid? [False, False] Translation: X:-2.03, Y:-2.53, Z:-0.31 [[ 0.90729293 -0.41292803 0.07943547 -2.03466236] [ 0.41319692 0.91053723 0.01379353 -2.53160336] [-0.07802468 0.02030772 0.99674457 -0.30672124] [ 0. 0. 0. 1. ]] SLAMing on 174.902414037 meters Centerline goodness : 0.822557 Centerline is valid? [False, False] Translation: X:-2.04, Y:-2.53, Z:-0.31 [[ 0.9070679 -0.41334862 0.07981694 -2.03526717] [ 0.41369119 0.91032482 0.01297359 -2.52937703] [-0.07802196 0.02125164 0.99672511 -0.30725633] [ 0. 0. 0. 1. ]] SLAMing on 174.932414037 meters Centerline goodness : 0.823023 Centerline is valid? [False, False] Translation: X:-2.04, Y:-2.52, Z:-0.31 [[ 0.90694141 -0.4134288 0.08083257 -2.03888033] [ 0.41385509 0.91026107 0.01219592 -2.52330859] [-0.07862089 0.02239199 0.99665308 -0.30747635] [ 0. 0. 0. 1. ]] SLAMing on 174.96241403699997 meters Centerline goodness : 0.824021 Centerline is valid? [False, False] Translation: X:-2.04, Y:-2.52, Z:-0.31 [[ 0.90713766 -0.41291518 0.0812546 -2.04189695] [ 0.41335039 0.91049058 0.01218002 -2.52007535] [-0.07901087 0.02253766 0.99661895 -0.30628457] [ 0. 0. 0. 1. ]] SLAMing on 174.99241403699997 meters Centerline goodness : 0.824466 Centerline is valid? [False, False] Translation: X:-2.05, Y:-2.52, Z:-0.30 [[ 0.90741535 -0.41222887 0.0816379 -2.04508073] [ 0.41266865 0.91079951 0.0122 -2.51714164] [-0.07938496 0.02261893 0.99658738 -0.30466802] [ 0. 0. 0. 1. ]] SLAMing on 175.02241403699998 meters Centerline goodness : 0.825217 Centerline is valid? [False, False] Translation: X:-2.05, Y:-2.51, Z:-0.30 [[ 0.90887626 -0.4091326 0.08095958 -2.04972593] [ 0.40939262 0.91224896 0.01412504 -2.51209911] [-0.07963431 0.02030635 0.99661729 -0.30190818] [ 0. 0. 0. 1. ]] SLAMing on 175.05241403699998 meters Centerline goodness : 0.824120 Centerline is valid? [False, False] Translation: X:-2.06, Y:-2.51, Z:-0.30 [[ 0.91104223 -0.40420642 0.08135862 -2.06429338] [ 0.40511486 0.9142477 0.00575276 -2.5129088 ] [-0.07670724 0.02771858 0.99666829 -0.30092008] [ 0. 0. 0. 1. ]] SLAMing on 175.08241403699998 meters Centerline goodness : 0.821953 Centerline is valid? [False, False] Translation: X:-2.07, Y:-2.51, Z:-0.30 [[ 9.13661730e-01 -3.99366837e-01 7.56860146e-02 -2.07104113e+00] [ 4.00538843e-01 9.16279719e-01 -3.33996205e-04 -2.50561508e+00] [-6.92161732e-02 3.06203482e-02 9.97131644e-01 -3.00426418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.11241403699998 meters Centerline goodness : 0.820067 Centerline is valid? [False, False] Translation: X:-2.07, Y:-2.50, Z:-0.30 [[ 9.13797728e-01 -3.98796833e-01 7.70376402e-02 -2.07375109e+00] [ 4.00092594e-01 9.16473464e-01 -1.51858882e-03 -2.50114341e+00] [-6.99973446e-02 3.22098723e-02 9.97027029e-01 -3.02279396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14241403699998 meters Centerline goodness : 0.820746 Centerline is valid? [False, False] Translation: X:-2.10, Y:-2.51, Z:-0.30 [[ 9.14597619e-01 -3.97038719e-01 7.66253873e-02 -2.09684831e+00] [ 3.98201396e-01 9.17298008e-01 1.14551908e-04 -2.50589822e+00] [-7.03337967e-02 3.04075673e-02 9.97059946e-01 -3.01257060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.17241403699998 meters Centerline goodness : 0.818345 Centerline is valid? [False, False] Translation: X:-2.10, Y:-2.50, Z:-0.30 [[ 9.14866363e-01 -3.96345423e-01 7.70054776e-02 -2.09971352e+00] [ 3.97515154e-01 9.17595597e-01 1.50269207e-04 -2.50276779e+00] [-7.07194457e-02 3.04733681e-02 9.97030658e-01 -3.00185106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20241403699998 meters Centerline goodness : 0.819759 Centerline is valid? [False, False] Translation: X:-2.10, Y:-2.50, Z:-0.30 [[ 9.15224349e-01 -3.95456704e-01 7.73200274e-02 -2.10282731e+00] [ 3.96602929e-01 9.17990078e-01 5.77772331e-04 -2.50027324e+00] [-7.12075020e-02 3.01365580e-02 9.97006158e-01 -2.98534285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.23241403699998 meters Centerline goodness : 0.820917 Centerline is valid? [False, False] Translation: X:-2.11, Y:-2.50, Z:-0.30 [[ 9.15516671e-01 -3.94722609e-01 7.76098437e-02 -2.10587437e+00] [ 3.95862780e-01 9.18309366e-01 7.53700490e-04 -2.49756619e+00] [-7.15673490e-02 3.00328231e-02 9.96983522e-01 -2.96788336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26241403699999 meters Centerline goodness : 0.822797 Centerline is valid? [False, False] Translation: X:-2.11, Y:-2.49, Z:-0.30 [[ 0.91665278 -0.39221974 0.07688534 -2.10908376] [ 0.39320376 0.91944789 0.00252699 -2.49227234] [-0.0716832 0.02791524 0.99703674 -0.29541737] [ 0. 0. 0. 1. ]] SLAMing on 175.292414037 meters Centerline goodness : 0.821871 Centerline is valid? [False, False] Translation: X:-2.12, Y:-2.49, Z:-0.30 [[ 9.17162410e-01 -3.90346289e-01 8.02676095e-02 -2.11689759e+00] [ 3.91565100e-01 9.20150210e-01 6.03343168e-04 -2.49083492e+00] [-7.40937704e-02 3.08766309e-02 9.96773167e-01 -2.96263196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.322414037 meters Centerline goodness : 0.821411 Centerline is valid? [False, False] Translation: X:-2.12, Y:-2.49, Z:-0.30 [[ 9.17587044e-01 -3.88622972e-01 8.37030583e-02 -2.12468033e+00] [ 3.90144709e-01 9.20751403e-01 -1.99016884e-03 -2.48889384e+00] [-7.62962830e-02 3.44824585e-02 9.96488754e-01 -2.97545941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.352414037 meters Centerline goodness : 0.821054 Centerline is valid? [False, False] Translation: X:-2.14, Y:-2.49, Z:-0.30 [[ 9.17817036e-01 -3.88689550e-01 8.08227767e-02 -2.14328438e+00] [ 3.90070933e-01 9.20783716e-01 -1.41964668e-03 -2.48799480e+00] [-7.38684949e-02 3.28295919e-02 9.96727477e-01 -2.95109452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.382414037 meters Centerline goodness : 0.821182 Centerline is valid? [False, False] Translation: X:-2.14, Y:-2.49, Z:-0.29 [[ 9.17846533e-01 -3.88567140e-01 8.10760143e-02 -2.14458906e+00] [ 3.90002747e-01 9.20811427e-01 -2.04261698e-03 -2.48514469e+00] [-7.38620266e-02 3.34946773e-02 9.96705828e-01 -2.94955272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.412414037 meters Centerline goodness : 0.821583 Centerline is valid? [False, False] Translation: X:-2.15, Y:-2.48, Z:-0.30 [[ 0.91828318 -0.38676902 0.08465063 -2.15185838] [ 0.38844436 0.92146501 -0.00363605 -2.48426567] [-0.07659628 0.03622099 0.99640406 -0.29630289] [ 0. 0. 0. 1. ]] SLAMing on 175.442414037 meters Centerline goodness : 0.821994 Centerline is valid? [False, False] Translation: X:-2.15, Y:-2.48, Z:-0.30 [[ 9.19693369e-01 -3.83612609e-01 8.36987087e-02 -2.15435456e+00] [ 3.85045035e-01 9.22897181e-01 -1.05581478e-03 -2.48015680e+00] [-7.68402784e-02 3.31987981e-02 9.96490548e-01 -2.95357307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.472414037 meters Centerline goodness : 0.821307 Centerline is valid? [False, False] Translation: X:-2.16, Y:-2.48, Z:-0.29 [[ 9.20125085e-01 -3.82547119e-01 8.38303648e-02 -2.15742663e+00] [ 3.83927754e-01 9.23363058e-01 -3.77902849e-04 -2.47789938e+00] [-7.72612963e-02 3.25325216e-02 9.96479968e-01 -2.93355701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.502414037 meters Centerline goodness : 0.823375 Centerline is valid? [False, False] Translation: X:-2.16, Y:-2.48, Z:-0.29 [[ 9.20824085e-01 -3.80942649e-01 8.34607912e-02 -2.16021671e+00] [ 3.82190202e-01 9.24083014e-01 1.11055731e-03 -2.47602626e+00] [-7.75477581e-02 3.08752687e-02 9.96510443e-01 -2.91054808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.532414037 meters Centerline goodness : 0.822570 Centerline is valid? [False, False] Translation: X:-2.17, Y:-2.47, Z:-0.29 [[ 9.22214845e-01 -3.76989364e-01 8.60162694e-02 -2.16950175e+00] [ 3.78254977e-01 9.25699879e-01 1.70495335e-03 -2.47424621e+00] [-8.02679994e-02 3.09637487e-02 9.96292274e-01 -2.89284774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.562414037 meters Centerline goodness : 0.821126 Centerline is valid? [False, False] Translation: X:-2.18, Y:-2.47, Z:-0.29 [[ 0.92365644 -0.37336556 0.08635353 -2.17695212] [ 0.37508186 0.92698317 -0.00397418 -2.4738803 ] [-0.07856445 0.03606042 0.99625663 -0.28977905] [ 0. 0. 0. 1. ]] SLAMing on 175.592414037 meters Centerline goodness : 0.817930 Centerline is valid? [False, False] Translation: X:-2.18, Y:-2.47, Z:-0.29 [[ 0.92659171 -0.36813385 0.07684581 -2.18118794] [ 0.36982502 0.92906201 -0.00855773 -2.47067918] [-0.06824413 0.03634903 0.99700626 -0.28813528] [ 0. 0. 0. 1. ]] SLAMing on 175.622414037 meters Centerline goodness : 0.817830 Centerline is valid? [False, False] Translation: X:-2.19, Y:-2.47, Z:-0.28 [[ 0.9285461 -0.36560055 0.06433019 -2.18556217] [ 0.36692776 0.93019815 -0.00976823 -2.4705941 ] [-0.05626855 0.03267478 0.99788086 -0.28197962] [ 0. 0. 0. 1. ]] SLAMing on 175.652414037 meters Centerline goodness : 0.819972 Centerline is valid? [False, False] Translation: X:-2.19, Y:-2.47, Z:-0.28 [[ 0.92984288 -0.3625037 0.06311328 -2.18596885] [ 0.3636044 0.93153062 -0.00652269 -2.46946886] [-0.05642745 0.02901335 0.99798505 -0.28201522] [ 0. 0. 0. 1. ]] SLAMing on 175.682414037 meters Centerline goodness : 0.818111 Centerline is valid? [False, False] Translation: X:-2.19, Y:-2.47, Z:-0.28 [[ 0.93143383 -0.35856371 0.06215375 -2.18893029] [ 0.35941327 0.93317462 -0.00268886 -2.46747187] [-0.05703618 0.02484338 0.99806296 -0.28020951] [ 0. 0. 0. 1. ]] SLAMing on 175.71241403699997 meters Centerline goodness : 0.816812 Centerline is valid? [False, False] Translation: X:-2.19, Y:-2.47, Z:-0.28 [[ 9.31775134e-01 -3.57681953e-01 6.21186021e-02 -2.19056476e+00] [ 3.58488913e-01 9.33531865e-01 -1.98900316e-03 -2.46752448e+00] [-5.72782639e-02 2.41221338e-02 9.98066793e-01 -2.78552732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74241403699997 meters Centerline goodness : 0.817792 Centerline is valid? [False, False] Translation: X:-2.19, Y:-2.47, Z:-0.28 [[ 9.31884981e-01 -3.57400459e-01 6.20910067e-02 -2.19114969e+00] [ 3.58199996e-01 9.33642987e-01 -1.88053772e-03 -2.46764991e+00] [-5.72987279e-02 2.39934432e-02 9.98068720e-01 -2.77701737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.77241403699998 meters Centerline goodness : 0.818288 Centerline is valid? [False, False] Translation: X:-2.19, Y:-2.47, Z:-0.28 [[ 9.32012443e-01 -3.57079525e-01 6.20243388e-02 -2.19171384e+00] [ 3.57864649e-01 9.33771980e-01 -1.66790843e-03 -2.46800896e+00] [-5.73210137e-02 2.37508297e-02 9.98073244e-01 -2.76732250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.80241403699998 meters Centerline goodness : 0.818094 Centerline is valid? [False, False] Translation: X:-2.20, Y:-2.47, Z:-0.28 [[ 9.32308082e-01 -3.56028749e-01 6.36016476e-02 -2.19540196e+00] [ 3.56823860e-01 9.34170876e-01 -1.22765669e-03 -2.46823774e+00] [-5.89777258e-02 2.38391397e-02 9.97974611e-01 -2.76194673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.83241403699998 meters Centerline goodness : 0.820986 Centerline is valid? [False, False] Translation: X:-2.20, Y:-2.47, Z:-0.27 [[ 0.93244922 -0.35720672 0.05423853 -2.20240712] [ 0.35743961 0.933919 0.00567599 -2.47161941] [-0.0526819 0.01409443 0.99851188 -0.27280245] [ 0. 0. 0. 1. ]] SLAMing on 175.86241403699998 meters Centerline goodness : 0.815869 Centerline is valid? [False, False] Translation: X:-2.21, Y:-2.47, Z:-0.27 [[ 0.93323341 -0.35687526 0.041418 -2.2057958 ] [ 0.35700253 0.93409241 0.00453386 -2.47193396] [-0.04030627 0.01055518 0.99913162 -0.26920311] [ 0. 0. 0. 1. ]] SLAMing on 175.89241403699998 meters Centerline goodness : 0.816715 Centerline is valid? [False, False] Translation: X:-2.21, Y:-2.47, Z:-0.27 [[ 0.93328627 -0.35675035 0.04130297 -2.20592062] [ 0.35686927 0.93414247 0.00470827 -2.47215779] [-0.04026253 0.01034559 0.99913557 -0.26877787] [ 0. 0. 0. 1. ]] SLAMing on 175.92241403699998 meters Centerline goodness : 0.816430 Centerline is valid? [False, False] Translation: X:-2.21, Y:-2.47, Z:-0.27 [[ 0.93324794 -0.35685648 0.04125213 -2.20600961] [ 0.35697307 0.93410257 0.00475564 -2.47301868] [-0.0402308 0.01028771 0.99913745 -0.26800543] [ 0. 0. 0. 1. ]] SLAMing on 175.95241403699998 meters Centerline goodness : 0.818478 Centerline is valid? [False, False] Translation: X:-2.21, Y:-2.47, Z:-0.27 [[ 0.93270754 -0.35818493 0.04195485 -2.20791928] [ 0.35836257 0.93357606 0.00346579 -2.47368976] [-0.04040943 0.01180248 0.9991135 -0.26572963] [ 0. 0. 0. 1. ]] SLAMing on 175.98241403699998 meters Centerline goodness : 0.817541 Centerline is valid? [False, False] Translation: X:-2.21, Y:-2.47, Z:-0.27 [[ 9.31250293e-01 -3.61796177e-01 4.33176456e-02 -2.20790030e+00] [ 3.62151510e-01 9.32119165e-01 -3.82042559e-04 -2.47339353e+00] [-4.02389861e-02 1.60433280e-02 9.99061277e-01 -2.65595774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.01241403699999 meters Centerline goodness : 0.817229 Centerline is valid? [False, False] Translation: X:-2.21, Y:-2.47, Z:-0.27 [[ 0.92986051 -0.36519116 0.04466374 -2.20756426] [ 0.36572816 0.93071216 -0.00421641 -2.47227648] [-0.0400293 0.02025546 0.99899318 -0.26634861] [ 0. 0. 0. 1. ]] SLAMing on 176.042414037 meters Centerline goodness : 0.815479 Centerline is valid? [False, False] Translation: X:-2.21, Y:-2.48, Z:-0.26 [[ 0.92733374 -0.37238213 0.03719785 -2.21387048] [ 0.37277295 0.92791426 -0.00393174 -2.47701105] [-0.03305231 0.01751239 0.99930019 -0.26406507] [ 0. 0. 0. 1. ]] SLAMing on 176.072414037 meters Centerline goodness : 0.815817 Centerline is valid? [False, False] Translation: X:-2.21, Y:-2.48, Z:-0.26 [[ 0.92581045 -0.37600352 0.03868288 -2.21349096] [ 0.37654535 0.92636738 -0.00755433 -2.47683131] [-0.03299411 0.02155973 0.99922298 -0.26473601] [ 0. 0. 0. 1. ]] SLAMing on 176.102414037 meters Centerline goodness : 0.816884 Centerline is valid? [False, False] Translation: X:-2.21, Y:-2.48, Z:-0.26 [[ 0.92425506 -0.37965396 0.04019275 -2.21345069] [ 0.38035524 0.92477214 -0.01124203 -2.4764535 ] [-0.03290106 0.02567803 0.9991287 -0.26499646] [ 0. 0. 0. 1. ]] SLAMing on 176.132414037 meters Centerline goodness : 0.817171 Centerline is valid? [False, False] Translation: X:-2.23, Y:-2.48, Z:-0.26 [[ 0.92245836 -0.38401866 0.04000297 -2.22964401] [ 0.38462389 0.92303497 -0.00842109 -2.4831535 ] [-0.03369028 0.0231542 0.99916407 -0.26365628] [ 0. 0. 0. 1. ]] SLAMing on 176.162414037 meters Centerline goodness : 0.817577 Centerline is valid? [False, False] Translation: X:-2.24, Y:-2.49, Z:-0.26 [[ 0.91898462 -0.39272371 0.03514763 -2.24015397] [ 0.39321474 0.91941123 -0.00807197 -2.4889376 ] [-0.02914507 0.02123858 0.99934953 -0.25801161] [ 0. 0. 0. 1. ]] SLAMing on 176.192414037 meters Centerline goodness : 0.818573 Centerline is valid? [False, False] Translation: X:-2.26, Y:-2.50, Z:-0.26 [[ 0.91709128 -0.39724591 0.03375308 -2.25726097] [ 0.39769673 0.91748536 -0.00761086 -2.49606586] [-0.02794458 0.02040334 0.99940122 -0.25510672] [ 0. 0. 0. 1. ]] SLAMing on 176.222414037 meters Centerline goodness : 0.816347 Centerline is valid? [False, False] Translation: X:-2.26, Y:-2.50, Z:-0.25 [[ 0.91574086 -0.40021262 0.0353348 -2.25856321] [ 0.40078521 0.91611005 -0.01065785 -2.49610706] [-0.02810516 0.02392149 0.9993187 -0.25403971] [ 0. 0. 0. 1. ]] SLAMing on 176.252414037 meters Centerline goodness : 0.816833 Centerline is valid? [False, False] Translation: X:-2.28, Y:-2.50, Z:-0.25 [[ 0.91456122 -0.40302063 0.03394319 -2.27605947] [ 0.40350654 0.91493594 -0.00864311 -2.50149161] [-0.02757249 0.02160095 0.99938639 -0.25229147] [ 0. 0. 0. 1. ]] SLAMing on 176.282414037 meters Centerline goodness : 0.817619 Centerline is valid? [False, False] Translation: X:-2.29, Y:-2.51, Z:-0.25 [[ 0.91377371 -0.40494631 0.0321884 -2.2940496 ] [ 0.40533097 0.91414899 -0.00619889 -2.50546098] [-0.02691477 0.01871134 0.9994626 -0.25063654] [ 0. 0. 0. 1. ]] SLAMing on 176.312414037 meters Centerline goodness : 0.817671 Centerline is valid? [False, False] Translation: X:-2.31, Y:-2.51, Z:-0.25 [[ 0.91330712 -0.4060132 0.03199026 -2.31420371] [ 0.40634015 0.91371227 -0.00419208 -2.50589535] [-0.02752785 0.01682758 0.99947939 -0.249663 ] [ 0. 0. 0. 1. ]] SLAMing on 176.342414037 meters Centerline goodness : 0.816015 Centerline is valid? [False, False] Translation: X:-2.32, Y:-2.50, Z:-0.25 [[ 0.91319467 -0.40623782 0.032347 -2.31550648] [ 0.40659378 0.91359527 -0.00501792 -2.50306309] [-0.02751359 0.01773443 0.9994641 -0.24953271] [ 0. 0. 0. 1. ]] SLAMing on 176.372414037 meters Centerline goodness : 0.816015 Centerline is valid? [False, False] Translation: X:-2.32, Y:-2.50, Z:-0.25 [[ 0.91319467 -0.40623782 0.032347 -2.31550648] [ 0.40659378 0.91359527 -0.00501792 -2.50306309] [-0.02751359 0.01773443 0.9994641 -0.24953271] [ 0. 0. 0. 1. ]] SLAMing on 176.402414037 meters Centerline goodness : 0.815146 Centerline is valid? [False, False] Translation: X:-2.34, Y:-2.50, Z:-0.25 [[ 0.91313468 -0.40592646 0.03753349 -2.34124332] [ 0.40641965 0.91366506 -0.00626252 -2.50425676] [-0.03175092 0.02097288 0.99927575 -0.24975275] [ 0. 0. 0. 1. ]] SLAMing on 176.432414037 meters Centerline goodness : 0.817030 Centerline is valid? [False, False] Translation: X:-2.36, Y:-2.51, Z:-0.25 [[ 0.91258734 -0.40714833 0.03761094 -2.36034716] [ 0.40764465 0.913119 -0.00628713 -2.50581817] [-0.03178347 0.02106946 0.99927268 -0.24846125] [ 0. 0. 0. 1. ]] SLAMing on 176.46241403699997 meters Centerline goodness : 0.816643 Centerline is valid? [False, False] Translation: X:-2.38, Y:-2.51, Z:-0.25 [[ 0.91218047 -0.40824111 0.03558073 -2.37849448] [ 0.40871381 0.91263663 -0.00688473 -2.5065997 ] [-0.02966165 0.02082245 0.99934309 -0.24753071] [ 0. 0. 0. 1. ]] SLAMing on 176.49241403699997 meters Centerline goodness : 0.811957 Centerline is valid? [False, False] Translation: X:-2.39, Y:-2.50, Z:-0.25 [[ 0.91238537 -0.40819464 0.03049706 -2.39472937] [ 0.40858851 0.91268568 -0.00776402 -2.50114562] [-0.024665 0.01954452 0.9995047 -0.24790452] [ 0. 0. 0. 1. ]] SLAMing on 176.52241403699998 meters Centerline goodness : 0.812705 Centerline is valid? [False, False] Translation: X:-2.41, Y:-2.50, Z:-0.25 [[ 0.91230752 -0.40838836 0.03023133 -2.41433974] [ 0.40875177 0.91262074 -0.00673557 -2.50227224] [-0.02483901 0.01850201 0.99952023 -0.246767 ] [ 0. 0. 0. 1. ]] SLAMing on 176.55241403699998 meters Centerline goodness : 0.810465 Centerline is valid? [False, False] Translation: X:-2.43, Y:-2.50, Z:-0.25 [[ 0.91216606 -0.40853638 0.03242065 -2.43438886] [ 0.4089101 0.9125576 -0.00558097 -2.50365246] [-0.02730568 0.01834791 0.99945873 -0.24579983] [ 0. 0. 0. 1. ]] SLAMing on 176.58241403699998 meters Centerline goodness : 0.812350 Centerline is valid? [False, False] Translation: X:-2.45, Y:-2.51, Z:-0.24 [[ 0.91200433 -0.4088074 0.03353517 -2.45468999] [ 0.40918047 0.91244071 -0.00482628 -2.50523991] [-0.02862584 0.01812352 0.99942588 -0.24424505] [ 0. 0. 0. 1. ]] SLAMing on 176.61241403699998 meters Centerline goodness : 0.812252 Centerline is valid? [False, False] Translation: X:-2.48, Y:-2.50, Z:-0.24 [[ 0.912718 -0.40711301 0.03471082 -2.47611764] [ 0.40744363 0.91322627 -0.00273238 -2.50223282] [-0.03058645 0.0166366 0.99939366 -0.2427645 ] [ 0. 0. 0. 1. ]] SLAMing on 176.64241403699998 meters Centerline goodness : 0.811877 Centerline is valid? [False, False] Translation: X:-2.50, Y:-2.50, Z:-0.24 [[ 9.13083181e-01 -4.06226718e-01 3.54817946e-02 -2.49642723e+00] [ 4.06509866e-01 9.13646003e-01 -8.42836890e-04 -2.50315848e+00] [-3.20754170e-02 1.51932798e-02 9.99369967e-01 -2.41354199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.67241403699998 meters Centerline goodness : 0.810771 Centerline is valid? [False, False] Translation: X:-2.52, Y:-2.50, Z:-0.24 [[ 9.14306204e-01 -4.03418442e-01 3.60239514e-02 -2.51797617e+00] [ 4.03657735e-01 9.14909811e-01 6.86199932e-04 -2.49958825e+00] [-3.32354923e-02 1.39139498e-02 9.99350691e-01 -2.38799220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70241403699998 meters Centerline goodness : 0.811039 Centerline is valid? [False, False] Translation: X:-2.54, Y:-2.50, Z:-0.24 [[ 9.14614085e-01 -4.02614097e-01 3.71882343e-02 -2.53735481e+00] [ 4.02852601e-01 9.15264120e-01 1.17170134e-03 -2.50100493e+00] [-3.45088000e-02 1.39097223e-02 9.99307591e-01 -2.36967522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.73241403699998 meters Centerline goodness : 0.811197 Centerline is valid? [False, False] Translation: X:-2.56, Y:-2.50, Z:-0.24 [[ 9.15364423e-01 -4.00576190e-01 4.05794093e-02 -2.56092226e+00] [ 4.00904245e-01 9.16119961e-01 5.81877656e-05 -2.50416356e+00] [-3.71989155e-02 1.62151944e-02 9.99176315e-01 -2.37598857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76241403699999 meters Centerline goodness : 0.810690 Centerline is valid? [False, False] Translation: X:-2.57, Y:-2.50, Z:-0.23 [[ 0.91723386 -0.39679987 0.03509864 -2.57390189] [ 0.39722482 0.91770299 -0.00580158 -2.49680751] [-0.02990806 0.01926346 0.99936701 -0.23341404] [ 0. 0. 0. 1. ]] SLAMing on 176.792414037 meters Centerline goodness : 0.810725 Centerline is valid? [False, False] Translation: X:-2.59, Y:-2.50, Z:-0.23 [[ 0.91809303 -0.39490742 0.0339605 -2.593387 ] [ 0.39527052 0.91855395 -0.00445658 -2.49817718] [-0.02943461 0.01751514 0.99941324 -0.23158568] [ 0. 0. 0. 1. ]] SLAMing on 176.822414037 meters Centerline goodness : 0.809986 Centerline is valid? [False, False] Translation: X:-2.61, Y:-2.50, Z:-0.23 [[ 0.91909129 -0.39256797 0.03408217 -2.61317812] [ 0.39287878 0.91958637 -0.00267912 -2.49991112] [-0.03028976 0.01585252 0.99941544 -0.22977036] [ 0. 0. 0. 1. ]] SLAMing on 176.852414037 meters Centerline goodness : 0.808803 Centerline is valid? [False, False] Translation: X:-2.61, Y:-2.50, Z:-0.23 [[ 9.20445705e-01 -3.89476311e-01 3.29834379e-02 -2.61472459e+00] [ 3.89696087e-01 9.20943481e-01 -2.55287622e-04 -2.49659946e+00] [-3.02764536e-02 1.30884951e-02 9.99455866e-01 -2.29320898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.882414037 meters Centerline goodness : 0.810919 Centerline is valid? [False, False] Translation: X:-2.62, Y:-2.49, Z:-0.23 [[ 0.92311576 -0.38326888 0.03102039 -2.61823207] [ 0.38331665 0.9236054 0.00462799 -2.49073174] [-0.03042436 0.00761846 0.99950804 -0.22802102] [ 0. 0. 0. 1. ]] SLAMing on 176.912414037 meters Centerline goodness : 0.810701 Centerline is valid? [False, False] Translation: X:-2.63, Y:-2.49, Z:-0.23 [[ 9.25510059e-01 -3.77241014e-01 3.34716097e-02 -2.63114604e+00] [ 3.77525418e-01 9.25996149e-01 -2.38549215e-03 -2.48994853e+00] [-3.00946762e-02 1.48441804e-02 9.99436822e-01 -2.29816215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.942414037 meters Centerline goodness : 0.807225 Centerline is valid? [False, False] Translation: X:-2.63, Y:-2.49, Z:-0.23 [[ 9.26929086e-01 -3.73846562e-01 3.22679035e-02 -2.63194427e+00] [ 3.74031507e-01 9.27415939e-01 3.27777605e-04 -2.48662123e+00] [-3.00483066e-02 1.17653860e-02 9.99479202e-01 -2.30285440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.972414037 meters Centerline goodness : 0.806364 Centerline is valid? [False, False] Translation: X:-2.63, Y:-2.48, Z:-0.23 [[ 0.9295885 -0.3673698 0.03007747 -2.63363888] [ 0.36737163 0.93005698 0.00566548 -2.48135341] [-0.03005509 0.00578304 0.99953151 -0.23055241] [ 0. 0. 0. 1. ]] SLAMing on 177.002414037 meters Centerline goodness : 0.806070 Centerline is valid? [False, False] Translation: X:-2.63, Y:-2.48, Z:-0.23 [[ 9.30871285e-01 -3.64198936e-01 2.89445386e-02 -2.63445451e+00] [ 3.64107650e-01 9.31317608e-01 8.55173562e-03 -2.47955734e+00] [-3.00710915e-02 2.57836281e-03 9.99544437e-01 -2.30387679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.032414037 meters Centerline goodness : 0.806860 Centerline is valid? [False, False] Translation: X:-2.64, Y:-2.48, Z:-0.23 [[ 9.32103023e-01 -3.61125117e-01 2.77957471e-02 -2.63504962e+00] [ 3.60940861e-01 9.32517078e-01 1.15582770e-02 -2.47824213e+00] [-3.00939930e-02 -7.40884059e-04 9.99546799e-01 -2.30254450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.062414037 meters Centerline goodness : 0.805525 Centerline is valid? [False, False] Translation: X:-2.64, Y:-2.47, Z:-0.23 [[ 0.93328628 -0.35812498 0.02689258 -2.63654602] [ 0.35786816 0.93366736 0.01398732 -2.47478088] [-0.03011793 -0.00343017 0.99954047 -0.23003277] [ 0. 0. 0. 1. ]] SLAMing on 177.092414037 meters Centerline goodness : 0.806451 Centerline is valid? [False, False] Translation: X:-2.64, Y:-2.47, Z:-0.23 [[ 0.93326693 -0.3581427 0.02732471 -2.63773238] [ 0.35789861 0.93366254 0.01352211 -2.47306611] [-0.0303549 -0.00284026 0.99953515 -0.22989625] [ 0. 0. 0. 1. ]] SLAMing on 177.122414037 meters Centerline goodness : 0.806319 Centerline is valid? [False, False] Translation: X:-2.64, Y:-2.47, Z:-0.23 [[ 9.33247697e-01 -3.58188668e-01 2.73790771e-02 -2.63794378e+00] [ 3.57956119e-01 9.33645986e-01 1.31373637e-02 -2.47188303e+00] [-3.02680202e-02 -2.45990621e-03 9.99538792e-01 -2.29969567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.152414037 meters Centerline goodness : 0.805093 Centerline is valid? [False, False] Translation: X:-2.64, Y:-2.47, Z:-0.23 [[ 9.33192547e-01 -3.58330422e-01 2.74040004e-02 -2.63806475e+00] [ 3.58106528e-01 9.33592288e-01 1.28512269e-02 -2.47156661e+00] [-3.01891490e-02 -2.17911774e-03 9.99541828e-01 -2.29755162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.182414037 meters Centerline goodness : 0.807022 Centerline is valid? [False, False] Translation: X:-2.64, Y:-2.47, Z:-0.23 [[ 9.33093246e-01 -3.58583836e-01 2.74704738e-02 -2.63826488e+00] [ 3.58368274e-01 9.33495617e-01 1.25743306e-02 -2.47184127e+00] [-3.01525186e-02 -1.88847664e-03 9.99543525e-01 -2.29184186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.21241403699997 meters Centerline goodness : 0.809082 Centerline is valid? [False, False] Translation: X:-2.64, Y:-2.47, Z:-0.23 [[ 9.33098768e-01 -3.58574347e-01 2.74067062e-02 -2.63831664e+00] [ 3.58358462e-01 9.33499186e-01 1.25889557e-02 -2.47176087e+00] [-3.00982145e-02 -1.92531394e-03 9.99545092e-01 -2.29009720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24241403699997 meters Centerline goodness : 0.807551 Centerline is valid? [False, False] Translation: X:-2.64, Y:-2.47, Z:-0.23 [[ 9.33079016e-01 -3.58634027e-01 2.72980749e-02 -2.63811076e+00] [ 3.58419164e-01 9.33476234e-01 1.25627928e-02 -2.47176670e+00] [-2.99875491e-02 -1.93792521e-03 9.99548394e-01 -2.28948235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.27241403699998 meters Centerline goodness : 0.808537 Centerline is valid? [False, False] Translation: X:-2.64, Y:-2.47, Z:-0.23 [[ 9.32043452e-01 -3.61226422e-01 2.84688445e-02 -2.63831653e+00] [ 3.61096766e-01 9.32477373e-01 9.75061661e-03 -2.47181333e+00] [-3.00687336e-02 1.19200931e-03 9.99547123e-01 -2.28918905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.30241403699998 meters Centerline goodness : 0.809179 Centerline is valid? [False, False] Translation: X:-2.64, Y:-2.47, Z:-0.23 [[ 0.93118581 -0.36334616 0.02953915 -2.6393138 ] [ 0.36328353 0.93164723 0.0076501 -2.47294437] [-0.0302997 0.00360742 0.99953435 -0.22780574] [ 0. 0. 0. 1. ]] SLAMing on 177.33241403699998 meters Centerline goodness : 0.808975 Centerline is valid? [False, False] Translation: X:-2.66, Y:-2.48, Z:-0.23 [[ 9.30473073e-01 -3.65320018e-01 2.75888337e-02 -2.65610390e+00] [ 3.65227591e-01 9.30879467e-01 8.49852722e-03 -2.48127503e+00] [-2.87865609e-02 2.16855253e-03 9.99583229e-01 -2.25626134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.36241403699998 meters Centerline goodness : 0.809935 Centerline is valid? [False, False] Translation: X:-2.66, Y:-2.49, Z:-0.22 [[ 9.28085675e-01 -3.71769113e-01 2.10880535e-02 -2.66477359e+00] [ 3.71644351e-01 9.28324494e-01 9.70101457e-03 -2.48830426e+00] [-2.31830942e-02 -1.16611669e-03 9.99730556e-01 -2.21060091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.39241403699998 meters Centerline goodness : 0.808708 Centerline is valid? [False, False] Translation: X:-2.66, Y:-2.49, Z:-0.22 [[ 9.26608048e-01 -3.75359409e-01 2.24240740e-02 -2.66420369e+00] [ 3.75315529e-01 9.26875740e-01 6.29412035e-03 -2.48896514e+00] [-2.31468875e-02 2.58392063e-03 9.99728736e-01 -2.21354119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42241403699998 meters Centerline goodness : 0.808385 Centerline is valid? [False, False] Translation: X:-2.68, Y:-2.50, Z:-0.22 [[ 9.25365523e-01 -3.78632895e-01 1.83242832e-02 -2.67761294e+00] [ 3.78574231e-01 9.25546646e-01 6.70503094e-03 -2.49690714e+00] [-1.94987241e-02 7.32496958e-04 9.99809613e-01 -2.20328913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.45241403699998 meters Centerline goodness : 0.808999 Centerline is valid? [False, False] Translation: X:-2.68, Y:-2.50, Z:-0.22 [[ 9.21918155e-01 -3.87201704e-01 1.19061208e-02 -2.68440932e+00] [ 3.87166815e-01 9.21995014e-01 5.20108178e-03 -2.50287091e+00] [-1.29912517e-02 -1.85316842e-04 9.99915593e-01 -2.17329817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48241403699998 meters Centerline goodness : 0.808432 Centerline is valid? [False, False] Translation: X:-2.70, Y:-2.51, Z:-0.22 [[ 9.20347287e-01 -3.90862009e-01 1.37026111e-02 -2.70293004e+00] [ 3.90833811e-01 9.20448799e-01 4.78957048e-03 -2.51046278e+00] [-1.44846131e-02 9.47375537e-04 9.99894644e-01 -2.16717201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.51241403699999 meters Centerline goodness : 0.809167 Centerline is valid? [False, False] Translation: X:-2.72, Y:-2.52, Z:-0.22 [[ 9.18907229e-01 -3.94129534e-01 1.64746831e-02 -2.72204662e+00] [ 3.94110859e-01 9.19051882e-01 4.50224374e-03 -2.51742577e+00] [-1.69155557e-02 2.35570718e-03 9.99854147e-01 -2.16098478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.542414037 meters Centerline goodness : 0.809843 Centerline is valid? [False, False] Translation: X:-2.74, Y:-2.52, Z:-0.21 [[ 0.91788887 -0.39637208 0.01921442 -2.74192809] [ 0.39635293 0.91808484 0.00495779 -2.52404508] [-0.01960559 0.00306499 0.99980309 -0.2146455 ] [ 0. 0. 0. 1. ]] SLAMing on 177.572414037 meters Centerline goodness : 0.814110 Centerline is valid? [False, False] Translation: X:-2.76, Y:-2.53, Z:-0.21 [[ 0.9170985 -0.39800169 0.02291285 -2.76295437] [ 0.39795874 0.91737957 0.00660101 -2.52978102] [-0.02364699 0.00306459 0.99971567 -0.2120489 ] [ 0. 0. 0. 1. ]] SLAMing on 177.602414037 meters Centerline goodness : 0.814184 Centerline is valid? [False, False] Translation: X:-2.76, Y:-2.53, Z:-0.21 [[ 9.17361246e-01 -3.97395501e-01 2.29163958e-02 -2.76489023e+00] [ 3.97339529e-01 9.17643882e-01 7.14183049e-03 -2.52965445e+00] [-2.38672217e-02 2.55395141e-03 9.99711875e-01 -2.10278041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.632414037 meters Centerline goodness : 0.813433 Centerline is valid? [False, False] Translation: X:-2.78, Y:-2.53, Z:-0.21 [[ 0.91808817 -0.39535114 0.02848841 -2.77632157] [ 0.39527811 0.91852317 0.00839008 -2.53229911] [-0.02948429 0.00355801 0.99955891 -0.21033968] [ 0. 0. 0. 1. ]] SLAMing on 177.662414037 meters Centerline goodness : 0.810231 Centerline is valid? [False, False] Translation: X:-2.78, Y:-2.53, Z:-0.21 [[ 0.91850256 -0.39438343 0.0285438 -2.77810627] [ 0.39429614 0.9189407 0.00886258 -2.53128875] [-0.02972532 0.00311441 0.99955325 -0.20922157] [ 0. 0. 0. 1. ]] SLAMing on 177.692414037 meters Centerline goodness : 0.813634 Centerline is valid? [False, False] Translation: X:-2.79, Y:-2.53, Z:-0.21 [[ 9.21265359e-01 -3.87817550e-01 2.94565155e-02 -2.79045601e+00] [ 3.87954853e-01 9.21677680e-01 1.13431896e-03 -2.53119107e+00] [-2.75893217e-02 1.03827894e-02 9.99565419e-01 -2.11510328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.722414037 meters Centerline goodness : 0.810110 Centerline is valid? [False, False] Translation: X:-2.79, Y:-2.53, Z:-0.21 [[ 0.92268127 -0.38454217 0.02804624 -2.7904094 ] [ 0.38458098 0.92308164 0.00421241 -2.52964399] [-0.02750882 0.00689934 0.99959775 -0.21205988] [ 0. 0. 0. 1. ]] SLAMing on 177.752414037 meters Centerline goodness : 0.809878 Centerline is valid? [False, False] Translation: X:-2.79, Y:-2.53, Z:-0.21 [[ 0.92409367 -0.38123025 0.0267279 -2.79098707] [ 0.38117743 0.92447352 0.00724389 -2.52777277] [-0.02747083 0.00349404 0.9996165 -0.21212187] [ 0. 0. 0. 1. ]] SLAMing on 177.782414037 meters Centerline goodness : 0.811373 Centerline is valid? [False, False] Translation: X:-2.79, Y:-2.53, Z:-0.21 [[ 9.25519677e-01 -3.77842473e-01 2.54635504e-02 -2.79192731e+00] [ 3.77699480e-01 9.25869897e-01 1.03940918e-02 -2.52644559e+00] [-2.75032641e-02 -2.36675519e-06 9.99621714e-01 -2.11588669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.812414037 meters Centerline goodness : 0.810142 Centerline is valid? [False, False] Translation: X:-2.79, Y:-2.53, Z:-0.21 [[ 0.92689679 -0.37453619 0.02418622 -2.79279353] [ 0.37431056 0.92720606 0.01343611 -2.52508331] [-0.02745792 -0.00340073 0.99961718 -0.21098437] [ 0. 0. 0. 1. ]] SLAMing on 177.842414037 meters Centerline goodness : 0.811068 Centerline is valid? [False, False] Translation: X:-2.80, Y:-2.52, Z:-0.21 [[ 9.29686035e-01 -3.67331420e-01 2.74135884e-02 -2.80285571e+00] [ 3.67103766e-01 9.30087707e-01 1.31027450e-02 -2.52339508e+00] [-3.03100915e-02 -2.11780747e-03 9.99538300e-01 -2.13354782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.872414037 meters Centerline goodness : 0.808979 Centerline is valid? [False, False] Translation: X:-2.80, Y:-2.52, Z:-0.21 [[ 9.30225125e-01 -3.65958258e-01 2.74912545e-02 -2.80459238e+00] [ 3.65710833e-01 9.30627307e-01 1.37259410e-02 -2.52052341e+00] [-3.06072336e-02 -2.71436561e-03 9.99527803e-01 -2.13280371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.902414037 meters Centerline goodness : 0.808261 Centerline is valid? [False, False] Translation: X:-2.80, Y:-2.52, Z:-0.21 [[ 0.93155291 -0.36265679 0.02625328 -2.80491418] [ 0.36231878 0.93190242 0.01682194 -2.51908257] [-0.03056609 -0.00615847 0.99951378 -0.21347817] [ 0. 0. 0. 1. ]] SLAMing on 177.932414037 meters Centerline goodness : 0.808326 Centerline is valid? [False, False] Translation: X:-2.81, Y:-2.52, Z:-0.21 [[ 0.93306431 -0.35880896 0.02543876 -2.80697531] [ 0.35838531 0.93336438 0.01977137 -2.51610122] [-0.03083778 -0.00933108 0.99948085 -0.21287697] [ 0. 0. 0. 1. ]] SLAMing on 177.96241403699997 meters Centerline goodness : 0.808768 Centerline is valid? [False, False] Translation: X:-2.81, Y:-2.52, Z:-0.21 [[ 0.93353612 -0.35756947 0.02558083 -2.80918031] [ 0.35712058 0.93383271 0.02052722 -2.51500904] [-0.03122812 -0.01002746 0.99946198 -0.2116006 ] [ 0. 0. 0. 1. ]] SLAMing on 177.99241403699997 meters Centerline goodness : 0.808052 Centerline is valid? [False, False] Translation: X:-2.81, Y:-2.51, Z:-0.21 [[ 0.93368752 -0.35716059 0.02576665 -2.81004316] [ 0.35671759 0.93399221 0.02027599 -2.51299223] [-0.03130763 -0.00974002 0.99946234 -0.21164366] [ 0. 0. 0. 1. ]] SLAMing on 178.02241403699998 meters Centerline goodness : 0.807581 Centerline is valid? [False, False] Translation: X:-2.81, Y:-2.51, Z:-0.21 [[ 0.93411823 -0.35602719 0.02584152 -2.81183169] [ 0.35555967 0.93441721 0.02101892 -2.51194104] [-0.03163007 -0.01044596 0.99944506 -0.21070174] [ 0. 0. 0. 1. ]] SLAMing on 178.05241403699998 meters Centerline goodness : 0.808113 Centerline is valid? [False, False] Translation: X:-2.81, Y:-2.51, Z:-0.21 [[ 0.93548531 -0.35250931 0.02458494 -2.81227824] [ 0.35195356 0.93570286 0.02426618 -2.51053075] [-0.03155825 -0.01404789 0.99940319 -0.21069136] [ 0. 0. 0. 1. ]] SLAMing on 178.08241403699998 meters Centerline goodness : 0.808359 Centerline is valid? [False, False] Translation: X:-2.81, Y:-2.51, Z:-0.21 [[ 0.9355737 -0.3522756 0.02457141 -2.81263703] [ 0.35172486 0.93579285 0.02411143 -2.50974022] [-0.03148762 -0.01391565 0.99940727 -0.21034177] [ 0. 0. 0. 1. ]] SLAMing on 178.11241403699998 meters Centerline goodness : 0.807775 Centerline is valid? [False, False] Translation: X:-2.81, Y:-2.51, Z:-0.21 [[ 0.93565343 -0.3520712 0.02446471 -2.81271752] [ 0.35152053 0.93586849 0.02415546 -2.51003909] [-0.03140019 -0.0140013 0.99940882 -0.20983507] [ 0. 0. 0. 1. ]] SLAMing on 178.14241403699998 meters Centerline goodness : 0.807923 Centerline is valid? [False, False] Translation: X:-2.82, Y:-2.51, Z:-0.21 [[ 0.93581998 -0.35136243 0.02802523 -2.81752564] [ 0.35080058 0.93616542 0.02309247 -2.51426927] [-0.03435008 -0.01177913 0.99934044 -0.21001366] [ 0. 0. 0. 1. ]] SLAMing on 178.17241403699998 meters Centerline goodness : 0.810807 Centerline is valid? [False, False] Translation: X:-2.82, Y:-2.52, Z:-0.21 [[ 0.9358905 -0.35119527 0.02776424 -2.81673661] [ 0.3506242 0.93622259 0.02345046 -2.51544879] [-0.0342292 -0.01221224 0.99933939 -0.21016403] [ 0. 0. 0. 1. ]] SLAMing on 178.20241403699998 meters Centerline goodness : 0.809115 Centerline is valid? [False, False] Translation: X:-2.82, Y:-2.52, Z:-0.21 [[ 0.9359345 -0.35109662 0.02752771 -2.8158713 ] [ 0.35051618 0.93625397 0.02380975 -2.51655594] [-0.03413245 -0.01263546 0.99933744 -0.21047956] [ 0. 0. 0. 1. ]] SLAMing on 178.23241403699998 meters Centerline goodness : 0.806938 Centerline is valid? [False, False] Translation: X:-2.81, Y:-2.52, Z:-0.21 [[ 0.93520848 -0.3529782 0.0281334 -2.81465605] [ 0.35244159 0.93556717 0.02233802 -2.52009037] [-0.03420551 -0.01097532 0.99935455 -0.21042503] [ 0. 0. 0. 1. ]] SLAMing on 178.26241403699999 meters Centerline goodness : 0.807123 Centerline is valid? [False, False] Translation: X:-2.82, Y:-2.52, Z:-0.21 [[ 0.93453108 -0.35470292 0.02893975 -2.81501046] [ 0.35420904 0.93493321 0.02087717 -2.52326423] [-0.03446193 -0.00925964 0.99936311 -0.20905701] [ 0. 0. 0. 1. ]] SLAMing on 178.292414037 meters Centerline goodness : 0.807123 Centerline is valid? [False, False] Translation: X:-2.82, Y:-2.52, Z:-0.21 [[ 0.93453108 -0.35470292 0.02893975 -2.81501046] [ 0.35420904 0.93493321 0.02087717 -2.52326423] [-0.03446193 -0.00925964 0.99936311 -0.20905701] [ 0. 0. 0. 1. ]] SLAMing on 178.322414037 meters Centerline goodness : 0.808283 Centerline is valid? [False, False] Translation: X:-2.81, Y:-2.53, Z:-0.21 [[ 0.93349426 -0.35734711 0.02985811 -2.81425822] [ 0.3569318 0.93394874 0.01842367 -2.52580881] [-0.03446959 -0.00654109 0.99938434 -0.20871694] [ 0. 0. 0. 1. ]] SLAMing on 178.352414037 meters Centerline goodness : 0.811220 Centerline is valid? [False, False] Translation: X:-2.81, Y:-2.53, Z:-0.21 [[ 0.93242629 -0.36006346 0.03058628 -2.81291431] [ 0.35969604 0.93291541 0.01695856 -2.53225496] [-0.03464058 -0.00481084 0.99938826 -0.20749539] [ 0. 0. 0. 1. ]] SLAMing on 178.382414037 meters Centerline goodness : 0.809515 Centerline is valid? [False, False] Translation: X:-2.81, Y:-2.53, Z:-0.21 [[ 0.93159383 -0.36212981 0.03154261 -2.81375963] [ 0.36181839 0.93212341 0.01527758 -2.53490557] [-0.03493407 -0.00281981 0.99938564 -0.20583268] [ 0. 0. 0. 1. ]] SLAMing on 178.412414037 meters Centerline goodness : 0.812269 Centerline is valid? [False, False] Translation: X:-2.81, Y:-2.54, Z:-0.20 [[ 9.30799238e-01 -3.64089158e-01 3.24324534e-02 -2.81453139e+00] [ 3.63832888e-01 9.31363621e-01 1.36906706e-02 -2.53741292e+00] [-3.51910320e-02 -9.43272576e-04 9.99380159e-01 -2.04303788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.442414037 meters Centerline goodness : 0.811611 Centerline is valid? [False, False] Translation: X:-2.83, Y:-2.55, Z:-0.20 [[ 0.92963585 -0.36735653 0.02874646 -2.82810255] [ 0.36707551 0.93007499 0.01469974 -2.55000931] [-0.03213641 -0.00311328 0.99947864 -0.20171165] [ 0. 0. 0. 1. ]] SLAMing on 178.472414037 meters Centerline goodness : 0.811867 Centerline is valid? [False, False] Translation: X:-2.83, Y:-2.55, Z:-0.20 [[ 9.28394463e-01 -3.70393431e-01 2.98735385e-02 -2.82739699e+00] [ 3.70201691e-01 9.28874968e-01 1.19164234e-02 -2.55219289e+00] [-3.21625470e-02 -3.90705442e-06 9.99482651e-01 -2.01542657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.502414037 meters Centerline goodness : 0.811879 Centerline is valid? [False, False] Translation: X:-2.83, Y:-2.55, Z:-0.20 [[ 0.92709858 -0.3735314 0.03102442 -2.82685685] [ 0.37343686 0.92761189 0.00900544 -2.55427471] [-0.03214244 0.00323673 0.99947806 -0.20108375] [ 0. 0. 0. 1. ]] SLAMing on 178.532414037 meters Centerline goodness : 0.814582 Centerline is valid? [False, False] Translation: X:-2.84, Y:-2.56, Z:-0.20 [[ 0.92577366 -0.37674912 0.03167394 -2.84479672] [ 0.37665346 0.92630892 0.00916278 -2.56436995] [-0.03279192 0.00344744 0.99945625 -0.19896834] [ 0. 0. 0. 1. ]] SLAMing on 178.562414037 meters Centerline goodness : 0.814188 Centerline is valid? [False, False] Translation: X:-2.85, Y:-2.57, Z:-0.19 [[ 9.23509014e-01 -3.82762557e-01 2.49785185e-02 -2.85335573e+00] [ 3.82617109e-01 9.23846735e-01 1.05526349e-02 -2.57368237e+00] [-2.71154763e-02 -1.88244845e-04 9.99632290e-01 -1.93809518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.592414037 meters Centerline goodness : 0.814147 Centerline is valid? [False, False] Translation: X:-2.87, Y:-2.58, Z:-0.19 [[ 9.22736930e-01 -3.84842338e-01 2.12822244e-02 -2.86818174e+00] [ 3.84679905e-01 9.22979319e-01 1.14257313e-02 -2.58188575e+00] [-2.40401581e-02 -2.35610011e-03 9.99708217e-01 -1.92160167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.622414037 meters Centerline goodness : 0.812064 Centerline is valid? [False, False] Translation: X:-2.88, Y:-2.59, Z:-0.19 [[ 0.92200456 -0.38681917 0.01668868 -2.88073372] [ 0.38664804 0.92214103 0.01261797 -2.59225033] [-0.02027019 -0.00518118 0.99978111 -0.19143552] [ 0. 0. 0. 1. ]] SLAMing on 178.652414037 meters Centerline goodness : 0.813360 Centerline is valid? [False, False] Translation: X:-2.90, Y:-2.60, Z:-0.19 [[ 9.22170704e-01 -3.86289271e-01 1.95394772e-02 -2.90338410e+00] [ 3.86136340e-01 9.22373418e-01 1.12251912e-02 -2.60351173e+00] [-2.23588653e-02 -2.80664028e-03 9.99746070e-01 -1.93199518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.682414037 meters Centerline goodness : 0.813208 Centerline is valid? [False, False] Translation: X:-2.93, Y:-2.61, Z:-0.19 [[ 9.22525010e-01 -3.85308919e-01 2.20146164e-02 -2.92699043e+00] [ 3.85184004e-01 9.22787458e-01 9.82805299e-03 -2.61493574e+00] [-2.41016484e-02 -5.86946582e-04 9.99709341e-01 -1.94115163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.71241403699997 meters Centerline goodness : 0.813211 Centerline is valid? [False, False] Translation: X:-2.95, Y:-2.62, Z:-0.19 [[ 9.21471756e-01 -3.87697064e-01 2.40995888e-02 -2.94576677e+00] [ 3.87539459e-01 9.21786426e-01 1.10883665e-02 -2.62390267e+00] [-2.65136010e-02 -8.78074923e-04 9.99648067e-01 -1.92841260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74241403699997 meters Centerline goodness : 0.814806 Centerline is valid? [False, False] Translation: X:-2.95, Y:-2.62, Z:-0.19 [[ 9.21367419e-01 -3.87940184e-01 2.41762766e-02 -2.94590802e+00] [ 3.87781635e-01 9.21684137e-01 1.11244880e-02 -2.62451833e+00] [-2.65985265e-02 -8.74624692e-04 9.99645814e-01 -1.92480059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.77241403699998 meters Centerline goodness : 0.814274 Centerline is valid? [False, False] Translation: X:-2.96, Y:-2.63, Z:-0.19 [[ 9.20666111e-01 -3.89540373e-01 2.51437926e-02 -2.96445102e+00] [ 3.89367132e-01 9.21008912e-01 1.16542283e-02 -2.63143167e+00] [-2.76974495e-02 -9.39486585e-04 9.99615911e-01 -1.90995082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.80241403699998 meters Centerline goodness : 0.814392 Centerline is valid? [False, False] Translation: X:-2.98, Y:-2.64, Z:-0.19 [[ 9.19605883e-01 -3.92282078e-01 2.09711961e-02 -2.97837468e+00] [ 3.92126100e-01 9.19842490e-01 1.12656645e-02 -2.63860394e+00] [-2.37095156e-02 -2.13661802e-03 9.99716607e-01 -1.89954939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.83241403699998 meters Centerline goodness : 0.813174 Centerline is valid? [False, False] Translation: X:-2.99, Y:-2.64, Z:-0.19 [[ 9.18591372e-01 -3.94753038e-01 1.89718380e-02 -2.99435501e+00] [ 3.94630767e-01 9.18785754e-01 9.96473571e-03 -2.64449993e+00] [-2.13646642e-02 -1.66664925e-03 9.99770360e-01 -1.89349444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.86241403699998 meters Centerline goodness : 0.812258 Centerline is valid? [False, False] Translation: X:-2.99, Y:-2.65, Z:-0.19 [[ 9.18525635e-01 -3.94906367e-01 1.89636401e-02 -2.99388067e+00] [ 3.94782027e-01 9.18719692e-01 1.00637009e-02 -2.64514355e+00] [-2.13964891e-02 -1.75726296e-03 9.99769525e-01 -1.89637263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.89241403699998 meters Centerline goodness : 0.812036 Centerline is valid? [False, False] Translation: X:-3.01, Y:-2.65, Z:-0.19 [[ 9.17499434e-01 -3.97106401e-01 2.23896048e-02 -3.01346680e+00] [ 3.96975147e-01 9.17772448e-01 1.02208777e-02 -2.65073460e+00] [-2.46073383e-02 -4.89532830e-04 9.99697074e-01 -1.88691054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92241403699998 meters Centerline goodness : 0.814894 Centerline is valid? [False, False] Translation: X:-3.03, Y:-2.66, Z:-0.19 [[ 9.16993057e-01 -3.98207324e-01 2.35512078e-02 -3.03226886e+00] [ 3.98066701e-01 9.17295381e-01 1.05870775e-02 -2.65623839e+00] [-2.58192660e-02 -3.33324966e-04 9.99666572e-01 -1.87304210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.95241403699998 meters Centerline goodness : 0.815446 Centerline is valid? [False, False] Translation: X:-3.05, Y:-2.66, Z:-0.19 [[ 9.16559640e-01 -3.99148749e-01 2.44683997e-02 -3.05091943e+00] [ 3.99009043e-01 9.16886181e-01 1.05600610e-02 -2.66161620e+00] [-2.66497726e-02 8.41870708e-05 9.99644828e-01 -1.86201735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98241403699998 meters Centerline goodness : 0.812154 Centerline is valid? [False, False] Translation: X:-3.07, Y:-2.67, Z:-0.19 [[ 9.16919143e-01 -3.98162146e-01 2.69479180e-02 -3.07316915e+00] [ 3.98055011e-01 9.17312758e-01 9.46108289e-03 -2.66887279e+00] [-2.84867141e-02 2.05170579e-03 9.99592066e-01 -1.87867638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.01241403699999 meters Centerline goodness : 0.813530 Centerline is valid? [False, False] Translation: X:-3.09, Y:-2.67, Z:-0.19 [[ 0.91625429 -0.39994009 0.02293484 -3.08780695] [ 0.39990592 0.91653483 0.00625717 -2.67050164] [-0.02352307 0.00343862 0.99971738 -0.18823139] [ 0. 0. 0. 1. ]] SLAMing on 179.042414037 meters Centerline goodness : 0.813146 Centerline is valid? [False, False] Translation: X:-3.10, Y:-2.67, Z:-0.19 [[ 0.91573466 -0.40123782 0.02093398 -3.10442232] [ 0.40123553 0.91596389 0.00449395 -2.67439345] [-0.02097791 0.00428419 0.99977076 -0.18759759] [ 0. 0. 0. 1. ]] SLAMing on 179.072414037 meters Centerline goodness : 0.811303 Centerline is valid? [False, False] Translation: X:-3.13, Y:-2.68, Z:-0.19 [[ 9.15754431e-01 -4.01055387e-01 2.34179072e-02 -3.12668696e+00] [ 4.01147286e-01 9.16013184e-01 8.37741531e-04 -2.67879878e+00] [-2.17870925e-02 8.62686438e-03 9.99725412e-01 -1.89387119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.102414037 meters Centerline goodness : 0.811418 Centerline is valid? [False, False] Translation: X:-3.15, Y:-2.68, Z:-0.19 [[ 9.15527816e-01 -4.01611835e-01 2.27321831e-02 -3.14515546e+00] [ 4.01676192e-01 9.15779871e-01 1.86112993e-03 -2.68391402e+00] [-2.15651276e-02 7.42706054e-03 9.99739858e-01 -1.88175866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.132414037 meters Centerline goodness : 0.811339 Centerline is valid? [False, False] Translation: X:-3.16, Y:-2.69, Z:-0.19 [[ 9.15286619e-01 -4.02229765e-01 2.14853571e-02 -3.16331323e+00] [ 4.02266589e-01 9.15518387e-01 2.77023777e-03 -2.68887668e+00] [-2.07845115e-02 6.10727973e-03 9.99765325e-01 -1.87083259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.162414037 meters Centerline goodness : 0.809217 Centerline is valid? [False, False] Translation: X:-3.18, Y:-2.69, Z:-0.19 [[ 9.14970365e-01 -4.02964353e-01 2.11886938e-02 -3.18211513e+00] [ 4.02991810e-01 9.15198174e-01 3.14678880e-03 -2.69355370e+00] [-2.06598976e-02 5.65965158e-03 9.99770542e-01 -1.85891413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.192414037 meters Centerline goodness : 0.808685 Centerline is valid? [False, False] Translation: X:-3.21, Y:-2.70, Z:-0.19 [[ 9.15543718e-01 -4.01498273e-01 2.40590513e-02 -3.20684803e+00] [ 4.01603333e-01 9.15813577e-01 5.05430648e-04 -2.70075290e+00] [-2.22365354e-02 9.19945135e-03 9.99710411e-01 -1.86872964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.222414037 meters Centerline goodness : 0.808133 Centerline is valid? [False, False] Translation: X:-3.23, Y:-2.71, Z:-0.19 [[ 0.91603536 -0.40024403 0.026152 -3.23019405] [ 0.40045868 0.91630875 -0.00333466 -2.70538605] [-0.02262863 0.01352747 0.99965242 -0.18855681] [ 0. 0. 0. 1. ]] SLAMing on 179.252414037 meters Centerline goodness : 0.808867 Centerline is valid? [False, False] Translation: X:-3.25, Y:-2.71, Z:-0.19 [[ 0.91687847 -0.39809727 0.02919629 -3.25393937] [ 0.39836379 0.91721999 -0.00371289 -2.71236492] [-0.02530133 0.01503501 0.9995668 -0.18987317] [ 0. 0. 0. 1. ]] SLAMing on 179.282414037 meters Centerline goodness : 0.807476 Centerline is valid? [False, False] Translation: X:-3.26, Y:-2.71, Z:-0.19 [[ 9.17596917e-01 -3.96460931e-01 2.88899207e-02 -3.25626254e+00] [ 3.96681116e-01 9.17954092e-01 -2.09190951e-03 -2.71160393e+00] [-2.56902606e-02 1.33796157e-02 9.99580410e-01 -1.88315489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.312414037 meters Centerline goodness : 0.809177 Centerline is valid? [False, False] Translation: X:-3.28, Y:-2.71, Z:-0.19 [[ 9.18992823e-01 -3.93079289e-01 3.06734972e-02 -3.27714935e+00] [ 3.93224792e-01 9.19441317e-01 1.38806445e-03 -2.71387425e+00] [-2.87481001e-02 1.07859583e-02 9.99528494e-01 -1.86573269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.342414037 meters Centerline goodness : 0.807560 Centerline is valid? [False, False] Translation: X:-3.30, Y:-2.72, Z:-0.19 [[ 0.91971454 -0.39133006 0.03139979 -3.29687288] [ 0.39139565 0.92021252 0.00428494 -2.71849095] [-0.0305713 0.00834881 0.99949772 -0.1853898 ] [ 0. 0. 0. 1. ]] SLAMing on 179.372414037 meters Centerline goodness : 0.806747 Centerline is valid? [False, False] Translation: X:-3.32, Y:-2.72, Z:-0.18 [[ 0.92022996 -0.39010194 0.03157985 -3.31623449] [ 0.39010886 0.92074789 0.0061963 -2.72357097] [-0.03149427 0.00661756 0.99948203 -0.18393079] [ 0. 0. 0. 1. ]] SLAMing on 179.402414037 meters Centerline goodness : 0.806667 Centerline is valid? [False, False] Translation: X:-3.34, Y:-2.73, Z:-0.18 [[ 0.9202334 -0.38990868 0.03378923 -3.33602694] [ 0.38991474 0.92082672 0.00668163 -2.72865663] [-0.03371925 0.00702626 0.99940665 -0.18244193] [ 0. 0. 0. 1. ]] SLAMing on 179.432414037 meters Centerline goodness : 0.808373 Centerline is valid? [False, False] Translation: X:-3.34, Y:-2.73, Z:-0.18 [[ 0.92066187 -0.38887838 0.03399008 -3.33905746] [ 0.38886204 0.92126659 0.00736108 -2.72803399] [-0.03417649 0.00644039 0.99939506 -0.18004942] [ 0. 0. 0. 1. ]] SLAMing on 179.46241403699997 meters Centerline goodness : 0.807653 Centerline is valid? [False, False] Translation: X:-3.36, Y:-2.73, Z:-0.18 [[ 0.92034176 -0.38941288 0.0364506 -3.35877727] [ 0.38940838 0.92103455 0.00751486 -2.73326349] [-0.03649864 0.00727793 0.9993072 -0.1785824 ] [ 0. 0. 0. 1. ]] SLAMing on 179.49241403699997 meters Centerline goodness : 0.808572 Centerline is valid? [False, False] Translation: X:-3.38, Y:-2.74, Z:-0.18 [[ 0.92013554 -0.3898131 0.03736751 -3.37827245] [ 0.38978927 0.92086738 0.00822118 -2.73885956] [-0.03761524 0.00700085 0.99926777 -0.17748004] [ 0. 0. 0. 1. ]] SLAMing on 179.52241403699998 meters Centerline goodness : 0.807490 Centerline is valid? [False, False] Translation: X:-3.40, Y:-2.74, Z:-0.18 [[ 0.91994652 -0.39048698 0.03490436 -3.39562483] [ 0.39048904 0.92058066 0.00704 -2.74155795] [-0.03488131 0.00715334 0.99936586 -0.17704158] [ 0. 0. 0. 1. ]] SLAMing on 179.55241403699998 meters Centerline goodness : 0.807490 Centerline is valid? [False, False] Translation: X:-3.40, Y:-2.74, Z:-0.18 [[ 0.91994652 -0.39048698 0.03490436 -3.39562483] [ 0.39048904 0.92058066 0.00704 -2.74155795] [-0.03488131 0.00715334 0.99936586 -0.17704158] [ 0. 0. 0. 1. ]] SLAMing on 179.58241403699998 meters Centerline goodness : 0.806884 Centerline is valid? [False, False] Translation: X:-3.40, Y:-2.74, Z:-0.18 [[ 0.92054986 -0.38907223 0.03479581 -3.39812683] [ 0.38901929 0.92118987 0.00855669 -2.73967019] [-0.03538272 0.00565939 0.99935781 -0.17605081] [ 0. 0. 0. 1. ]] SLAMing on 179.61241403699998 meters Centerline goodness : 0.806693 Centerline is valid? [False, False] Translation: X:-3.40, Y:-2.74, Z:-0.18 [[ 0.92058577 -0.38897813 0.03489772 -3.39881933] [ 0.38893633 0.92122763 0.00825684 -2.73813721] [-0.03536047 0.00597186 0.99935678 -0.17590226] [ 0. 0. 0. 1. ]] SLAMing on 179.64241403699998 meters Centerline goodness : 0.805848 Centerline is valid? [False, False] Translation: X:-3.40, Y:-2.74, Z:-0.18 [[ 0.92060183 -0.38893251 0.03498232 -3.39941048] [ 0.38890605 0.92124409 0.00783685 -2.73662884] [-0.03527526 0.00639022 0.9993572 -0.17570683] [ 0. 0. 0. 1. ]] SLAMing on 179.67241403699998 meters Centerline goodness : 0.807205 Centerline is valid? [False, False] Translation: X:-3.42, Y:-2.74, Z:-0.18 [[ 0.92143686 -0.38660827 0.03857666 -3.42335432] [ 0.38666473 0.92219892 0.0062888 -2.74403767] [-0.03800665 0.0091215 0.99923585 -0.17668514] [ 0. 0. 0. 1. ]] SLAMing on 179.70241403699998 meters Centerline goodness : 0.804738 Centerline is valid? [False, False] Translation: X:-3.43, Y:-2.74, Z:-0.18 [[ 9.22845769e-01 -3.83496534e-01 3.58621709e-02 -3.43086110e+00] [ 3.83835000e-01 9.23397419e-01 -2.81066309e-03 -2.74183772e+00] [-3.20371565e-02 1.63589649e-02 9.99352793e-01 -1.75856982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.73241403699998 meters Centerline goodness : 0.804561 Centerline is valid? [False, False] Translation: X:-3.44, Y:-2.74, Z:-0.18 [[ 0.92431191 -0.3798506 0.03689201 -3.43850392] [ 0.38041619 0.92476674 -0.0094874 -2.74114092] [-0.03051271 0.02280364 0.99927422 -0.17730407] [ 0. 0. 0. 1. ]] SLAMing on 179.76241403699999 meters Centerline goodness : 0.804892 Centerline is valid? [False, False] Translation: X:-3.46, Y:-2.75, Z:-0.18 [[ 0.92579535 -0.3765504 0.03335823 -3.45577938] [ 0.37690387 0.92623999 -0.00479072 -2.7470977 ] [-0.02909378 0.01700807 0.99943198 -0.17599367] [ 0. 0. 0. 1. ]] SLAMing on 179.792414037 meters Centerline goodness : 0.803431 Centerline is valid? [False, False] Translation: X:-3.46, Y:-2.75, Z:-0.18 [[ 9.27192948e-01 -3.73214109e-01 3.20072647e-02 -3.45606252e+00] [ 3.73449395e-01 9.27649350e-01 -1.49402940e-03 -2.74643706e+00] [-2.91339254e-02 1.33383472e-02 9.99486520e-01 -1.75908908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.822414037 meters Centerline goodness : 0.804771 Centerline is valid? [False, False] Translation: X:-3.46, Y:-2.75, Z:-0.17 [[ 9.27951456e-01 -3.71351333e-01 3.16904223e-02 -3.45808902e+00] [ 3.71538852e-01 9.28417406e-01 -3.08526219e-05 -2.74593460e+00] [-2.94104825e-02 1.18028529e-02 9.99497732e-01 -1.74316051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.852414037 meters Centerline goodness : 0.803706 Centerline is valid? [False, False] Translation: X:-3.47, Y:-2.75, Z:-0.18 [[ 9.30548976e-01 -3.64301586e-01 3.69182526e-02 -3.47113947e+00] [ 3.64636065e-01 9.31146672e-01 -2.53283111e-03 -2.74869237e+00] [-3.34535936e-02 1.58186498e-02 9.99315079e-01 -1.76479954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.882414037 meters Centerline goodness : 0.804295 Centerline is valid? [False, False] Translation: X:-3.47, Y:-2.75, Z:-0.17 [[ 9.31516412e-01 -3.61886475e-01 3.62677961e-02 -3.47293727e+00] [ 3.62121151e-01 9.32131032e-01 1.05290472e-04 -2.74935648e+00] [-3.38444414e-02 1.30352562e-02 9.99342102e-01 -1.74807543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.912414037 meters Centerline goodness : 0.805773 Centerline is valid? [False, False] Translation: X:-3.47, Y:-2.75, Z:-0.17 [[ 9.32482755e-01 -3.59464844e-01 3.55096847e-02 -3.47471775e+00] [ 3.59597028e-01 9.33103461e-01 2.81226904e-03 -2.74977459e+00] [-3.41451215e-02 1.01467847e-02 9.99365375e-01 -1.72951658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.942414037 meters Centerline goodness : 0.803957 Centerline is valid? [False, False] Translation: X:-3.48, Y:-2.75, Z:-0.17 [[ 0.9334463 -0.35703096 0.03474037 -3.47655528] [ 0.35706266 0.93406425 0.00549895 -2.75016146] [-0.03441304 0.00727151 0.99938124 -0.17101278] [ 0. 0. 0. 1. ]] SLAMing on 179.972414037 meters Centerline goodness : 0.805553 Centerline is valid? [False, False] Translation: X:-3.48, Y:-2.75, Z:-0.17 [[ 0.93401822 -0.35555383 0.03451727 -3.47808514] [ 0.35553352 0.93463782 0.00693221 -2.75094314] [-0.03472592 0.00579724 0.99938006 -0.16937062] [ 0. 0. 0. 1. ]] SLAMing on 180.002414037 meters Centerline goodness : 0.804579 Centerline is valid? [False, False] Translation: X:-3.48, Y:-2.75, Z:-0.17 [[ 0.93443122 -0.35451086 0.03406396 -3.47762175] [ 0.35445921 0.93503939 0.00774634 -2.7517746 ] [-0.0345973 0.00483586 0.99938963 -0.1691892 ] [ 0. 0. 0. 1. ]] SLAMing on 180.032414037 meters Centerline goodness : 0.804520 Centerline is valid? [False, False] Translation: X:-3.48, Y:-2.75, Z:-0.17 [[ 0.93451362 -0.35431095 0.03388285 -3.47689207] [ 0.35425147 0.93511646 0.00794429 -2.75228499] [-0.03449915 0.004579 0.99939424 -0.16962456] [ 0. 0. 0. 1. ]] SLAMing on 180.062414037 meters Centerline goodness : 0.803937 Centerline is valid? [False, False] Translation: X:-3.48, Y:-2.75, Z:-0.17 [[ 0.93441563 -0.35454016 0.03418626 -3.47715865] [ 0.35449042 0.93502787 0.00770892 -2.75256797] [-0.03469823 0.00491537 0.99938575 -0.16962777] [ 0. 0. 0. 1. ]] SLAMing on 180.092414037 meters Centerline goodness : 0.803322 Centerline is valid? [False, False] Translation: X:-3.48, Y:-2.75, Z:-0.17 [[ 0.93455015 -0.35420514 0.03398143 -3.47675588] [ 0.35413922 0.93515728 0.00814103 -2.75325653] [-0.03466158 0.00442596 0.99938931 -0.16973391] [ 0. 0. 0. 1. ]] SLAMing on 180.122414037 meters Centerline goodness : 0.804818 Centerline is valid? [False, False] Translation: X:-3.48, Y:-2.75, Z:-0.17 [[ 0.93467091 -0.35390087 0.03383007 -3.47651116] [ 0.35381837 0.93527466 0.00859524 -2.75423813] [-0.03468228 0.00393598 0.99939064 -0.16959062] [ 0. 0. 0. 1. ]] SLAMing on 180.152414037 meters Centerline goodness : 0.804475 Centerline is valid? [False, False] Translation: X:-3.48, Y:-2.76, Z:-0.17 [[ 9.34889845e-01 -3.53360313e-01 3.34285496e-02 -3.47590294e+00] [ 3.53242505e-01 9.35482906e-01 9.56373726e-03 -2.75716803e+00] [-3.46512819e-02 2.86734375e-03 9.99395351e-01 -1.68811972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.182414037 meters Centerline goodness : 0.804475 Centerline is valid? [False, False] Translation: X:-3.48, Y:-2.76, Z:-0.17 [[ 9.34889845e-01 -3.53360313e-01 3.34285496e-02 -3.47590294e+00] [ 3.53242505e-01 9.35482906e-01 9.56373726e-03 -2.75716803e+00] [-3.46512819e-02 2.86734375e-03 9.99395351e-01 -1.68811972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.21241403699997 meters Centerline goodness : 0.804544 Centerline is valid? [False, False] Translation: X:-3.48, Y:-2.76, Z:-0.17 [[ 9.34988142e-01 -3.53126183e-01 3.31522646e-02 -3.47529150e+00] [ 3.52990187e-01 9.35572895e-01 1.00640674e-02 -2.75869010e+00] [-3.45702459e-02 2.29264036e-03 9.99399641e-01 -1.68622853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24241403699997 meters Centerline goodness : 0.803781 Centerline is valid? [False, False] Translation: X:-3.47, Y:-2.76, Z:-0.17 [[ 9.34980579e-01 -3.53161976e-01 3.29838565e-02 -3.47454110e+00] [ 3.53017039e-01 9.35560053e-01 1.03129752e-02 -2.75985178e+00] [-3.45005293e-02 2.00143182e-03 9.99402675e-01 -1.68829197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.27241403699998 meters Centerline goodness : 0.803845 Centerline is valid? [False, False] Translation: X:-3.47, Y:-2.76, Z:-0.17 [[ 9.34984132e-01 -3.53170237e-01 3.27941576e-02 -3.47370397e+00] [ 3.53012323e-01 9.35557722e-01 1.06793885e-02 -2.76112645e+00] [-3.44524695e-02 1.59168302e-03 9.99405070e-01 -1.69161927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.30241403699998 meters Centerline goodness : 0.803972 Centerline is valid? [False, False] Translation: X:-3.49, Y:-2.77, Z:-0.17 [[ 9.34210267e-01 -3.55510750e-01 2.93816784e-02 -3.48937004e+00] [ 3.55320349e-01 9.34672090e-01 1.16418714e-02 -2.77081450e+00] [-3.16010452e-02 -4.36047589e-04 9.99500467e-01 -1.66450065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.33241403699998 meters Centerline goodness : 0.804616 Centerline is valid? [False, False] Translation: X:-3.49, Y:-2.77, Z:-0.17 [[ 9.32885439e-01 -3.58867116e-01 3.06455776e-02 -3.48928590e+00] [ 3.58785567e-01 9.33383026e-01 8.30929052e-03 -2.77168570e+00] [-3.15859930e-02 3.24357479e-03 9.99495775e-01 -1.66045076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.36241403699998 meters Centerline goodness : 0.804879 Centerline is valid? [False, False] Translation: X:-3.49, Y:-2.77, Z:-0.17 [[ 0.93154096 -0.36223411 0.03190443 -3.48906171] [ 0.36226093 0.93206256 0.00513899 -2.77330705] [-0.03159844 0.00677055 0.99947771 -0.16553898] [ 0. 0. 0. 1. ]] SLAMing on 180.39241403699998 meters Centerline goodness : 0.806997 Centerline is valid? [False, False] Translation: X:-3.50, Y:-2.78, Z:-0.16 [[ 0.92889622 -0.36942617 0.02600227 -3.49818838] [ 0.36941197 0.92924931 0.00552376 -2.7833251 ] [-0.02620322 0.00447455 0.99964662 -0.15978798] [ 0. 0. 0. 1. ]] SLAMing on 180.42241403699998 meters Centerline goodness : 0.806670 Centerline is valid? [False, False] Translation: X:-3.51, Y:-2.79, Z:-0.16 [[ 9.27296136e-01 -3.73886580e-01 1.81851871e-02 -3.50572596e+00] [ 3.73795684e-01 9.27474005e-01 8.29192729e-03 -2.78950705e+00] [-1.99665286e-02 -8.91527687e-04 9.99800252e-01 -1.55803851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.45241403699998 meters Centerline goodness : 0.806130 Centerline is valid? [False, False] Translation: X:-3.52, Y:-2.80, Z:-0.15 [[ 0.9265206 -0.37601054 0.01325344 -3.51889885] [ 0.37590592 0.92660652 0.00975131 -2.79791539] [-0.01594732 -0.00405275 0.99986462 -0.15451913] [ 0. 0. 0. 1. ]] SLAMing on 180.48241403699998 meters Centerline goodness : 0.805921 Centerline is valid? [False, False] Translation: X:-3.53, Y:-2.81, Z:-0.15 [[ 0.92565932 -0.3782431 0.00932634 -3.53290655] [ 0.37815079 0.92568691 0.01028205 -2.80530159] [-0.01252239 -0.00599092 0.99990364 -0.15436613] [ 0. 0. 0. 1. ]] SLAMing on 180.51241403699999 meters Centerline goodness : 0.803902 Centerline is valid? [False, False] Translation: X:-3.55, Y:-2.81, Z:-0.15 [[ 0.92406872 -0.38219377 0.00499157 -3.5458461 ] [ 0.38213406 0.92405377 0.00990888 -2.81392368] [-0.00839959 -0.00724904 0.99993845 -0.15353216] [ 0. 0. 0. 1. ]] SLAMing on 180.542414037 meters Centerline goodness : 0.805168 Centerline is valid? [False, False] Translation: X:-3.56, Y:-2.82, Z:-0.15 [[ 0.92283386 -0.38514128 0.00662298 -3.56427652] [ 0.38507985 0.92284012 0.00892365 -2.82214862] [-0.00954882 -0.00568467 0.99993825 -0.15282789] [ 0. 0. 0. 1. ]] SLAMing on 180.572414037 meters Centerline goodness : 0.805400 Centerline is valid? [False, False] Translation: X:-3.58, Y:-2.83, Z:-0.15 [[ 9.21354783e-01 -3.88601419e-01 9.71090326e-03 -3.58299710e+00] [ 3.88539854e-01 9.21400118e-01 7.65536365e-03 -2.83007991e+00] [-1.19225126e-02 -3.28023297e-03 9.99923544e-01 -1.51908554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.602414037 meters Centerline goodness : 0.804443 Centerline is valid? [False, False] Translation: X:-3.60, Y:-2.84, Z:-0.15 [[ 9.19992588e-01 -3.91740525e-01 1.23692810e-02 -3.60192620e+00] [ 3.91688144e-01 9.20075029e-01 6.50685680e-03 -2.83813661e+00] [-1.39296661e-02 -1.14135930e-03 9.99902326e-01 -1.50892130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.632414037 meters Centerline goodness : 0.805152 Centerline is valid? [False, False] Translation: X:-3.60, Y:-2.84, Z:-0.15 [[ 9.18343088e-01 -3.95542466e-01 1.38611178e-02 -3.60168069e+00] [ 3.95537475e-01 9.18444207e-01 3.21621913e-03 -2.83963219e+00] [-1.40028146e-02 2.52899891e-03 9.99898758e-01 -1.50505100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.662414037 meters Centerline goodness : 0.806516 Centerline is valid? [False, False] Translation: X:-3.63, Y:-2.85, Z:-0.15 [[ 9.17612329e-01 -3.97115255e-01 1.69436681e-02 -3.63375409e+00] [ 3.97043753e-01 9.17768728e-01 7.53790040e-03 -2.85306756e+00] [-1.85437840e-02 -1.89492769e-04 9.99828031e-01 -1.52373827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.692414037 meters Centerline goodness : 0.807857 Centerline is valid? [False, False] Translation: X:-3.65, Y:-2.86, Z:-0.15 [[ 9.16864393e-01 -3.98804908e-01 1.77293623e-02 -3.65272229e+00] [ 3.98718946e-01 9.17035634e-01 8.29742020e-03 -2.86004145e+00] [-1.95675089e-02 -5.38576482e-04 9.99808393e-01 -1.50947649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.722414037 meters Centerline goodness : 0.806362 Centerline is valid? [False, False] Translation: X:-3.67, Y:-2.87, Z:-0.15 [[ 9.16208968e-01 -4.00284295e-01 1.82650088e-02 -3.67203824e+00] [ 4.00188260e-01 9.16390701e-01 8.80003464e-03 -2.86680881e+00] [-2.02603998e-02 -7.53228588e-04 9.99794453e-01 -1.49353768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.752414037 meters Centerline goodness : 0.805141 Centerline is valid? [False, False] Translation: X:-3.67, Y:-2.87, Z:-0.15 [[ 9.16119298e-01 -4.00488901e-01 1.82776273e-02 -3.67181229e+00] [ 4.00394624e-01 9.16301368e-01 8.71480122e-03 -2.86678489e+00] [-2.02379960e-02 -6.65533889e-04 9.99794969e-01 -1.49548419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.782414037 meters Centerline goodness : 0.805231 Centerline is valid? [False, False] Translation: X:-3.70, Y:-2.87, Z:-0.15 [[ 9.16429520e-01 -3.99639817e-01 2.10938925e-02 -3.69568655e+00] [ 3.99599347e-01 9.16668360e-01 6.28323007e-03 -2.87493794e+00] [-2.18471328e-02 2.67096817e-03 9.99757755e-01 -1.51015235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.812414037 meters Centerline goodness : 0.805357 Centerline is valid? [False, False] Translation: X:-3.71, Y:-2.88, Z:-0.15 [[ 0.91567503 -0.40143787 0.01966896 -3.71284015] [ 0.40143565 0.91587744 0.0042347 -2.879094 ] [-0.01971432 0.00401821 0.99979758 -0.15062069] [ 0. 0. 0. 1. ]] SLAMing on 180.842414037 meters Centerline goodness : 0.803946 Centerline is valid? [False, False] Translation: X:-3.74, Y:-2.89, Z:-0.15 [[ 9.16172688e-01 -4.00083271e-01 2.36850694e-02 -3.73759779e+00] [ 4.00149378e-01 9.16447557e-01 2.08593141e-03 -2.88653341e+00] [-2.25406702e-02 7.56649240e-03 9.99717293e-01 -1.52000061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.872414037 meters Centerline goodness : 0.803078 Centerline is valid? [False, False] Translation: X:-3.74, Y:-2.88, Z:-0.15 [[ 9.16497507e-01 -3.99322505e-01 2.39553064e-02 -3.74077474e+00] [ 3.99379117e-01 9.16782233e-01 2.58033836e-03 -2.88318455e+00] [-2.29921865e-02 7.20237545e-03 9.99709700e-01 -1.50928176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.902414037 meters Centerline goodness : 0.804614 Centerline is valid? [False, False] Translation: X:-3.76, Y:-2.89, Z:-0.15 [[ 9.16464108e-01 -3.99290491e-01 2.57029613e-02 -3.76099653e+00] [ 3.99334318e-01 9.16798203e-01 3.62741744e-03 -2.88712328e+00] [-2.50128220e-02 6.93967662e-03 9.99663043e-01 -1.49814453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.932414037 meters Centerline goodness : 0.804430 Centerline is valid? [False, False] Translation: X:-3.78, Y:-2.89, Z:-0.15 [[ 0.91631938 -0.39949014 0.02768428 -3.78130555] [ 0.39951844 0.9167129 0.00474173 -2.8913112 ] [-0.02727281 0.00671544 0.99960547 -0.14818051] [ 0. 0. 0. 1. ]] SLAMing on 180.96241403699997 meters Centerline goodness : 0.804910 Centerline is valid? [False, False] Translation: X:-3.78, Y:-2.89, Z:-0.15 [[ 0.91617309 -0.39980856 0.0279281 -3.7822245 ] [ 0.39985993 0.91656769 0.00396395 -2.88899947] [-0.02718282 0.00753566 0.99960207 -0.14800148] [ 0. 0. 0. 1. ]] SLAMing on 180.99241403699997 meters Centerline goodness : 0.804257 Centerline is valid? [False, False] Translation: X:-3.78, Y:-2.89, Z:-0.15 [[ 9.15684770e-01 -4.00879562e-01 2.85828180e-02 -3.78339546e+00] [ 4.00984157e-01 9.16082288e-01 2.22444029e-03 -2.88521962e+00] [-2.70759459e-02 9.42437107e-03 9.99588953e-01 -1.48222300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02241403699998 meters Centerline goodness : 0.804158 Centerline is valid? [False, False] Translation: X:-3.78, Y:-2.88, Z:-0.15 [[ 9.15497731e-01 -4.01283724e-01 2.89011578e-02 -3.78382427e+00] [ 4.01411985e-01 9.15896419e-01 1.47275483e-03 -2.88320232e+00] [-2.70614594e-02 1.02529674e-02 9.99581189e-01 -1.48744751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.05241403699998 meters Centerline goodness : 0.802896 Centerline is valid? [False, False] Translation: X:-3.80, Y:-2.89, Z:-0.15 [[ 9.15244794e-01 -4.01858207e-01 2.89300598e-02 -3.80268423e+00] [ 4.02009694e-01 9.15635194e-01 6.30423456e-04 -2.88663611e+00] [-2.67427217e-02 1.10531727e-02 9.99581239e-01 -1.48112868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.08241403699998 meters Centerline goodness : 0.803634 Centerline is valid? [False, False] Translation: X:-3.80, Y:-2.88, Z:-0.15 [[ 9.15090097e-01 -4.02185051e-01 2.92796661e-02 -3.80349603e+00] [ 4.02365017e-01 9.15479282e-01 -2.78705648e-04 -2.88345469e+00] [-2.66928365e-02 1.20361541e-02 9.99571220e-01 -1.48697521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.11241403699998 meters Centerline goodness : 0.802762 Centerline is valid? [False, False] Translation: X:-3.82, Y:-2.88, Z:-0.15 [[ 9.15981780e-01 -4.00076099e-01 3.02736414e-02 -3.82464780e+00] [ 4.00207761e-01 9.16422586e-01 1.84175320e-03 -2.88342640e+00] [-2.84802902e-02 1.04287339e-02 9.99539951e-01 -1.48093453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14241403699998 meters Centerline goodness : 0.801929 Centerline is valid? [False, False] Translation: X:-3.84, Y:-2.89, Z:-0.15 [[ 9.16614781e-01 -3.98482541e-01 3.20781583e-02 -3.84499361e+00] [ 3.98612740e-01 9.17115919e-01 2.50490713e-03 -2.88662426e+00] [-3.04175514e-02 1.04907277e-02 9.99482225e-01 -1.46218163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.17241403699998 meters Centerline goodness : 0.803101 Centerline is valid? [False, False] Translation: X:-3.85, Y:-2.89, Z:-0.14 [[ 0.91758041 -0.39630789 0.03140466 -3.84752661] [ 0.39637546 0.91807838 0.00430983 -2.88500059] [-0.03053996 0.00849342 0.99949746 -0.1441301 ] [ 0. 0. 0. 1. ]] SLAMing on 181.20241403699998 meters Centerline goodness : 0.802554 Centerline is valid? [False, False] Translation: X:-3.85, Y:-2.88, Z:-0.14 [[ 0.91826425 -0.39474322 0.03112173 -3.85033792] [ 0.3947816 0.91876049 0.00516198 -2.88333111] [-0.03063107 0.00754623 0.99950227 -0.14169868] [ 0. 0. 0. 1. ]] SLAMing on 181.23241403699998 meters Centerline goodness : 0.803053 Centerline is valid? [False, False] Translation: X:-3.85, Y:-2.88, Z:-0.14 [[ 0.91986801 -0.3910714 0.03010006 -3.85266182] [ 0.39102624 0.92034802 0.00761663 -2.87900419] [-0.03068118 0.00476362 0.99951787 -0.1408502 ] [ 0. 0. 0. 1. ]] SLAMing on 181.26241403699999 meters Centerline goodness : 0.802901 Centerline is valid? [False, False] Translation: X:-3.85, Y:-2.88, Z:-0.14 [[ 9.21233587e-01 -3.87942373e-01 2.87992084e-02 -3.85321441e+00] [ 3.87804725e-01 9.21682339e-01 1.04480612e-02 -2.87664957e+00] [-3.05969674e-02 1.54336423e-03 9.99530612e-01 -1.41136334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.292414037 meters Centerline goodness : 0.802024 Centerline is valid? [False, False] Translation: X:-3.85, Y:-2.87, Z:-0.14 [[ 9.22582755e-01 -3.84811200e-01 2.75934994e-02 -3.85397387e+00] [ 3.84588249e-01 9.22993997e-01 1.31894044e-02 -2.87396429e+00] [-3.05440649e-02 -1.55618138e-03 9.99532210e-01 -1.41429759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.322414037 meters Centerline goodness : 0.802998 Centerline is valid? [False, False] Translation: X:-3.86, Y:-2.87, Z:-0.14 [[ 0.92449247 -0.38028173 0.02644758 -3.85738885] [ 0.37994538 0.92485361 0.01695 -2.86930893] [-0.03090592 -0.00562151 0.99950649 -0.14042885] [ 0. 0. 0. 1. ]] SLAMing on 181.352414037 meters Centerline goodness : 0.801723 Centerline is valid? [False, False] Translation: X:-3.86, Y:-2.87, Z:-0.14 [[ 0.9251419 -0.37870972 0.02629471 -3.85996023] [ 0.37833682 0.92549029 0.01813766 -2.86814466] [-0.03120441 -0.00683165 0.99948968 -0.13868461] [ 0. 0. 0. 1. ]] SLAMing on 181.382414037 meters Centerline goodness : 0.800518 Centerline is valid? [False, False] Translation: X:-3.86, Y:-2.87, Z:-0.14 [[ 0.92525002 -0.37843111 0.02650098 -3.86093142] [ 0.37806922 0.92560738 0.01773831 -2.86597781] [-0.03124223 -0.00639317 0.9994914 -0.13865804] [ 0. 0. 0. 1. ]] SLAMing on 181.412414037 meters Centerline goodness : 0.801590 Centerline is valid? [False, False] Translation: X:-3.86, Y:-2.86, Z:-0.14 [[ 0.92553894 -0.3777046 0.02677512 -3.8622642 ] [ 0.3773617 0.92590864 0.01706849 -2.86160682] [-0.03123816 -0.00569365 0.99949575 -0.1391566 ] [ 0. 0. 0. 1. ]] SLAMing on 181.442414037 meters Centerline goodness : 0.801396 Centerline is valid? [False, False] Translation: X:-3.86, Y:-2.86, Z:-0.14 [[ 0.92566731 -0.37737631 0.02696579 -3.86313507] [ 0.37704914 0.92604578 0.0165277 -2.85860771] [-0.03120872 -0.00513172 0.99949972 -0.13947385] [ 0. 0. 0. 1. ]] SLAMing on 181.472414037 meters Centerline goodness : 0.802196 Centerline is valid? [False, False] Translation: X:-3.87, Y:-2.86, Z:-0.14 [[ 9.26285323e-01 -3.75623662e-01 3.00393724e-02 -3.86822359e+00] [ 3.75300437e-01 9.26765594e-01 1.59723607e-02 -2.85668754e+00] [-3.38390534e-02 -3.52117374e-03 9.99421092e-01 -1.41204650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.502414037 meters Centerline goodness : 0.803856 Centerline is valid? [False, False] Translation: X:-3.87, Y:-2.85, Z:-0.14 [[ 0.92774477 -0.37207259 0.02918283 -3.87072977] [ 0.37167175 0.92818318 0.0183326 -2.85195005] [-0.03390807 -0.00616154 0.99940596 -0.14038522] [ 0. 0. 0. 1. ]] SLAMing on 181.532414037 meters Centerline goodness : 0.803144 Centerline is valid? [False, False] Translation: X:-3.87, Y:-2.85, Z:-0.14 [[ 0.92826645 -0.37076058 0.02929159 -3.87357894] [ 0.37033405 0.92870335 0.01904684 -2.85061972] [-0.03426502 -0.00683287 0.99938942 -0.13836138] [ 0. 0. 0. 1. ]] SLAMing on 181.562414037 meters Centerline goodness : 0.804346 Centerline is valid? [False, False] Translation: X:-3.88, Y:-2.85, Z:-0.14 [[ 0.92877671 -0.36947239 0.02939338 -3.87607157] [ 0.36902026 0.92921146 0.0197512 -2.84980642] [-0.03461019 -0.0074977 0.99937276 -0.13648155] [ 0. 0. 0. 1. ]] SLAMing on 181.592414037 meters Centerline goodness : 0.806341 Centerline is valid? [False, False] Translation: X:-3.88, Y:-2.85, Z:-0.14 [[ 0.93016909 -0.36603193 0.0283917 -3.87715289] [ 0.36549499 0.93054335 0.0224163 -2.84757773] [-0.03462479 -0.01047392 0.9993455 -0.13598626] [ 0. 0. 0. 1. ]] SLAMing on 181.622414037 meters Centerline goodness : 0.805528 Centerline is valid? [False, False] Translation: X:-3.88, Y:-2.84, Z:-0.14 [[ 0.93029178 -0.36569218 0.0287478 -3.87786928] [ 0.36517346 0.93068461 0.0217832 -2.84492244] [-0.03472109 -0.0097668 0.99934932 -0.13638587] [ 0. 0. 0. 1. ]] SLAMing on 181.652414037 meters Centerline goodness : 0.806246 Centerline is valid? [False, False] Translation: X:-3.88, Y:-2.84, Z:-0.14 [[ 0.93047639 -0.36518311 0.02924013 -3.87868679] [ 0.36467789 0.93089108 0.02125627 -2.84227195] [-0.03498181 -0.00911523 0.99934638 -0.13682792] [ 0. 0. 0. 1. ]] SLAMing on 181.682414037 meters Centerline goodness : 0.806170 Centerline is valid? [False, False] Translation: X:-3.88, Y:-2.84, Z:-0.14 [[ 0.93058299 -0.36483445 0.03018469 -3.88021139] [ 0.36434531 0.93103682 0.02056543 -2.83984806] [-0.03560604 -0.00814019 0.99933275 -0.13659247] [ 0. 0. 0. 1. ]] SLAMing on 181.71241403699997 meters Centerline goodness : 0.805923 Centerline is valid? [False, False] Translation: X:-3.88, Y:-2.84, Z:-0.14 [[ 0.9325363 -0.35917681 0.03698748 -3.88275578] [ 0.35911714 0.93325402 0.00847398 -2.83551145] [-0.03756237 0.00538055 0.9992798 -0.13590269] [ 0. 0. 0. 1. ]] SLAMing on 181.74241403699997 meters Centerline goodness : 0.804307 Centerline is valid? [False, False] Translation: X:-3.89, Y:-2.84, Z:-0.14 [[ 9.33000604e-01 -3.57516353e-01 4.11330860e-02 -3.89137287e+00] [ 3.57877346e-01 9.33767360e-01 -1.52379429e-03 -2.83736338e+00] [-3.78639517e-02 1.61423006e-02 9.99152515e-01 -1.37295990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.77241403699998 meters Centerline goodness : 0.802959 Centerline is valid? [False, False] Translation: X:-3.90, Y:-2.84, Z:-0.14 [[ 0.93307604 -0.35673058 0.04596076 -3.89523924] [ 0.35741851 0.93391455 -0.00745804 -2.84091909] [-0.04026291 0.02338615 0.9989154 -0.14277922] [ 0. 0. 0. 1. ]] SLAMing on 181.80241403699998 meters Centerline goodness : 0.803768 Centerline is valid? [False, False] Translation: X:-3.89, Y:-2.84, Z:-0.14 [[ 0.93314555 -0.356603 0.04553764 -3.89392277] [ 0.35724909 0.93398538 -0.00666271 -2.84337935] [-0.04015555 0.02248555 0.9989404 -0.14308746] [ 0. 0. 0. 1. ]] SLAMing on 181.83241403699998 meters Centerline goodness : 0.803287 Centerline is valid? [False, False] Translation: X:-3.90, Y:-2.85, Z:-0.14 [[ 0.93249973 -0.35817504 0.04642081 -3.89500408] [ 0.35889847 0.93334204 -0.00803325 -2.84548127] [-0.04044918 0.02415136 0.99888967 -0.14139761] [ 0. 0. 0. 1. ]] SLAMing on 181.86241403699998 meters Centerline goodness : 0.802099 Centerline is valid? [False, False] Translation: X:-3.90, Y:-2.85, Z:-0.14 [[ 0.93220156 -0.35892157 0.04664279 -3.89568917] [ 0.35965005 0.9330529 -0.00800826 -2.84825853] [-0.04064585 0.0242404 0.99887953 -0.13971794] [ 0. 0. 0. 1. ]] SLAMing on 181.89241403699998 meters Centerline goodness : 0.804967 Centerline is valid? [False, False] Translation: X:-3.90, Y:-2.86, Z:-0.13 [[ 9.31595927e-01 -3.61335408e-01 3.95695890e-02 -3.90459741e+00] [ 3.61708763e-01 9.32287865e-01 -2.47143623e-03 -2.86143559e+00] [-3.59972303e-02 1.66150470e-02 9.99213761e-01 -1.32932775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92241403699998 meters Centerline goodness : 0.805869 Centerline is valid? [False, False] Translation: X:-3.90, Y:-2.87, Z:-0.13 [[ 9.30995150e-01 -3.62814764e-01 4.01681087e-02 -3.90494926e+00] [ 3.63231721e-01 9.31692765e-01 -3.36287007e-03 -2.86539940e+00] [-3.62042374e-02 1.77211470e-02 9.99187277e-01 -1.31199332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.95241403699998 meters Centerline goodness : 0.805210 Centerline is valid? [False, False] Translation: X:-3.91, Y:-2.87, Z:-0.13 [[ 0.93038595 -0.36430313 0.04080692 -3.9051505 ] [ 0.36476932 0.9310877 -0.00436415 -2.8689355 ] [-0.03640494 0.01894546 0.99915752 -0.1299134 ] [ 0. 0. 0. 1. ]] SLAMing on 181.98241403699998 meters Centerline goodness : 0.804812 Centerline is valid? [False, False] Translation: X:-3.91, Y:-2.88, Z:-0.13 [[ 9.30009456e-01 -3.66151233e-01 3.18698329e-02 -3.91041625e+00] [ 3.66335323e-01 9.30482899e-01 6.73430646e-05 -2.87972458e+00] [-2.96789923e-02 1.16124159e-02 9.99492026e-01 -1.26612810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.01241403699999 meters Centerline goodness : 0.805466 Centerline is valid? [False, False] Translation: X:-3.91, Y:-2.88, Z:-0.13 [[ 9.30147537e-01 -3.65835636e-01 3.14618225e-02 -3.90912698e+00] [ 3.65983521e-01 9.30620646e-01 1.12914715e-03 -2.88281047e+00] [-2.96921038e-02 1.04642351e-02 9.99504317e-01 -1.26785475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.042414037 meters Centerline goodness : 0.806111 Centerline is valid? [False, False] Translation: X:-3.91, Y:-2.89, Z:-0.13 [[ 9.30277841e-01 -3.65533874e-01 3.11147039e-02 -3.90807711e+00] [ 3.65649186e-01 9.30750368e-01 2.10358171e-03 -2.88608674e+00] [-2.97289525e-02 9.42015073e-03 9.99513607e-01 -1.26579306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.072414037 meters Centerline goodness : 0.807483 Centerline is valid? [False, False] Translation: X:-3.91, Y:-2.89, Z:-0.12 [[ 9.29760168e-01 -3.66805955e-01 3.16136255e-02 -3.90789368e+00] [ 3.66942397e-01 9.30242321e-01 1.58153914e-03 -2.89241965e+00] [-2.99884503e-02 1.01299274e-02 9.99498913e-01 -1.24322519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.102414037 meters Centerline goodness : 0.807483 Centerline is valid? [False, False] Translation: X:-3.91, Y:-2.89, Z:-0.12 [[ 9.29746430e-01 -3.66839512e-01 3.16282947e-02 -3.90791790e+00] [ 3.66975286e-01 9.30229299e-01 1.60931593e-03 -2.89245512e+00] [-3.00119271e-02 1.01105468e-02 9.99498405e-01 -1.24333236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.132414037 meters Centerline goodness : 0.807900 Centerline is valid? [False, False] Translation: X:-3.91, Y:-2.90, Z:-0.12 [[ 9.29361042e-01 -3.67773775e-01 3.21014741e-02 -3.90860023e+00] [ 3.67932288e-01 9.29852009e-01 1.03575718e-03 -2.89532080e+00] [-3.02305446e-02 1.08485765e-02 9.99484078e-01 -1.22677325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.162414037 meters Centerline goodness : 0.808408 Centerline is valid? [False, False] Translation: X:-3.92, Y:-2.91, Z:-0.12 [[ 9.29477718e-01 -3.67949193e-01 2.61641555e-02 -3.92101281e+00] [ 3.67992318e-01 9.29822895e-01 3.32225625e-03 -2.90509582e+00] [-2.55504523e-02 6.54024506e-03 9.99652139e-01 -1.20226640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.192414037 meters Centerline goodness : 0.806997 Centerline is valid? [False, False] Translation: X:-3.93, Y:-2.91, Z:-0.12 [[ 9.28437448e-01 -3.71122899e-01 1.64833289e-02 -3.92523305e+00] [ 3.71086188e-01 9.28583041e-01 5.34578197e-03 -2.91444682e+00] [-1.72900818e-02 1.15351153e-03 9.99849850e-01 -1.16806573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.222414037 meters Centerline goodness : 0.806462 Centerline is valid? [False, False] Translation: X:-3.92, Y:-2.92, Z:-0.12 [[ 9.27219617e-01 -3.74111316e-01 1.74500519e-02 -3.92378316e+00] [ 3.74126902e-01 9.27374187e-01 2.48562168e-03 -2.91608482e+00] [-1.71126269e-02 4.22381669e-03 9.99844647e-01 -1.17411260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.252414037 meters Centerline goodness : 0.806023 Centerline is valid? [False, False] Translation: X:-3.94, Y:-2.93, Z:-0.12 [[ 9.26784762e-01 -3.75318397e-01 1.43563913e-02 -3.93824191e+00] [ 3.75303004e-01 9.26894170e-01 3.85394234e-03 -2.92727451e+00] [-1.47533108e-02 1.81622174e-03 9.99889514e-01 -1.16233476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.282414037 meters Centerline goodness : 0.806876 Centerline is valid? [False, False] Translation: X:-3.94, Y:-2.94, Z:-0.11 [[ 9.25344638e-01 -3.78794846e-01 1.58671544e-02 -3.93769242e+00] [ 3.78822418e-01 9.25468401e-01 1.34660608e-03 -2.93520308e+00] [-1.51946375e-02 4.76475910e-03 9.99873202e-01 -1.14100397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.312414037 meters Centerline goodness : 0.808799 Centerline is valid? [False, False] Translation: X:-3.94, Y:-2.94, Z:-0.11 [[ 9.24612370e-01 -3.80543030e-01 1.67023261e-02 -3.93803715e+00] [ 3.80594488e-01 9.24742031e-01 1.05575850e-04 -2.93916487e+00] [-1.54855192e-02 6.25919653e-03 9.99860501e-01 -1.12523639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.342414037 meters Centerline goodness : 0.808122 Centerline is valid? [False, False] Translation: X:-3.95, Y:-2.95, Z:-0.11 [[ 9.24527067e-01 -3.80930357e-01 1.19065419e-02 -3.95151546e+00] [ 3.80922877e-01 9.24602017e-01 2.97872884e-03 -2.95093513e+00] [-1.21435009e-02 1.78155876e-03 9.99924678e-01 -1.10559512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.372414037 meters Centerline goodness : 0.806111 Centerline is valid? [False, False] Translation: X:-3.96, Y:-2.96, Z:-0.11 [[ 9.24395831e-01 -3.81373866e-01 6.80599308e-03 -3.96459568e+00] [ 3.81340382e-01 9.24416937e-01 5.73057992e-03 -2.96225891e+00] [-8.47706870e-03 -2.70192419e-03 9.99960419e-01 -1.09149383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.402414037 meters Centerline goodness : 0.806024 Centerline is valid? [False, False] Translation: X:-3.97, Y:-2.98, Z:-0.10 [[ 9.23415422e-01 -3.83798394e-01 -1.65868046e-03 -3.97082158e+00] [ 3.83795079e-01 9.23364286e-01 9.98660814e-03 -2.97517870e+00] [-2.30127787e-03 -9.85838137e-03 9.99948757e-01 -1.04902971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.432414037 meters Centerline goodness : 0.806727 Centerline is valid? [False, False] Translation: X:-3.97, Y:-2.98, Z:-0.10 [[ 9.22569248e-01 -3.85830848e-01 -7.34178402e-04 -3.97090236e+00] [ 3.85822808e-01 9.22533879e-01 8.48538485e-03 -2.97905039e+00] [-2.59661878e-03 -8.11161790e-03 9.99963729e-01 -1.03564815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46241403699997 meters Centerline goodness : 0.807072 Centerline is valid? [False, False] Translation: X:-3.97, Y:-2.98, Z:-0.10 [[ 9.21637448e-01 -3.88052055e-01 1.29266466e-04 -3.97071437e+00] [ 3.88042363e-01 9.21616684e-01 6.76849476e-03 -2.98289516e+00] [-2.74566243e-03 -6.18793738e-03 9.99977085e-01 -1.02198928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.49241403699997 meters Centerline goodness : 0.808298 Centerline is valid? [False, False] Translation: X:-3.97, Y:-2.99, Z:-0.10 [[ 9.20497389e-01 -3.90747050e-01 1.13990191e-03 -3.96999205e+00] [ 3.90738740e-01 9.20490822e-01 4.45911039e-03 -2.98585401e+00] [-2.79165348e-03 -3.65919564e-03 9.99989408e-01 -1.01630004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52241403699998 meters Centerline goodness : 0.808073 Centerline is valid? [False, False] Translation: X:-3.98, Y:-3.00, Z:-0.10 [[ 9.19007867e-01 -3.94230927e-01 -2.55282069e-03 -3.98291147e+00] [ 3.94239068e-01 9.18993443e-01 5.15840484e-03 -2.99935977e+00] [ 3.12422756e-04 -5.74703628e-03 9.99983437e-01 -9.96762511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.55241403699998 meters Centerline goodness : 0.808593 Centerline is valid? [False, False] Translation: X:-3.98, Y:-3.00, Z:-0.10 [[ 9.17718834e-01 -3.97228391e-01 -1.32208613e-03 -3.98230161e+00] [ 3.97230486e-01 9.17715928e-01 2.32718323e-03 -3.00074834e+00] [ 2.88876252e-04 -2.66087280e-03 9.99996418e-01 -9.97286279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.58241403699998 meters Centerline goodness : 0.809148 Centerline is valid? [False, False] Translation: X:-4.00, Y:-3.01, Z:-0.10 [[ 9.16589112e-01 -3.99826524e-01 -1.77528489e-03 -3.99828895e+00] [ 3.99830413e-01 9.16582207e-01 3.56337384e-03 -3.01253968e+00] [ 2.02463166e-04 -3.97596255e-03 9.99992075e-01 -9.91411145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.61241403699998 meters Centerline goodness : 0.808524 Centerline is valid? [False, False] Translation: X:-4.02, Y:-3.02, Z:-0.10 [[ 9.16064527e-01 -4.01029674e-01 -9.91883110e-04 -4.01643522e+00] [ 4.01028785e-01 9.16048859e-01 5.51381087e-03 -3.02117331e+00] [-1.30258838e-03 -5.44878022e-03 9.99984307e-01 -9.79033357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64241403699998 meters Centerline goodness : 0.810201 Centerline is valid? [False, False] Translation: X:-4.04, Y:-3.03, Z:-0.10 [[ 9.15542048e-01 -4.02219671e-01 1.44700698e-03 -4.03502614e+00] [ 4.02201565e-01 9.15525492e-01 6.85382274e-03 -3.02899027e+00] [-4.08151411e-03 -5.69297444e-03 9.99975465e-01 -9.71268259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.67241403699998 meters Centerline goodness : 0.808583 Centerline is valid? [False, False] Translation: X:-4.06, Y:-3.04, Z:-0.10 [[ 0.91586653 -0.4014374 0.00604215 -4.05872155] [ 0.40139397 0.91587673 0.00725948 -3.04001304] [-0.0084481 -0.00422343 0.9999554 -0.09740529] [ 0. 0. 0. 1. ]] SLAMing on 182.70241403699998 meters Centerline goodness : 0.809388 Centerline is valid? [False, False] Translation: X:-4.08, Y:-3.05, Z:-0.10 [[ 9.16277383e-01 -4.00449544e-01 8.71319816e-03 -4.08190145e+00] [ 4.00410820e-01 9.16316833e-01 5.88519332e-03 -3.05224948e+00] [-1.03407731e-02 -1.90361071e-03 9.99944721e-01 -9.73685984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.73241403699998 meters Centerline goodness : 0.808890 Centerline is valid? [False, False] Translation: X:-4.10, Y:-3.06, Z:-0.10 [[ 9.16652227e-01 -3.99573699e-01 9.46330018e-03 -4.10267975e+00] [ 3.99564577e-01 9.16700406e-01 2.91783082e-03 -3.06184499e+00] [-9.84089957e-03 1.10656341e-03 9.99950965e-01 -9.93789248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.76241403699999 meters Centerline goodness : 0.810044 Centerline is valid? [False, False] Translation: X:-4.12, Y:-3.07, Z:-0.10 [[ 9.16197053e-01 -4.00695351e-01 5.11818498e-03 -4.11675790e+00] [ 4.00686173e-01 9.16211228e-01 2.75260241e-03 -3.06845071e+00] [-5.79229353e-03 -4.71140265e-04 9.99983114e-01 -9.93432972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.792414037 meters Centerline goodness : 0.809020 Centerline is valid? [False, False] Translation: X:-4.12, Y:-3.07, Z:-0.10 [[ 9.16189730e-01 -4.00713091e-01 5.03954755e-03 -4.11600135e+00] [ 4.00702845e-01 9.16203339e-01 2.94473358e-03 -3.06895096e+00] [-5.79724359e-03 -6.78573623e-04 9.99982966e-01 -9.99882313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.822414037 meters Centerline goodness : 0.808443 Centerline is valid? [False, False] Translation: X:-4.13, Y:-3.08, Z:-0.10 [[ 9.15716308e-01 -4.01824710e-01 7.38805616e-04 -4.13065393e+00] [ 4.01818903e-01 9.15710425e-01 3.99835400e-03 -3.07634880e+00] [-2.28316944e-03 -3.36449190e-03 9.99991734e-01 -9.92160545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.852414037 meters Centerline goodness : 0.809576 Centerline is valid? [False, False] Translation: X:-4.15, Y:-3.08, Z:-0.10 [[ 9.15180470e-01 -4.03042133e-01 1.32146202e-03 -4.14902351e+00] [ 4.03032245e-01 9.15173538e-01 4.73327463e-03 -3.08427450e+00] [-3.11707617e-03 -3.79920870e-03 9.99987925e-01 -9.74809582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.882414037 meters Centerline goodness : 0.809915 Centerline is valid? [False, False] Translation: X:-4.15, Y:-3.09, Z:-0.10 [[ 9.15259329e-01 -4.02863776e-01 1.06740901e-03 -4.14850004e+00] [ 4.02853715e-01 9.15250044e-01 5.12255999e-03 -3.08587206e+00] [-3.04064001e-03 -4.25846113e-03 9.99986310e-01 -9.69935958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.912414037 meters Centerline goodness : 0.810109 Centerline is valid? [False, False] Translation: X:-4.15, Y:-3.09, Z:-0.10 [[ 9.14807123e-01 -4.03887443e-01 1.69154197e-03 -4.14899733e+00] [ 4.03878637e-01 9.14803880e-01 3.98838509e-03 -3.08909725e+00] [-3.15828781e-03 -2.96542542e-03 9.99990616e-01 -9.51329297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.942414037 meters Centerline goodness : 0.807739 Centerline is valid? [False, False] Translation: X:-4.15, Y:-3.09, Z:-0.10 [[ 9.15010331e-01 -4.03428041e-01 1.38186191e-03 -4.14843256e+00] [ 4.03418387e-01 9.15004141e-01 4.58554366e-03 -3.09032590e+00] [-3.11434626e-03 -3.63835132e-03 9.99988532e-01 -9.50270629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.972414037 meters Centerline goodness : 0.811671 Centerline is valid? [False, False] Translation: X:-4.15, Y:-3.09, Z:-0.09 [[ 9.15253979e-01 -4.02875801e-01 1.11495815e-03 -4.14819246e+00] [ 4.02865467e-01 9.15244742e-01 5.14556138e-03 -3.09093744e+00] [-3.09348174e-03 -4.26031739e-03 9.99986140e-01 -9.49668052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.002414037 meters Centerline goodness : 0.808763 Centerline is valid? [False, False] Translation: X:-4.15, Y:-3.09, Z:-0.09 [[ 9.16235173e-01 -4.00640522e-01 5.28105087e-04 -4.14998430e+00] [ 4.00625563e-01 9.16210893e-01 7.53375978e-03 -3.09246598e+00] [-3.50218508e-03 -6.69112330e-03 9.99971481e-01 -9.31614424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.032414037 meters Centerline goodness : 0.808178 Centerline is valid? [False, False] Translation: X:-4.15, Y:-3.09, Z:-0.09 [[ 9.16471028e-01 -4.00100974e-01 2.57419463e-04 -4.15007501e+00] [ 4.00085828e-01 9.16441569e-01 8.13511898e-03 -3.09332788e+00] [-3.49077893e-03 -7.35261098e-03 9.99966876e-01 -9.25586663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.062414037 meters Centerline goodness : 0.809723 Centerline is valid? [False, False] Translation: X:-4.15, Y:-3.09, Z:-0.09 [[ 9.16636683e-01 -3.99721392e-01 3.02217687e-05 -4.14982118e+00] [ 3.99706355e-01 9.16602853e-01 8.60464341e-03 -3.09465566e+00] [-3.46716140e-03 -7.87525196e-03 9.99962979e-01 -9.20767621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.092414037 meters Centerline goodness : 0.809283 Centerline is valid? [False, False] Translation: X:-4.15, Y:-3.10, Z:-0.09 [[ 9.16761954e-01 -3.99433962e-01 -1.69421059e-04 -4.14935344e+00] [ 3.99419071e-01 9.16723944e-01 9.03420767e-03 -3.09606726e+00] [-3.45325703e-03 -8.34988788e-03 9.99959176e-01 -9.18241731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.122414037 meters Centerline goodness : 0.808977 Centerline is valid? [False, False] Translation: X:-4.15, Y:-3.10, Z:-0.09 [[ 9.16098450e-01 -4.00947413e-01 2.19111115e-03 -4.15030922e+00] [ 4.00924007e-01 9.16083784e-01 7.10220978e-03 -3.09744019e+00] [-4.85485404e-03 -5.62785431e-03 9.99972378e-01 -9.34037442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.152414037 meters Centerline goodness : 0.808818 Centerline is valid? [False, False] Translation: X:-4.15, Y:-3.10, Z:-0.09 [[ 9.15250550e-01 -4.02859943e-01 4.50513391e-03 -4.15166082e+00] [ 4.02840555e-01 9.15258404e-01 4.64125484e-03 -3.09703831e+00] [-5.99313733e-03 -2.43306041e-03 9.99979081e-01 -9.47915930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.182414037 meters Centerline goodness : 0.806936 Centerline is valid? [False, False] Translation: X:-4.17, Y:-3.10, Z:-0.09 [[ 9.14826148e-01 -4.03847651e-01 4.39842353e-04 -4.16650845e+00] [ 4.03841205e-01 9.14816728e-01 4.75770118e-03 -3.10353920e+00] [-2.32376159e-03 -4.17484298e-03 9.99988585e-01 -9.45493387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.21241403699997 meters Centerline goodness : 0.807099 Centerline is valid? [False, False] Translation: X:-4.17, Y:-3.10, Z:-0.09 [[ 9.14948756e-01 -4.03569996e-01 1.79350610e-04 -4.16646485e+00] [ 4.03563637e-01 9.14936661e-01 5.22457420e-03 -3.10458391e+00] [-2.27257584e-03 -4.70783828e-03 9.99986336e-01 -9.38478180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24241403699997 meters Centerline goodness : 0.809813 Centerline is valid? [False, False] Translation: X:-4.17, Y:-3.11, Z:-0.09 [[ 9.14952070e-01 -4.03562522e-01 1.14534677e-05 -4.16649229e+00] [ 4.03556387e-01 9.14938319e-01 5.48766778e-03 -3.10596966e+00] [-2.22509626e-03 -5.01633088e-03 9.99984943e-01 -9.28373317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.27241403699998 meters Centerline goodness : 0.810021 Centerline is valid? [False, False] Translation: X:-4.17, Y:-3.11, Z:-0.09 [[ 9.14083599e-01 -4.05524264e-01 1.11607102e-03 -4.16823978e+00] [ 4.05518363e-01 9.14080042e-01 3.54047249e-03 -3.10763243e+00] [-2.45592575e-03 -2.78370055e-03 9.99993110e-01 -9.04997614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.30241403699998 meters Centerline goodness : 0.808547 Centerline is valid? [False, False] Translation: X:-4.17, Y:-3.11, Z:-0.09 [[ 9.13174970e-01 -4.07561467e-01 2.26378241e-03 -4.16969834e+00] [ 4.07558951e-01 9.13177666e-01 1.50038926e-03 -3.10908200e+00] [-2.67873638e-03 -4.47493132e-04 9.99996312e-01 -8.86315326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.33241403699998 meters Centerline goodness : 0.808837 Centerline is valid? [False, False] Translation: X:-4.18, Y:-3.12, Z:-0.09 [[ 9.12303516e-01 -4.09508436e-01 -2.26610638e-03 -4.18363739e+00] [ 4.09512861e-01 9.12302049e-01 2.04665169e-03 -3.11701554e+00] [ 1.22925236e-03 -2.79516724e-03 9.99995338e-01 -8.75255991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36241403699998 meters Centerline goodness : 0.809105 Centerline is valid? [False, False] Translation: X:-4.18, Y:-3.12, Z:-0.09 [[ 9.12333921e-01 -4.09440487e-01 -2.30286706e-03 -4.18349349e+00] [ 4.09445114e-01 9.12332275e-01 2.12570574e-03 -3.11653996e+00] [ 1.23062995e-03 -2.88225112e-03 9.99995089e-01 -8.79645791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.39241403699998 meters Centerline goodness : 0.806711 Centerline is valid? [False, False] Translation: X:-4.21, Y:-3.13, Z:-0.09 [[ 9.13290412e-01 -4.07302846e-01 -2.23936780e-03 -4.20548023e+00] [ 4.07307178e-01 9.13288971e-01 2.02909268e-03 -3.12636980e+00] [ 1.21873469e-03 -2.76526147e-03 9.99995434e-01 -8.93968605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42241403699998 meters Centerline goodness : 0.807421 Centerline is valid? [False, False] Translation: X:-4.20, Y:-3.13, Z:-0.09 [[ 9.13716349e-01 -4.06344091e-01 -2.62941735e-03 -4.20484402e+00] [ 4.06350703e-01 9.13712721e-01 2.85837287e-03 -3.12756479e+00] [ 1.24104915e-03 -3.68020761e-03 9.99992458e-01 -8.95314521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.45241403699998 meters Centerline goodness : 0.809514 Centerline is valid? [False, False] Translation: X:-4.21, Y:-3.13, Z:-0.09 [[ 9.14467587e-01 -4.04653934e-01 2.05554232e-03 -4.21240198e+00] [ 4.04653428e-01 9.14469872e-01 6.75086657e-04 -3.13134658e+00] [-2.15290799e-03 2.14437377e-04 9.99997659e-01 -9.14520072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48241403699998 meters Centerline goodness : 0.809172 Centerline is valid? [False, False] Translation: X:-4.21, Y:-3.13, Z:-0.09 [[ 9.14731267e-01 -4.04059005e-01 1.74042307e-03 -4.21192047e+00] [ 4.04057296e-01 9.14732814e-01 1.25694751e-03 -3.13240022e+00] [-2.09990305e-03 -4.46538550e-04 9.99997696e-01 -9.13387291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.51241403699999 meters Centerline goodness : 0.810291 Centerline is valid? [False, False] Translation: X:-4.21, Y:-3.13, Z:-0.09 [[ 9.15463338e-01 -4.02399271e-01 1.30478523e-03 -4.21283975e+00] [ 4.02394567e-01 9.15461889e-01 2.85354633e-03 -3.13409376e+00] [-2.34274612e-03 -2.08727856e-03 9.99995077e-01 -9.00623630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.542414037 meters Centerline goodness : 0.808670 Centerline is valid? [False, False] Translation: X:-4.21, Y:-3.13, Z:-0.09 [[ 9.15656736e-01 -4.01959807e-01 1.02674619e-03 -4.21277617e+00] [ 4.01954856e-01 9.15653741e-01 3.24342133e-03 -3.13443399e+00] [-2.24386900e-03 -2.55715497e-03 9.99994213e-01 -8.97015105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.572414037 meters Centerline goodness : 0.808472 Centerline is valid? [False, False] Translation: X:-4.22, Y:-3.14, Z:-0.09 [[ 9.15620561e-01 -4.02036582e-01 2.36102360e-03 -4.21552363e+00] [ 4.02028398e-01 9.15621271e-01 3.29466863e-03 -3.13572293e+00] [-3.48638074e-03 -2.06746781e-03 9.99991785e-01 -8.86971105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.602414037 meters Centerline goodness : 0.809929 Centerline is valid? [False, False] Translation: X:-4.22, Y:-3.14, Z:-0.09 [[ 9.15796373e-01 -4.01637863e-01 2.00770117e-03 -4.21528337e+00] [ 4.01628710e-01 9.15794611e-01 3.82237470e-03 -3.13704653e+00] [-3.37385232e-03 -2.69416646e-03 9.99990679e-01 -8.79900530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.632414037 meters Centerline goodness : 0.809590 Centerline is valid? [False, False] Translation: X:-4.22, Y:-3.14, Z:-0.09 [[ 9.15794759e-01 -4.01641709e-01 1.97422717e-03 -4.21541384e+00] [ 4.01631867e-01 9.15792237e-01 4.05240168e-03 -3.14074449e+00] [-3.43559545e-03 -2.91825567e-03 9.99989840e-01 -8.62109442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.662414037 meters Centerline goodness : 0.811422 Centerline is valid? [False, False] Translation: X:-4.21, Y:-3.14, Z:-0.09 [[ 9.16008232e-01 -4.01156170e-01 1.62681463e-03 -4.21465950e+00] [ 4.01145007e-01 9.16002112e-01 4.77640057e-03 -3.14273852e+00] [-3.40624820e-03 -3.72263367e-03 9.99987270e-01 -8.59503411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.692414037 meters Centerline goodness : 0.810805 Centerline is valid? [False, False] Translation: X:-4.22, Y:-3.14, Z:-0.08 [[ 9.15752456e-01 -4.01736158e-01 2.34494791e-03 -4.21595842e+00] [ 4.01724506e-01 9.15750706e-01 4.25046564e-03 -3.14438824e+00] [-3.85495343e-03 -2.95035131e-03 9.99988217e-01 -8.47804712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.722414037 meters Centerline goodness : 0.810905 Centerline is valid? [False, False] Translation: X:-4.22, Y:-3.15, Z:-0.08 [[ 9.16291363e-01 -4.00508207e-01 1.82046989e-03 -4.21500374e+00] [ 4.00491462e-01 9.16280539e-01 6.04679073e-03 -3.14801993e+00] [-4.08985045e-03 -4.81153948e-03 9.99980061e-01 -8.46062240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.752414037 meters Centerline goodness : 0.811807 Centerline is valid? [False, False] Translation: X:-4.21, Y:-3.15, Z:-0.08 [[ 9.16457901e-01 -4.00127997e-01 1.58149909e-03 -4.21448647e+00] [ 4.00109939e-01 9.16442895e-01 6.66763789e-03 -3.14952733e+00] [-4.11726220e-03 -5.47783592e-03 9.99976520e-01 -8.44896537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.782414037 meters Centerline goodness : 0.810710 Centerline is valid? [False, False] Translation: X:-4.21, Y:-3.15, Z:-0.08 [[ 9.16638799e-01 -3.99714673e-01 1.22188527e-03 -4.21376943e+00] [ 3.99695499e-01 9.16617629e-01 7.45864020e-03 -3.15166755e+00] [-4.10132950e-03 -6.34849695e-03 9.99971437e-01 -8.41497571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.812414037 meters Centerline goodness : 0.811527 Centerline is valid? [False, False] Translation: X:-4.21, Y:-3.16, Z:-0.08 [[ 9.15880117e-01 -4.01446479e-01 2.08244957e-03 -4.21372497e+00] [ 4.01427380e-01 9.15869209e-01 6.29686536e-03 -3.15656653e+00] [-4.43510587e-03 -4.93122150e-03 9.99978006e-01 -8.25129293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.842414037 meters Centerline goodness : 0.812251 Centerline is valid? [False, False] Translation: X:-4.21, Y:-3.16, Z:-0.08 [[ 9.15349106e-01 -4.02652251e-01 2.67915742e-03 -4.21429110e+00] [ 4.02635678e-01 9.15345770e-01 5.16067387e-03 -3.15887638e+00] [-4.53031236e-03 -3.64509385e-03 9.99983095e-01 -8.10712030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.872414037 meters Centerline goodness : 0.810576 Centerline is valid? [False, False] Translation: X:-4.22, Y:-3.16, Z:-0.08 [[ 9.14594066e-01 -4.04355505e-01 3.78414996e-03 -4.21518299e+00] [ 4.04344302e-01 9.14600533e-01 3.39876298e-03 -3.16067444e+00] [-4.83529409e-03 -1.57838898e-03 9.99987064e-01 -7.99785011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.902414037 meters Centerline goodness : 0.812685 Centerline is valid? [False, False] Translation: X:-4.22, Y:-3.16, Z:-0.08 [[ 9.13944437e-01 -4.05780224e-01 6.92642886e-03 -4.21810113e+00] [ 4.05782050e-01 9.13969081e-01 1.20269965e-03 -3.16256120e+00] [-6.81857355e-03 1.71141985e-03 9.99975289e-01 -8.09949523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.932414037 meters Centerline goodness : 0.810337 Centerline is valid? [False, False] Translation: X:-4.22, Y:-3.17, Z:-0.08 [[ 9.14173455e-01 -4.05164745e-01 1.13324511e-02 -4.22470892e+00] [ 4.05199800e-01 9.14227726e-01 -8.87521943e-04 -3.16671444e+00] [-1.00008484e-02 5.40325591e-03 9.99935392e-01 -8.23168453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96241403699997 meters Centerline goodness : 0.813438 Centerline is valid? [False, False] Translation: X:-4.22, Y:-3.17, Z:-0.08 [[ 9.14595330e-01 -4.04231347e-01 1.06019008e-02 -4.22338196e+00] [ 4.04246306e-01 9.14649826e-01 7.87365494e-04 -3.17114232e+00] [-1.00153045e-02 3.56565843e-03 9.99943488e-01 -8.14738540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.99241403699997 meters Centerline goodness : 0.813438 Centerline is valid? [False, False] Translation: X:-4.22, Y:-3.17, Z:-0.08 [[ 9.14595330e-01 -4.04231347e-01 1.06019008e-02 -4.22338196e+00] [ 4.04246306e-01 9.14649826e-01 7.87365494e-04 -3.17114232e+00] [-1.00153045e-02 3.56565843e-03 9.99943488e-01 -8.14738540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02241403699998 meters Centerline goodness : 0.812037 Centerline is valid? [False, False] Translation: X:-4.22, Y:-3.17, Z:-0.08 [[ 9.14727650e-01 -4.03941905e-01 1.02109070e-02 -4.22250441e+00] [ 4.03948304e-01 9.14780552e-01 1.51960838e-03 -3.17362013e+00] [-9.95457266e-03 2.73465076e-03 9.99946713e-01 -8.09979905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.05241403699998 meters Centerline goodness : 0.812229 Centerline is valid? [False, False] Translation: X:-4.22, Y:-3.18, Z:-0.08 [[ 9.14900777e-01 -4.03560651e-01 9.76574462e-03 -4.22140932e+00] [ 4.03556651e-01 9.14951341e-01 2.46422515e-03 -3.17669509e+00] [-9.92964544e-03 1.68650969e-03 9.99949278e-01 -8.05246379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.08241403699998 meters Centerline goodness : 0.812447 Centerline is valid? [False, False] Translation: X:-4.22, Y:-3.18, Z:-0.08 [[ 9.14077989e-01 -4.05394946e-01 1.07874438e-02 -4.22206281e+00] [ 4.05410487e-01 9.14134395e-01 8.02858061e-04 -3.17948720e+00] [-1.01866480e-02 3.63946797e-03 9.99941492e-01 -7.90364617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.11241403699998 meters Centerline goodness : 0.812830 Centerline is valid? [False, False] Translation: X:-4.23, Y:-3.19, Z:-0.08 [[ 9.13279670e-01 -4.07279826e-01 6.58696952e-03 -4.23476647e+00] [ 4.07263850e-01 9.13303179e-01 3.66874018e-03 -3.19434935e+00] [-7.51010407e-03 -6.67951249e-04 9.99971576e-01 -7.64511428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14241403699998 meters Centerline goodness : 0.813058 Centerline is valid? [False, False] Translation: X:-4.23, Y:-3.20, Z:-0.08 [[ 9.12059382e-01 -4.09984428e-01 7.77513746e-03 -4.23412913e+00] [ 4.09988736e-01 9.12089917e-01 1.10481635e-03 -3.19623409e+00] [-7.54458198e-03 2.18006066e-03 9.99969163e-01 -7.63936140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.17241403699998 meters Centerline goodness : 0.813502 Centerline is valid? [False, False] Translation: X:-4.25, Y:-3.21, Z:-0.07 [[ 9.11452325e-01 -4.11397874e-01 2.53937095e-03 -4.24774087e+00] [ 4.11387787e-01 9.11452870e-01 3.70883285e-03 -3.20707653e+00] [-3.84032289e-03 -2.33575813e-03 9.99989898e-01 -7.37870328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.20241403699998 meters Centerline goodness : 0.814716 Centerline is valid? [False, False] Translation: X:-4.25, Y:-3.21, Z:-0.07 [[ 9.10428928e-01 -4.13653606e-01 3.14016468e-03 -4.24610959e+00] [ 4.13647550e-01 9.10433903e-01 2.41118379e-03 -3.21271684e+00] [-3.85630726e-03 -8.96290050e-04 9.99992163e-01 -7.26994697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.23241403699998 meters Centerline goodness : 0.814285 Centerline is valid? [False, False] Translation: X:-4.25, Y:-3.22, Z:-0.07 [[ 9.09381548e-01 -4.15941719e-01 4.20547561e-03 -4.24619765e+00] [ 4.15943803e-01 9.09390228e-01 4.07749615e-04 -3.21537745e+00] [-3.99401850e-03 1.37844154e-03 9.99991074e-01 -7.15809209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.26241403699999 meters Centerline goodness : 0.815453 Centerline is valid? [False, False] Translation: X:-4.25, Y:-3.22, Z:-0.07 [[ 9.08086238e-01 -4.18749787e-01 5.29152754e-03 -4.24529729e+00] [ 4.18765321e-01 9.08091756e-01 -2.22914562e-03 -3.21745922e+00] [-3.87173829e-03 4.24016469e-03 9.99983515e-01 -7.13318413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.292414037 meters Centerline goodness : 0.813689 Centerline is valid? [False, False] Translation: X:-4.26, Y:-3.23, Z:-0.07 [[ 9.07199193e-01 -4.20701343e-01 -7.02994298e-05 -4.25778714e+00] [ 4.20701244e-01 9.07199072e-01 -5.53840272e-04 -3.22820330e+00] [ 2.96776924e-04 4.72868390e-04 9.99999844e-01 -6.98843378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.322414037 meters Centerline goodness : 0.813707 Centerline is valid? [False, False] Translation: X:-4.27, Y:-3.24, Z:-0.07 [[ 9.05931241e-01 -4.23379701e-01 -6.18190377e-03 -4.26704450e+00] [ 4.23394522e-01 9.05944527e-01 1.26210029e-03 -3.24112275e+00] [ 5.06611424e-03 -3.76076028e-03 9.99980095e-01 -6.91273320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.352414037 meters Centerline goodness : 0.813060 Centerline is valid? [False, False] Translation: X:-4.27, Y:-3.24, Z:-0.07 [[ 9.04722194e-01 -4.25973833e-01 -4.90354531e-03 -4.26713199e+00] [ 4.25974069e-01 9.04734764e-01 -1.04833622e-03 -3.24322337e+00] [ 4.88297171e-03 -1.14033011e-03 9.99987428e-01 -6.83874859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.382414037 meters Centerline goodness : 0.816234 Centerline is valid? [False, False] Translation: X:-4.27, Y:-3.25, Z:-0.07 [[ 9.03598075e-01 -4.28365439e-01 -3.68366919e-03 -4.26793157e+00] [ 4.28356299e-01 9.03604840e-01 -3.02884128e-03 -3.24594636e+00] [ 4.62603223e-03 1.15893225e-03 9.99988628e-01 -6.66438618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.412414037 meters Centerline goodness : 0.818754 Centerline is valid? [False, False] Translation: X:-4.29, Y:-3.26, Z:-0.06 [[ 9.01902090e-01 -4.31937211e-01 1.69298181e-03 -4.29087954e+00] [ 4.31939921e-01 9.01900469e-01 -1.85701228e-03 -3.26277211e+00] [-7.24788385e-04 2.40610969e-03 9.99996843e-01 -6.47619310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.442414037 meters Centerline goodness : 0.818598 Centerline is valid? [False, False] Translation: X:-4.29, Y:-3.26, Z:-0.06 [[ 9.00453518e-01 -4.34941644e-01 3.03765016e-03 -4.29054447e+00] [ 4.34951685e-01 9.00441660e-01 -4.67426321e-03 -3.26425691e+00] [-7.02195021e-04 5.53018781e-03 9.99984462e-01 -6.43875499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.472414037 meters Centerline goodness : 0.821288 Centerline is valid? [False, False] Translation: X:-4.30, Y:-3.27, Z:-0.06 [[ 8.99123754e-01 -4.37688552e-01 -2.28151114e-03 -4.30281000e+00] [ 4.37681873e-01 8.99125195e-01 -2.90885909e-03 -3.27349557e+00] [ 3.32453847e-03 1.61684824e-03 9.99993167e-01 -6.26633534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.502414037 meters Centerline goodness : 0.817345 Centerline is valid? [False, False] Translation: X:-4.31, Y:-3.28, Z:-0.06 [[ 8.96502945e-01 -4.42910690e-01 -1.06108664e-02 -4.30780050e+00] [ 4.42916794e-01 8.96560717e-01 -1.89583349e-03 -3.28141216e+00] [ 1.03529709e-02 -3.00011062e-03 9.99941906e-01 -6.08598014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.532414037 meters Centerline goodness : 0.817000 Centerline is valid? [False, False] Translation: X:-4.32, Y:-3.29, Z:-0.06 [[ 8.95076775e-01 -4.45622951e-01 -1.60546455e-02 -4.32016685e+00] [ 4.45667006e-01 8.95198345e-01 -9.18264736e-04 -3.28979164e+00] [ 1.47812919e-02 -6.33310835e-03 9.99870694e-01 -6.00850067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.562414037 meters Centerline goodness : 0.818765 Centerline is valid? [False, False] Translation: X:-4.33, Y:-3.30, Z:-0.06 [[ 8.93635297e-01 -4.48320316e-01 -2.06118839e-02 -4.33419883e+00] [ 4.48420995e-01 8.93822423e-01 2.94893650e-04 -3.29862574e+00] [ 1.82911572e-02 -9.50632888e-03 9.99787509e-01 -5.85362653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.592414037 meters Centerline goodness : 0.817301 Centerline is valid? [False, False] Translation: X:-4.36, Y:-3.31, Z:-0.06 [[ 8.92872346e-01 -4.49931358e-01 -1.84593245e-02 -4.35612788e+00] [ 4.50021429e-01 8.93017378e-01 8.21661936e-04 -3.31041214e+00] [ 1.61148061e-02 -9.04073083e-03 9.99829275e-01 -5.90758506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.622414037 meters Centerline goodness : 0.820346 Centerline is valid? [False, False] Translation: X:-4.38, Y:-3.32, Z:-0.06 [[ 8.91480173e-01 -4.52819465e-01 -1.47524128e-02 -4.37996436e+00] [ 4.52857703e-01 8.91582422e-01 -8.27775850e-04 -3.32285874e+00] [ 1.35278250e-02 -5.94279804e-03 9.99890835e-01 -5.87277476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.652414037 meters Centerline goodness : 0.819004 Centerline is valid? [False, False] Translation: X:-4.40, Y:-3.33, Z:-0.06 [[ 8.90681494e-01 -4.54422324e-01 -1.36685250e-02 -4.40147428e+00] [ 4.54451496e-01 8.90770842e-01 -1.06953354e-03 -3.33308519e+00] [ 1.26615434e-02 -5.25906790e-03 9.99906009e-01 -5.89970697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.682414037 meters Centerline goodness : 0.819435 Centerline is valid? [False, False] Translation: X:-4.40, Y:-3.33, Z:-0.06 [[ 8.90567213e-01 -4.54643336e-01 -1.37650381e-02 -4.40073791e+00] [ 4.54672178e-01 8.90658138e-01 -1.13712108e-03 -3.33349490e+00] [ 1.27769277e-02 -5.24589709e-03 9.99904611e-01 -5.92368260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.71241403699997 meters Centerline goodness : 0.817567 Centerline is valid? [False, False] Translation: X:-4.43, Y:-3.35, Z:-0.06 [[ 8.90742434e-01 -4.54404318e-01 -9.72790994e-03 -4.42966365e+00] [ 4.54380264e-01 8.90795517e-01 -4.68213775e-03 -3.34885644e+00] [ 1.07931622e-02 -2.49591510e-04 9.99941721e-01 -6.06468795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74241403699997 meters Centerline goodness : 0.818795 Centerline is valid? [False, False] Translation: X:-4.43, Y:-3.35, Z:-0.06 [[ 8.89672482e-01 -4.56524293e-01 -8.27308191e-03 -4.43160649e+00] [ 4.56478943e-01 8.89707964e-01 -6.83477187e-03 -3.34958222e+00] [ 1.04808663e-02 2.30422077e-03 9.99942419e-01 -5.89548572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.77241403699998 meters Centerline goodness : 0.818666 Centerline is valid? [False, False] Translation: X:-4.45, Y:-3.36, Z:-0.06 [[ 8.87845244e-01 -4.60097035e-01 -6.44521257e-03 -4.45012209e+00] [ 4.60071614e-01 8.87867300e-01 -5.07630415e-03 -3.35801073e+00] [ 8.05808597e-03 1.54171315e-03 9.99966345e-01 -5.73669292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.80241403699998 meters Centerline goodness : 0.818406 Centerline is valid? [False, False] Translation: X:-4.47, Y:-3.37, Z:-0.06 [[ 8.86778287e-01 -4.62180862e-01 -3.62219119e-03 -4.47275687e+00] [ 4.62164434e-01 8.86782515e-01 -4.56142137e-03 -3.36945742e+00] [ 5.32029748e-03 2.37092148e-03 9.99983036e-01 -5.68721980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.83241403699998 meters Centerline goodness : 0.819271 Centerline is valid? [False, False] Translation: X:-4.48, Y:-3.38, Z:-0.05 [[ 8.83372900e-01 -4.68555938e-01 -1.03755766e-02 -4.48151985e+00] [ 4.68538011e-01 8.83433133e-01 -4.24644244e-03 -3.37561836e+00] [ 1.11558239e-02 -1.11015983e-03 9.99937156e-01 -5.27226400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.86241403699998 meters Centerline goodness : 0.817018 Centerline is valid? [False, False] Translation: X:-4.52, Y:-3.40, Z:-0.05 [[ 8.82742501e-01 -4.69716737e-01 -1.14831676e-02 -4.51841979e+00] [ 4.69737777e-01 8.82805473e-01 -9.58467417e-04 -3.39602923e+00] [ 1.05876114e-02 -4.54799771e-03 9.99933607e-01 -5.47443630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.89241403699998 meters Centerline goodness : 0.816123 Centerline is valid? [False, False] Translation: X:-4.53, Y:-3.40, Z:-0.06 [[ 8.80362028e-01 -4.74003201e-01 -1.68423430e-02 -4.52969188e+00] [ 4.74039949e-01 8.80501083e-01 -1.99268586e-03 -3.40010615e+00] [ 1.57742407e-02 -6.22965844e-03 9.99856172e-01 -5.59509458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92241403699998 meters Centerline goodness : 0.814408 Centerline is valid? [False, False] Translation: X:-4.57, Y:-3.42, Z:-0.06 [[ 8.79732868e-01 -4.75191742e-01 -1.62138368e-02 -4.56916666e+00] [ 4.75253157e-01 8.79849096e-01 -7.41456176e-05 -3.41817939e+00] [ 1.43009630e-02 -7.64044878e-03 9.99868544e-01 -5.78406918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.95241403699998 meters Centerline goodness : 0.816811 Centerline is valid? [False, False] Translation: X:-4.60, Y:-3.43, Z:-0.06 [[ 8.80061499e-01 -4.74747578e-01 -1.03195944e-02 -4.59928926e+00] [ 4.74740564e-01 8.80119691e-01 -3.27526345e-03 -3.43069648e+00] [ 1.06374016e-02 -2.01669678e-03 9.99941388e-01 -5.98018763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.98241403699998 meters Centerline goodness : 0.815265 Centerline is valid? [False, False] Translation: X:-4.63, Y:-3.44, Z:-0.06 [[ 8.79565626e-01 -4.75771504e-01 -2.40546812e-03 -4.63045687e+00] [ 4.75743204e-01 8.79551605e-01 -7.57477793e-03 -3.44213450e+00] [ 5.71959683e-03 5.51812918e-03 9.99968418e-01 -6.08019300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.01241403699999 meters Centerline goodness : 0.816576 Centerline is valid? [False, False] Translation: X:-4.66, Y:-3.45, Z:-0.06 [[ 8.78907950e-01 -4.76990330e-01 1.02014877e-03 -4.65549821e+00] [ 4.76972105e-01 8.78851102e-01 -1.08789365e-02 -3.45151281e+00] [ 4.29258863e-03 1.00481663e-02 9.99940302e-01 -6.20676885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.042414037 meters Centerline goodness : 0.816063 Centerline is valid? [False, False] Translation: X:-4.70, Y:-3.47, Z:-0.06 [[ 8.78597232e-01 -4.77562333e-01 1.05932375e-03 -4.69516125e+00] [ 4.77553149e-01 8.78561404e-01 -8.53521963e-03 -3.46942556e+00] [ 3.14541843e-03 8.00490373e-03 9.99963013e-01 -6.32759059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.072414037 meters Centerline goodness : 0.815435 Centerline is valid? [False, False] Translation: X:-4.73, Y:-3.48, Z:-0.07 [[ 8.77830373e-01 -4.78969477e-01 1.44100893e-03 -4.73173599e+00] [ 4.78970402e-01 8.77817267e-01 -4.91936548e-03 -3.48429414e+00] [ 1.09128339e-03 5.00856906e-03 9.99986862e-01 -6.63051715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.102414037 meters Centerline goodness : 0.813636 Centerline is valid? [False, False] Translation: X:-4.77, Y:-3.50, Z:-0.07 [[ 8.77358841e-01 -4.79830929e-01 1.93517695e-03 -4.77020167e+00] [ 4.79834143e-01 8.77357278e-01 -1.84473690e-03 -3.49998350e+00] [-8.12679756e-04 2.54706020e-03 9.99996426e-01 -6.89066176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.132414037 meters Centerline goodness : 0.814190 Centerline is valid? [False, False] Translation: X:-4.81, Y:-3.51, Z:-0.07 [[ 8.76290347e-01 -4.81774824e-01 2.87169699e-03 -4.80982190e+00] [ 4.81778996e-01 8.76292238e-01 -9.55885613e-04 -3.51216429e+00] [-2.05592415e-03 2.22115663e-03 9.99995420e-01 -7.17508469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.162414037 meters Centerline goodness : 0.812828 Centerline is valid? [False, False] Translation: X:-4.85, Y:-3.53, Z:-0.07 [[ 8.76333638e-01 -4.81670621e-01 5.72433629e-03 -4.85282933e+00] [ 4.81680791e-01 8.76346621e-01 -4.64359585e-04 -3.53016782e+00] [-4.79283440e-03 3.16423676e-03 9.99983508e-01 -7.45384610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.192414037 meters Centerline goodness : 0.813111 Centerline is valid? [False, False] Translation: X:-4.88, Y:-3.53, Z:-0.08 [[ 0.87520531 -0.48363401 0.01066834 -4.88009323] [ 0.483715 0.87519765 -0.00699077 -3.53383552] [-0.00595593 0.01127879 0.99991865 -0.07635244] [ 0. 0. 0. 1. ]] SLAMing on 185.222414037 meters Centerline goodness : 0.813099 Centerline is valid? [False, False] Translation: X:-4.92, Y:-3.55, Z:-0.08 [[ 8.74947426e-01 -4.84071677e-01 1.19001268e-02 -4.91988730e+00] [ 4.84145758e-01 8.74977089e-01 -4.24016937e-03 -3.54904154e+00] [-8.35979243e-03 9.47132120e-03 9.99920201e-01 -7.79787548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.252414037 meters Centerline goodness : 0.811082 Centerline is valid? [False, False] Translation: X:-4.96, Y:-3.56, Z:-0.08 [[ 8.74701280e-01 -4.84493291e-01 1.28031644e-02 -4.95930759e+00] [ 4.84556413e-01 8.74757263e-01 -2.19394603e-03 -3.56295322e+00] [-1.01367089e-02 8.12290281e-03 9.99915629e-01 -7.97452608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.282414037 meters Centerline goodness : 0.809863 Centerline is valid? [False, False] Translation: X:-5.00, Y:-3.57, Z:-0.08 [[ 8.74621732e-01 -4.84602442e-01 1.40462889e-02 -5.00108380e+00] [ 4.84660560e-01 8.74701900e-01 -8.52958799e-04 -3.57266907e+00] [-1.18729697e-02 7.55369856e-03 9.99900982e-01 -8.14288001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.312414037 meters Centerline goodness : 0.810029 Centerline is valid? [False, False] Translation: X:-5.04, Y:-3.59, Z:-0.08 [[ 8.75149797e-01 -4.83453045e-01 1.96465431e-02 -5.03766084e+00] [ 4.83527502e-01 8.75328502e-01 1.08085193e-03 -3.58560221e+00] [-1.77197203e-02 8.55373656e-03 9.99806404e-01 -8.47377819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.342414037 meters Centerline goodness : 0.811915 Centerline is valid? [False, False] Translation: X:-5.08, Y:-3.60, Z:-0.09 [[ 8.76422309e-01 -4.80991394e-01 2.30481088e-02 -5.08396251e+00] [ 4.81091368e-01 8.76669413e-01 1.35522116e-03 -3.60375232e+00] [-2.08574217e-02 9.90050011e-03 9.99733439e-01 -8.66625680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.372414037 meters Centerline goodness : 0.810800 Centerline is valid? [False, False] Translation: X:-5.11, Y:-3.60, Z:-0.09 [[ 8.76605660e-01 -4.80452915e-01 2.69724537e-02 -5.11081763e+00] [ 4.80680613e-01 8.76892765e-01 -2.28608701e-03 -3.60442684e+00] [-2.25535924e-02 1.49691324e-02 9.99633563e-01 -8.71804360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.402414037 meters Centerline goodness : 0.811094 Centerline is valid? [False, False] Translation: X:-5.15, Y:-3.62, Z:-0.09 [[ 8.76964104e-01 -4.79607401e-01 3.01778400e-02 -5.15186549e+00] [ 4.79829828e-01 8.77361565e-01 -1.46975613e-04 -3.61810372e+00] [-2.64063863e-02 1.46091201e-02 9.99544534e-01 -8.84770128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.432414037 meters Centerline goodness : 0.811011 Centerline is valid? [False, False] Translation: X:-5.19, Y:-3.63, Z:-0.09 [[ 8.77482756e-01 -4.78457000e-01 3.32101272e-02 -5.19307614e+00] [ 4.78662812e-01 8.77996612e-01 1.96510302e-03 -3.63122244e+00] [-3.00985965e-02 1.41721089e-02 9.99446460e-01 -8.98812438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46241403699997 meters Centerline goodness : 0.810084 Centerline is valid? [False, False] Translation: X:-5.22, Y:-3.63, Z:-0.09 [[ 8.79240347e-01 -4.75057331e-01 3.54534205e-02 -5.22054041e+00] [ 4.75400416e-01 8.79768373e-01 -1.43316940e-03 -3.62939075e+00] [-3.05099605e-02 1.81146712e-02 9.99370302e-01 -9.03359049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.49241403699997 meters Centerline goodness : 0.809474 Centerline is valid? [False, False] Translation: X:-5.25, Y:-3.63, Z:-0.09 [[ 0.88040143 -0.47261244 0.03912558 -5.24767364] [ 0.47318 0.88094382 -0.00621944 -3.63429536] [-0.03152805 0.02398905 0.99921495 -0.09185199] [ 0. 0. 0. 1. ]] SLAMing on 185.52241403699998 meters Centerline goodness : 0.807361 Centerline is valid? [False, False] Translation: X:-5.28, Y:-3.64, Z:-0.09 [[ 0.8821249 -0.46896476 0.04390566 -5.27733181] [ 0.46980372 0.88270677 -0.01064081 -3.64143732] [-0.03376566 0.03001357 0.99897901 -0.09382571] [ 0. 0. 0. 1. ]] SLAMing on 185.55241403699998 meters Centerline goodness : 0.806911 Centerline is valid? [False, False] Translation: X:-5.30, Y:-3.65, Z:-0.09 [[ 0.88334533 -0.46631598 0.04743877 -5.30336376] [ 0.46734335 0.88398222 -0.01286997 -3.64676766] [-0.03593355 0.03353882 0.99879123 -0.09376428] [ 0. 0. 0. 1. ]] SLAMing on 185.58241403699998 meters Centerline goodness : 0.806368 Centerline is valid? [False, False] Translation: X:-5.33, Y:-3.64, Z:-0.09 [[ 0.88530802 -0.46233814 0.04973082 -5.32548975] [ 0.46328577 0.88616415 -0.00891048 -3.64480255] [-0.03995001 0.0309281 0.99872291 -0.09033692] [ 0. 0. 0. 1. ]] SLAMing on 185.61241403699998 meters Centerline goodness : 0.805957 Centerline is valid? [False, False] Translation: X:-5.35, Y:-3.65, Z:-0.09 [[ 0.88592129 -0.46092491 0.05188149 -5.34628682] [ 0.46186593 0.8869206 -0.00719067 -3.64740444] [-0.0427004 0.03033266 0.99862736 -0.08862556] [ 0. 0. 0. 1. ]] SLAMing on 185.64241403699998 meters Centerline goodness : 0.806460 Centerline is valid? [False, False] Translation: X:-5.37, Y:-3.65, Z:-0.09 [[ 0.88727708 -0.4580654 0.05399512 -5.3712589 ] [ 0.45915504 0.88830901 -0.00915112 -3.65229799] [-0.04377254 0.03291171 0.99849927 -0.08876224] [ 0. 0. 0. 1. ]] SLAMing on 185.67241403699998 meters Centerline goodness : 0.803919 Centerline is valid? [False, False] Translation: X:-5.39, Y:-3.65, Z:-0.09 [[ 0.88810597 -0.45687473 0.05033154 -5.38917455] [ 0.45791504 0.88892936 -0.01088212 -3.64867586] [-0.03976942 0.03271204 0.99867328 -0.08715651] [ 0. 0. 0. 1. ]] SLAMing on 185.70241403699998 meters Centerline goodness : 0.804086 Centerline is valid? [False, False] Translation: X:-5.42, Y:-3.66, Z:-0.09 [[ 0.88832107 -0.45670277 0.04804432 -5.42484314] [ 0.45750453 0.88918253 -0.00663522 -3.66164919] [-0.03968985 0.0278747 0.99882317 -0.08512256] [ 0. 0. 0. 1. ]] SLAMing on 185.73241403699998 meters Centerline goodness : 0.804172 Centerline is valid? [False, False] Translation: X:-5.44, Y:-3.66, Z:-0.08 [[ 0.88782195 -0.45754509 0.04924104 -5.44459877] [ 0.45838796 0.88872623 -0.00679444 -3.66484497] [-0.04065304 0.02860375 0.99876381 -0.08336511] [ 0. 0. 0. 1. ]] SLAMing on 185.76241403699999 meters Centerline goodness : 0.801511 Centerline is valid? [False, False] Translation: X:-5.46, Y:-3.67, Z:-0.08 [[ 8.87401855e-01 -4.58240521e-01 5.03346062e-02 -5.46433977e+00] [ 4.59037483e-01 8.88403198e-01 -4.93435659e-03 -3.66860190e+00] [-4.24563030e-02 2.74842281e-02 9.98720221e-01 -8.13748155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.792414037 meters Centerline goodness : 0.803319 Centerline is valid? [False, False] Translation: X:-5.50, Y:-3.68, Z:-0.08 [[ 8.86938064e-01 -4.59223548e-01 4.95439628e-02 -5.50184387e+00] [ 4.59887813e-01 8.87974076e-01 -2.28888734e-03 -3.67601972e+00] [-4.29426436e-02 2.48147660e-02 9.98769321e-01 -7.99031044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.822414037 meters Centerline goodness : 0.800210 Centerline is valid? [False, False] Translation: X:-5.52, Y:-3.68, Z:-0.08 [[ 8.86372041e-01 -4.60336828e-01 4.93417535e-02 -5.52109894e+00] [ 4.61039547e-01 8.87373527e-01 -3.28016753e-03 -3.67887196e+00] [-4.22745839e-02 2.56559484e-02 9.98776568e-01 -7.80802564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.852414037 meters Centerline goodness : 0.802185 Centerline is valid? [False, False] Translation: X:-5.55, Y:-3.69, Z:-0.08 [[ 8.85884161e-01 -4.61260040e-01 4.94816014e-02 -5.55453806e+00] [ 4.61806554e-01 8.86980562e-01 4.36086872e-04 -3.69029909e+00] [-4.40903681e-02 2.24646054e-02 9.98774940e-01 -7.87770505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.882414037 meters Centerline goodness : 0.801488 Centerline is valid? [False, False] Translation: X:-5.59, Y:-3.70, Z:-0.08 [[ 8.84302870e-01 -4.64292269e-01 4.94077211e-02 -5.58991495e+00] [ 4.64865624e-01 8.85381237e-01 -1.28360356e-04 -3.69783847e+00] [-4.36850725e-02 2.30814605e-02 9.98778685e-01 -7.88887365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.912414037 meters Centerline goodness : 0.801488 Centerline is valid? [False, False] Translation: X:-5.61, Y:-3.71, Z:-0.08 [[ 8.84501699e-01 -4.63479367e-01 5.33256127e-02 -5.61192988e+00] [ 4.64219635e-01 8.85718482e-01 -1.70301922e-03 -3.70704675e+00] [-4.64421665e-02 2.62611199e-02 9.98575725e-01 -7.99525659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.942414037 meters Centerline goodness : 0.800709 Centerline is valid? [False, False] Translation: X:-5.64, Y:-3.72, Z:-0.08 [[ 8.83295980e-01 -4.65374273e-01 5.67009582e-02 -5.64440102e+00] [ 4.65995653e-01 8.84783397e-01 2.52805978e-03 -3.71894818e+00] [-5.13445604e-02 2.41893750e-02 9.98388006e-01 -8.14028874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.972414037 meters Centerline goodness : 0.801777 Centerline is valid? [False, False] Translation: X:-5.66, Y:-3.72, Z:-0.08 [[ 8.82077306e-01 -4.67422489e-01 5.87864202e-02 -5.66389450e+00] [ 4.68089111e-01 8.83677089e-01 2.71768277e-03 -3.72386689e+00] [-5.32185187e-02 2.51200769e-02 9.98266884e-01 -7.96021528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.002414037 meters Centerline goodness : 0.800770 Centerline is valid? [False, False] Translation: X:-5.67, Y:-3.72, Z:-0.08 [[ 8.81620661e-01 -4.68201477e-01 5.94338956e-02 -5.66531617e+00] [ 4.68944823e-01 8.83225979e-01 1.61967164e-03 -3.72146217e+00] [-5.32518933e-02 2.64432817e-02 9.98230930e-01 -7.94230197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.032414037 meters Centerline goodness : 0.801141 Centerline is valid? [False, False] Translation: X:-5.70, Y:-3.74, Z:-0.08 [[ 8.81005698e-01 -4.69460280e-01 5.86174576e-02 -5.70204033e+00] [ 4.70027474e-01 8.82639985e-01 4.56401698e-03 -3.73547556e+00] [-5.38807365e-02 2.35308906e-02 9.98270085e-01 -7.61261407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.062414037 meters Centerline goodness : 0.801653 Centerline is valid? [False, False] Translation: X:-5.72, Y:-3.74, Z:-0.07 [[ 8.79607587e-01 -4.71745625e-01 6.12091327e-02 -5.72299305e+00] [ 4.72337411e-01 8.81401742e-01 5.32347347e-03 -3.73789663e+00] [-5.64611615e-02 2.42287956e-02 9.98110767e-01 -7.49131853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.092414037 meters Centerline goodness : 0.802382 Centerline is valid? [False, False] Translation: X:-5.76, Y:-3.75, Z:-0.08 [[ 0.87904179 -0.47258442 0.06284512 -5.75568708] [ 0.47297263 0.881026 0.00949089 -3.7505753 ] [-0.05985343 0.02138113 0.99797816 -0.07611296] [ 0. 0. 0. 1. ]] SLAMing on 186.122414037 meters Centerline goodness : 0.800078 Centerline is valid? [False, False] Translation: X:-5.79, Y:-3.76, Z:-0.07 [[ 0.87831512 -0.47410422 0.06154455 -5.79139123] [ 0.47445725 0.88022535 0.00967721 -3.76349654] [-0.05876108 0.02070061 0.99805742 -0.07394823] [ 0. 0. 0. 1. ]] SLAMing on 186.152414037 meters Centerline goodness : 0.800711 Centerline is valid? [False, False] Translation: X:-5.82, Y:-3.77, Z:-0.08 [[ 0.87680543 -0.47656048 0.06404962 -5.82445526] [ 0.4767949 0.87892483 0.01256033 -3.7721801 ] [-0.06228056 0.01952557 0.99786767 -0.07616785] [ 0. 0. 0. 1. ]] SLAMing on 186.182414037 meters Centerline goodness : 0.800733 Centerline is valid? [False, False] Translation: X:-5.86, Y:-3.78, Z:-0.07 [[ 0.87593401 -0.47819985 0.06375362 -5.86155842] [ 0.47840328 0.8780436 0.01302855 -3.78452646] [-0.06220871 0.01908779 0.99788062 -0.07341068] [ 0. 0. 0. 1. ]] SLAMing on 186.21241403699997 meters Centerline goodness : 0.801150 Centerline is valid? [False, False] Translation: X:-5.90, Y:-3.80, Z:-0.07 [[ 0.87516811 -0.47956496 0.06401741 -5.89961077] [ 0.47974995 0.87730206 0.01345667 -3.79697126] [-0.06261595 0.0189355 0.99785805 -0.07018262] [ 0. 0. 0. 1. ]] SLAMing on 186.24241403699997 meters Centerline goodness : 0.800947 Centerline is valid? [False, False] Translation: X:-5.92, Y:-3.80, Z:-0.07 [[ 0.8743025 -0.48070512 0.067214 -5.91932402] [ 0.48096279 0.87663921 0.01336006 -3.80098122] [-0.06534467 0.0206467 0.99764913 -0.06850242] [ 0. 0. 0. 1. ]] SLAMing on 186.27241403699998 meters Centerline goodness : 0.800592 Centerline is valid? [False, False] Translation: X:-5.96, Y:-3.82, Z:-0.07 [[ 0.87449299 -0.48000605 0.06968652 -5.96203936] [ 0.48036593 0.87697768 0.01259857 -3.81642199] [-0.06716091 0.02245767 0.99748938 -0.06709435] [ 0. 0. 0. 1. ]] SLAMing on 186.30241403699998 meters Centerline goodness : 0.801278 Centerline is valid? [False, False] Translation: X:-6.00, Y:-3.83, Z:-0.06 [[ 0.87368535 -0.48152351 0.06934704 -5.99853263] [ 0.48197039 0.87611537 0.01124313 -3.82767987] [-0.06616984 0.02360026 0.99752924 -0.06498099] [ 0. 0. 0. 1. ]] SLAMing on 186.33241403699998 meters Centerline goodness : 0.801495 Centerline is valid? [False, False] Translation: X:-6.03, Y:-3.83, Z:-0.07 [[ 0.87296727 -0.48287423 0.06899719 -6.03296274] [ 0.48349594 0.87530536 0.00849699 -3.83308279] [-0.06449658 0.02594227 0.99758067 -0.06627023] [ 0. 0. 0. 1. ]] SLAMing on 186.36241403699998 meters Centerline goodness : 0.800980 Centerline is valid? [False, False] Translation: X:-6.07, Y:-3.85, Z:-0.07 [[ 0.87370417 -0.48134884 0.0703159 -6.07277876] [ 0.4820152 0.8761237 0.00828307 -3.84597597] [-0.06559247 0.02665638 0.99749038 -0.06730093] [ 0. 0. 0. 1. ]] SLAMing on 186.39241403699998 meters Centerline goodness : 0.800029 Centerline is valid? [False, False] Translation: X:-6.11, Y:-3.85, Z:-0.07 [[ 0.87393986 -0.48061543 0.07237351 -6.11227702] [ 0.48122128 0.87654248 0.00996754 -3.85119279] [-0.068229 0.02611664 0.99732779 -0.06737178] [ 0. 0. 0. 1. ]] SLAMing on 186.42241403699998 meters Centerline goodness : 0.799959 Centerline is valid? [False, False] Translation: X:-6.14, Y:-3.86, Z:-0.07 [[ 0.87420097 -0.47940551 0.07709106 -6.1359192 ] [ 0.47994804 0.87720725 0.01254294 -3.85534537] [-0.07363799 0.02603465 0.99694516 -0.06737271] [ 0. 0. 0. 1. ]] SLAMing on 186.45241403699998 meters Centerline goodness : 0.799342 Centerline is valid? [False, False] Translation: X:-6.17, Y:-3.87, Z:-0.07 [[ 0.87456964 -0.47826626 0.07993329 -6.17309774] [ 0.47869125 0.87785503 0.01500754 -3.86569124] [-0.07734744 0.02513823 0.99668723 -0.06606152] [ 0. 0. 0. 1. ]] SLAMing on 186.48241403699998 meters Centerline goodness : 0.799856 Centerline is valid? [False, False] Translation: X:-6.21, Y:-3.88, Z:-0.07 [[ 0.87488224 -0.47699701 0.08399358 -6.20861977] [ 0.47731156 0.87855791 0.01759773 -3.87589867] [-0.08218729 0.02469517 0.99631089 -0.06556298] [ 0. 0. 0. 1. ]] SLAMing on 186.51241403699999 meters Centerline goodness : 0.800522 Centerline is valid? [False, False] Translation: X:-6.25, Y:-3.89, Z:-0.07 [[ 0.87601118 -0.47435076 0.08715371 -6.24978544] [ 0.47476846 0.87994266 0.01719945 -3.88891335] [-0.08484884 0.02631092 0.99604639 -0.06502967] [ 0. 0. 0. 1. ]] SLAMing on 186.542414037 meters Centerline goodness : 0.800686 Centerline is valid? [False, False] Translation: X:-6.27, Y:-3.89, Z:-0.06 [[ 0.87672177 -0.4727964 0.08844488 -6.2700752 ] [ 0.47344086 0.88069995 0.01487773 -3.8869307 ] [-0.08492754 0.02882979 0.99596996 -0.06366597] [ 0. 0. 0. 1. ]] SLAMing on 186.572414037 meters Centerline goodness : 0.800661 Centerline is valid? [False, False] Translation: X:-6.31, Y:-3.90, Z:-0.06 [[ 0.87726032 -0.47190683 0.0878537 -6.30542268] [ 0.4724377 0.88121945 0.01596559 -3.89813524] [-0.08495266 0.02749942 0.99600544 -0.06245721] [ 0. 0. 0. 1. ]] SLAMing on 186.602414037 meters Centerline goodness : 0.801722 Centerline is valid? [False, False] Translation: X:-6.34, Y:-3.91, Z:-0.06 [[ 0.87759189 -0.47094289 0.08969541 -6.34000877] [ 0.47130488 0.88177766 0.01843555 -3.90960689] [-0.0877735 0.02609499 0.99579861 -0.06254051] [ 0. 0. 0. 1. ]] SLAMing on 186.632414037 meters Centerline goodness : 0.801321 Centerline is valid? [False, False] Translation: X:-6.36, Y:-3.91, Z:-0.06 [[ 0.87810286 -0.47011831 0.08901767 -6.36097246] [ 0.47045158 0.88223151 0.01851675 -3.91033813] [-0.08723926 0.02561889 0.99585791 -0.06068075] [ 0. 0. 0. 1. ]] SLAMing on 186.662414037 meters Centerline goodness : 0.801965 Centerline is valid? [False, False] Translation: X:-6.38, Y:-3.92, Z:-0.06 [[ 0.87841243 -0.46955516 0.08893566 -6.38210998] [ 0.46965151 0.88259852 0.02114964 -3.91560206] [-0.08842541 0.02319066 0.9958128 -0.05939887] [ 0. 0. 0. 1. ]] SLAMing on 186.692414037 meters Centerline goodness : 0.801747 Centerline is valid? [False, False] Translation: X:-6.42, Y:-3.93, Z:-0.06 [[ 0.879002 -0.46845376 0.0889188 -6.41737854] [ 0.46848012 0.88320324 0.02187288 -3.92660961] [-0.08877981 0.02243039 0.99579869 -0.05788053] [ 0. 0. 0. 1. ]] SLAMing on 186.722414037 meters Centerline goodness : 0.801424 Centerline is valid? [False, False] Translation: X:-6.44, Y:-3.93, Z:-0.06 [[ 0.87964999 -0.46753026 0.08735763 -6.43529481] [ 0.46785128 0.88362324 0.0180319 -3.92535206] [-0.08562169 0.02500862 0.9960138 -0.05629625] [ 0. 0. 0. 1. ]] SLAMing on 186.752414037 meters Centerline goodness : 0.799363 Centerline is valid? [False, False] Translation: X:-6.47, Y:-3.94, Z:-0.06 [[ 0.87955614 -0.46698566 0.09113393 -6.46740979] [ 0.46723814 0.88390832 0.01986458 -3.93629747] [-0.08983051 0.02510923 0.9956405 -0.05773559] [ 0. 0. 0. 1. ]] SLAMing on 186.782414037 meters Centerline goodness : 0.801175 Centerline is valid? [False, False] Translation: X:-6.50, Y:-3.95, Z:-0.06 [[ 0.88005116 -0.4661019 0.0908789 -6.50356104] [ 0.46632276 0.88438636 0.02009574 -3.94905021] [-0.08973873 0.02469362 0.99565917 -0.05507439] [ 0. 0. 0. 1. ]] SLAMing on 186.812414037 meters Centerline goodness : 0.801628 Centerline is valid? [False, False] Translation: X:-6.52, Y:-3.95, Z:-0.05 [[ 0.88051173 -0.46492888 0.09241335 -6.52367107] [ 0.46504681 0.88502319 0.0215733 -3.95496373] [-0.09181801 0.02398099 0.995487 -0.05287826] [ 0. 0. 0. 1. ]] SLAMing on 186.842414037 meters Centerline goodness : 0.802910 Centerline is valid? [False, False] Translation: X:-6.57, Y:-3.97, Z:-0.05 [[ 0.88006475 -0.46560298 0.09327333 -6.57036109] [ 0.4652517 0.88477223 0.02681327 -3.96651146] [-0.09500999 0.01979816 0.99527943 -0.05023818] [ 0. 0. 0. 1. ]] SLAMing on 186.872414037 meters Centerline goodness : 0.802531 Centerline is valid? [False, False] Translation: X:-6.59, Y:-3.97, Z:-0.05 [[ 0.88145923 -0.4631431 0.09234767 -6.58881896] [ 0.4628351 0.88606228 0.0260251 -3.96992204] [-0.09387913 0.01980167 0.99538666 -0.04741482] [ 0. 0. 0. 1. ]] SLAMing on 186.902414037 meters Centerline goodness : 0.799657 Centerline is valid? [False, False] Translation: X:-6.63, Y:-3.98, Z:-0.05 [[ 0.88289531 -0.46080311 0.09031258 -6.62511039] [ 0.4603356 0.88732849 0.02718979 -3.9810649 ] [-0.09266607 0.01756836 0.99554224 -0.04521401] [ 0. 0. 0. 1. ]] SLAMing on 186.932414037 meters Centerline goodness : 0.797915 Centerline is valid? [False, False] Translation: X:-6.64, Y:-3.98, Z:-0.04 [[ 0.88556828 -0.45648325 0.08597595 -6.63695301] [ 0.45656547 0.88946815 0.0198592 -3.97572669] [-0.08553826 0.02166697 0.99609927 -0.04238489] [ 0. 0. 0. 1. ]] SLAMing on 186.96241403699997 meters Centerline goodness : 0.797726 Centerline is valid? [False, False] Translation: X:-6.67, Y:-3.99, Z:-0.04 [[ 0.88672584 -0.45441966 0.08497087 -6.67301398] [ 0.45451261 0.89052962 0.01937243 -3.98737214] [-0.08447229 0.0214423 0.99619509 -0.03949487] [ 0. 0. 0. 1. ]] SLAMing on 186.99241403699997 meters Centerline goodness : 0.797056 Centerline is valid? [False, False] Translation: X:-6.69, Y:-3.99, Z:-0.04 [[ 0.88802097 -0.45169723 0.0859556 -6.69193699] [ 0.45184078 0.89189851 0.01889344 -3.99215678] [-0.08519779 0.02206048 0.99611981 -0.03672097] [ 0. 0. 0. 1. ]] SLAMing on 187.02241403699998 meters Centerline goodness : 0.798097 Centerline is valid? [False, False] Translation: X:-6.74, Y:-4.00, Z:-0.03 [[ 0.88932679 -0.44885213 0.08734777 -6.73749011] [ 0.44845103 0.89345006 0.0252719 -4.00401779] [-0.08938421 0.01669622 0.99585727 -0.03251313] [ 0. 0. 0. 1. ]] SLAMing on 187.05241403699998 meters Centerline goodness : 0.797085 Centerline is valid? [False, False] Translation: X:-6.76, Y:-4.01, Z:-0.03 [[ 0.89115356 -0.4449577 0.08864523 -6.75579388] [ 0.44451185 0.89540125 0.02580364 -4.00813995] [-0.09085457 0.01640885 0.99572898 -0.02886189] [ 0. 0. 0. 1. ]] SLAMing on 187.08241403699998 meters Centerline goodness : 0.797576 Centerline is valid? [False, False] Translation: X:-6.80, Y:-4.02, Z:-0.03 [[ 0.89154163 -0.44436627 0.08770491 -6.7996926 ] [ 0.44320632 0.89579868 0.0333599 -4.02381402] [-0.09338995 0.00912963 0.99558775 -0.02611951] [ 0. 0. 0. 1. ]] SLAMing on 187.11241403699998 meters Centerline goodness : 0.793745 Centerline is valid? [False, False] Translation: X:-6.84, Y:-4.03, Z:-0.02 [[ 0.89265535 -0.44240768 0.08626628 -6.8382019 ] [ 0.44114599 0.89678263 0.03422188 -4.03428824] [-0.09250212 0.00750768 0.99568418 -0.02290695] [ 0. 0. 0. 1. ]] SLAMing on 187.14241403699998 meters Centerline goodness : 0.795860 Centerline is valid? [False, False] Translation: X:-6.88, Y:-4.05, Z:-0.02 [[ 8.92464518e-01 -4.42892582e-01 8.57510600e-02 -6.87842413e+00] [ 4.41328490e-01 8.96563782e-01 3.74506150e-02 -4.04950064e+00] [-9.34678942e-02 4.42104070e-03 9.95612478e-01 -2.19010221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.17241403699998 meters Centerline goodness : 0.793691 Centerline is valid? [False, False] Translation: X:-6.94, Y:-4.07, Z:-0.02 [[ 8.92711854e-01 -4.43015346e-01 8.24799944e-02 -6.93567472e+00] [ 4.41211638e-01 8.96513728e-01 3.99427800e-02 -4.07148648e+00] [-9.16397118e-02 7.33740239e-04 9.95791959e-01 -1.62695981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.20241403699998 meters Centerline goodness : 0.795370 Centerline is valid? [False, False] Translation: X:-6.97, Y:-4.08, Z:-0.01 [[ 8.93644180e-01 -4.41187320e-01 8.21816803e-02 -6.96987862e+00] [ 4.39446635e-01 8.97414348e-01 3.91681353e-02 -4.08384569e+00] [-9.10315037e-02 1.11208673e-03 9.95847392e-01 -1.42760263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.23241403699998 meters Centerline goodness : 0.794085 Centerline is valid? [False, False] Translation: X:-7.02, Y:-4.10, Z:-0.01 [[ 8.93051287e-01 -4.42698139e-01 8.04845106e-02 -7.01724700e+00] [ 4.40314775e-01 8.96651534e-01 4.62485178e-02 -4.10093000e+00] [-9.26406927e-02 -5.86377919e-03 9.95682338e-01 -1.06796515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.26241403699999 meters Centerline goodness : 0.794836 Centerline is valid? [False, False] Translation: X:-7.06, Y:-4.11, Z:-0.01 [[ 0.89323224 -0.4425984 0.07901145 -7.06277567] [ 0.43957077 0.8966281 0.05325031 -4.11426059] [-0.09441239 -0.01283377 0.99545045 -0.008847 ] [ 0. 0. 0. 1. ]] SLAMing on 187.292414037 meters Centerline goodness : 0.795649 Centerline is valid? [False, False] Translation: X:-7.10, Y:-4.13, Z:-0.01 [[ 8.93932128e-01 -4.41368975e-01 7.79665149e-02 -7.10030339e+00] [ 4.38263564e-01 8.97212411e-01 5.41750788e-02 -4.12772742e+00] [-9.38637238e-02 -1.42589609e-02 9.95482940e-01 -6.39489289e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.322414037 meters Centerline goodness : 0.792837 Centerline is valid? [False, False] Translation: X:-7.15, Y:-4.15, Z:-0.00 [[ 8.93624549e-01 -4.42575771e-01 7.45778275e-02 -7.14531730e+00] [ 4.38953094e-01 8.96480475e-01 6.03567632e-02 -4.14509517e+00] [-9.35700072e-02 -2.12001172e-02 9.95386964e-01 -1.75697655e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.352414037 meters Centerline goodness : 0.793072 Centerline is valid? [False, False] Translation: X:-7.16, Y:-4.14, Z:0.00 [[ 8.94031963e-01 -4.41999874e-01 7.30955596e-02 -7.15689803e+00] [ 4.39360134e-01 8.96929223e-01 4.98060427e-02 -4.14443381e+00] [-8.75758081e-02 -1.24129193e-02 9.96080517e-01 2.17079536e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.382414037 meters Centerline goodness : 0.791706 Centerline is valid? [False, False] Translation: X:-7.21, Y:-4.16, Z:0.01 [[ 0.8927374 -0.44550069 0.06744681 -7.20868062] [ 0.44217216 0.89499126 0.05894423 -4.16239405] [-0.086624 -0.02279862 0.99598017 0.0087936 ] [ 0. 0. 0. 1. ]] SLAMing on 187.412414037 meters Centerline goodness : 0.790980 Centerline is valid? [False, False] Translation: X:-7.24, Y:-4.17, Z:0.01 [[ 0.89344492 -0.44449762 0.06463783 -7.23825566] [ 0.44170965 0.89557874 0.05320998 -4.17155003] [-0.08153997 -0.01898903 0.99648916 0.01332936] [ 0. 0. 0. 1. ]] SLAMing on 187.442414037 meters Centerline goodness : 0.790658 Centerline is valid? [False, False] Translation: X:-7.28, Y:-4.19, Z:0.02 [[ 0.89290466 -0.44585609 0.0627185 -7.28178618] [ 0.44255504 0.8947325 0.05998982 -4.18932044] [-0.08286311 -0.0258088 0.99622669 0.01535193] [ 0. 0. 0. 1. ]] SLAMing on 187.472414037 meters Centerline goodness : 0.788371 Centerline is valid? [False, False] Translation: X:-7.32, Y:-4.20, Z:0.02 [[ 0.89160498 -0.44844113 0.06277829 -7.32230028] [ 0.44525437 0.89348069 0.05865839 -4.19984741] [-0.08239603 -0.02434781 0.9963022 0.01722153] [ 0. 0. 0. 1. ]] SLAMing on 187.502414037 meters Centerline goodness : 0.788261 Centerline is valid? [False, False] Translation: X:-7.37, Y:-4.22, Z:0.02 [[ 0.89155706 -0.44890896 0.06005628 -7.3652282 ] [ 0.44509155 0.89296209 0.06717308 -4.21751857] [-0.08378258 -0.03315809 0.99593224 0.01959946] [ 0. 0. 0. 1. ]] SLAMing on 187.532414037 meters Centerline goodness : 0.786490 Centerline is valid? [False, False] Translation: X:-7.40, Y:-4.23, Z:0.02 [[ 0.8905971 -0.45091839 0.05924024 -7.4047449 ] [ 0.44724022 0.89198547 0.06586424 -4.22768275] [-0.08254083 -0.03216389 0.99606852 0.02054987] [ 0. 0. 0. 1. ]] SLAMing on 187.562414037 meters Centerline goodness : 0.787348 Centerline is valid? [False, False] Translation: X:-7.45, Y:-4.25, Z:0.02 [[ 0.89040223 -0.4518919 0.05456727 -7.44717418] [ 0.44770566 0.89110381 0.07411906 -4.24566252] [-0.08211891 -0.0415657 0.99575538 0.02303497] [ 0. 0. 0. 1. ]] SLAMing on 187.592414037 meters Centerline goodness : 0.786012 Centerline is valid? [False, False] Translation: X:-7.48, Y:-4.26, Z:0.03 [[ 0.89059267 -0.45180928 0.05208708 -7.4816931 ] [ 0.44793883 0.89120294 0.07147107 -4.25734538] [-0.07871145 -0.04031979 0.99608173 0.02567348] [ 0. 0. 0. 1. ]] SLAMing on 187.622414037 meters Centerline goodness : 0.784765 Centerline is valid? [False, False] Translation: X:-7.52, Y:-4.27, Z:0.03 [[ 0.89009102 -0.45286481 0.05149219 -7.52075774] [ 0.44906886 0.89068467 0.07083771 -4.2701595 ] [-0.07794321 -0.03992847 0.99615791 0.02719716] [ 0. 0. 0. 1. ]] SLAMing on 187.652414037 meters Centerline goodness : 0.784755 Centerline is valid? [False, False] Translation: X:-7.55, Y:-4.28, Z:0.03 [[ 0.88837866 -0.45633013 0.05045967 -7.54862034] [ 0.45238197 0.88880297 0.07334734 -4.275545 ] [-0.0783193 -0.04233317 0.99602911 0.03015724] [ 0. 0. 0. 1. ]] SLAMing on 187.682414037 meters Centerline goodness : 0.785833 Centerline is valid? [False, False] Translation: X:-7.59, Y:-4.29, Z:0.03 [[ 0.88799302 -0.45701225 0.05107053 -7.5889381 ] [ 0.45305783 0.88847871 0.07310397 -4.28805421] [-0.07878449 -0.04177791 0.99601587 0.03200892] [ 0. 0. 0. 1. ]] SLAMing on 187.71241403699997 meters Centerline goodness : 0.783407 Centerline is valid? [False, False] Translation: X:-7.63, Y:-4.30, Z:0.03 [[ 0.88797944 -0.45719121 0.04968614 -7.62901017] [ 0.45298473 0.8881827 0.07704753 -4.3021192 ] [-0.07935582 -0.04590956 0.99578861 0.03378819] [ 0. 0. 0. 1. ]] SLAMing on 187.74241403699997 meters Centerline goodness : 0.784716 Centerline is valid? [False, False] Translation: X:-7.67, Y:-4.31, Z:0.04 [[ 0.88731183 -0.45880078 0.0466858 -7.66999035] [ 0.45464722 0.88723398 0.07817779 -4.31041071] [-0.07728926 -0.04814251 0.99584571 0.03536394] [ 0. 0. 0. 1. ]] SLAMing on 187.77241403699998 meters Centerline goodness : 0.783905 Centerline is valid? [False, False] Translation: X:-7.71, Y:-4.32, Z:0.04 [[ 0.88738433 -0.45878233 0.0454734 -7.71052446] [ 0.45452258 0.88710634 0.08032165 -4.32348935] [-0.07718989 -0.05060749 0.99573119 0.03622295] [ 0. 0. 0. 1. ]] SLAMing on 187.80241403699998 meters Centerline goodness : 0.783905 Centerline is valid? [False, False] Translation: X:-7.71, Y:-4.33, Z:0.04 [[ 0.89001781 -0.45408013 0.04098202 -7.71415464] [ 0.45047386 0.88967455 0.07451508 -4.32646208] [-0.07029647 -0.04785842 0.99637743 0.03828075] [ 0. 0. 0. 1. ]] SLAMing on 187.83241403699998 meters Centerline goodness : 0.786404 Centerline is valid? [False, False] Translation: X:-7.72, Y:-4.33, Z:0.04 [[ 0.89161923 -0.4511253 0.03874415 -7.72483525] [ 0.44811469 0.89144377 0.06724006 -4.32662955] [-0.06487193 -0.04259071 0.99698429 0.0413556 ] [ 0. 0. 0. 1. ]] SLAMing on 187.86241403699998 meters Centerline goodness : 0.786813 Centerline is valid? [False, False] Translation: X:-7.77, Y:-4.34, Z:0.04 [[ 0.89177308 -0.45116007 0.034574 -7.76627402] [ 0.44795507 0.89105089 0.07324313 -4.34148743] [-0.06385157 -0.04982866 0.99671464 0.04360568] [ 0. 0. 0. 1. ]] SLAMing on 187.89241403699998 meters Centerline goodness : 0.785247 Centerline is valid? [False, False] Translation: X:-7.78, Y:-4.34, Z:0.05 [[ 0.89331212 -0.44840005 0.03050984 -7.77691442] [ 0.44582567 0.89267853 0.06606446 -4.3414355 ] [-0.05685879 -0.04541412 0.9973488 0.04734354] [ 0. 0. 0. 1. ]] SLAMing on 187.92241403699998 meters Centerline goodness : 0.789666 Centerline is valid? [False, False] Translation: X:-7.81, Y:-4.34, Z:0.05 [[ 0.89340154 -0.4484154 0.02751943 -7.80538101] [ 0.44574038 0.89239123 0.07038044 -4.3445856 ] [-0.05611777 -0.05061147 0.99714055 0.04766059] [ 0. 0. 0. 1. ]] SLAMing on 187.95241403699998 meters Centerline goodness : 0.789970 Centerline is valid? [False, False] Translation: X:-7.82, Y:-4.34, Z:0.05 [[ 0.89600748 -0.44337034 0.02435858 -7.81535046] [ 0.44119842 0.8951301 0.06392223 -4.34372045] [-0.05014532 -0.04652783 0.99765756 0.05114826] [ 0. 0. 0. 1. ]] SLAMing on 187.98241403699998 meters Centerline goodness : 0.790760 Centerline is valid? [False, False] Translation: X:-7.82, Y:-4.34, Z:0.06 [[ 0.8992353 -0.43708072 0.01833907 -7.82481388] [ 0.4352841 0.89814619 0.06213834 -4.34415033] [-0.04363063 -0.04789428 0.99789905 0.0561416 ] [ 0. 0. 0. 1. ]] SLAMing on 188.01241403699999 meters Centerline goodness : 0.790349 Centerline is valid? [False, False] Translation: X:-7.83, Y:-4.34, Z:0.06 [[ 0.90205809 -0.43135651 0.01492524 -7.83474909] [ 0.4299663 0.90109495 0.05618613 -4.34287485] [-0.03768531 -0.0442658 0.99830875 0.05955771] [ 0. 0. 0. 1. ]] SLAMing on 188.042414037 meters Centerline goodness : 0.790152 Centerline is valid? [False, False] Translation: X:-7.85, Y:-4.34, Z:0.06 [[ 0.90540306 -0.42443088 0.01018458 -7.8453483 ] [ 0.42341712 0.90447436 0.05142059 -4.33895146] [-0.03103617 -0.04224404 0.99862515 0.06269527] [ 0. 0. 0. 1. ]] SLAMing on 188.072414037 meters Centerline goodness : 0.790936 Centerline is valid? [False, False] Translation: X:-7.85, Y:-4.34, Z:0.06 [[ 9.07904232e-01 -4.19129436e-01 6.35782393e-03 -7.85278400e+00] [ 4.18463933e-01 9.07138830e-01 4.45766862e-02 -4.33867154e+00] [-2.44508303e-02 -3.78108420e-02 9.98985734e-01 6.49576284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.102414037 meters Centerline goodness : 0.789106 Centerline is valid? [False, False] Translation: X:-7.86, Y:-4.34, Z:0.07 [[ 9.10174240e-01 -4.14222498e-01 1.60450159e-03 -7.86018952e+00] [ 4.13876012e-01 9.09558368e-01 3.75529265e-02 -4.33766244e+00] [-1.70146549e-02 -3.35156417e-02 9.99293352e-01 6.76115047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.132414037 meters Centerline goodness : 0.790171 Centerline is valid? [False, False] Translation: X:-7.87, Y:-4.33, Z:0.07 [[ 9.12924584e-01 -4.08043281e-01 -8.32970730e-03 -7.86661238e+00] [ 4.08080230e-01 9.12313724e-01 3.39734582e-02 -4.33219974e+00] [-6.26333509e-03 -3.44143941e-02 9.99388023e-01 7.09115723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.162414037 meters Centerline goodness : 0.788758 Centerline is valid? [False, False] Translation: X:-7.87, Y:-4.33, Z:0.07 [[ 9.15355286e-01 -4.02396855e-01 -1.41940795e-02 -7.87372012e+00] [ 4.02644438e-01 9.14908874e-01 2.86218168e-02 -4.33084843e+00] [ 1.46896022e-03 -3.19142984e-02 9.99489530e-01 7.45707815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.192414037 meters Centerline goodness : 0.791278 Centerline is valid? [False, False] Translation: X:-7.88, Y:-4.33, Z:0.08 [[ 9.18034446e-01 -3.96058144e-01 -1.87270389e-02 -7.88142840e+00] [ 3.96431028e-01 9.17733912e-01 2.46354775e-02 -4.33069779e+00] [ 7.42935718e-03 -3.00401962e-02 9.99521081e-01 7.82160172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.222414037 meters Centerline goodness : 0.789843 Centerline is valid? [False, False] Translation: X:-7.89, Y:-4.33, Z:0.08 [[ 0.9201874 -0.39102746 -0.0187796 -7.88810703] [ 0.39139263 0.91992988 0.02325546 -4.33031493] [ 0.00818239 -0.02874958 0.99955316 0.08048999] [ 0. 0. 0. 1. ]] SLAMing on 188.252414037 meters Centerline goodness : 0.789633 Centerline is valid? [False, False] Translation: X:-7.89, Y:-4.33, Z:0.08 [[ 9.21171791e-01 -3.88713227e-01 -1.85622814e-02 -7.89206449e+00] [ 3.89077473e-01 9.20896458e-01 2.38418556e-02 -4.32893885e+00] [ 7.82629452e-03 -2.91846104e-02 9.99543400e-01 8.25847788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.282414037 meters Centerline goodness : 0.791612 Centerline is valid? [False, False] Translation: X:-7.90, Y:-4.33, Z:0.09 [[ 0.92385547 -0.38186228 -0.02592807 -7.90013988] [ 0.3824024 0.92376757 0.02053983 -4.32623992] [ 0.01610812 -0.02889079 0.99945278 0.08761151] [ 0. 0. 0. 1. ]] SLAMing on 188.312414037 meters Centerline goodness : 0.792531 Centerline is valid? [False, False] Translation: X:-7.91, Y:-4.33, Z:0.09 [[ 0.92602841 -0.37604128 -0.03262424 -7.90600359] [ 0.37667187 0.92621235 0.01577908 -4.32647433] [ 0.02428338 -0.02690051 0.99934312 0.09140932] [ 0. 0. 0. 1. ]] SLAMing on 188.342414037 meters Centerline goodness : 0.793330 Centerline is valid? [False, False] Translation: X:-7.91, Y:-4.33, Z:0.10 [[ 0.9279872 -0.36971759 -0.04635358 -7.90767465] [ 0.37080367 0.92855115 0.01724506 -4.32794854] [ 0.03666587 -0.03319128 0.99877623 0.09582238] [ 0. 0. 0. 1. ]] SLAMing on 188.372414037 meters Centerline goodness : 0.790841 Centerline is valid? [False, False] Translation: X:-7.91, Y:-4.33, Z:0.10 [[ 0.9305211 -0.36241077 -0.05281023 -7.91496994] [ 0.363523 0.93149578 0.0129088 -4.32500938] [ 0.04451422 -0.03120964 0.99852113 0.09846943] [ 0. 0. 0. 1. ]] SLAMing on 188.402414037 meters Centerline goodness : 0.792778 Centerline is valid? [False, False] Translation: X:-7.92, Y:-4.33, Z:0.10 [[ 0.93272461 -0.35441515 -0.0664432 -7.91756505] [ 0.35615105 0.93429119 0.01601223 -4.32796663] [ 0.05640232 -0.03859881 0.99766172 0.1040852 ] [ 0. 0. 0. 1. ]] SLAMing on 188.432414037 meters Centerline goodness : 0.792268 Centerline is valid? [False, False] Translation: X:-7.92, Y:-4.33, Z:0.11 [[ 0.93436857 -0.34997567 -0.06687602 -7.9221724 ] [ 0.35177814 0.93592867 0.01701928 -4.32819919] [ 0.05663485 -0.03942781 0.99761613 0.10646886] [ 0. 0. 0. 1. ]] SLAMing on 188.46241403699997 meters Centerline goodness : 0.791209 Centerline is valid? [False, False] Translation: X:-7.93, Y:-4.32, Z:0.11 [[ 0.9360063 -0.34536389 -0.06794104 -7.92593022] [ 0.34735346 0.93752784 0.0196754 -4.32325138] [ 0.05690145 -0.04201586 0.99749531 0.10818423] [ 0. 0. 0. 1. ]] SLAMing on 188.49241403699997 meters Centerline goodness : 0.794150 Centerline is valid? [False, False] Translation: X:-7.93, Y:-4.33, Z:0.11 [[ 0.9380659 -0.33686894 -0.08094248 -7.92810986] [ 0.33956772 0.94032744 0.02186484 -4.32584348] [ 0.06874685 -0.04799612 0.99647892 0.11270312] [ 0. 0. 0. 1. ]] SLAMing on 188.52241403699998 meters Centerline goodness : 0.790998 Centerline is valid? [False, False] Translation: X:-7.93, Y:-4.33, Z:0.12 [[ 0.93961082 -0.32955386 -0.092335 -7.93029749] [ 0.33273786 0.94278381 0.02107596 -4.32697005] [ 0.08010628 -0.05052655 0.99550492 0.11657401] [ 0. 0. 0. 1. ]] SLAMing on 188.55241403699998 meters Centerline goodness : 0.792341 Centerline is valid? [False, False] Translation: X:-7.93, Y:-4.33, Z:0.12 [[ 0.94088563 -0.32177567 -0.10580474 -7.93120789] [ 0.32576719 0.94518409 0.02242264 -4.329298 ] [ 0.0927899 -0.05556485 0.99413409 0.1205273 ] [ 0. 0. 0. 1. ]] SLAMing on 188.58241403699998 meters Centerline goodness : 0.793167 Centerline is valid? [False, False] Translation: X:-7.93, Y:-4.33, Z:0.12 [[ 0.94257937 -0.31268329 -0.11735967 -7.93381236] [ 0.31738199 0.94801241 0.02326249 -4.33079311] [ 0.10398463 -0.05917459 0.99281698 0.1244667 ] [ 0. 0. 0. 1. ]] SLAMing on 188.61241403699998 meters Centerline goodness : 0.792725 Centerline is valid? [False, False] Translation: X:-7.93, Y:-4.33, Z:0.13 [[ 0.94344798 -0.30453776 -0.13100638 -7.93392801] [ 0.31046672 0.95020072 0.02700026 -4.3348554 ] [ 0.11625976 -0.06614647 0.99101378 0.1289872 ] [ 0. 0. 0. 1. ]] SLAMing on 188.64241403699998 meters Centerline goodness : 0.793924 Centerline is valid? [False, False] Translation: X:-7.94, Y:-4.34, Z:0.13 [[ 0.94412271 -0.29655536 -0.14383058 -7.93532186] [ 0.30368474 0.95230225 0.02993327 -4.33847245] [ 0.12809331 -0.07193983 0.98914952 0.13371613] [ 0. 0. 0. 1. ]] SLAMing on 188.67241403699998 meters Centerline goodness : 0.791921 Centerline is valid? [False, False] Translation: X:-7.94, Y:-4.34, Z:0.14 [[ 0.94454742 -0.28873043 -0.15641263 -7.9368569 ] [ 0.29697217 0.95436132 0.03165441 -4.3417252 ] [ 0.14013458 -0.07634929 0.98718442 0.13845547] [ 0. 0. 0. 1. ]] SLAMing on 188.70241403699998 meters Centerline goodness : 0.794104 Centerline is valid? [False, False] Translation: X:-7.94, Y:-4.34, Z:0.14 [[ 0.94508688 -0.287334 -0.15572399 -7.93891182] [ 0.29538193 0.95488374 0.03076608 -4.33886361] [ 0.13985817 -0.07507468 0.98732137 0.13782264] [ 0. 0. 0. 1. ]] SLAMing on 188.73241403699998 meters Centerline goodness : 0.791896 Centerline is valid? [False, False] Translation: X:-7.94, Y:-4.34, Z:0.14 [[ 0.94534199 -0.28685685 -0.15505375 -7.94012135] [ 0.29472466 0.95511466 0.02988906 -4.33739843] [ 0.13952023 -0.07395355 0.98745378 0.13715525] [ 0. 0. 0. 1. ]] SLAMing on 188.76241403699999 meters Centerline goodness : 0.791946 Centerline is valid? [False, False] Translation: X:-7.94, Y:-4.34, Z:0.14 [[ 0.94545282 -0.27957969 -0.16719497 -7.94126925] [ 0.28843397 0.95700588 0.03075034 -4.33996285] [ 0.1514094 -0.0772977 0.98544419 0.14167169] [ 0. 0. 0. 1. ]] SLAMing on 188.792414037 meters Centerline goodness : 0.793574 Centerline is valid? [False, False] Translation: X:-7.94, Y:-4.34, Z:0.14 [[ 0.94644846 -0.27578792 -0.1678581 -7.94287741] [ 0.2850448 0.95793481 0.03332196 -4.33830152] [ 0.15160733 -0.0793846 0.98524784 0.14219705] [ 0. 0. 0. 1. ]] SLAMing on 188.822414037 meters Centerline goodness : 0.794664 Centerline is valid? [False, False] Translation: X:-7.94, Y:-4.34, Z:0.14 [[ 0.94708024 -0.27272944 -0.16928576 -7.9420803 ] [ 0.28255037 0.9585597 0.03644977 -4.3381069 ] [ 0.15232958 -0.08235262 0.98489276 0.14262323] [ 0. 0. 0. 1. ]] SLAMing on 188.852414037 meters Centerline goodness : 0.793244 Centerline is valid? [False, False] Translation: X:-7.94, Y:-4.34, Z:0.14 [[ 0.94733862 -0.27194198 -0.16910677 -7.94209123] [ 0.28169146 0.95882392 0.03614712 -4.33695683] [ 0.1523137 -0.0818795 0.98493466 0.14165966] [ 0. 0. 0. 1. ]] SLAMing on 188.882414037 meters Centerline goodness : 0.792949 Centerline is valid? [False, False] Translation: X:-7.94, Y:-4.34, Z:0.14 [[ 0.94760616 -0.27120607 -0.16878931 -7.94180121] [ 0.28084597 0.95908984 0.03566809 -4.33651117] [ 0.15221071 -0.0812031 0.98500658 0.14039599] [ 0. 0. 0. 1. ]] SLAMing on 188.912414037 meters Centerline goodness : 0.794285 Centerline is valid? [False, False] Translation: X:-7.94, Y:-4.34, Z:0.14 [[ 0.94817583 -0.2701103 -0.16734102 -7.94179107] [ 0.2794311 0.95954724 0.03445791 -4.33727008] [ 0.15126418 -0.07943245 0.98529672 0.13737731] [ 0. 0. 0. 1. ]] SLAMing on 188.942414037 meters Centerline goodness : 0.794336 Centerline is valid? [False, False] Translation: X:-7.94, Y:-4.34, Z:0.14 [[ 0.94845954 -0.26925627 -0.16710944 -7.94147437] [ 0.27854271 0.95980674 0.03442356 -4.33744106] [ 0.15112401 -0.07919647 0.98533723 0.13631663] [ 0. 0. 0. 1. ]] SLAMing on 188.972414037 meters Centerline goodness : 0.793806 Centerline is valid? [False, False] Translation: X:-7.94, Y:-4.34, Z:0.14 [[ 0.9487598 -0.26828364 -0.16696927 -7.94160525] [ 0.27756971 0.96008326 0.03457135 -4.33709701] [ 0.15102947 -0.07914552 0.98535582 0.13569345] [ 0. 0. 0. 1. ]] SLAMing on 189.002414037 meters Centerline goodness : 0.792515 Centerline is valid? [False, False] Translation: X:-7.94, Y:-4.34, Z:0.14 [[ 0.94947985 -0.2647105 -0.16857156 -7.94009572] [ 0.27471031 0.96075094 0.03862477 -4.33860722] [ 0.15173091 -0.08298178 0.98493236 0.13608546] [ 0. 0. 0. 1. ]] SLAMing on 189.032414037 meters Centerline goodness : 0.793570 Centerline is valid? [False, False] Translation: X:-7.94, Y:-4.34, Z:0.14 [[ 0.94979732 -0.26375641 -0.16827835 -7.94109325] [ 0.27374915 0.9610176 0.03881463 -4.33851377] [ 0.15148085 -0.08293209 0.98497504 0.13611132] [ 0. 0. 0. 1. ]] SLAMing on 189.062414037 meters Centerline goodness : 0.789918 Centerline is valid? [False, False] Translation: X:-7.94, Y:-4.34, Z:0.13 [[ 0.95110921 -0.25957733 -0.16736453 -7.94265663] [ 0.26970934 0.96208753 0.04055179 -4.34060647] [ 0.150493 -0.08370896 0.98506074 0.13483542] [ 0. 0. 0. 1. ]] SLAMing on 189.092414037 meters Centerline goodness : 0.791577 Centerline is valid? [False, False] Translation: X:-7.94, Y:-4.34, Z:0.13 [[ 0.9515912 -0.2582306 -0.16670677 -7.94341935] [ 0.26836652 0.96244185 0.0410498 -4.34227455] [ 0.14984526 -0.08380114 0.98515165 0.1342314 ] [ 0. 0. 0. 1. ]] SLAMing on 189.122414037 meters Centerline goodness : 0.791089 Centerline is valid? [False, False] Translation: X:-7.94, Y:-4.35, Z:0.13 [[ 0.95215555 -0.25637251 -0.16635187 -7.94341265] [ 0.2666661 0.96285459 0.04242913 -4.34525806] [ 0.149295 -0.08475954 0.9851532 0.13362374] [ 0. 0. 0. 1. ]] SLAMing on 189.152414037 meters Centerline goodness : 0.794108 Centerline is valid? [False, False] Translation: X:-7.94, Y:-4.35, Z:0.13 [[ 0.9527327 -0.25420042 -0.16638073 -7.94263671] [ 0.26487547 0.9632277 0.04509313 -4.35081577] [ 0.14879983 -0.08703187 0.98502998 0.13369008] [ 0. 0. 0. 1. ]] SLAMing on 189.182414037 meters Centerline goodness : 0.792633 Centerline is valid? [False, False] Translation: X:-7.94, Y:-4.35, Z:0.13 [[ 0.95280168 -0.25376473 -0.1666506 -7.94141891] [ 0.26459333 0.96326328 0.04598077 -4.35271553] [ 0.14886011 -0.08790519 0.98494332 0.13343385] [ 0. 0. 0. 1. ]] SLAMing on 189.21241403699997 meters Centerline goodness : 0.794625 Centerline is valid? [False, False] Translation: X:-7.94, Y:-4.36, Z:0.13 [[ 0.95279972 -0.25344472 -0.16714805 -7.93946235] [ 0.26445923 0.96325411 0.04693446 -4.35509696] [ 0.14911076 -0.08892299 0.98481404 0.13311169] [ 0. 0. 0. 1. ]] SLAMing on 189.24241403699997 meters Centerline goodness : 0.793130 Centerline is valid? [False, False] Translation: X:-7.94, Y:-4.36, Z:0.13 [[ 0.9527696 -0.25397096 -0.16651978 -7.93844666] [ 0.2648164 0.96319362 0.0461555 -4.35727523] [ 0.14866864 -0.08807273 0.98495727 0.13190606] [ 0. 0. 0. 1. ]] SLAMing on 189.27241403699998 meters Centerline goodness : 0.791205 Centerline is valid? [False, False] Translation: X:-7.94, Y:-4.36, Z:0.13 [[ 0.95277661 -0.25380265 -0.16673613 -7.93600583] [ 0.26480325 0.9631532 0.04706543 -4.3608662 ] [ 0.14864711 -0.08899511 0.98487761 0.13100356] [ 0. 0. 0. 1. ]] SLAMing on 189.30241403699998 meters Centerline goodness : 0.792686 Centerline is valid? [False, False] Translation: X:-7.93, Y:-4.37, Z:0.13 [[ 0.95237041 -0.25563255 -0.16626066 -7.93286132] [ 0.26654501 0.96269352 0.04663627 -4.36802764] [ 0.14813631 -0.08873095 0.9849784 0.13011642] [ 0. 0. 0. 1. ]] SLAMing on 189.33241403699998 meters Centerline goodness : 0.787884 Centerline is valid? [False, False] Translation: X:-7.93, Y:-4.37, Z:0.13 [[ 0.95236497 -0.25543758 -0.16659115 -7.93157321] [ 0.26659529 0.9626086 0.04807941 -4.37193465] [ 0.14808079 -0.09020156 0.98485317 0.13058163] [ 0. 0. 0. 1. ]] SLAMing on 189.36241403699998 meters Centerline goodness : 0.791970 Centerline is valid? [False, False] Translation: X:-7.93, Y:-4.37, Z:0.13 [[ 0.95239209 -0.25480079 -0.16740928 -7.92986411] [ 0.26628682 0.96260665 0.04979727 -4.37490585] [ 0.1484609 -0.09200541 0.98462905 0.1312156 ] [ 0. 0. 0. 1. ]] SLAMing on 189.39241403699998 meters Centerline goodness : 0.790726 Centerline is valid? [False, False] Translation: X:-7.93, Y:-4.38, Z:0.13 [[ 0.95262346 -0.25379658 -0.16761816 -7.92944696] [ 0.26565129 0.96265585 0.05218341 -4.38000247] [ 0.14811464 -0.09423912 0.98446993 0.13237542] [ 0. 0. 0. 1. ]] SLAMing on 189.42241403699998 meters Centerline goodness : 0.792512 Centerline is valid? [False, False] Translation: X:-7.93, Y:-4.38, Z:0.13 [[ 0.95282514 -0.25285679 -0.1678919 -7.92842373] [ 0.26497108 0.96275448 0.05379717 -4.38348931] [ 0.1480357 -0.09574579 0.98433641 0.13255834] [ 0. 0. 0. 1. ]] SLAMing on 189.45241403699998 meters Centerline goodness : 0.791097 Centerline is valid? [False, False] Translation: X:-7.93, Y:-4.39, Z:0.13 [[ 0.95318497 -0.2526299 -0.16618225 -7.92929654] [ 0.26446276 0.96293583 0.05304746 -4.38814804] [ 0.14662147 -0.09451306 0.98466716 0.13160456] [ 0. 0. 0. 1. ]] SLAMing on 189.48241403699998 meters Centerline goodness : 0.790115 Centerline is valid? [False, False] Translation: X:-7.93, Y:-4.39, Z:0.13 [[ 0.95358472 -0.25159968 -0.16545023 -7.92845959] [ 0.26347582 0.96315966 0.05388844 -4.39320699] [ 0.14579667 -0.09497932 0.98474477 0.13057503] [ 0. 0. 0. 1. ]] SLAMing on 189.51241403699999 meters Centerline goodness : 0.790997 Centerline is valid? [False, False] Translation: X:-7.93, Y:-4.40, Z:0.13 [[ 0.9539189 -0.25143062 -0.16377236 -7.92799447] [ 0.26313845 0.96325327 0.05386369 -4.40069482] [ 0.14421128 -0.09447639 0.98502656 0.12921053] [ 0. 0. 0. 1. ]] SLAMing on 189.542414037 meters Centerline goodness : 0.789583 Centerline is valid? [False, False] Translation: X:-7.93, Y:-4.41, Z:0.13 [[ 0.95348193 -0.24461086 -0.17617528 -7.92961177] [ 0.25804307 0.96442026 0.05750944 -4.40945304] [ 0.15583958 -0.10029502 0.98267743 0.1336669 ] [ 0. 0. 0. 1. ]] SLAMing on 189.572414037 meters Centerline goodness : 0.790071 Centerline is valid? [False, False] Translation: X:-7.93, Y:-4.41, Z:0.13 [[ 0.95350869 -0.24426618 -0.17650836 -7.92896616] [ 0.25793573 0.96437039 0.05881244 -4.41249119] [ 0.15585355 -0.10160599 0.98254053 0.1345494 ] [ 0. 0. 0. 1. ]] SLAMing on 189.602414037 meters Centerline goodness : 0.789614 Centerline is valid? [False, False] Translation: X:-7.93, Y:-4.42, Z:0.14 [[ 0.95355587 -0.24398375 -0.17664411 -7.92836613] [ 0.25790675 0.96428368 0.06034138 -4.41649429] [ 0.15561271 -0.10309659 0.98242342 0.13529609] [ 0. 0. 0. 1. ]] SLAMing on 189.632414037 meters Centerline goodness : 0.787414 Centerline is valid? [False, False] Translation: X:-7.93, Y:-4.43, Z:0.14 [[ 0.95323546 -0.24535509 -0.17647391 -7.9254773 ] [ 0.25942299 0.96381793 0.06127564 -4.42668704] [ 0.15505443 -0.1041915 0.98239618 0.13612188] [ 0. 0. 0. 1. ]] SLAMing on 189.662414037 meters Centerline goodness : 0.788178 Centerline is valid? [False, False] Translation: X:-7.92, Y:-4.43, Z:0.14 [[ 0.95267515 -0.24790651 -0.17593301 -7.92353127] [ 0.26172588 0.96328261 0.05988476 -4.43131554] [ 0.15462739 -0.10309694 0.98257895 0.13594778] [ 0. 0. 0. 1. ]] SLAMing on 189.692414037 meters Centerline goodness : 0.790044 Centerline is valid? [False, False] Translation: X:-7.92, Y:-4.44, Z:0.14 [[ 0.95163295 -0.24309495 -0.18788182 -7.92448844] [ 0.25868364 0.96389986 0.06308587 -4.44275018] [ 0.1657634 -0.10863654 0.98016356 0.14014475] [ 0. 0. 0. 1. ]] SLAMing on 189.722414037 meters Centerline goodness : 0.790044 Centerline is valid? [False, False] Translation: X:-7.92, Y:-4.44, Z:0.14 [[ 0.95163295 -0.24309495 -0.18788182 -7.92448844] [ 0.25868364 0.96389986 0.06308587 -4.44275018] [ 0.1657634 -0.10863654 0.98016356 0.14014475] [ 0. 0. 0. 1. ]] SLAMing on 189.752414037 meters Centerline goodness : 0.784247 Centerline is valid? [False, False] Translation: X:-7.92, Y:-4.45, Z:0.14 [[ 0.95097287 -0.24625186 -0.18711126 -7.92337542] [ 0.26146311 0.96327657 0.06111698 -4.44624577] [ 0.16518972 -0.10704328 0.98043566 0.14009653] [ 0. 0. 0. 1. ]] SLAMing on 189.782414037 meters Centerline goodness : 0.789141 Centerline is valid? [False, False] Translation: X:-7.92, Y:-4.45, Z:0.14 [[ 0.95027977 -0.24928718 -0.18661257 -7.9219603 ] [ 0.26419384 0.96263877 0.05939876 -4.44988469] [ 0.16483314 -0.10574733 0.98063629 0.1403697 ] [ 0. 0. 0. 1. ]] SLAMing on 189.812414037 meters Centerline goodness : 0.788951 Centerline is valid? [False, False] Translation: X:-7.92, Y:-4.46, Z:0.14 [[ 0.95009121 -0.24904029 -0.18789794 -7.91930715] [ 0.26457148 0.96235287 0.06228062 -4.45570741] [ 0.16531374 -0.10888471 0.98021196 0.14202215] [ 0. 0. 0. 1. ]] SLAMing on 189.842414037 meters Centerline goodness : 0.789085 Centerline is valid? [False, False] Translation: X:-7.92, Y:-4.47, Z:0.14 [[ 0.94919431 -0.25213293 -0.18830602 -7.91611292] [ 0.26789491 0.961377 0.0631394 -4.46512492] [ 0.16511355 -0.11037778 0.9800787 0.14392298] [ 0. 0. 0. 1. ]] SLAMing on 189.872414037 meters Centerline goodness : 0.788765 Centerline is valid? [False, False] Translation: X:-7.91, Y:-4.47, Z:0.15 [[ 0.94889187 -0.25245817 -0.18939138 -7.91335223] [ 0.26871706 0.96100193 0.06531788 -4.47122972] [ 0.16551546 -0.1128723 0.97972674 0.14546531] [ 0. 0. 0. 1. ]] SLAMing on 189.902414037 meters Centerline goodness : 0.792815 Centerline is valid? [False, False] Translation: X:-7.91, Y:-4.49, Z:0.15 [[ 0.94678497 -0.25126628 -0.20115538 -7.91181165] [ 0.2697637 0.96037226 0.07009036 -4.48743271] [ 0.1755727 -0.12062492 0.97704854 0.15084012] [ 0. 0. 0. 1. ]] SLAMing on 189.932414037 meters Centerline goodness : 0.789047 Centerline is valid? [False, False] Translation: X:-7.91, Y:-4.49, Z:0.15 [[ 0.94593376 -0.25466437 -0.20088647 -7.90984787] [ 0.27281232 0.95965699 0.06805803 -4.49055235] [ 0.17545015 -0.11918269 0.97724753 0.15114156] [ 0. 0. 0. 1. ]] SLAMing on 189.96241403699997 meters Centerline goodness : 0.791416 Centerline is valid? [False, False] Translation: X:-7.91, Y:-4.49, Z:0.15 [[ 0.94510408 -0.25812521 -0.20037377 -7.90883259] [ 0.27585736 0.95894306 0.06580971 -4.49320878] [ 0.17515989 -0.11747161 0.97750674 0.15169941] [ 0. 0. 0. 1. ]] SLAMing on 189.99241403699997 meters Centerline goodness : 0.789072 Centerline is valid? [False, False] Translation: X:-7.91, Y:-4.50, Z:0.15 [[ 0.94487177 -0.25853662 -0.20093821 -7.90794991] [ 0.27664023 0.95860268 0.06746177 -4.49785888] [ 0.17517856 -0.11933031 0.97727823 0.15353511] [ 0. 0. 0. 1. ]] SLAMing on 190.02241403699998 meters Centerline goodness : 0.790792 Centerline is valid? [False, False] Translation: X:-7.91, Y:-4.50, Z:0.16 [[ 0.94409536 -0.26115955 -0.20119555 -7.90556357] [ 0.27931323 0.9578351 0.06735009 -4.50485167] [ 0.17512304 -0.11978149 0.97723299 0.15541518] [ 0. 0. 0. 1. ]] SLAMing on 190.05241403699998 meters Centerline goodness : 0.792245 Centerline is valid? [False, False] Translation: X:-7.91, Y:-4.51, Z:0.16 [[ 0.9433304 -0.264605 -0.20027969 -7.90565689] [ 0.28220464 0.95717663 0.06460211 -4.50653882] [ 0.17460899 -0.11746099 0.97760657 0.15597941] [ 0. 0. 0. 1. ]] SLAMing on 190.08241403699998 meters Centerline goodness : 0.796877 Centerline is valid? [False, False] Translation: X:-7.91, Y:-4.51, Z:0.16 [[ 0.94332878 -0.26439408 -0.20056567 -7.90539592] [ 0.28225214 0.9570762 0.06587015 -4.50994315] [ 0.17454095 -0.1187473 0.97746332 0.15724517] [ 0. 0. 0. 1. ]] SLAMing on 190.11241403699998 meters Centerline goodness : 0.793877 Centerline is valid? [False, False] Translation: X:-7.91, Y:-4.51, Z:0.16 [[ 0.94336072 -0.26403726 -0.20088525 -7.90507114] [ 0.28215208 0.9570192 0.06711527 -4.51314699] [ 0.17453011 -0.1199941 0.97731298 0.15844114] [ 0. 0. 0. 1. ]] SLAMing on 190.14241403699998 meters Centerline goodness : 0.795671 Centerline is valid? [False, False] Translation: X:-7.91, Y:-4.52, Z:0.16 [[ 0.94318345 -0.2650668 -0.20036112 -7.90567833] [ 0.28311496 0.95674118 0.06702407 -4.51791858] [ 0.17392788 -0.11994122 0.97742682 0.16001656] [ 0. 0. 0. 1. ]] SLAMing on 190.17241403699998 meters Centerline goodness : 0.795131 Centerline is valid? [False, False] Translation: X:-7.91, Y:-4.52, Z:0.16 [[ 0.94273246 -0.26744633 -0.19931876 -7.90605581] [ 0.28496212 0.95636237 0.06455704 -4.51853078] [ 0.17335542 -0.11765831 0.97780592 0.15981957] [ 0. 0. 0. 1. ]] SLAMing on 190.20241403699998 meters Centerline goodness : 0.795529 Centerline is valid? [False, False] Translation: X:-7.91, Y:-4.52, Z:0.16 [[ 0.94229241 -0.26974937 -0.19829345 -7.9058351 ] [ 0.28673954 0.95599383 0.06209864 -4.51947504] [ 0.17281624 -0.11537364 0.97817354 0.15924401] [ 0. 0. 0. 1. ]] SLAMing on 190.23241403699998 meters Centerline goodness : 0.797351 Centerline is valid? [False, False] Translation: X:-7.91, Y:-4.52, Z:0.16 [[ 0.94262444 -0.26844204 -0.19848941 -7.90511057] [ 0.28573367 0.95618435 0.06377904 -4.5233769 ] [ 0.17267149 -0.11683479 0.97802566 0.15965871] [ 0. 0. 0. 1. ]] SLAMing on 190.26241403699999 meters Centerline goodness : 0.798623 Centerline is valid? [False, False] Translation: X:-7.91, Y:-4.52, Z:0.16 [[ 0.94283042 -0.26776424 -0.19842656 -7.90542738] [ 0.28512625 0.95633237 0.06427612 -4.52420241] [ 0.1725509 -0.11717811 0.97800587 0.15985208] [ 0. 0. 0. 1. ]] SLAMing on 190.292414037 meters Centerline goodness : 0.798942 Centerline is valid? [False, False] Translation: X:-7.91, Y:-4.52, Z:0.16 [[ 0.94304935 -0.26703688 -0.19836642 -7.90611709] [ 0.28446432 0.95649768 0.06474749 -4.52471125] [ 0.17244705 -0.11748824 0.97798698 0.16032236] [ 0. 0. 0. 1. ]] SLAMing on 190.322414037 meters Centerline goodness : 0.800169 Centerline is valid? [False, False] Translation: X:-7.91, Y:-4.52, Z:0.16 [[ 0.94325098 -0.26640043 -0.19826346 -7.90661203] [ 0.28386773 0.95665123 0.06509632 -4.52495246] [ 0.1723273 -0.11768277 0.9779847 0.16046029] [ 0. 0. 0. 1. ]] SLAMing on 190.352414037 meters Centerline goodness : 0.801116 Centerline is valid? [False, False] Translation: X:-7.91, Y:-4.53, Z:0.16 [[ 0.94370463 -0.2648682 -0.19815753 -7.90619038] [ 0.28244817 0.95701406 0.06593269 -4.52608934] [ 0.17217607 -0.11819022 0.97795014 0.1596872 ] [ 0. 0. 0. 1. ]] SLAMing on 190.382414037 meters Centerline goodness : 0.800367 Centerline is valid? [False, False] Translation: X:-7.91, Y:-4.53, Z:0.16 [[ 0.94374824 -0.26457488 -0.1983416 -7.9053143 ] [ 0.282227 0.95705826 0.06623755 -4.52690928] [ 0.17229968 -0.11848892 0.97789222 0.15940264] [ 0. 0. 0. 1. ]] SLAMing on 190.412414037 meters Centerline goodness : 0.800576 Centerline is valid? [False, False] Translation: X:-7.91, Y:-4.53, Z:0.16 [[ 0.94309028 -0.26784833 -0.19707357 -7.90561826] [ 0.28478662 0.9565324 0.06278819 -4.52654716] [ 0.17168954 -0.11533884 0.97837603 0.15881436] [ 0. 0. 0. 1. ]] SLAMing on 190.442414037 meters Centerline goodness : 0.801522 Centerline is valid? [False, False] Translation: X:-7.91, Y:-4.53, Z:0.16 [[ 0.94253631 -0.27054875 -0.19603234 -7.9064982 ] [ 0.28698134 0.95603108 0.06038453 -4.52751112] [ 0.17107605 -0.11317223 0.97873645 0.1592214 ] [ 0. 0. 0. 1. ]] SLAMing on 190.472414037 meters Centerline goodness : 0.800218 Centerline is valid? [False, False] Translation: X:-7.91, Y:-4.53, Z:0.16 [[ 0.94234811 -0.2713338 -0.195852 -7.90733475] [ 0.28791067 0.95569533 0.06126888 -4.53128166] [ 0.17055052 -0.1141245 0.97871759 0.16097595] [ 0. 0. 0. 1. ]] SLAMing on 190.502414037 meters Centerline goodness : 0.804920 Centerline is valid? [False, False] Translation: X:-7.91, Y:-4.53, Z:0.16 [[ 0.94146807 -0.27516517 -0.19473571 -7.90751391] [ 0.29104967 0.95496495 0.05772379 -4.53106736] [ 0.1700822 -0.11102287 0.97915574 0.16086285] [ 0. 0. 0. 1. ]] SLAMing on 190.532414037 meters Centerline goodness : 0.804950 Centerline is valid? [False, False] Translation: X:-7.91, Y:-4.53, Z:0.16 [[ 0.94056283 -0.27893086 -0.19375021 -7.9071188 ] [ 0.29420183 0.95418706 0.0545191 -4.53175125] [ 0.16966688 -0.10828031 0.97953485 0.16071616] [ 0. 0. 0. 1. ]] SLAMing on 190.562414037 meters Centerline goodness : 0.805181 Centerline is valid? [False, False] Translation: X:-7.91, Y:-4.53, Z:0.16 [[ 0.93960456 -0.28281849 -0.19276145 -7.90666508] [ 0.29750225 0.95333486 0.05143009 -4.533148 ] [ 0.16922083 -0.10567091 0.97989692 0.16076295] [ 0. 0. 0. 1. ]] SLAMing on 190.592414037 meters Centerline goodness : 0.805376 Centerline is valid? [False, False] Translation: X:-7.90, Y:-4.54, Z:0.16 [[ 0.93851724 -0.28678138 -0.19220259 -7.90484511] [ 0.30104573 0.95234927 0.04901372 -4.536928 ] [ 0.16898777 -0.10386199 0.98013051 0.16115194] [ 0. 0. 0. 1. ]] SLAMing on 190.622414037 meters Centerline goodness : 0.804496 Centerline is valid? [False, False] Translation: X:-7.90, Y:-4.54, Z:0.16 [[ 0.93838212 -0.28693877 -0.19262692 -7.90381802] [ 0.30134364 0.95222732 0.0495494 -4.53871134] [ 0.16920697 -0.10454317 0.98002027 0.16161395] [ 0. 0. 0. 1. ]] SLAMing on 190.652414037 meters Centerline goodness : 0.805505 Centerline is valid? [False, False] Translation: X:-7.90, Y:-4.54, Z:0.16 [[ 0.93740964 -0.29081791 -0.1915414 -7.90388265] [ 0.30453065 0.95139725 0.04587317 -4.53780914] [ 0.16889122 -0.10133218 0.98041193 0.16139267] [ 0. 0. 0. 1. ]] SLAMing on 190.682414037 meters Centerline goodness : 0.803203 Centerline is valid? [False, False] Translation: X:-7.90, Y:-4.54, Z:0.16 [[ 0.93637836 -0.29452076 -0.1909269 -7.90285359] [ 0.30769977 0.95051944 0.0428211 -4.53872711] [ 0.16886803 -0.09884492 0.98066981 0.1615912 ] [ 0. 0. 0. 1. ]] SLAMing on 190.71241403699997 meters Centerline goodness : 0.803139 Centerline is valid? [False, False] Translation: X:-7.90, Y:-4.54, Z:0.16 [[ 0.93538081 -0.29824739 -0.19002954 -7.90247158] [ 0.31079842 0.94966018 0.03936863 -4.53894665] [ 0.1687219 -0.09588554 0.98098873 0.16174556] [ 0. 0. 0. 1. ]] SLAMing on 190.74241403699997 meters Centerline goodness : 0.803270 Centerline is valid? [False, False] Translation: X:-7.90, Y:-4.54, Z:0.16 [[ 0.93442777 -0.30187779 -0.18898292 -7.90237246] [ 0.31383192 0.94878951 0.03616613 -4.53973952] [ 0.16838726 -0.09310351 0.98131415 0.16192657] [ 0. 0. 0. 1. ]] SLAMing on 190.77241403699998 meters Centerline goodness : 0.804261 Centerline is valid? [False, False] Translation: X:-7.90, Y:-4.54, Z:0.16 [[ 0.93349111 -0.30529786 -0.18811581 -7.9036195 ] [ 0.31682392 0.94788039 0.03384326 -4.54301227] [ 0.16797901 -0.09119197 0.98156359 0.16403049] [ 0. 0. 0. 1. ]] SLAMing on 190.80241403699998 meters Centerline goodness : 0.805926 Centerline is valid? [False, False] Translation: X:-7.91, Y:-4.54, Z:0.17 [[ 0.93305789 -0.30701423 -0.18747064 -7.9059586 ] [ 0.31830996 0.94742272 0.03269504 -4.54385122] [ 0.1675761 -0.09018013 0.98172593 0.1657436 ] [ 0. 0. 0. 1. ]] SLAMing on 190.83241403699998 meters Centerline goodness : 0.807427 Centerline is valid? [False, False] Translation: X:-7.93, Y:-4.55, Z:0.16 [[ 0.93339643 -0.30870576 -0.18295317 -7.92543888] [ 0.31933896 0.94713095 0.03107387 -4.55071848] [ 0.16368793 -0.08742832 0.98263042 0.16296191] [ 0. 0. 0. 1. ]] SLAMing on 190.86241403699998 meters Centerline goodness : 0.807531 Centerline is valid? [False, False] Translation: X:-7.93, Y:-4.55, Z:0.16 [[ 0.93268549 -0.31138002 -0.18204464 -7.92720479] [ 0.3216292 0.946421 0.02901647 -4.55204545] [ 0.16325572 -0.08561412 0.98286204 0.16441523] [ 0. 0. 0. 1. ]] SLAMing on 190.89241403699998 meters Centerline goodness : 0.807003 Centerline is valid? [False, False] Translation: X:-7.94, Y:-4.56, Z:0.16 [[ 0.93067636 -0.31570821 -0.18485088 -7.94020356] [ 0.32559649 0.94517778 0.02501786 -4.56056398] [ 0.1668186 -0.08347032 0.9824481 0.1613498 ] [ 0. 0. 0. 1. ]] SLAMing on 190.92241403699998 meters Centerline goodness : 0.807325 Centerline is valid? [False, False] Translation: X:-7.94, Y:-4.56, Z:0.16 [[ 0.92946338 -0.31981476 -0.18389223 -7.93897157] [ 0.32910658 0.94404562 0.02160393 -4.56121271] [ 0.1666934 -0.08060021 0.98270897 0.16090003] [ 0. 0. 0. 1. ]] SLAMing on 190.95241403699998 meters Centerline goodness : 0.804669 Centerline is valid? [False, False] Translation: X:-7.94, Y:-4.56, Z:0.16 [[ 0.9282603 -0.32390072 -0.18281449 -7.938068 ] [ 0.33259148 0.94289539 0.01819862 -4.5616858 ] [ 0.16648039 -0.0776956 0.98297898 0.16048561] [ 0. 0. 0. 1. ]] SLAMing on 190.98241403699998 meters Centerline goodness : 0.804715 Centerline is valid? [False, False] Translation: X:-7.94, Y:-4.56, Z:0.16 [[ 0.92690405 -0.32839022 -0.18168308 -7.93758929] [ 0.3364823 0.94157398 0.01476817 -4.56322802] [ 0.16621834 -0.07482182 0.98324624 0.16075884] [ 0. 0. 0. 1. ]] SLAMing on 191.01241403699999 meters Centerline goodness : 0.805357 Centerline is valid? [False, False] Translation: X:-7.94, Y:-4.56, Z:0.16 [[ 0.92673877 -0.3289023 -0.18159989 -7.93785413] [ 0.33698084 0.94139708 0.01467812 -4.56412105] [ 0.16612994 -0.07479846 0.98326295 0.16123596] [ 0. 0. 0. 1. ]] SLAMing on 191.042414037 meters Centerline goodness : 0.806473 Centerline is valid? [False, False] Translation: X:-7.94, Y:-4.56, Z:0.16 [[ 0.9266118 -0.32925025 -0.18161732 -7.9379981 ] [ 0.33732161 0.94127632 0.01459509 -4.56469404] [ 0.16614664 -0.07478743 0.98326097 0.1616869 ] [ 0. 0. 0. 1. ]] SLAMing on 191.072414037 meters Centerline goodness : 0.804492 Centerline is valid? [False, False] Translation: X:-7.94, Y:-4.57, Z:0.16 [[ 0.92649001 -0.32956563 -0.18166664 -7.93801713] [ 0.33762819 0.94116801 0.01449092 -4.56514948] [ 0.16620312 -0.07476147 0.9832534 0.16206966] [ 0. 0. 0. 1. ]] SLAMing on 191.102414037 meters Centerline goodness : 0.804017 Centerline is valid? [False, False] Translation: X:-7.96, Y:-4.57, Z:0.16 [[ 0.92575793 -0.33220408 -0.18058986 -7.95590675] [ 0.33969943 0.94046534 0.01136843 -4.57007723] [ 0.16606187 -0.07187069 0.98349279 0.1588511 ] [ 0. 0. 0. 1. ]] SLAMing on 191.132414037 meters Centerline goodness : 0.801414 Centerline is valid? [False, False] Translation: X:-7.96, Y:-4.57, Z:0.16 [[ 0.92554902 -0.33284947 -0.1804723 -7.95589222] [ 0.34027472 0.94026238 0.01094405 -4.57003742] [ 0.16604859 -0.07153942 0.98351918 0.15886913] [ 0. 0. 0. 1. ]] SLAMing on 191.162414037 meters Centerline goodness : 0.803224 Centerline is valid? [False, False] Translation: X:-7.96, Y:-4.57, Z:0.16 [[ 0.92532212 -0.33356068 -0.1803226 -7.95600398] [ 0.34091894 0.94003355 0.01054558 -4.57017743] [ 0.1659917 -0.07123345 0.98355099 0.15899244] [ 0. 0. 0. 1. ]] SLAMing on 191.192414037 meters Centerline goodness : 0.802729 Centerline is valid? [False, False] Translation: X:-7.97, Y:-4.58, Z:0.16 [[ 0.92533505 -0.33531941 -0.17696311 -7.97494778] [ 0.34206434 0.93964109 0.00816116 -4.57533127] [ 0.16354521 -0.06808458 0.98418365 0.15507985] [ 0. 0. 0. 1. ]] SLAMing on 191.222414037 meters Centerline goodness : 0.802561 Centerline is valid? [False, False] Translation: X:-7.98, Y:-4.57, Z:0.16 [[ 9.24613066e-01 -3.37938304e-01 -1.75750907e-01 -7.97709343e+00] [ 3.44322714e-01 9.38830551e-01 6.25019166e-03 -4.57415148e+00] [ 1.62888142e-01 -6.62940384e-02 9.84414828e-01 1.55390029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.252414037 meters Centerline goodness : 0.803741 Centerline is valid? [False, False] Translation: X:-7.98, Y:-4.57, Z:0.16 [[ 9.24350027e-01 -3.38809045e-01 -1.75457855e-01 -7.97761788e+00] [ 3.45062189e-01 9.38563731e-01 5.49625835e-03 -4.57290237e+00] [ 1.62816197e-01 -6.56243380e-02 9.84471601e-01 1.55334727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.282414037 meters Centerline goodness : 0.799947 Centerline is valid? [False, False] Translation: X:-7.98, Y:-4.57, Z:0.15 [[ 9.23858627e-01 -3.40542550e-01 -1.74688322e-01 -7.97900880e+00] [ 3.46518786e-01 9.38034628e-01 3.97087735e-03 -4.56966467e+00] [ 1.62511443e-01 -6.42013147e-02 9.84615774e-01 1.54877283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.312414037 meters Centerline goodness : 0.801375 Centerline is valid? [False, False] Translation: X:-8.00, Y:-4.57, Z:0.15 [[ 9.23640841e-01 -3.42102190e-01 -1.72782200e-01 -8.00298091e+00] [ 3.48335678e-01 9.37349490e-01 6.17971565e-03 -4.57497568e+00] [ 1.59843213e-01 -6.58940426e-02 9.84940669e-01 1.49333320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.342414037 meters Centerline goodness : 0.800520 Centerline is valid? [False, False] Translation: X:-8.00, Y:-4.57, Z:0.15 [[ 9.23366948e-01 -3.43062716e-01 -1.72341093e-01 -8.00389075e+00] [ 3.49129440e-01 9.37059817e-01 5.24715239e-03 -4.57309102e+00] [ 1.59693811e-01 -6.50143964e-02 9.85023358e-01 1.49197789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.372414037 meters Centerline goodness : 0.797273 Centerline is valid? [False, False] Translation: X:-8.00, Y:-4.57, Z:0.15 [[ 9.23055988e-01 -3.44112596e-01 -1.71913246e-01 -8.00492716e+00] [ 3.49997538e-01 9.36741182e-01 4.20492928e-03 -4.57115507e+00] [ 1.59591248e-01 -6.40505981e-02 9.85103119e-01 1.49287700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.402414037 meters Centerline goodness : 0.799658 Centerline is valid? [False, False] Translation: X:-8.01, Y:-4.57, Z:0.15 [[ 9.22312882e-01 -3.46815529e-01 -1.70463885e-01 -8.00889260e+00] [ 3.52190416e-01 9.35927348e-01 1.38222282e-03 -4.56591894e+00] [ 1.59062435e-01 -6.13105883e-02 9.85362955e-01 1.49932736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.432414037 meters Centerline goodness : 0.798694 Centerline is valid? [False, False] Translation: X:-8.01, Y:-4.56, Z:0.15 [[ 9.22268188e-01 -3.47129284e-01 -1.70066601e-01 -8.01221358e+00] [ 3.52393102e-01 9.35851713e-01 8.19752462e-04 -4.56320785e+00] [ 1.58872560e-01 -6.06863286e-02 9.85432230e-01 1.51297695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46241403699997 meters Centerline goodness : 0.797616 Centerline is valid? [False, False] Translation: X:-8.04, Y:-4.57, Z:0.15 [[ 9.22386181e-01 -3.47874078e-01 -1.67890915e-01 -8.03921001e+00] [ 3.53674062e-01 9.35355405e-01 4.99233991e-03 -4.56739998e+00] [ 1.55300969e-01 -6.39835273e-02 9.85792938e-01 1.45321958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.49241403699997 meters Centerline goodness : 0.797439 Centerline is valid? [False, False] Translation: X:-8.04, Y:-4.56, Z:0.15 [[ 9.22917386e-01 -3.46532052e-01 -1.67746940e-01 -8.04258563e+00] [ 3.52493462e-01 9.35793746e-01 6.19872213e-03 -4.56437119e+00] [ 1.54828481e-01 -6.48506080e-02 9.85810600e-01 1.45856891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52241403699998 meters Centerline goodness : 0.793444 Centerline is valid? [False, False] Translation: X:-8.06, Y:-4.56, Z:0.14 [[ 9.23141281e-01 -3.44787701e-01 -1.70092964e-01 -8.06294166e+00] [ 3.50666464e-01 9.36487851e-01 4.85143813e-03 -4.56012605e+00] [ 1.57617278e-01 -6.41244612e-02 9.85416078e-01 1.43218010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.55241403699998 meters Centerline goodness : 0.794535 Centerline is valid? [False, False] Translation: X:-8.08, Y:-4.56, Z:0.14 [[ 9.24111003e-01 -3.42568353e-01 -1.69309711e-01 -8.08350108e+00] [ 3.48395923e-01 9.37333848e-01 5.05341972e-03 -4.56202325e+00] [ 1.56968581e-01 -6.36567339e-02 9.85549940e-01 1.40005043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.58241403699998 meters Centerline goodness : 0.793764 Centerline is valid? [False, False] Translation: X:-8.10, Y:-4.56, Z:0.14 [[ 9.25060262e-01 -3.40464266e-01 -1.68367439e-01 -8.10249560e+00] [ 3.45969831e-01 9.38238729e-01 3.60035422e-03 -4.56340020e+00] [ 1.56743060e-01 -6.15805990e-02 9.85717730e-01 1.37485307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.61241403699998 meters Centerline goodness : 0.793764 Centerline is valid? [False, False] Translation: X:-8.10, Y:-4.56, Z:0.14 [[ 9.25060262e-01 -3.40464266e-01 -1.68367439e-01 -8.10249560e+00] [ 3.45969831e-01 9.38238729e-01 3.60035422e-03 -4.56340020e+00] [ 1.56743060e-01 -6.15805990e-02 9.85717730e-01 1.37485307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64241403699998 meters Centerline goodness : 0.793213 Centerline is valid? [False, False] Translation: X:-8.12, Y:-4.56, Z:0.14 [[ 9.25563033e-01 -3.39088567e-01 -1.68380566e-01 -8.12202018e+00] [ 3.44004643e-01 9.38967947e-01 2.78264962e-05 -4.56090677e+00] [ 1.58094519e-01 -5.79494518e-02 9.85722062e-01 1.35504550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.67241403699998 meters Centerline goodness : 0.791667 Centerline is valid? [False, False] Translation: X:-8.12, Y:-4.56, Z:0.14 [[ 9.26301813e-01 -3.36888752e-01 -1.68733283e-01 -8.12382066e+00] [ 3.42108706e-01 9.39658277e-01 1.98900009e-03 -4.55887885e+00] [ 1.57881555e-01 -5.95675397e-02 9.85659740e-01 1.35536744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.70241403699998 meters Centerline goodness : 0.789617 Centerline is valid? [False, False] Translation: X:-8.15, Y:-4.56, Z:0.13 [[ 0.92654978 -0.33604181 -0.16906036 -8.15201768] [ 0.34268554 0.93938699 0.01089497 -4.564876 ] [ 0.15515194 -0.06802927 0.98554548 0.12633841] [ 0. 0. 0. 1. ]] SLAMing on 191.73241403699998 meters Centerline goodness : 0.789879 Centerline is valid? [False, False] Translation: X:-8.15, Y:-4.56, Z:0.13 [[ 0.92732759 -0.33363735 -0.16955724 -8.15322302] [ 0.34060339 0.94011815 0.01293012 -4.56160009] [ 0.15508987 -0.06974223 0.98543552 0.12563468] [ 0. 0. 0. 1. ]] SLAMing on 191.76241403699999 meters Centerline goodness : 0.787900 Centerline is valid? [False, False] Translation: X:-8.16, Y:-4.55, Z:0.12 [[ 0.92795743 -0.33193908 -0.16944456 -8.15633512] [ 0.33899061 0.94069038 0.01367384 -4.55294937] [ 0.15485598 -0.07012886 0.98544486 0.12434101] [ 0. 0. 0. 1. ]] SLAMing on 191.792414037 meters Centerline goodness : 0.788299 Centerline is valid? [False, False] Translation: X:-8.18, Y:-4.56, Z:0.12 [[ 0.92945972 -0.32843532 -0.16803237 -8.18245117] [ 0.33672584 0.94133012 0.02265662 -4.55990051] [ 0.15073269 -0.07763926 0.98552108 0.11715636] [ 0. 0. 0. 1. ]] SLAMing on 191.822414037 meters Centerline goodness : 0.786255 Centerline is valid? [False, False] Translation: X:-8.19, Y:-4.56, Z:0.12 [[ 0.93029174 -0.32581086 -0.16853651 -8.18516352] [ 0.33446437 0.94207721 0.02498246 -4.55799928] [ 0.15063485 -0.07961043 0.98537877 0.11818265] [ 0. 0. 0. 1. ]] SLAMing on 191.852414037 meters Centerline goodness : 0.781178 Centerline is valid? [False, False] Translation: X:-8.19, Y:-4.55, Z:0.12 [[ 0.93105708 -0.32363293 -0.16850651 -8.18923988] [ 0.33236726 0.94279962 0.02570754 -4.5515407 ] [ 0.15054807 -0.07994124 0.98536525 0.11868701] [ 0. 0. 0. 1. ]] SLAMing on 191.882414037 meters Centerline goodness : 0.786173 Centerline is valid? [False, False] Translation: X:-8.19, Y:-4.55, Z:0.12 [[ 0.93196026 -0.32060557 -0.16929898 -8.19082588] [ 0.32973724 0.94365375 0.02812394 -4.54901645] [ 0.15074293 -0.08203457 0.98516339 0.11898364] [ 0. 0. 0. 1. ]] SLAMing on 191.912414037 meters Centerline goodness : 0.785704 Centerline is valid? [False, False] Translation: X:-8.19, Y:-4.55, Z:0.12 [[ 0.93280737 -0.31748641 -0.17050746 -8.1920319 ] [ 0.32710979 0.94448063 0.03091159 -4.5461302 ] [ 0.15122698 -0.08460921 0.9848714 0.11960914] [ 0. 0. 0. 1. ]] SLAMing on 191.942414037 meters Centerline goodness : 0.787129 Centerline is valid? [False, False] Translation: X:-8.19, Y:-4.54, Z:0.12 [[ 0.93326088 -0.31574215 -0.17126301 -8.19359509] [ 0.32543972 0.94505092 0.03110862 -4.53772264] [ 0.15202996 -0.08476824 0.98473409 0.11872562] [ 0. 0. 0. 1. ]] SLAMing on 191.972414037 meters Centerline goodness : 0.788888 Centerline is valid? [False, False] Translation: X:-8.19, Y:-4.53, Z:0.12 [[ 0.93297852 -0.31676164 -0.17091852 -8.19460325] [ 0.3261331 0.94487566 0.02910637 -4.53273333] [ 0.15227697 -0.08289781 0.98485516 0.11811816] [ 0. 0. 0. 1. ]] SLAMing on 192.002414037 meters Centerline goodness : 0.789853 Centerline is valid? [False, False] Translation: X:-8.20, Y:-4.53, Z:0.12 [[ 0.93302814 -0.31459739 -0.1746052 -8.20419095] [ 0.32299152 0.94616469 0.02118631 -4.52990556] [ 0.15854012 -0.07616342 0.98441057 0.11930757] [ 0. 0. 0. 1. ]] SLAMing on 192.032414037 meters Centerline goodness : 0.789545 Centerline is valid? [False, False] Translation: X:-8.22, Y:-4.52, Z:0.12 [[ 0.9331326 -0.3108688 -0.18062153 -8.21523367] [ 0.3187417 0.9477136 0.01557779 -4.52333771] [ 0.16633483 -0.07210776 0.9834293 0.12121014] [ 0. 0. 0. 1. ]] SLAMing on 192.062414037 meters Centerline goodness : 0.788864 Centerline is valid? [False, False] Translation: X:-8.22, Y:-4.52, Z:0.12 [[ 0.93334827 -0.30634355 -0.18712199 -8.22417645] [ 0.31382073 0.94941869 0.01098611 -4.52107083] [ 0.17429159 -0.06897663 0.98227525 0.12345018] [ 0. 0. 0. 1. ]] SLAMing on 192.092414037 meters Centerline goodness : 0.790039 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.52, Z:0.12 [[ 9.33996403e-01 -3.01455225e-01 -1.91769308e-01 -8.23324233e+00] [ 3.08161384e-01 9.51318588e-01 5.43186575e-03 -4.51936780e+00] [ 1.80796243e-01 -6.41692383e-02 9.81424998e-01 1.24967015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.122414037 meters Centerline goodness : 0.789538 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.51, Z:0.13 [[ 0.93548491 -0.29510054 -0.19438019 -8.23449195] [ 0.30286363 0.95297257 0.01081196 -4.51430951] [ 0.18204838 -0.06898512 0.98086668 0.12610459] [ 0. 0. 0. 1. ]] SLAMing on 192.152414037 meters Centerline goodness : 0.790641 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.51, Z:0.13 [[ 0.93631202 -0.29157446 -0.19571442 -8.23467766] [ 0.29989255 0.95387564 0.01362814 -4.51225369] [ 0.1827136 -0.07145349 0.98056623 0.12643572] [ 0. 0. 0. 1. ]] SLAMing on 192.182414037 meters Centerline goodness : 0.791716 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.51, Z:0.13 [[ 0.9372793 -0.28582532 -0.19952794 -8.24306483] [ 0.29338546 0.95595408 0.0087619 -4.51154278] [ 0.18823518 -0.06675094 0.97985296 0.12781229] [ 0. 0. 0. 1. ]] SLAMing on 192.21241403699997 meters Centerline goodness : 0.793701 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.51, Z:0.13 [[ 0.93865748 -0.27910599 -0.20253885 -8.2423772 ] [ 0.28782273 0.95757654 0.01432619 -4.50663796] [ 0.18994792 -0.07174267 0.97916943 0.12825377] [ 0. 0. 0. 1. ]] SLAMing on 192.24241403699997 meters Centerline goodness : 0.792864 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.50, Z:0.13 [[ 0.93932862 -0.27574121 -0.20403068 -8.24149279] [ 0.28501292 0.95837385 0.01694662 -4.5041906 ] [ 0.19086479 -0.07406982 0.9788178 0.12802501] [ 0. 0. 0. 1. ]] SLAMing on 192.27241403699998 meters Centerline goodness : 0.792723 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.50, Z:0.13 [[ 0.93998494 -0.27240116 -0.20548946 -8.24069863] [ 0.28225322 0.95913812 0.01967713 -4.50219436] [ 0.1917327 -0.07649626 0.97846149 0.12793792] [ 0. 0. 0. 1. ]] SLAMing on 192.30241403699998 meters Centerline goodness : 0.792695 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.50, Z:0.13 [[ 0.94067412 -0.26893058 -0.20690227 -8.23953972] [ 0.27936401 0.9599236 0.02241485 -4.50022311] [ 0.19258233 -0.07888612 0.97810481 0.12742018] [ 0. 0. 0. 1. ]] SLAMing on 192.33241403699998 meters Centerline goodness : 0.794259 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.49, Z:0.13 [[ 0.94124644 -0.26587961 -0.20823826 -8.23993674] [ 0.27666266 0.96066882 0.02394131 -4.4942004 ] [ 0.1936825 -0.08014642 0.97778507 0.12732199] [ 0. 0. 0. 1. ]] SLAMing on 192.36241403699998 meters Centerline goodness : 0.793363 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.49, Z:0.13 [[ 0.94169636 -0.26289419 -0.20998717 -8.23903501] [ 0.27439563 0.96123444 0.02711793 -4.4925242 ] [ 0.19471775 -0.08315642 0.97732799 0.12810237] [ 0. 0. 0. 1. ]] SLAMing on 192.39241403699998 meters Centerline goodness : 0.795083 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.49, Z:0.13 [[ 0.94208922 -0.26019304 -0.21158328 -8.23833665] [ 0.27239937 0.96170954 0.03022159 -4.49119157] [ 0.19561821 -0.08610658 0.97689261 0.12895199] [ 0. 0. 0. 1. ]] SLAMing on 192.42241403699998 meters Centerline goodness : 0.796357 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.49, Z:0.13 [[ 0.94190449 -0.25934955 -0.21343323 -8.23709356] [ 0.27202355 0.96176506 0.03179856 -4.48746878] [ 0.19702568 -0.08801007 0.97644002 0.12993682] [ 0. 0. 0. 1. ]] SLAMing on 192.45241403699998 meters Centerline goodness : 0.794106 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.49, Z:0.13 [[ 0.94153853 -0.26026616 -0.21393157 -8.23587955] [ 0.27288314 0.96154134 0.03119369 -4.4857079 ] [ 0.19758538 -0.08774838 0.97635047 0.12975424] [ 0. 0. 0. 1. ]] SLAMing on 192.48241403699998 meters Centerline goodness : 0.794567 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.48, Z:0.13 [[ 0.94101753 -0.26141359 -0.21482305 -8.23413761] [ 0.27405961 0.96121898 0.03081234 -4.48438232] [ 0.19843723 -0.08786927 0.97616682 0.13012788] [ 0. 0. 0. 1. ]] SLAMing on 192.51241403699999 meters Centerline goodness : 0.795711 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.48, Z:0.13 [[ 0.93995052 -0.26397604 -0.21635543 -8.23223141] [ 0.27668162 0.96048886 0.03014012 -4.48157926] [ 0.19985071 -0.08819179 0.97584932 0.13185514] [ 0. 0. 0. 1. ]] SLAMing on 192.542414037 meters Centerline goodness : 0.799015 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.48, Z:0.13 [[ 0.93942309 -0.2651246 -0.21723995 -8.23110376] [ 0.2778462 0.96016643 0.02969708 -4.4793808 ] [ 0.20071308 -0.08825742 0.97566638 0.13257227] [ 0. 0. 0. 1. ]] SLAMing on 192.572414037 meters Centerline goodness : 0.797617 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.48, Z:0.13 [[ 0.9389775 -0.26459296 -0.2197995 -8.22985586] [ 0.27800903 0.96004697 0.03194981 -4.47504029] [ 0.20256415 -0.09110639 0.97502174 0.13488224] [ 0. 0. 0. 1. ]] SLAMing on 192.602414037 meters Centerline goodness : 0.797617 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.48, Z:0.13 [[ 0.9389775 -0.26459296 -0.2197995 -8.22985586] [ 0.27800903 0.96004697 0.03194981 -4.47504029] [ 0.20256415 -0.09110639 0.97502174 0.13488224] [ 0. 0. 0. 1. ]] SLAMing on 192.632414037 meters Centerline goodness : 0.796655 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.47, Z:0.13 [[ 0.93901994 -0.2630848 -0.22142256 -8.22834402] [ 0.27688562 0.96032886 0.03320889 -4.47038336] [ 0.20390173 -0.09249253 0.97461234 0.13463233] [ 0. 0. 0. 1. ]] SLAMing on 192.662414037 meters Centerline goodness : 0.797887 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.47, Z:0.13 [[ 0.93908807 -0.26291235 -0.22133839 -8.22824775] [ 0.27650853 0.96046888 0.03228871 -4.4676549 ] [ 0.20409954 -0.09152389 0.97466238 0.13359774] [ 0. 0. 0. 1. ]] SLAMing on 192.692414037 meters Centerline goodness : 0.798547 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.47, Z:0.13 [[ 0.93974653 -0.25983831 -0.22217224 -8.22843287] [ 0.27396971 0.9611089 0.03478908 -4.46640623] [ 0.20449219 -0.09356138 0.97438658 0.13357934] [ 0. 0. 0. 1. ]] SLAMing on 192.722414037 meters Centerline goodness : 0.799085 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.46, Z:0.13 [[ 0.94008448 -0.2589425 -0.2217881 -8.22972548] [ 0.27286723 0.96144788 0.03407997 -4.46351606] [ 0.20441294 -0.09255675 0.97449915 0.13291523] [ 0. 0. 0. 1. ]] SLAMing on 192.752414037 meters Centerline goodness : 0.797587 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.46, Z:0.13 [[ 0.94120266 -0.25450267 -0.22218447 -8.23285323] [ 0.26878919 0.96252234 0.03609882 -4.45809441] [ 0.20467027 -0.09369709 0.97433615 0.133198 ] [ 0. 0. 0. 1. ]] SLAMing on 192.782414037 meters Centerline goodness : 0.796952 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.45, Z:0.13 [[ 0.94151885 -0.25379273 -0.22165627 -8.23454163] [ 0.26779699 0.96283664 0.03507671 -4.45454599] [ 0.20451657 -0.09238426 0.97449378 0.13248783] [ 0. 0. 0. 1. ]] SLAMing on 192.812414037 meters Centerline goodness : 0.795915 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.45, Z:0.13 [[ 0.94163907 -0.25376762 -0.22117379 -8.23603615] [ 0.26736665 0.96301691 0.03336911 -4.45052498] [ 0.2045261 -0.09055616 0.97466336 0.13180788] [ 0. 0. 0. 1. ]] SLAMing on 192.842414037 meters Centerline goodness : 0.792468 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.44, Z:0.13 [[ 0.94343331 -0.25680409 -0.20972662 -8.23407292] [ 0.26894587 0.96265358 0.03108387 -4.44111314] [ 0.19391161 -0.08573067 0.97726585 0.12633874] [ 0. 0. 0. 1. ]] SLAMing on 192.872414037 meters Centerline goodness : 0.795883 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.44, Z:0.13 [[ 0.94355588 -0.25679619 -0.20918418 -8.23526238] [ 0.26864964 0.9627746 0.02987364 -4.43875879] [ 0.19372578 -0.0843847 0.97741984 0.12569717] [ 0. 0. 0. 1. ]] SLAMing on 192.902414037 meters Centerline goodness : 0.790913 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.43, Z:0.12 [[ 0.94445926 -0.26139177 -0.1991759 -8.2322699 ] [ 0.27281912 0.96154065 0.03176955 -4.43359182] [ 0.18321143 -0.08434404 0.97944865 0.12102893] [ 0. 0. 0. 1. ]] SLAMing on 192.932414037 meters Centerline goodness : 0.792529 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.43, Z:0.12 [[ 0.94445978 -0.26117057 -0.1994634 -8.23222979] [ 0.27258957 0.96161095 0.03161182 -4.43163509] [ 0.18355011 -0.08422774 0.97939524 0.12098061] [ 0. 0. 0. 1. ]] SLAMing on 192.96241403699997 meters Centerline goodness : 0.790723 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.43, Z:0.12 [[ 0.94400623 -0.26255341 -0.19979477 -8.23155817] [ 0.27372817 0.9613384 0.03002289 -4.42743905] [ 0.18418778 -0.08303126 0.9793777 0.12049686] [ 0. 0. 0. 1. ]] SLAMing on 192.99241403699997 meters Centerline goodness : 0.791531 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.43, Z:0.12 [[ 0.94362811 -0.26335775 -0.20052102 -8.2294649 ] [ 0.27452801 0.96112379 0.02958768 -4.42604716] [ 0.18493338 -0.0829684 0.97924251 0.12004694] [ 0. 0. 0. 1. ]] SLAMing on 193.02241403699998 meters Centerline goodness : 0.788561 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.42, Z:0.12 [[ 0.943327 -0.2641371 -0.20091234 -8.22786428] [ 0.27525049 0.96093408 0.02903193 -4.42471064] [ 0.18539511 -0.08268782 0.97917893 0.1193027 ] [ 0. 0. 0. 1. ]] SLAMing on 193.05241403699998 meters Centerline goodness : 0.790125 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.42, Z:0.12 [[ 0.94302867 -0.26482699 -0.20140404 -8.22658913] [ 0.27594094 0.96074471 0.02874365 -4.42357048] [ 0.18588577 -0.08268171 0.97908642 0.11912705] [ 0. 0. 0. 1. ]] SLAMing on 193.08241403699998 meters Centerline goodness : 0.784770 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.42, Z:0.12 [[ 0.94279526 -0.26523582 -0.20195807 -8.22564518] [ 0.27640259 0.96061241 0.02872986 -4.42246956] [ 0.18638324 -0.08290811 0.97897269 0.11930032] [ 0. 0. 0. 1. ]] SLAMing on 193.11241403699998 meters Centerline goodness : 0.786382 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.42, Z:0.12 [[ 0.94232721 -0.2662781 -0.20276935 -8.2253372 ] [ 0.27739828 0.96034646 0.02801566 -4.41864073] [ 0.18726887 -0.08264778 0.97882568 0.12009865] [ 0. 0. 0. 1. ]] SLAMing on 193.14241403699998 meters Centerline goodness : 0.784706 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.42, Z:0.12 [[ 0.94219639 -0.26665908 -0.20287655 -8.22544565] [ 0.27767609 0.9602842 0.02739059 -4.41655303] [ 0.1875152 -0.08214128 0.97882116 0.12010572] [ 0. 0. 0. 1. ]] SLAMing on 193.17241403699998 meters Centerline goodness : 0.786249 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.41, Z:0.12 [[ 0.94203268 -0.2669858 -0.20320682 -8.22503103] [ 0.27791625 0.96023251 0.02675964 -4.41411312] [ 0.18798135 -0.08168294 0.9787701 0.1198997 ] [ 0. 0. 0. 1. ]] SLAMing on 193.20241403699998 meters Centerline goodness : 0.787031 Centerline is valid? [False, False] Translation: X:-8.22, Y:-4.41, Z:0.12 [[ 0.94221909 -0.26527374 -0.20458013 -8.22437121] [ 0.27665927 0.96053997 0.02868123 -4.41104564] [ 0.18889902 -0.08362299 0.97842954 0.12015145] [ 0. 0. 0. 1. ]] SLAMing on 193.23241403699998 meters Centerline goodness : 0.782789 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.41, Z:0.12 [[ 0.94221541 -0.26533561 -0.20451686 -8.22508949] [ 0.27663208 0.96056081 0.02824228 -4.40959493] [ 0.1889572 -0.08318623 0.97845553 0.12039643] [ 0. 0. 0. 1. ]] SLAMing on 193.26241403699999 meters Centerline goodness : 0.782846 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.41, Z:0.12 [[ 0.94227503 -0.26515279 -0.20447926 -8.22547877] [ 0.27634881 0.96065647 0.02775753 -4.40781105] [ 0.18907434 -0.08266283 0.97847726 0.12023114] [ 0. 0. 0. 1. ]] SLAMing on 193.292414037 meters Centerline goodness : 0.783905 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.41, Z:0.12 [[ 0.94286334 -0.26221103 -0.205558 -8.22592509] [ 0.27399964 0.96124195 0.03062867 -4.40606563] [ 0.1895598 -0.08520146 0.97816552 0.12079727] [ 0. 0. 0. 1. ]] SLAMing on 193.322414037 meters Centerline goodness : 0.783221 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.40, Z:0.12 [[ 0.94295886 -0.26181032 -0.2056306 -8.2263317 ] [ 0.27353732 0.96138346 0.03031812 -4.40409019] [ 0.18975226 -0.08483638 0.97815994 0.12071381] [ 0. 0. 0. 1. ]] SLAMing on 193.352414037 meters Centerline goodness : 0.788520 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.40, Z:0.12 [[ 0.94295683 -0.26161062 -0.20589389 -8.22629353] [ 0.27328466 0.96146697 0.02994585 -4.40184861] [ 0.19012603 -0.08450528 0.97811602 0.12056095] [ 0. 0. 0. 1. ]] SLAMing on 193.382414037 meters Centerline goodness : 0.787542 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.40, Z:0.12 [[ 0.94296883 -0.26166389 -0.20577122 -8.22668009] [ 0.273194 0.96151399 0.02925551 -4.40008698] [ 0.1901968 -0.0838025 0.97816273 0.12032649] [ 0. 0. 0. 1. ]] SLAMing on 193.412414037 meters Centerline goodness : 0.781311 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.40, Z:0.12 [[ 0.94295365 -0.26176045 -0.20571794 -8.22687213] [ 0.2731343 0.96155464 0.02846619 -4.39756031] [ 0.19035772 -0.08303093 0.97819722 0.11978733] [ 0. 0. 0. 1. ]] SLAMing on 193.442414037 meters Centerline goodness : 0.781048 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.40, Z:0.12 [[ 0.94282725 -0.26201228 -0.20597655 -8.22604652] [ 0.27336636 0.96149582 0.0282243 -4.39623134] [ 0.19065048 -0.0829177 0.97814981 0.11927908] [ 0. 0. 0. 1. ]] SLAMing on 193.472414037 meters Centerline goodness : 0.787251 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.39, Z:0.12 [[ 0.94267486 -0.26238601 -0.20619818 -8.22518667] [ 0.27368993 0.96141524 0.02783105 -4.394936 ] [ 0.19093959 -0.08266999 0.97811438 0.11876463] [ 0. 0. 0. 1. ]] SLAMing on 193.502414037 meters Centerline goodness : 0.786469 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.39, Z:0.12 [[ 0.94245284 -0.26330257 -0.20604467 -8.22564081] [ 0.2743689 0.96125687 0.02658813 -4.3924099 ] [ 0.19106113 -0.0815903 0.97818131 0.11862516] [ 0. 0. 0. 1. ]] SLAMing on 193.532414037 meters Centerline goodness : 0.786469 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.39, Z:0.12 [[ 0.94245284 -0.26330257 -0.20604467 -8.22564081] [ 0.2743689 0.96125687 0.02658813 -4.3924099 ] [ 0.19106113 -0.0815903 0.97818131 0.11862516] [ 0. 0. 0. 1. ]] SLAMing on 193.562414037 meters Centerline goodness : 0.781695 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.39, Z:0.12 [[ 0.94230345 -0.26358641 -0.20636474 -8.22550692] [ 0.27464512 0.9611837 0.02638088 -4.39112792] [ 0.19140079 -0.08153586 0.97811944 0.11897571] [ 0. 0. 0. 1. ]] SLAMing on 193.592414037 meters Centerline goodness : 0.780354 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.39, Z:0.12 [[ 0.94233257 -0.26357002 -0.20625269 -8.22577679] [ 0.27454349 0.96122323 0.02599552 -4.39000151] [ 0.19140324 -0.08112175 0.97815339 0.11878936] [ 0. 0. 0. 1. ]] SLAMing on 193.622414037 meters Centerline goodness : 0.781637 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.39, Z:0.12 [[ 0.94232746 -0.26349686 -0.20636947 -8.22575649] [ 0.27440343 0.96127355 0.02561099 -4.38853069] [ 0.1916291 -0.08076243 0.97813891 0.11869027] [ 0. 0. 0. 1. ]] SLAMing on 193.652414037 meters Centerline goodness : 0.782239 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.39, Z:0.12 [[ 0.942717 -0.26115812 -0.20755985 -8.22539671] [ 0.27257132 0.96173056 0.02791421 -4.38640724] [ 0.19232663 -0.08289006 0.97782396 0.11883408] [ 0. 0. 0. 1. ]] SLAMing on 193.682414037 meters Centerline goodness : 0.779851 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.38, Z:0.12 [[ 0.94251954 -0.2616572 -0.20782789 -8.22519003] [ 0.27296667 0.96163836 0.02721876 -4.38408294] [ 0.19273329 -0.0823843 0.97778664 0.11882286] [ 0. 0. 0. 1. ]] SLAMing on 193.71241403699997 meters Centerline goodness : 0.779990 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.38, Z:0.12 [[ 0.94239522 -0.26200447 -0.20795407 -8.22516243] [ 0.27322001 0.96158229 0.02665189 -4.38221106] [ 0.19298204 -0.08193382 0.97777542 0.11872094] [ 0. 0. 0. 1. ]] SLAMing on 193.74241403699997 meters Centerline goodness : 0.779235 Centerline is valid? [False, False] Translation: X:-8.22, Y:-4.38, Z:0.12 [[ 0.94197399 -0.2631065 -0.20847055 -8.22409077] [ 0.27419956 0.96132946 0.02569585 -4.3793004 ] [ 0.19364813 -0.08136735 0.97769103 0.11843403] [ 0. 0. 0. 1. ]] SLAMing on 193.77241403699998 meters Centerline goodness : 0.778931 Centerline is valid? [False, False] Translation: X:-8.22, Y:-4.38, Z:0.12 [[ 0.9416121 -0.26426129 -0.20864472 -8.22366795] [ 0.2752507 0.96104793 0.02497846 -4.37831582] [ 0.19391674 -0.08094962 0.97767247 0.11859676] [ 0. 0. 0. 1. ]] SLAMing on 193.80241403699998 meters Centerline goodness : 0.778578 Centerline is valid? [False, False] Translation: X:-8.22, Y:-4.38, Z:0.12 [[ 0.94118731 -0.26516056 -0.209419 -8.2218671 ] [ 0.27619677 0.96078134 0.02479039 -4.37744455] [ 0.19463243 -0.08117325 0.9775117 0.11862143] [ 0. 0. 0. 1. ]] SLAMing on 193.83241403699998 meters Centerline goodness : 0.775957 Centerline is valid? [False, False] Translation: X:-8.22, Y:-4.38, Z:0.12 [[ 0.94057336 -0.26695504 -0.20989703 -8.22055184] [ 0.27793201 0.96029833 0.02410212 -4.37658857] [ 0.19512959 -0.08100691 0.97742638 0.11879366] [ 0. 0. 0. 1. ]] SLAMing on 193.86241403699998 meters Centerline goodness : 0.777959 Centerline is valid? [False, False] Translation: X:-8.22, Y:-4.38, Z:0.12 [[ 0.94029419 -0.26760116 -0.21032465 -8.21993593] [ 0.27862857 0.96009638 0.02410523 -4.37626895] [ 0.19548135 -0.08126846 0.97733437 0.11924492] [ 0. 0. 0. 1. ]] SLAMing on 193.89241403699998 meters Centerline goodness : 0.777540 Centerline is valid? [False, False] Translation: X:-8.22, Y:-4.38, Z:0.12 [[ 0.94003957 -0.26810935 -0.21081507 -8.21933746] [ 0.27915084 0.95994944 0.02391393 -4.3751727 ] [ 0.19596026 -0.08132925 0.97723341 0.11967588] [ 0. 0. 0. 1. ]] SLAMing on 193.92241403699998 meters Centerline goodness : 0.776477 Centerline is valid? [False, False] Translation: X:-8.22, Y:-4.37, Z:0.12 [[ 0.93969805 -0.26875137 -0.21151895 -8.21858033] [ 0.27977662 0.95977827 0.02346749 -4.3729304 ] [ 0.19670438 -0.08123041 0.97709212 0.12007085] [ 0. 0. 0. 1. ]] SLAMing on 193.95241403699998 meters Centerline goodness : 0.777131 Centerline is valid? [False, False] Translation: X:-8.22, Y:-4.37, Z:0.12 [[ 0.94004175 -0.26619326 -0.21321973 -8.21714604] [ 0.27779894 0.96029036 0.02588776 -4.36979789] [ 0.19786171 -0.08356779 0.97666124 0.11984207] [ 0. 0. 0. 1. ]] SLAMing on 193.98241403699998 meters Centerline goodness : 0.779368 Centerline is valid? [False, False] Translation: X:-8.22, Y:-4.37, Z:0.12 [[ 0.93989729 -0.26686934 -0.21301136 -8.21796968] [ 0.27821376 0.96020371 0.02461572 -4.36722973] [ 0.19796512 -0.08239894 0.97673959 0.11987935] [ 0. 0. 0. 1. ]] SLAMing on 194.01241403699999 meters Centerline goodness : 0.779899 Centerline is valid? [False, False] Translation: X:-8.22, Y:-4.37, Z:0.12 [[ 0.94040279 -0.26386435 -0.2145185 -8.21657184] [ 0.27594536 0.960768 0.02791071 -4.36750631] [ 0.19873787 -0.0854427 0.97632106 0.12010205] [ 0. 0. 0. 1. ]] SLAMing on 194.042414037 meters Centerline goodness : 0.784911 Centerline is valid? [False, False] Translation: X:-8.22, Y:-4.37, Z:0.12 [[ 0.94129916 -0.26047555 -0.21472861 -8.21813479] [ 0.27302043 0.961526 0.03045654 -4.36691036] [ 0.19853395 -0.08729402 0.97619876 0.12012998] [ 0. 0. 0. 1. ]] SLAMing on 194.072414037 meters Centerline goodness : 0.784500 Centerline is valid? [False, False] Translation: X:-8.22, Y:-4.37, Z:0.12 [[ 0.94147268 -0.26015425 -0.21435708 -8.21954328] [ 0.27254517 0.9616783 0.02989935 -4.36539415] [ 0.19836411 -0.0865714 0.97629763 0.1203506 ] [ 0. 0. 0. 1. ]] SLAMing on 194.102414037 meters Centerline goodness : 0.781409 Centerline is valid? [False, False] Translation: X:-8.22, Y:-4.37, Z:0.12 [[ 0.94200295 -0.25676032 -0.21611242 -8.21855171] [ 0.27001278 0.96226716 0.03368992 -4.36530458] [ 0.19930765 -0.09008912 0.97578707 0.1211257 ] [ 0. 0. 0. 1. ]] SLAMing on 194.132414037 meters Centerline goodness : 0.782064 Centerline is valid? [False, False] Translation: X:-8.22, Y:-4.36, Z:0.12 [[ 0.94207523 -0.25681517 -0.21573185 -8.21963131] [ 0.26985354 0.96234222 0.03281044 -4.36323903] [ 0.19918165 -0.08912591 0.97590125 0.12093586] [ 0. 0. 0. 1. ]] SLAMing on 194.162414037 meters Centerline goodness : 0.782342 Centerline is valid? [False, False] Translation: X:-8.22, Y:-4.36, Z:0.12 [[ 0.94194447 -0.25752886 -0.21545185 -8.21961418] [ 0.27013146 0.96233301 0.03072757 -4.35937142] [ 0.19942319 -0.08714399 0.9760309 0.11977825] [ 0. 0. 0. 1. ]] SLAMing on 194.192414037 meters Centerline goodness : 0.780986 Centerline is valid? [False, False] Translation: X:-8.22, Y:-4.36, Z:0.12 [[ 0.94186988 -0.2575531 -0.21574878 -8.21828684] [ 0.27013961 0.96233751 0.03051397 -4.35827493] [ 0.19976418 -0.08702248 0.97597201 0.11888677] [ 0. 0. 0. 1. ]] SLAMing on 194.222414037 meters Centerline goodness : 0.780677 Centerline is valid? [False, False] Translation: X:-8.22, Y:-4.36, Z:0.12 [[ 0.9418246 -0.25795599 -0.21546492 -8.21837723] [ 0.27035928 0.96230124 0.02970159 -4.35719206] [ 0.19968045 -0.08622663 0.97605978 0.11834227] [ 0. 0. 0. 1. ]] SLAMing on 194.252414037 meters Centerline goodness : 0.778668 Centerline is valid? [False, False] Translation: X:-8.22, Y:-4.36, Z:0.12 [[ 0.94161708 -0.25867929 -0.21550478 -8.21824913] [ 0.27091861 0.96217115 0.02880605 -4.35554953] [ 0.19990095 -0.08550852 0.97607782 0.11825189] [ 0. 0. 0. 1. ]] SLAMing on 194.282414037 meters Centerline goodness : 0.778585 Centerline is valid? [False, False] Translation: X:-8.22, Y:-4.35, Z:0.12 [[ 0.94107798 -0.26029332 -0.21591578 -8.21870993] [ 0.27229511 0.96182651 0.02729728 -4.35120033] [ 0.20056822 -0.08448168 0.97603035 0.11911548] [ 0. 0. 0. 1. ]] SLAMing on 194.312414037 meters Centerline goodness : 0.778752 Centerline is valid? [False, False] Translation: X:-8.22, Y:-4.35, Z:0.12 [[ 0.94080052 -0.26112842 -0.21611648 -8.21906246] [ 0.27300347 0.96164784 0.02650528 -4.34895555] [ 0.20090667 -0.08393673 0.97600775 0.11964076] [ 0. 0. 0. 1. ]] SLAMing on 194.342414037 meters Centerline goodness : 0.777288 Centerline is valid? [False, False] Translation: X:-8.22, Y:-4.35, Z:0.12 [[ 0.94037263 -0.2623913 -0.21644889 -8.2189896 ] [ 0.27410498 0.9613631 0.02544485 -4.34637434] [ 0.20140947 -0.08325736 0.97596231 0.12012083] [ 0. 0. 0. 1. ]] SLAMing on 194.372414037 meters Centerline goodness : 0.778066 Centerline is valid? [False, False] Translation: X:-8.22, Y:-4.34, Z:0.12 [[ 0.93969474 -0.26405672 -0.2173657 -8.2174056 ] [ 0.27572536 0.96092008 0.02466013 -4.34386328] [ 0.20235939 -0.08310624 0.97577868 0.12032919] [ 0. 0. 0. 1. ]] SLAMing on 194.402414037 meters Centerline goodness : 0.779576 Centerline is valid? [False, False] Translation: X:-8.22, Y:-4.34, Z:0.12 [[ 0.93942558 -0.26477645 -0.2176534 -8.216844 ] [ 0.27639366 0.96073943 0.02421327 -4.34331985] [ 0.20269711 -0.08290459 0.97572574 0.12061391] [ 0. 0. 0. 1. ]] SLAMing on 194.432414037 meters Centerline goodness : 0.776364 Centerline is valid? [False, False] Translation: X:-8.22, Y:-4.34, Z:0.12 [[ 0.93916359 -0.26573452 -0.21761645 -8.21756745] [ 0.27719841 0.96052805 0.02338608 -4.3419581 ] [ 0.20281222 -0.08228629 0.97575416 0.12125989] [ 0. 0. 0. 1. ]] SLAMing on 194.46241403699997 meters Centerline goodness : 0.778604 Centerline is valid? [False, False] Translation: X:-8.22, Y:-4.34, Z:0.12 [[ 0.93893031 -0.26601325 -0.21828154 -8.21729777] [ 0.27750878 0.96044217 0.02323174 -4.33992758] [ 0.20346684 -0.08238803 0.97560927 0.12199997] [ 0. 0. 0. 1. ]] SLAMing on 194.49241403699997 meters Centerline goodness : 0.780313 Centerline is valid? [False, False] Translation: X:-8.22, Y:-4.33, Z:0.12 [[ 0.93869978 -0.26723156 -0.21778433 -8.22018093] [ 0.27829836 0.96025968 0.02124541 -4.33262292] [ 0.20345207 -0.08055208 0.97576566 0.12257967] [ 0. 0. 0. 1. ]] SLAMing on 194.52241403699998 meters Centerline goodness : 0.779536 Centerline is valid? [False, False] Translation: X:-8.22, Y:-4.33, Z:0.12 [[ 0.93853394 -0.26787162 -0.21771273 -8.221067 ] [ 0.27868889 0.96017301 0.02000746 -4.32889859] [ 0.20368246 -0.0794518 0.9758078 0.1229556 ] [ 0. 0. 0. 1. ]] SLAMing on 194.55241403699998 meters Centerline goodness : 0.777026 Centerline is valid? [False, False] Translation: X:-8.22, Y:-4.33, Z:0.12 [[ 0.93843883 -0.26825658 -0.21764875 -8.22149221] [ 0.27888093 0.96013639 0.01906647 -4.3257757 ] [ 0.20385778 -0.0785908 0.97584091 0.12297543] [ 0. 0. 0. 1. ]] SLAMing on 194.58241403699998 meters Centerline goodness : 0.775114 Centerline is valid? [False, False] Translation: X:-8.22, Y:-4.32, Z:0.12 [[ 0.93847099 -0.2683259 -0.21742451 -8.2215642 ] [ 0.27873712 0.96019636 0.01812652 -4.32155196] [ 0.2039064 -0.07761549 0.97590881 0.12223771] [ 0. 0. 0. 1. ]] SLAMing on 194.61241403699998 meters Centerline goodness : 0.776127 Centerline is valid? [False, False] Translation: X:-8.22, Y:-4.32, Z:0.12 [[ 0.93841971 -0.26849744 -0.21743408 -8.22139389] [ 0.27879629 0.96018959 0.01756617 -4.31967117] [ 0.20406147 -0.07710425 0.97591693 0.12196923] [ 0. 0. 0. 1. ]] SLAMing on 194.64241403699998 meters Centerline goodness : 0.777271 Centerline is valid? [False, False] Translation: X:-8.22, Y:-4.32, Z:0.12 [[ 0.93837394 -0.26869271 -0.21739037 -8.22151909] [ 0.27886745 0.96017969 0.01696793 -4.31775162] [ 0.20417466 -0.07654536 0.97593725 0.12189845] [ 0. 0. 0. 1. ]] SLAMing on 194.67241403699998 meters Centerline goodness : 0.776811 Centerline is valid? [False, False] Translation: X:-8.22, Y:-4.32, Z:0.12 [[ 0.93828974 -0.26907194 -0.21728471 -8.22212879] [ 0.27907801 0.96013245 0.01616005 -4.31514339] [ 0.20427389 -0.07580219 0.97597449 0.12204916] [ 0. 0. 0. 1. ]] SLAMing on 194.70241403699998 meters Centerline goodness : 0.778042 Centerline is valid? [False, False] Translation: X:-8.22, Y:-4.31, Z:0.12 [[ 0.93909398 -0.26600451 -0.21758699 -8.22469109] [ 0.27649918 0.96083182 0.01871949 -4.31223248] [ 0.20408503 -0.07774199 0.97586141 0.12218423] [ 0. 0. 0. 1. ]] SLAMing on 194.73241403699998 meters Centerline goodness : 0.777036 Centerline is valid? [False, False] Translation: X:-8.22, Y:-4.31, Z:0.12 [[ 0.93906292 -0.26603903 -0.21767879 -8.22464601] [ 0.27643705 0.96085933 0.01821811 -4.31019084] [ 0.20431197 -0.07728243 0.97585042 0.12222217] [ 0. 0. 0. 1. ]] SLAMing on 194.76241403699999 meters Centerline goodness : 0.776494 Centerline is valid? [False, False] Translation: X:-8.22, Y:-4.31, Z:0.12 [[ 0.93899269 -0.26614311 -0.21785449 -8.22443263] [ 0.27644713 0.9608663 0.01769022 -4.30825335] [ 0.2046209 -0.07683623 0.97582093 0.12227162] [ 0. 0. 0. 1. ]] SLAMing on 194.792414037 meters Centerline goodness : 0.777501 Centerline is valid? [False, False] Translation: X:-8.22, Y:-4.31, Z:0.12 [[ 0.93896348 -0.26615318 -0.21796803 -8.22408053] [ 0.27640139 0.96088513 0.01737952 -4.30683569] [ 0.20481662 -0.0765654 0.97580115 0.12207349] [ 0. 0. 0. 1. ]] SLAMing on 194.822414037 meters Centerline goodness : 0.775904 Centerline is valid? [False, False] Translation: X:-8.22, Y:-4.30, Z:0.12 [[ 0.93893494 -0.26635087 -0.21784947 -8.22408326] [ 0.27645847 0.96088018 0.01673287 -4.30417216] [ 0.20487043 -0.0759374 0.97583893 0.12163718] [ 0. 0. 0. 1. ]] SLAMing on 194.852414037 meters Centerline goodness : 0.775213 Centerline is valid? [False, False] Translation: X:-8.22, Y:-4.30, Z:0.12 [[ 0.9388263 -0.26684805 -0.2177092 -8.2245209 ] [ 0.27683162 0.96078289 0.01613974 -4.30281039] [ 0.20486441 -0.07542121 0.97588023 0.12169742] [ 0. 0. 0. 1. ]] SLAMing on 194.882414037 meters Centerline goodness : 0.776054 Centerline is valid? [False, False] Translation: X:-8.22, Y:-4.30, Z:0.12 [[ 0.93875416 -0.26717919 -0.21761413 -8.22479556] [ 0.27706521 0.96072327 0.01567387 -4.30171034] [ 0.20487923 -0.07500721 0.97590902 0.12173227] [ 0. 0. 0. 1. ]] SLAMing on 194.912414037 meters Centerline goodness : 0.779420 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.30, Z:0.12 [[ 0.93856197 -0.26839221 -0.21694941 -8.2272934 ] [ 0.27797549 0.96048109 0.01434247 -4.29945349] [ 0.2045264 -0.07376791 0.97607748 0.12264173] [ 0. 0. 0. 1. ]] SLAMing on 194.942414037 meters Centerline goodness : 0.777277 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.30, Z:0.12 [[ 0.93845362 -0.2689735 -0.2166981 -8.22840256] [ 0.27839451 0.96037059 0.01359541 -4.29765443] [ 0.20445368 -0.07308622 0.97614399 0.12298724] [ 0. 0. 0. 1. ]] SLAMing on 194.972414037 meters Centerline goodness : 0.779613 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.30, Z:0.12 [[ 0.93839565 -0.26927275 -0.21657743 -8.22901091] [ 0.27855835 0.96033187 0.0129595 -4.2957053 ] [ 0.20449657 -0.07249059 0.97617942 0.12317935] [ 0. 0. 0. 1. ]] SLAMing on 195.002414037 meters Centerline goodness : 0.779680 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.29, Z:0.12 [[ 0.93836911 -0.26929371 -0.21666637 -8.22877312] [ 0.27848522 0.96035948 0.01247613 -4.29374579] [ 0.20471786 -0.07204559 0.97616599 0.1230822 ] [ 0. 0. 0. 1. ]] SLAMing on 195.032414037 meters Centerline goodness : 0.778796 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.29, Z:0.12 [[ 0.93849696 -0.26865644 -0.2169036 -8.22735368] [ 0.27781297 0.96055649 0.01229551 -4.29058562] [ 0.20504489 -0.07179793 0.97611559 0.1219255 ] [ 0. 0. 0. 1. ]] SLAMing on 195.062414037 meters Centerline goodness : 0.778970 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.29, Z:0.12 [[ 0.93845557 -0.26872381 -0.21699919 -8.22694257] [ 0.27782478 0.96055694 0.01198942 -4.28904765] [ 0.20521824 -0.07153929 0.97609815 0.12155362] [ 0. 0. 0. 1. ]] SLAMing on 195.092414037 meters Centerline goodness : 0.778041 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.29, Z:0.12 [[ 0.93839207 -0.26897936 -0.21695718 -8.22719394] [ 0.27797942 0.96051824 0.01149584 -4.28766144] [ 0.20529919 -0.07109724 0.97611343 0.12166683] [ 0. 0. 0. 1. ]] SLAMing on 195.122414037 meters Centerline goodness : 0.779901 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.29, Z:0.12 [[ 0.9383022 -0.26951831 -0.21667687 -8.22846314] [ 0.27828857 0.96044076 0.01044139 -4.28510114] [ 0.20529115 -0.07009587 0.97618754 0.12233891] [ 0. 0. 0. 1. ]] SLAMing on 195.152414037 meters Centerline goodness : 0.778902 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.28, Z:0.12 [[ 0.93824873 -0.2697709 -0.21659406 -8.22905753] [ 0.27843085 0.96040507 0.00991743 -4.28367046] [ 0.20534259 -0.06961149 0.97621138 0.12269429] [ 0. 0. 0. 1. ]] SLAMing on 195.182414037 meters Centerline goodness : 0.779492 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.28, Z:0.12 [[ 0.93815107 -0.27015352 -0.21654019 -8.2297308 ] [ 0.27866693 0.96034378 0.00919654 -4.28182288] [ 0.20546854 -0.06897033 0.97623039 0.12317812] [ 0. 0. 0. 1. ]] SLAMing on 195.21241403699997 meters Centerline goodness : 0.779620 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.28, Z:0.12 [[ 0.93811963 -0.27024121 -0.21656697 -8.22961671] [ 0.27866048 0.96035 0.00873042 -4.27983974] [ 0.20562077 -0.06853884 0.97622873 0.12299361] [ 0. 0. 0. 1. ]] SLAMing on 195.24241403699997 meters Centerline goodness : 0.778601 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.28, Z:0.12 [[ 0.93807549 -0.27048738 -0.21645082 -8.22974393] [ 0.2788595 0.96029413 0.00851839 -4.27944388] [ 0.20555234 -0.06835026 0.97625636 0.12288459] [ 0. 0. 0. 1. ]] SLAMing on 195.27241403699998 meters Centerline goodness : 0.780386 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.28, Z:0.12 [[ 0.93802186 -0.27088559 -0.21618509 -8.23023474] [ 0.27919993 0.96019721 0.00828945 -4.27958964] [ 0.20533483 -0.06813455 0.97631721 0.1228653 ] [ 0. 0. 0. 1. ]] SLAMing on 195.30241403699998 meters Centerline goodness : 0.780172 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.28, Z:0.12 [[ 9.37962663e-01 -2.71263722e-01 -2.15967671e-01 -8.23087040e+00] [ 2.79515225e-01 9.60107749e-01 8.02177026e-03 -4.27971643e+00] [ 2.05176220e-01 -6.78903732e-02 9.76367562e-01 1.23113420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.33241403699998 meters Centerline goodness : 0.779085 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.28, Z:0.12 [[ 9.37866985e-01 -2.71785915e-01 -2.15726528e-01 -8.23193883e+00] [ 2.79940492e-01 9.59987404e-01 7.58316914e-03 -4.27955086e+00] [ 2.05033751e-01 -6.75025945e-02 9.76424375e-01 1.23684697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.36241403699998 meters Centerline goodness : 0.782099 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.28, Z:0.12 [[ 9.37767532e-01 -2.72363263e-01 -2.15430520e-01 -8.23332172e+00] [ 2.80395453e-01 9.59858794e-01 7.03465319e-03 -4.27856758e+00] [ 2.04866898e-01 -6.70026074e-02 9.76493832e-01 1.24319352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.39241403699998 meters Centerline goodness : 0.784342 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.28, Z:0.12 [[ 9.37692787e-01 -2.72679958e-01 -2.15355236e-01 -8.23390269e+00] [ 2.80641571e-01 9.59789342e-01 6.68783158e-03 -4.27776184e+00] [ 2.04872023e-01 -6.67087631e-02 9.76512875e-01 1.24665106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42241403699998 meters Centerline goodness : 0.784342 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.28, Z:0.12 [[ 9.37692787e-01 -2.72679958e-01 -2.15355236e-01 -8.23390269e+00] [ 2.80641571e-01 9.59789342e-01 6.68783158e-03 -4.27776184e+00] [ 2.04872023e-01 -6.67087631e-02 9.76512875e-01 1.24665106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.45241403699998 meters Centerline goodness : 0.783168 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.28, Z:0.13 [[ 9.37535013e-01 -2.73446935e-01 -2.15069460e-01 -8.23515964e+00] [ 2.81309403e-01 9.59596938e-01 6.22390963e-03 -4.27711783e+00] [ 2.04678086e-01 -6.63361946e-02 9.76578922e-01 1.25075150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.48241403699998 meters Centerline goodness : 0.784664 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.28, Z:0.13 [[ 9.37415060e-01 -2.74008310e-01 -2.14877761e-01 -8.23579189e+00] [ 2.81803221e-01 9.59454070e-01 5.90193785e-03 -4.27727520e+00] [ 2.04548162e-01 -6.60858106e-02 9.76623118e-01 1.25369442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.51241403699999 meters Centerline goodness : 0.786257 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.28, Z:0.13 [[ 9.37322200e-01 -2.74499688e-01 -2.14655571e-01 -8.23607275e+00] [ 2.82270961e-01 9.59317142e-01 5.80735792e-03 -4.27803997e+00] [ 2.04328651e-01 -6.60343997e-02 9.76672545e-01 1.25224013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.542414037 meters Centerline goodness : 0.784963 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.28, Z:0.13 [[ 9.37196289e-01 -2.75199751e-01 -2.14308688e-01 -8.23664721e+00] [ 2.82899516e-01 9.59133775e-01 5.50141243e-03 -4.27851326e+00] [ 2.04036713e-01 -6.57837272e-02 9.76750491e-01 1.25154982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.572414037 meters Centerline goodness : 0.785568 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.28, Z:0.13 [[ 9.36079827e-01 -2.79674967e-01 -2.13392761e-01 -8.23605473e+00] [ 2.86515552e-01 9.58074864e-01 1.18032191e-03 -4.27636736e+00] [ 2.04116134e-01 -6.22452203e-02 9.76965781e-01 1.25143970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.602414037 meters Centerline goodness : 0.784757 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.28, Z:0.13 [[ 9.35984321e-01 -2.80145602e-01 -2.13194261e-01 -8.23643102e+00] [ 2.86918094e-01 9.57954729e-01 8.63219387e-04 -4.27588701e+00] [ 2.03988624e-01 -6.19772510e-02 9.77009448e-01 1.25023650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.632414037 meters Centerline goodness : 0.782627 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.28, Z:0.12 [[ 9.35915503e-01 -2.80366039e-01 -2.13206602e-01 -8.23627502e+00] [ 2.87102169e-01 9.57899738e-01 6.60468514e-04 -4.27554993e+00] [ 2.04045375e-01 -6.18302205e-02 9.77006913e-01 1.24910853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.662414037 meters Centerline goodness : 0.782358 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.28, Z:0.12 [[ 9.35878560e-01 -2.80567363e-01 -2.13103907e-01 -8.23632334e+00] [ 2.87258715e-01 9.57852924e-01 4.55194983e-04 -4.27529858e+00] [ 2.03994488e-01 -6.16419619e-02 9.77029435e-01 1.24848221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.692414037 meters Centerline goodness : 0.781967 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.27, Z:0.13 [[ 9.35798183e-01 -2.80903505e-01 -2.13014039e-01 -8.23686398e+00] [ 2.87468033e-01 9.57790219e-01 -1.62272687e-04 -4.27380485e+00] [ 2.04068346e-01 -6.10828724e-02 9.77049125e-01 1.25206990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.722414037 meters Centerline goodness : 0.781060 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.27, Z:0.13 [[ 9.35734453e-01 -2.81053310e-01 -2.13096385e-01 -8.23721527e+00] [ 2.87504789e-01 9.57778910e-01 -7.45185443e-04 -4.27210040e+00] [ 2.04308661e-01 -6.05689356e-02 9.77030898e-01 1.25752664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.752414037 meters Centerline goodness : 0.780994 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.27, Z:0.13 [[ 9.35683512e-01 -2.81244463e-01 -2.13067871e-01 -8.23784474e+00] [ 2.87548737e-01 9.57764891e-01 -1.46179184e-03 -4.27000152e+00] [ 2.04480047e-01 -5.98996226e-02 9.77036307e-01 1.26342121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.782414037 meters Centerline goodness : 0.783280 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.27, Z:0.13 [[ 9.36689852e-01 -2.77358422e-01 -2.13739158e-01 -8.23919701e+00] [ 2.84294399e-01 9.58735362e-01 1.78886807e-03 -4.26933658e+00] [ 2.04423131e-01 -6.24404599e-02 9.76889130e-01 1.26576128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.812414037 meters Centerline goodness : 0.778720 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.27, Z:0.13 [[ 9.36713799e-01 -2.77182495e-01 -2.13862391e-01 -8.23886932e+00] [ 2.84078630e-01 9.58799685e-01 1.57991169e-03 -4.26864506e+00] [ 2.04613269e-01 -6.22336601e-02 9.76862519e-01 1.26701766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.842414037 meters Centerline goodness : 0.781610 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.27, Z:0.13 [[ 9.36735972e-01 -2.77024206e-01 -2.13970345e-01 -8.23845406e+00] [ 2.83894411e-01 9.58854467e-01 1.44043601e-03 -4.26827922e+00] [ 2.04767385e-01 -6.20942934e-02 9.76839095e-01 1.26749349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.872414037 meters Centerline goodness : 0.779833 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.27, Z:0.13 [[ 9.36780381e-01 -2.76942253e-01 -2.13881990e-01 -8.23868539e+00] [ 2.83793200e-01 9.58884509e-01 1.38518208e-03 -4.26813407e+00] [ 2.04704511e-01 -6.19958657e-02 9.76858524e-01 1.26874803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.902414037 meters Centerline goodness : 0.781939 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.27, Z:0.13 [[ 9.36872253e-01 -2.76594544e-01 -2.13929521e-01 -8.23871176e+00] [ 2.83377953e-01 9.59007692e-01 1.08749097e-03 -4.26636794e+00] [ 2.04859262e-01 -6.16417500e-02 9.76848493e-01 1.27124072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.932414037 meters Centerline goodness : 0.784132 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.26, Z:0.13 [[ 9.36908635e-01 -2.76333223e-01 -2.14107820e-01 -8.23844516e+00] [ 2.83078884e-01 9.59096224e-01 8.82266466e-04 -4.26497437e+00] [ 2.05106203e-01 -6.14360059e-02 9.76809635e-01 1.27263041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96241403699997 meters Centerline goodness : 0.784236 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.26, Z:0.13 [[ 9.36984737e-01 -2.75845234e-01 -2.14403846e-01 -8.23768910e+00] [ 2.82575352e-01 9.59244793e-01 7.72782134e-04 -4.26350230e+00] [ 2.05452605e-01 -6.13093272e-02 9.76744795e-01 1.27259121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.99241403699997 meters Centerline goodness : 0.783374 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.26, Z:0.13 [[ 9.37047410e-01 -2.75366845e-01 -2.14744619e-01 -8.23663452e+00] [ 2.82091506e-01 9.59387250e-01 6.96991911e-04 -4.26239627e+00] [ 2.05831321e-01 -6.12307476e-02 9.76669987e-01 1.27161681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02241403699998 meters Centerline goodness : 0.783360 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.26, Z:0.13 [[ 9.37220889e-01 -2.74475245e-01 -2.15128672e-01 -8.23446984e+00] [ 2.81295154e-01 9.59620630e-01 1.13228618e-03 -4.26183958e+00] [ 2.06131127e-01 -6.15758553e-02 9.76585056e-01 1.25970782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.05241403699998 meters Centerline goodness : 0.780972 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.26, Z:0.13 [[ 9.37258953e-01 -2.74230801e-01 -2.15274528e-01 -8.23360184e+00] [ 2.81076721e-01 9.59684502e-01 1.23853062e-03 -4.26184814e+00] [ 2.06255985e-01 -6.16694824e-02 9.76552786e-01 1.25585250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.08241403699998 meters Centerline goodness : 0.781392 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.26, Z:0.13 [[ 9.37272072e-01 -2.74131564e-01 -2.15343790e-01 -8.23327308e+00] [ 2.80957882e-01 9.59719427e-01 1.13580532e-03 -4.26172663e+00] [ 2.06358259e-01 -6.15670937e-02 9.76537640e-01 1.25650711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.11241403699998 meters Centerline goodness : 0.779961 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.26, Z:0.13 [[ 9.37224289e-01 -2.74371595e-01 -2.15246045e-01 -8.23449832e+00] [ 2.81030207e-01 9.59698861e-01 3.44858485e-04 -4.26004209e+00] [ 2.06476765e-01 -6.08138504e-02 9.76559789e-01 1.26878929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14241403699998 meters Centerline goodness : 0.780308 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.26, Z:0.13 [[ 9.37166848e-01 -2.74579247e-01 -2.15231355e-01 -8.23549709e+00] [ 2.81069831e-01 9.59687204e-01 -4.68623064e-04 -4.25814750e+00] [ 2.06683452e-01 -6.00558628e-02 9.76562975e-01 1.28044550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.17241403699998 meters Centerline goodness : 0.779470 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.26, Z:0.13 [[ 9.37145199e-01 -2.74572455e-01 -2.15334259e-01 -8.23589179e+00] [ 2.80929717e-01 9.59727681e-01 -1.12777992e-03 -4.25621478e+00] [ 2.06971906e-01 -5.94368989e-02 9.76539751e-01 1.28882290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.20241403699998 meters Centerline goodness : 0.781327 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.25, Z:0.13 [[ 9.37133726e-01 -2.74447573e-01 -2.15543290e-01 -8.23576184e+00] [ 2.80713999e-01 9.59790123e-01 -1.60299005e-03 -4.25465215e+00] [ 2.07316258e-01 -5.90038030e-02 9.76492970e-01 1.29378880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.23241403699998 meters Centerline goodness : 0.783562 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.25, Z:0.13 [[ 9.37266772e-01 -2.73768741e-01 -2.15827881e-01 -8.23413663e+00] [ 2.80068958e-01 9.59978790e-01 -1.44956336e-03 -4.25366781e+00] [ 2.07587034e-01 -5.90880624e-02 9.76430348e-01 1.28520839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26241403699999 meters Centerline goodness : 0.780112 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.25, Z:0.13 [[ 9.37285278e-01 -2.73647274e-01 -2.15901546e-01 -8.23306550e+00] [ 2.79991620e-01 9.60001631e-01 -1.24967219e-03 -4.25428859e+00] [ 2.07607806e-01 -5.92793242e-02 9.76414339e-01 1.27817904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.292414037 meters Centerline goodness : 0.779953 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.26, Z:0.13 [[ 9.37239043e-01 -2.73841017e-01 -2.15856607e-01 -8.23266757e+00] [ 2.80202270e-01 9.59940257e-01 -1.17906532e-03 -4.25538377e+00] [ 2.07532323e-01 -5.93784451e-02 9.76424362e-01 1.27537079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.322414037 meters Centerline goodness : 0.778943 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.26, Z:0.13 [[ 9.37075977e-01 -2.74766132e-01 -2.15388454e-01 -8.23354547e+00] [ 2.81081168e-01 9.59683028e-01 -1.36490119e-03 -4.25660042e+00] [ 2.07079672e-01 -5.92626220e-02 9.76527496e-01 1.27375317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.352414037 meters Centerline goodness : 0.778931 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.26, Z:0.13 [[ 9.36995818e-01 -2.75242445e-01 -2.15128878e-01 -8.23449967e+00] [ 2.81481042e-01 9.59565277e-01 -1.70378785e-03 -4.25625478e+00] [ 2.06899156e-01 -5.89582587e-02 9.76584181e-01 1.27708653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.382414037 meters Centerline goodness : 0.780273 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.26, Z:0.13 [[ 9.36947958e-01 -2.75494252e-01 -2.15014979e-01 -8.23510821e+00] [ 2.81674530e-01 9.59507978e-01 -1.97454612e-03 -4.25543491e+00] [ 2.06852564e-01 -5.87141962e-02 9.76608755e-01 1.27953473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.412414037 meters Centerline goodness : 0.780929 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.25, Z:0.13 [[ 9.36895772e-01 -2.75780387e-01 -2.14875523e-01 -8.23571511e+00] [ 2.81881642e-01 9.59446333e-01 -2.33978453e-03 -4.25398886e+00] [ 2.06806800e-01 -5.83773311e-02 9.76638641e-01 1.28033299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.442414037 meters Centerline goodness : 0.781502 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.25, Z:0.13 [[ 9.36896428e-01 -2.75905941e-01 -2.14711422e-01 -8.23589473e+00] [ 2.81987613e-01 9.59415046e-01 -2.39914088e-03 -4.25410073e+00] [ 2.06659306e-01 -5.82982148e-02 9.76674587e-01 1.27941892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.472414037 meters Centerline goodness : 0.778849 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.25, Z:0.13 [[ 9.36866958e-01 -2.76122445e-01 -2.14561643e-01 -8.23637963e+00] [ 2.82166401e-01 9.59362067e-01 -2.55880719e-03 -4.25437993e+00] [ 2.06548845e-01 -5.81448246e-02 9.76707097e-01 1.28241219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.502414037 meters Centerline goodness : 0.782870 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.25, Z:0.13 [[ 9.36800636e-01 -2.76604035e-01 -2.14230662e-01 -8.23757961e+00] [ 2.82560598e-01 9.59244970e-01 -2.93180079e-03 -4.25456066e+00] [ 2.06310633e-01 -5.77866311e-02 9.76778700e-01 1.28844671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.532414037 meters Centerline goodness : 0.782557 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.25, Z:0.13 [[ 9.36735671e-01 -2.77459172e-01 -2.13407337e-01 -8.24061914e+00] [ 2.83227280e-01 9.59045729e-01 -3.68748879e-03 -4.25469181e+00] [ 2.05690522e-01 -5.69885773e-02 9.76956351e-01 1.30364711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.562414037 meters Centerline goodness : 0.779050 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.25, Z:0.13 [[ 9.36721109e-01 -2.77577336e-01 -2.13317573e-01 -8.24090688e+00] [ 2.83324930e-01 9.59016553e-01 -3.77285740e-03 -4.25495083e+00] [ 2.05622344e-01 -5.69040714e-02 9.76975628e-01 1.30586947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.592414037 meters Centerline goodness : 0.780591 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.26, Z:0.13 [[ 9.36734217e-01 -2.77517787e-01 -2.13337490e-01 -8.24050413e+00] [ 2.83317345e-01 9.59019738e-01 -3.52485498e-03 -4.25580612e+00] [ 2.05573074e-01 -5.71403590e-02 9.76972206e-01 1.30313049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.622414037 meters Centerline goodness : 0.780773 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.26, Z:0.13 [[ 9.36750944e-01 -2.77265580e-01 -2.13591825e-01 -8.23931511e+00] [ 2.83165348e-01 9.59066119e-01 -3.09289126e-03 -4.25701285e+00] [ 2.05706235e-01 -5.75845347e-02 9.76918096e-01 1.29830339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.652414037 meters Centerline goodness : 0.780452 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.26, Z:0.13 [[ 9.37573627e-01 -2.77651029e-01 -2.09441162e-01 -8.24071427e+00] [ 2.83049500e-01 9.59095372e-01 -4.36433428e-03 -4.26027841e+00] [ 2.02085811e-01 -5.51903314e-02 9.77811512e-01 1.26078810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.682414037 meters Centerline goodness : 0.776204 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.26, Z:0.13 [[ 9.37641919e-01 -2.77268723e-01 -2.09641806e-01 -8.23980550e+00] [ 2.82752874e-01 9.59184603e-01 -3.96363006e-03 -4.26093387e+00] [ 2.02184183e-01 -5.55603575e-02 9.77770220e-01 1.25720354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.71241403699997 meters Centerline goodness : 0.777835 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.26, Z:0.13 [[ 9.37867441e-01 -2.76121875e-01 -2.10146074e-01 -8.23829924e+00] [ 2.81708424e-01 9.59493736e-01 -3.48353481e-03 -4.26057334e+00] [ 2.02595721e-01 -5.59328252e-02 9.77663793e-01 1.25620100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74241403699997 meters Centerline goodness : 0.782903 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.26, Z:0.13 [[ 9.37944691e-01 -2.75543528e-01 -2.10560015e-01 -8.23720705e+00] [ 2.81148758e-01 9.59658013e-01 -3.44590741e-03 -4.25959968e+00] [ 2.03015103e-01 -5.59666160e-02 9.77574859e-01 1.25553712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.77241403699998 meters Centerline goodness : 0.779008 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.26, Z:0.13 [[ 9.38038370e-01 -2.74984647e-01 -2.10873093e-01 -8.23627010e+00] [ 2.80601796e-01 9.59818198e-01 -3.41445592e-03 -4.25864446e+00] [ 2.03338755e-01 -5.59684780e-02 9.77507483e-01 1.25444224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.80241403699998 meters Centerline goodness : 0.777526 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.26, Z:0.12 [[ 9.38826933e-01 -2.72903912e-01 -2.10065333e-01 -8.23639765e+00] [ 2.78724453e-01 9.60369089e-01 -1.97299444e-03 -4.25927774e+00] [ 2.02278690e-01 -5.66980447e-02 9.77685360e-01 1.24260564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.83241403699998 meters Centerline goodness : 0.781805 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.26, Z:0.12 [[ 9.38877574e-01 -2.72583799e-01 -2.10254546e-01 -8.23572372e+00] [ 2.78409063e-01 9.60460576e-01 -1.96888426e-03 -4.25931345e+00] [ 2.02477888e-01 -5.66882298e-02 9.77644695e-01 1.24314048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86241403699998 meters Centerline goodness : 0.776099 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.26, Z:0.12 [[ 9.38922417e-01 -2.72450529e-01 -2.10227029e-01 -8.23565370e+00] [ 2.78279801e-01 9.60498121e-01 -1.92685870e-03 -4.25951473e+00] [ 2.02447640e-01 -5.66927648e-02 9.77650696e-01 1.24296536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.89241403699998 meters Centerline goodness : 0.773333 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.26, Z:0.13 [[ 9.38971827e-01 -2.72462063e-01 -2.09991269e-01 -8.23671285e+00] [ 2.78197684e-01 9.60521055e-01 -2.31324222e-03 -4.25918081e+00] [ 2.02331306e-01 -5.62470153e-02 9.77700525e-01 1.25203078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92241403699998 meters Centerline goodness : 0.774819 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.26, Z:0.13 [[ 9.38946204e-01 -2.72638775e-01 -2.09876449e-01 -8.23737163e+00] [ 2.78295756e-01 9.60491691e-01 -2.68031129e-03 -4.25857791e+00] [ 2.02315342e-01 -5.58910570e-02 9.77724241e-01 1.25747788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.95241403699998 meters Centerline goodness : 0.777380 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.26, Z:0.13 [[ 9.38922124e-01 -2.72796167e-01 -2.09779636e-01 -8.23795757e+00] [ 2.78385178e-01 9.60464835e-01 -2.99897008e-03 -4.25797721e+00] [ 2.02304071e-01 -5.55837420e-02 9.77744092e-01 1.26189595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98241403699998 meters Centerline goodness : 0.776832 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.26, Z:0.13 [[ 9.38920021e-01 -2.72777297e-01 -2.09813585e-01 -8.23822065e+00] [ 2.78298567e-01 9.60488831e-01 -3.33367720e-03 -4.25710965e+00] [ 2.02432957e-01 -5.52607640e-02 9.77735724e-01 1.26707083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.01241403699999 meters Centerline goodness : 0.776464 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.26, Z:0.13 [[ 9.38927602e-01 -2.72676703e-01 -2.09910393e-01 -8.23794047e+00] [ 2.78167125e-01 9.60526320e-01 -3.49843837e-03 -4.25668271e+00] [ 2.02578400e-01 -5.51053903e-02 9.77714369e-01 1.26838163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.042414037 meters Centerline goodness : 0.776014 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.26, Z:0.13 [[ 9.38985717e-01 -2.72277823e-01 -2.10168051e-01 -8.23698190e+00] [ 2.77801669e-01 9.60632558e-01 -3.36464983e-03 -4.25672134e+00] [ 2.02810392e-01 -5.52256772e-02 9.77659485e-01 1.26660705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.072414037 meters Centerline goodness : 0.776331 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.26, Z:0.13 [[ 9.39062050e-01 -2.71943067e-01 -2.10260396e-01 -8.23615650e+00] [ 2.77538821e-01 9.60709719e-01 -3.00662069e-03 -4.25798882e+00] [ 2.02816836e-01 -5.55320191e-02 9.77640796e-01 1.26344189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.102414037 meters Centerline goodness : 0.775555 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.26, Z:0.13 [[ 9.39071333e-01 -2.72005233e-01 -2.10138491e-01 -8.23626830e+00] [ 2.77608162e-01 9.60689875e-01 -2.94475572e-03 -4.25875731e+00] [ 2.02678910e-01 -5.55708247e-02 9.77667194e-01 1.26382626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.132414037 meters Centerline goodness : 0.775275 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.26, Z:0.13 [[ 9.39065996e-01 -2.72053068e-01 -2.10100414e-01 -8.23626679e+00] [ 2.77684181e-01 9.60668328e-01 -2.80339282e-03 -4.25959562e+00] [ 2.02599485e-01 -5.57089904e-02 9.77675793e-01 1.26417895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.162414037 meters Centerline goodness : 0.776873 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.26, Z:0.13 [[ 9.39030518e-01 -2.72248326e-01 -2.10006036e-01 -8.23631215e+00] [ 2.77937776e-01 9.60595783e-01 -2.51678589e-03 -4.26100453e+00] [ 2.02416104e-01 -5.60052720e-02 9.77696850e-01 1.26279721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.192414037 meters Centerline goodness : 0.777125 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.26, Z:0.13 [[ 9.39037058e-01 -2.72083995e-01 -2.10189684e-01 -8.23552933e+00] [ 2.77836393e-01 9.60625781e-01 -2.24669316e-03 -4.26184365e+00] [ 2.02524918e-01 -5.62886153e-02 9.77658043e-01 1.26058560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.222414037 meters Centerline goodness : 0.776314 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.26, Z:0.13 [[ 9.39082903e-01 -2.71813457e-01 -2.10334842e-01 -8.23459449e+00] [ 2.77656315e-01 9.60678746e-01 -1.82143803e-03 -4.26277290e+00] [ 2.02559304e-01 -5.66903159e-02 9.77627709e-01 1.25533732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.252414037 meters Centerline goodness : 0.775263 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.26, Z:0.12 [[ 9.39088117e-01 -2.71667323e-01 -2.10500295e-01 -8.23340369e+00] [ 2.77629213e-01 9.60687455e-01 -1.27835745e-03 -4.26414668e+00] [ 2.02572280e-01 -5.72405409e-02 9.77592958e-01 1.24735130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.282414037 meters Centerline goodness : 0.774565 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.26, Z:0.12 [[ 9.39049646e-01 -2.71804553e-01 -2.10494769e-01 -8.23341511e+00] [ 2.77756797e-01 9.60650493e-01 -1.33853738e-03 -4.26429714e+00] [ 2.02575724e-01 -5.72093998e-02 9.77594067e-01 1.24794843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.312414037 meters Centerline goodness : 0.776774 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.26, Z:0.13 [[ 9.39002610e-01 -2.72115410e-01 -2.10302883e-01 -8.23396633e+00] [ 2.78021450e-01 9.60573630e-01 -1.54073002e-03 -4.26434604e+00] [ 2.02430660e-01 -5.70219629e-02 9.77635067e-01 1.25006678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.342414037 meters Centerline goodness : 0.776774 Centerline is valid? [False, False] Translation: X:-8.23, Y:-4.26, Z:0.13 [[ 9.39002610e-01 -2.72115410e-01 -2.10302883e-01 -8.23396633e+00] [ 2.78021450e-01 9.60573630e-01 -1.54073002e-03 -4.26434604e+00] [ 2.02430660e-01 -5.70219629e-02 9.77635067e-01 1.25006678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.372414037 meters Centerline goodness : 0.776447 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.26, Z:0.13 [[ 9.38912568e-01 -2.72649826e-01 -2.10012528e-01 -8.23506651e+00] [ 2.78468590e-01 9.60443381e-01 -1.93827542e-03 -4.26430143e+00] [ 2.02233613e-01 -5.66620214e-02 9.77696774e-01 1.25515807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.402414037 meters Centerline goodness : 0.775120 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.26, Z:0.13 [[ 9.38785873e-01 -2.73381601e-01 -2.09627251e-01 -8.23654516e+00] [ 2.79066437e-01 9.60268392e-01 -2.55731154e-03 -4.26391867e+00] [ 2.01997545e-01 -5.60991619e-02 9.77778030e-01 1.26199675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.432414037 meters Centerline goodness : 0.777611 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.26, Z:0.13 [[ 9.38692992e-01 -2.73795643e-01 -2.09502775e-01 -8.23712936e+00] [ 2.79392171e-01 9.60172402e-01 -2.99541280e-03 -4.26339744e+00] [ 2.01978914e-01 -5.57216621e-02 9.77803464e-01 1.26566102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46241403699997 meters Centerline goodness : 0.776812 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.26, Z:0.13 [[ 9.38567285e-01 -2.74405854e-01 -2.09267483e-01 -8.23782159e+00] [ 2.79884585e-01 9.60027028e-01 -3.56730877e-03 -4.26259198e+00] [ 2.01881330e-01 -5.52225832e-02 9.77851929e-01 1.26740399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.49241403699997 meters Centerline goodness : 0.776841 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.26, Z:0.13 [[ 9.38468024e-01 -2.74815931e-01 -2.09174501e-01 -8.23798412e+00] [ 2.80238334e-01 9.59922695e-01 -3.85961815e-03 -4.26226976e+00] [ 2.01852035e-01 -5.49965853e-02 9.77870713e-01 1.26688444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52241403699998 meters Centerline goodness : 0.779573 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.26, Z:0.13 [[ 9.38358335e-01 -2.75307997e-01 -2.09019476e-01 -8.23834971e+00] [ 2.80677639e-01 9.59793224e-01 -4.12664195e-03 -4.26215084e+00] [ 2.01751574e-01 -5.47948242e-02 9.77902771e-01 1.26687260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.55241403699998 meters Centerline goodness : 0.777972 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.26, Z:0.13 [[ 9.38247794e-01 -2.75865557e-01 -2.08780440e-01 -8.23885653e+00] [ 2.81177925e-01 9.59645568e-01 -4.39979359e-03 -4.26220332e+00] [ 2.01568975e-01 -5.45763543e-02 9.77952642e-01 1.26680768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.58241403699998 meters Centerline goodness : 0.778765 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.26, Z:0.13 [[ 9.38070273e-01 -2.76665698e-01 -2.08519193e-01 -8.23944614e+00] [ 2.81936837e-01 9.59421863e-01 -4.61614054e-03 -4.26266548e+00] [ 2.01335000e-01 -5.44589774e-02 9.78007381e-01 1.26554054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.61241403699998 meters Centerline goodness : 0.778007 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.26, Z:0.13 [[ 9.37976567e-01 -2.77162008e-01 -2.08281496e-01 -8.24012912e+00] [ 2.82367250e-01 9.59293737e-01 -4.92561588e-03 -4.26246592e+00] [ 2.01168328e-01 -5.41917610e-02 9.78056520e-01 1.26709354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64241403699998 meters Centerline goodness : 0.779566 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.26, Z:0.13 [[ 9.37876718e-01 -2.77718408e-01 -2.07989778e-01 -8.24131761e+00] [ 2.82809772e-01 9.59160472e-01 -5.46093773e-03 -4.26145457e+00] [ 2.01012176e-01 -5.36998551e-02 9.78115755e-01 1.27203832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.67241403699998 meters Centerline goodness : 0.780010 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.26, Z:0.13 [[ 9.37838533e-01 -2.77944131e-01 -2.07860399e-01 -8.24181983e+00] [ 2.82971925e-01 9.59110897e-01 -5.75996726e-03 -4.26092048e+00] [ 2.00962122e-01 -5.34167380e-02 9.78141543e-01 1.27441601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.70241403699998 meters Centerline goodness : 0.780713 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.26, Z:0.13 [[ 9.37802908e-01 -2.78151623e-01 -2.07743546e-01 -8.24237942e+00] [ 2.83107203e-01 9.59068855e-01 -6.10272108e-03 -4.26033571e+00] [ 2.00937847e-01 -5.30905446e-02 9.78164289e-01 1.27830029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.73241403699998 meters Centerline goodness : 0.782395 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.26, Z:0.13 [[ 9.37764435e-01 -2.78299030e-01 -2.07719800e-01 -8.24275970e+00] [ 2.83206340e-01 9.59037996e-01 -6.34754245e-03 -4.26011871e+00] [ 2.00977696e-01 -5.28750649e-02 9.78167774e-01 1.28247047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.76241403699999 meters Centerline goodness : 0.781511 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.26, Z:0.13 [[ 9.37732380e-01 -2.78485837e-01 -2.07614120e-01 -8.24282734e+00] [ 2.83382321e-01 9.58985712e-01 -6.39243862e-03 -4.26068396e+00] [ 2.00879178e-01 -5.28397746e-02 9.78189917e-01 1.28232051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.792414037 meters Centerline goodness : 0.779359 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.26, Z:0.13 [[ 9.37696307e-01 -2.78634051e-01 -2.07578182e-01 -8.24275475e+00] [ 2.83527651e-01 9.58942617e-01 -6.41316858e-03 -4.26128561e+00] [ 2.00842492e-01 -5.28405499e-02 9.78197408e-01 1.28268305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.822414037 meters Centerline goodness : 0.781877 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.26, Z:0.13 [[ 9.37669221e-01 -2.78761268e-01 -2.07529728e-01 -8.24283731e+00] [ 2.83654853e-01 9.58904991e-01 -6.41424455e-03 -4.26164765e+00] [ 2.00789335e-01 -5.28523748e-02 9.78207682e-01 1.28332053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.852414037 meters Centerline goodness : 0.782834 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.26, Z:0.13 [[ 9.37531145e-01 -2.79469271e-01 -2.07201060e-01 -8.24426272e+00] [ 2.84256442e-01 9.58723291e-01 -6.92289886e-03 -4.26079541e+00] [ 2.00583220e-01 -5.24078029e-02 9.78273885e-01 1.28890583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.882414037 meters Centerline goodness : 0.783159 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.26, Z:0.13 [[ 9.37474136e-01 -2.79704848e-01 -2.07141117e-01 -8.24443802e+00] [ 2.84451679e-01 9.58663867e-01 -7.12963014e-03 -4.26044410e+00] [ 2.00572896e-01 -5.22377946e-02 9.78285095e-01 1.28956839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.912414037 meters Centerline goodness : 0.781562 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.26, Z:0.13 [[ 9.37456102e-01 -2.79725829e-01 -2.07194394e-01 -8.24391302e+00] [ 2.84499732e-01 9.58650460e-01 -7.01411238e-03 -4.26060553e+00] [ 2.00589030e-01 -5.23713272e-02 9.78274647e-01 1.28544731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.942414037 meters Centerline goodness : 0.782524 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.26, Z:0.13 [[ 9.37439108e-01 -2.79770867e-01 -2.07210476e-01 -8.24316009e+00] [ 2.84585913e-01 9.58626261e-01 -6.82270728e-03 -4.26122283e+00] [ 2.00546198e-01 -5.25733097e-02 9.78272595e-01 1.27891721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.972414037 meters Centerline goodness : 0.779620 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.26, Z:0.13 [[ 9.37316036e-01 -2.80271810e-01 -2.07090222e-01 -8.24298868e+00] [ 2.85074507e-01 9.58480482e-01 -6.90594099e-03 -4.26191166e+00] [ 2.00427477e-01 -5.25630938e-02 9.78297474e-01 1.27498737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.002414037 meters Centerline goodness : 0.782066 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.26, Z:0.13 [[ 9.37229251e-01 -2.80778777e-01 -2.06796058e-01 -8.24389442e+00] [ 2.85500986e-01 9.58350794e-01 -7.27619102e-03 -4.26139644e+00] [ 2.00226166e-01 -5.22210195e-02 9.78357014e-01 1.27679127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.032414037 meters Centerline goodness : 0.782543 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.26, Z:0.13 [[ 9.37145926e-01 -2.81229558e-01 -2.06561006e-01 -8.24483224e+00] [ 2.85851093e-01 9.58242665e-01 -7.75545002e-03 -4.26031925e+00] [ 2.00116631e-01 -5.17777010e-02 9.78402986e-01 1.27996037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.062414037 meters Centerline goodness : 0.783570 Centerline is valid? [False, False] Translation: X:-8.25, Y:-4.26, Z:0.13 [[ 0.93704987 -0.2816792 -0.20638405 -8.24580516] [ 0.2861146 0.95815619 -0.0086684 -4.25767235] [ 0.20018986 -0.05092677 0.97843267 0.12853833] [ 0. 0. 0. 1. ]] SLAMing on 198.092414037 meters Centerline goodness : 0.780363 Centerline is valid? [False, False] Translation: X:-8.25, Y:-4.26, Z:0.13 [[ 0.93699962 -0.28192322 -0.20627895 -8.24617524] [ 0.28627604 0.95810424 -0.00907169 -4.25679712] [ 0.20019426 -0.05055255 0.97845117 0.12868555] [ 0. 0. 0. 1. ]] SLAMing on 198.122414037 meters Centerline goodness : 0.781212 Centerline is valid? [False, False] Translation: X:-8.25, Y:-4.26, Z:0.13 [[ 0.93695454 -0.28214182 -0.20618484 -8.24651614] [ 0.28641802 0.95805819 -0.00944596 -4.25660908] [ 0.20020218 -0.05020462 0.97846747 0.1290936 ] [ 0. 0. 0. 1. ]] SLAMing on 198.152414037 meters Centerline goodness : 0.780145 Centerline is valid? [False, False] Translation: X:-8.25, Y:-4.26, Z:0.13 [[ 0.93687209 -0.28261448 -0.20591197 -8.24751332] [ 0.28679643 0.95794051 -0.00988911 -4.25663186] [ 0.20004622 -0.04978998 0.97852055 0.12969875] [ 0. 0. 0. 1. ]] SLAMing on 198.182414037 meters Centerline goodness : 0.780046 Centerline is valid? [False, False] Translation: X:-8.25, Y:-4.26, Z:0.13 [[ 0.93683713 -0.28281659 -0.20579351 -8.24827581] [ 0.28693106 0.95789681 -0.0102114 -4.25690939] [ 0.2000169 -0.04948213 0.97854216 0.13055544] [ 0. 0. 0. 1. ]] SLAMing on 198.21241403699997 meters Centerline goodness : 0.781976 Centerline is valid? [False, False] Translation: X:-8.25, Y:-4.26, Z:0.13 [[ 0.9368401 -0.28274055 -0.20588447 -8.24840266] [ 0.28682049 0.95792795 -0.01039489 -4.25639659] [ 0.20016155 -0.04931353 0.97852109 0.13102577] [ 0. 0. 0. 1. ]] SLAMing on 198.24241403699997 meters Centerline goodness : 0.781212 Centerline is valid? [False, False] Translation: X:-8.25, Y:-4.26, Z:0.13 [[ 9.37970422e-01 -2.78061472e-01 -2.07106990e-01 -8.24804591e+00] [ 2.82959398e-01 9.59111835e-01 -6.20212367e-03 -4.25736811e+00] [ 2.00363337e-01 -5.27854607e-02 9.78298640e-01 1.30806220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.27241403699998 meters Centerline goodness : 0.785513 Centerline is valid? [False, False] Translation: X:-8.25, Y:-4.26, Z:0.13 [[ 9.38069113e-01 -2.77425783e-01 -2.07512105e-01 -8.24666951e+00] [ 2.82375759e-01 9.59285193e-01 -5.98744554e-03 -4.25688396e+00] [ 2.00724361e-01 -5.29797505e-02 9.78214126e-01 1.30456543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.30241403699998 meters Centerline goodness : 0.783072 Centerline is valid? [False, False] Translation: X:-8.25, Y:-4.26, Z:0.13 [[ 9.38195029e-01 -2.76701787e-01 -2.07909136e-01 -8.24517005e+00] [ 2.81727342e-01 9.59477887e-01 -5.64695916e-03 -4.25697788e+00] [ 2.01046742e-01 -5.32757392e-02 9.78131843e-01 1.30102596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.33241403699998 meters Centerline goodness : 0.781258 Centerline is valid? [False, False] Translation: X:-8.25, Y:-4.26, Z:0.13 [[ 9.39649688e-01 -2.73919516e-01 -2.05003810e-01 -8.24689391e+00] [ 2.79082951e-01 9.60259196e-01 -3.87078738e-03 -4.26017995e+00] [ 1.97917078e-01 -5.35758839e-02 9.78753521e-01 1.26953060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36241403699998 meters Centerline goodness : 0.781988 Centerline is valid? [False, False] Translation: X:-8.25, Y:-4.26, Z:0.13 [[ 9.39704557e-01 -2.73614579e-01 -2.05159471e-01 -8.24667796e+00] [ 2.78763451e-01 9.60351662e-01 -3.95268622e-03 -4.26016022e+00] [ 1.98106751e-01 -5.34766048e-02 9.78720577e-01 1.27440151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.39241403699998 meters Centerline goodness : 0.781274 Centerline is valid? [False, False] Translation: X:-8.25, Y:-4.26, Z:0.13 [[ 9.39771057e-01 -2.73260725e-01 -2.05326414e-01 -8.24645253e+00] [ 2.78404571e-01 9.60455628e-01 -3.98508931e-03 -4.25991381e+00] [ 1.98295879e-01 -5.34187406e-02 9.78685436e-01 1.27832850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42241403699998 meters Centerline goodness : 0.783555 Centerline is valid? [False, False] Translation: X:-8.25, Y:-4.26, Z:0.13 [[ 9.40738254e-01 -2.69553984e-01 -2.05796472e-01 -8.24848452e+00] [ 2.75315856e-01 9.61353597e-01 -6.63443706e-04 -4.26144271e+00] [ 1.98022013e-01 -5.60349050e-02 9.78594590e-01 1.28985594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.45241403699998 meters Centerline goodness : 0.783878 Centerline is valid? [False, False] Translation: X:-8.25, Y:-4.26, Z:0.13 [[ 9.40745101e-01 -2.69270326e-01 -2.06136232e-01 -8.24799491e+00] [ 2.75014477e-01 9.61439737e-01 -8.18244794e-04 -4.26095091e+00] [ 1.98407894e-01 -5.59206882e-02 9.78522961e-01 1.29490562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48241403699998 meters Centerline goodness : 0.781568 Centerline is valid? [False, False] Translation: X:-8.25, Y:-4.26, Z:0.13 [[ 9.40776554e-01 -2.68926670e-01 -2.06441085e-01 -8.24728596e+00] [ 2.74683981e-01 9.61534224e-01 -8.03852526e-04 -4.26059799e+00] [ 1.98716346e-01 -5.59498135e-02 9.78458702e-01 1.29602177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.51241403699999 meters Centerline goodness : 0.779421 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.26, Z:0.13 [[ 9.40913511e-01 -2.67950967e-01 -2.07084629e-01 -8.24480774e+00] [ 2.73852315e-01 9.61771739e-01 -1.75407347e-04 -4.26113458e+00] [ 1.99215144e-01 -5.65455619e-02 9.78323017e-01 1.28780762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.542414037 meters Centerline goodness : 0.779740 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.26, Z:0.13 [[ 9.40929702e-01 -2.67789448e-01 -2.07219950e-01 -8.24388491e+00] [ 2.73739131e-01 9.61803975e-01 4.01672865e-05 -4.26180659e+00] [ 1.99294215e-01 -5.67620035e-02 9.78294378e-01 1.28309036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.572414037 meters Centerline goodness : 0.779346 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.26, Z:0.13 [[ 9.40936138e-01 -2.67655058e-01 -2.07364303e-01 -8.24311838e+00] [ 2.73654976e-01 9.61827888e-01 2.59237625e-04 -4.26260741e+00] [ 1.99379383e-01 -5.69901994e-02 9.78263757e-01 1.28031281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.602414037 meters Centerline goodness : 0.778954 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.26, Z:0.13 [[ 9.40919995e-01 -2.67697176e-01 -2.07383182e-01 -8.24286816e+00] [ 2.73715727e-01 9.61810576e-01 3.40555716e-04 -4.26325702e+00] [ 1.99372172e-01 -5.70844743e-02 9.78259730e-01 1.27970196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.632414037 meters Centerline goodness : 0.779698 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.26, Z:0.13 [[ 9.40918659e-01 -2.67829437e-01 -2.07218409e-01 -8.24313368e+00] [ 2.73865303e-01 9.61767948e-01 4.59446444e-04 -4.26411776e+00] [ 1.99172971e-01 -5.71822341e-02 9.78294598e-01 1.27960827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.662414037 meters Centerline goodness : 0.778479 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.26, Z:0.13 [[ 9.40896129e-01 -2.68012702e-01 -2.07083716e-01 -8.24369848e+00] [ 2.74023547e-01 9.61722917e-01 3.56074346e-04 -4.26432770e+00] [ 1.99061723e-01 -5.70808433e-02 9.78323161e-01 1.28288907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.692414037 meters Centerline goodness : 0.779313 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.26, Z:0.13 [[ 9.40856591e-01 -2.68246810e-01 -2.06960198e-01 -8.24431577e+00] [ 2.74211881e-01 9.61669290e-01 1.41749434e-04 -4.26444022e+00] [ 1.98989243e-01 -5.68843112e-02 9.78349353e-01 1.28780499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.722414037 meters Centerline goodness : 0.779117 Centerline is valid? [False, False] Translation: X:-8.25, Y:-4.26, Z:0.13 [[ 9.40792833e-01 -2.68635888e-01 -2.06745264e-01 -8.24540055e+00] [ 2.74518182e-01 9.61581878e-01 -2.45054580e-04 -4.26428679e+00] [ 1.98868329e-01 -5.65247882e-02 9.78394775e-01 1.29514350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.752414037 meters Centerline goodness : 0.777559 Centerline is valid? [False, False] Translation: X:-8.25, Y:-4.26, Z:0.13 [[ 9.40691805e-01 -2.69334195e-01 -2.06295950e-01 -8.24698116e+00] [ 2.75139431e-01 9.61404165e-01 -5.70098562e-04 -4.26497316e+00] [ 1.98487332e-01 -5.62238632e-02 9.78489477e-01 1.30239485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.782414037 meters Centerline goodness : 0.777508 Centerline is valid? [False, False] Translation: X:-8.25, Y:-4.27, Z:0.13 [[ 9.40618858e-01 -2.69606953e-01 -2.06272285e-01 -8.24713174e+00] [ 2.75408289e-01 9.61327156e-01 -6.12081090e-04 -4.26594356e+00] [ 1.98460170e-01 -5.62333620e-02 9.78494440e-01 1.30520053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.812414037 meters Centerline goodness : 0.778536 Centerline is valid? [False, False] Translation: X:-8.25, Y:-4.27, Z:0.13 [[ 9.40569000e-01 -2.69828049e-01 -2.06210525e-01 -8.24699015e+00] [ 2.75658782e-01 9.61255435e-01 -4.73173797e-04 -4.26723968e+00] [ 1.98348663e-01 -5.63986895e-02 9.78507535e-01 1.30377846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.842414037 meters Centerline goodness : 0.779630 Centerline is valid? [False, False] Translation: X:-8.25, Y:-4.27, Z:0.13 [[ 9.40342121e-01 -2.70940898e-01 -2.05785630e-01 -8.24790846e+00] [ 2.76672765e-01 9.60963715e-01 -9.58851138e-04 -4.26893679e+00] [ 1.98012316e-01 -5.60336312e-02 9.78596625e-01 1.30811247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.872414037 meters Centerline goodness : 0.779056 Centerline is valid? [False, False] Translation: X:-8.25, Y:-4.27, Z:0.13 [[ 9.40290450e-01 -2.71241173e-01 -2.05626105e-01 -8.24838004e+00] [ 2.76957880e-01 9.60881518e-01 -1.02020508e-03 -4.26933898e+00] [ 1.97859045e-01 -5.59904810e-02 9.78630096e-01 1.30952966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.902414037 meters Centerline goodness : 0.779578 Centerline is valid? [False, False] Translation: X:-8.25, Y:-4.27, Z:0.13 [[ 9.40200860e-01 -2.71657947e-01 -2.05485530e-01 -8.24888319e+00] [ 2.77335647e-01 9.60772323e-01 -1.21771323e-03 -4.26938937e+00] [ 1.97755612e-01 -5.58435676e-02 9.78659396e-01 1.31115865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.932414037 meters Centerline goodness : 0.778850 Centerline is valid? [False, False] Translation: X:-8.25, Y:-4.27, Z:0.13 [[ 9.40117316e-01 -2.72035433e-01 -2.05368341e-01 -8.24874029e+00] [ 2.77747650e-01 9.60653492e-01 -1.05377983e-03 -4.27052293e+00] [ 1.97574479e-01 -5.60498974e-02 9.78684185e-01 1.30707767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96241403699997 meters Centerline goodness : 0.778734 Centerline is valid? [False, False] Translation: X:-8.25, Y:-4.27, Z:0.13 [[ 9.40066997e-01 -2.72336894e-01 -2.05199068e-01 -8.24887118e+00] [ 2.78052082e-01 9.60565455e-01 -1.02255381e-03 -4.27129691e+00] [ 1.97385615e-01 -5.60947590e-02 9.78719723e-01 1.30562787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.99241403699997 meters Centerline goodness : 0.777724 Centerline is valid? [False, False] Translation: X:-8.25, Y:-4.27, Z:0.13 [[ 9.40005197e-01 -2.72813245e-01 -2.04849121e-01 -8.24950224e+00] [ 2.78518240e-01 9.60430395e-01 -1.02289720e-03 -4.27210875e+00] [ 1.97022382e-01 -5.60926880e-02 9.78793028e-01 1.30409801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02241403699998 meters Centerline goodness : 0.776249 Centerline is valid? [False, False] Translation: X:-8.25, Y:-4.27, Z:0.13 [[ 9.39692746e-01 -2.74259499e-01 -2.04350852e-01 -8.25100802e+00] [ 2.79867368e-01 9.60037475e-01 -1.51730128e-03 -4.27331357e+00] [ 1.96600610e-01 -5.57653380e-02 9.78896535e-01 1.30720813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.05241403699998 meters Centerline goodness : 0.774223 Centerline is valid? [False, False] Translation: X:-8.25, Y:-4.27, Z:0.13 [[ 9.39557413e-01 -2.75007692e-01 -2.03967243e-01 -8.25199771e+00] [ 2.80540607e-01 9.59840355e-01 -1.86046255e-03 -4.27350024e+00] [ 1.96287633e-01 -5.54730829e-02 9.78975946e-01 1.30854849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08241403699998 meters Centerline goodness : 0.774797 Centerline is valid? [False, False] Translation: X:-8.25, Y:-4.27, Z:0.13 [[ 9.39388481e-01 -2.75877961e-01 -2.03569722e-01 -8.25308167e+00] [ 2.81330666e-01 9.59608274e-01 -2.23995437e-03 -4.27368543e+00] [ 1.95965144e-01 -5.51662181e-02 9.79057889e-01 1.30974739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.11241403699998 meters Centerline goodness : 0.775660 Centerline is valid? [False, False] Translation: X:-8.25, Y:-4.27, Z:0.13 [[ 9.38129986e-01 -2.81003324e-01 -2.02359238e-01 -8.25377922e+00] [ 2.85577839e-01 9.58331075e-01 -6.84467626e-03 -4.27198584e+00] [ 1.95850522e-01 -5.13681177e-02 9.79287440e-01 1.31553278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14241403699998 meters Centerline goodness : 0.773879 Centerline is valid? [False, False] Translation: X:-8.25, Y:-4.27, Z:0.13 [[ 9.38024047e-01 -2.81583271e-01 -2.02043927e-01 -8.25448520e+00] [ 2.86115536e-01 9.58169307e-01 -7.03408954e-03 -4.27266258e+00] [ 1.95572972e-01 -5.12097613e-02 9.79351200e-01 1.31679723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.17241403699998 meters Centerline goodness : 0.775226 Centerline is valid? [False, False] Translation: X:-8.26, Y:-4.27, Z:0.13 [[ 9.37858365e-01 -2.82398162e-01 -2.01675397e-01 -8.25555189e+00] [ 2.86821301e-01 9.57954191e-01 -7.57031903e-03 -4.27250350e+00] [ 1.95333636e-01 -5.07449126e-02 9.79423159e-01 1.31997262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.20241403699998 meters Centerline goodness : 0.775227 Centerline is valid? [False, False] Translation: X:-8.26, Y:-4.27, Z:0.13 [[ 9.37752999e-01 -2.82939484e-01 -2.01406458e-01 -8.25638848e+00] [ 2.87287982e-01 9.57811413e-01 -7.93172632e-03 -4.27216237e+00] [ 1.95153603e-01 -5.04236547e-02 9.79475639e-01 1.32205406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.23241403699998 meters Centerline goodness : 0.775227 Centerline is valid? [False, False] Translation: X:-8.26, Y:-4.27, Z:0.13 [[ 9.37752999e-01 -2.82939484e-01 -2.01406458e-01 -8.25638848e+00] [ 2.87287982e-01 9.57811413e-01 -7.93172632e-03 -4.27216237e+00] [ 1.95153603e-01 -5.04236547e-02 9.79475639e-01 1.32205406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26241403699999 meters Centerline goodness : 0.777357 Centerline is valid? [False, False] Translation: X:-8.26, Y:-4.27, Z:0.13 [[ 0.93749091 -0.28414639 -0.2009269 -8.25847381] [ 0.28825203 0.95751081 -0.00915547 -4.26942658] [ 0.19499117 -0.04933442 0.97956345 0.13297024] [ 0. 0. 0. 1. ]] SLAMing on 199.292414037 meters Centerline goodness : 0.778395 Centerline is valid? [False, False] Translation: X:-8.26, Y:-4.27, Z:0.13 [[ 0.93735518 -0.28477578 -0.20066891 -8.25957727] [ 0.28874853 0.95735457 -0.00982446 -4.26808292] [ 0.19490907 -0.04873384 0.97960986 0.13339439] [ 0. 0. 0. 1. ]] SLAMing on 199.322414037 meters Centerline goodness : 0.777447 Centerline is valid? [False, False] Translation: X:-8.26, Y:-4.27, Z:0.13 [[ 0.93719238 -0.28549507 -0.20040711 -8.26024778] [ 0.28932349 0.95717312 -0.01056069 -4.26638382] [ 0.19483933 -0.04808508 0.97965579 0.13334328] [ 0. 0. 0. 1. ]] SLAMing on 199.352414037 meters Centerline goodness : 0.778438 Centerline is valid? [False, False] Translation: X:-8.26, Y:-4.27, Z:0.13 [[ 0.93711572 -0.28585323 -0.20025496 -8.26058644] [ 0.28961438 0.95708135 -0.01089914 -4.26607913] [ 0.19477584 -0.04778296 0.97968319 0.13346519] [ 0. 0. 0. 1. ]] SLAMing on 199.382414037 meters Centerline goodness : 0.778841 Centerline is valid? [False, False] Translation: X:-8.26, Y:-4.27, Z:0.13 [[ 0.93701504 -0.28630746 -0.20007712 -8.26108659] [ 0.28998196 0.95696493 -0.01133934 -4.26539589] [ 0.19471332 -0.04739362 0.97971453 0.1335834 ] [ 0. 0. 0. 1. ]] SLAMing on 199.412414037 meters Centerline goodness : 0.778216 Centerline is valid? [False, False] Translation: X:-8.26, Y:-4.26, Z:0.13 [[ 0.9369304 -0.28667875 -0.1999418 -8.26163207] [ 0.29026831 0.95687288 -0.01177302 -4.2645763 ] [ 0.19469396 -0.04700627 0.97973704 0.13384668] [ 0. 0. 0. 1. ]] SLAMing on 199.442414037 meters Centerline goodness : 0.777358 Centerline is valid? [False, False] Translation: X:-8.26, Y:-4.26, Z:0.13 [[ 0.93681491 -0.28722498 -0.19969888 -8.26273697] [ 0.2906399 0.95674887 -0.01265096 -4.2617706 ] [ 0.19469535 -0.04618885 0.97977564 0.13420335] [ 0. 0. 0. 1. ]] SLAMing on 199.472414037 meters Centerline goodness : 0.778575 Centerline is valid? [False, False] Translation: X:-8.26, Y:-4.26, Z:0.13 [[ 0.93675099 -0.28746048 -0.19965987 -8.26330217] [ 0.29077091 0.95670175 -0.01319244 -4.26009533] [ 0.19480725 -0.04569725 0.97977645 0.13464214] [ 0. 0. 0. 1. ]] SLAMing on 199.502414037 meters Centerline goodness : 0.778365 Centerline is valid? [False, False] Translation: X:-8.26, Y:-4.26, Z:0.14 [[ 0.93669365 -0.28759287 -0.19973821 -8.2637061 ] [ 0.29078726 0.95668809 -0.01380856 -4.25830952] [ 0.19505841 -0.04514693 0.97975199 0.13528754] [ 0. 0. 0. 1. ]] SLAMing on 199.532414037 meters Centerline goodness : 0.776122 Centerline is valid? [False, False] Translation: X:-8.26, Y:-4.26, Z:0.14 [[ 0.93669223 -0.28756348 -0.19978715 -8.26381098] [ 0.29067456 0.95671608 -0.01423521 -4.25657647] [ 0.19523311 -0.04473903 0.97973591 0.13550931] [ 0. 0. 0. 1. ]] SLAMing on 199.562414037 meters Centerline goodness : 0.778235 Centerline is valid? [False, False] Translation: X:-8.26, Y:-4.25, Z:0.14 [[ 0.93681169 -0.28704385 -0.19997421 -8.26314941] [ 0.29009941 0.95688664 -0.01450136 -4.25403252] [ 0.19551517 -0.04442735 0.97969384 0.13523012] [ 0. 0. 0. 1. ]] SLAMing on 199.592414037 meters Centerline goodness : 0.776107 Centerline is valid? [False, False] Translation: X:-8.26, Y:-4.25, Z:0.14 [[ 0.93680657 -0.28699373 -0.20007011 -8.26296205] [ 0.28999933 0.95691289 -0.01476841 -4.25291323] [ 0.19568811 -0.04418506 0.97967027 0.13526705] [ 0. 0. 0. 1. ]] SLAMing on 199.622414037 meters Centerline goodness : 0.776920 Centerline is valid? [False, False] Translation: X:-8.26, Y:-4.25, Z:0.14 [[ 0.93676364 -0.28732247 -0.19979907 -8.26406763] [ 0.29017499 0.95684793 -0.01550825 -4.25060501] [ 0.1956332 -0.04344913 0.97971415 0.13573564] [ 0. 0. 0. 1. ]] SLAMing on 199.652414037 meters Centerline goodness : 0.776173 Centerline is valid? [False, False] Translation: X:-8.26, Y:-4.25, Z:0.14 [[ 0.93669924 -0.2876914 -0.19957003 -8.2649211 ] [ 0.29045294 0.95675631 -0.01595188 -4.24933317] [ 0.19552911 -0.04302359 0.97975371 0.13596608] [ 0. 0. 0. 1. ]] SLAMing on 199.682414037 meters Centerline goodness : 0.777071 Centerline is valid? [False, False] Translation: X:-8.27, Y:-4.25, Z:0.14 [[ 0.93665546 -0.28785219 -0.19954363 -8.26511182] [ 0.2905632 0.95671838 -0.01621636 -4.2483239 ] [ 0.19557498 -0.0427909 0.97975475 0.13601181] [ 0. 0. 0. 1. ]] SLAMing on 199.71241403699997 meters Centerline goodness : 0.776647 Centerline is valid? [False, False] Translation: X:-8.27, Y:-4.25, Z:0.14 [[ 0.93651987 -0.28849561 -0.19925062 -8.26595299] [ 0.29110986 0.95654377 -0.01670513 -4.24722545] [ 0.1954113 -0.04235913 0.97980617 0.13605486] [ 0. 0. 0. 1. ]] SLAMing on 199.74241403699997 meters Centerline goodness : 0.777745 Centerline is valid? [False, False] Translation: X:-8.27, Y:-4.25, Z:0.14 [[ 0.93647114 -0.28864486 -0.1992635 -8.26566835] [ 0.2912605 0.95649771 -0.01671701 -4.2471342 ] [ 0.19542036 -0.04238259 0.97980335 0.13572918] [ 0. 0. 0. 1. ]] SLAMing on 199.77241403699998 meters Centerline goodness : 0.776750 Centerline is valid? [False, False] Translation: X:-8.27, Y:-4.25, Z:0.14 [[ 0.93643888 -0.2888109 -0.19917452 -8.26545803] [ 0.29140935 0.95645089 -0.01680131 -4.246637 ] [ 0.19535305 -0.04230792 0.97982 0.13522803] [ 0. 0. 0. 1. ]] SLAMing on 199.80241403699998 meters Centerline goodness : 0.777439 Centerline is valid? [False, False] Translation: X:-8.27, Y:-4.24, Z:0.13 [[ 0.93635714 -0.28917019 -0.19903745 -8.26543202] [ 0.29170072 0.95635587 -0.01715033 -4.24413175] [ 0.19531 -0.04200054 0.9798418 0.1343847 ] [ 0. 0. 0. 1. ]] SLAMing on 199.83241403699998 meters Centerline goodness : 0.778373 Centerline is valid? [False, False] Translation: X:-8.27, Y:-4.24, Z:0.13 [[ 0.93628227 -0.28954865 -0.19883934 -8.26604253] [ 0.2919982 0.95625776 -0.0175539 -4.24255424] [ 0.19522437 -0.04162533 0.97987488 0.13428852] [ 0. 0. 0. 1. ]] SLAMing on 199.86241403699998 meters Centerline goodness : 0.781751 Centerline is valid? [False, False] Translation: X:-8.27, Y:-4.24, Z:0.13 [[ 0.93604959 -0.29074865 -0.1981827 -8.26825434] [ 0.29296571 0.95593989 -0.018709 -4.23954169] [ 0.19489037 -0.04054818 0.97998653 0.13468381] [ 0. 0. 0. 1. ]] SLAMing on 199.89241403699998 meters Centerline goodness : 0.781584 Centerline is valid? [False, False] Translation: X:-8.27, Y:-4.24, Z:0.14 [[ 0.93592038 -0.29138123 -0.19786364 -8.26936639] [ 0.29346086 0.95577421 -0.01940054 -4.23837871] [ 0.19476592 -0.03990787 0.98003755 0.13513537] [ 0. 0. 0. 1. ]] SLAMing on 199.92241403699998 meters Centerline goodness : 0.783340 Centerline is valid? [False, False] Translation: X:-8.27, Y:-4.24, Z:0.14 [[ 0.9358301 -0.29190941 -0.19751184 -8.2704631 ] [ 0.29387821 0.95563483 -0.01994174 -4.23748284] [ 0.19457038 -0.03938235 0.98009765 0.13546434] [ 0. 0. 0. 1. ]] SLAMing on 199.95241403699998 meters Centerline goodness : 0.786009 Centerline is valid? [False, False] Translation: X:-8.27, Y:-4.23, Z:0.14 [[ 0.9356079 -0.29307483 -0.19683751 -8.27291981] [ 0.29477322 0.95533 -0.02129182 -4.23492951] [ 0.19428487 -0.03810163 0.9802049 0.13645757] [ 0. 0. 0. 1. ]] SLAMing on 199.98241403699998 meters Centerline goodness : 0.787992 Centerline is valid? [False, False] Translation: X:-8.27, Y:-4.23, Z:0.14 [[ 0.93547271 -0.29371951 -0.19651883 -8.27439874] [ 0.29525812 0.95516181 -0.02210346 -4.23287054] [ 0.1941995 -0.0373466 0.98025088 0.13711402] [ 0. 0. 0. 1. ]] SLAMing on 200.01241403699999 meters Centerline goodness : 0.791716 Centerline is valid? [False, False] Translation: X:-8.29, Y:-4.24, Z:0.13 [[ 0.937408 -0.29050344 -0.19202605 -8.29337352] [ 0.29130614 0.95631149 -0.0246793 -4.23607132] [ 0.19080614 -0.0328038 0.98107947 0.13472043] [ 0. 0. 0. 1. ]] SLAMing on 200.042414037 meters Centerline goodness : 0.793289 Centerline is valid? [False, False] Translation: X:-8.29, Y:-4.23, Z:0.14 [[ 0.93730045 -0.29101859 -0.19177082 -8.29460575] [ 0.29168844 0.95617683 -0.02537157 -4.23417163] [ 0.19075041 -0.03215655 0.98111174 0.13528094] [ 0. 0. 0. 1. ]] SLAMing on 200.072414037 meters Centerline goodness : 0.791137 Centerline is valid? [False, False] Translation: X:-8.30, Y:-4.23, Z:0.14 [[ 0.93722005 -0.29134244 -0.191672 -8.29518421] [ 0.29192333 0.95609245 -0.02584576 -4.23286617] [ 0.19078612 -0.03173037 0.98111867 0.13560045] [ 0. 0. 0. 1. ]] SLAMing on 200.102414037 meters Centerline goodness : 0.792309 Centerline is valid? [False, False] Translation: X:-8.30, Y:-4.23, Z:0.14 [[ 0.93714827 -0.29175003 -0.19140281 -8.29567742] [ 0.29225228 0.95598101 -0.0262471 -4.23137962] [ 0.19063504 -0.03134048 0.98116057 0.13535458] [ 0. 0. 0. 1. ]] SLAMing on 200.132414037 meters Centerline goodness : 0.791618 Centerline is valid? [False, False] Translation: X:-8.30, Y:-4.23, Z:0.14 [[ 0.93708932 -0.29205771 -0.19122213 -8.29592266] [ 0.29252134 0.95589319 -0.02644757 -4.23090056] [ 0.19051215 -0.03115281 0.98119041 0.13514073] [ 0. 0. 0. 1. ]] SLAMing on 200.162414037 meters Centerline goodness : 0.793514 Centerline is valid? [False, False] Translation: X:-8.30, Y:-4.23, Z:0.13 [[ 0.93913987 -0.28995514 -0.18423444 -8.30373221] [ 0.29009723 0.95662213 -0.02678993 -4.23384634] [ 0.18401062 -0.02828641 0.98251716 0.12964469] [ 0. 0. 0. 1. ]] SLAMing on 200.192414037 meters Centerline goodness : 0.793855 Centerline is valid? [False, False] Translation: X:-8.31, Y:-4.24, Z:0.12 [[ 0.94089392 -0.28866924 -0.17716854 -8.31175865] [ 0.28847228 0.95709489 -0.02744303 -4.23658343] [ 0.17748907 -0.02528723 0.98379784 0.12437247] [ 0. 0. 0. 1. ]] SLAMing on 200.222414037 meters Centerline goodness : 0.793089 Centerline is valid? [False, False] Translation: X:-8.31, Y:-4.24, Z:0.12 [[ 0.9408668 -0.28883912 -0.17703567 -8.31191313] [ 0.28864812 0.95704291 -0.0274069 -4.23652932] [ 0.17734691 -0.02531477 0.98382277 0.12410961] [ 0. 0. 0. 1. ]] SLAMing on 200.252414037 meters Centerline goodness : 0.793628 Centerline is valid? [False, False] Translation: X:-8.31, Y:-4.24, Z:0.12 [[ 0.9408481 -0.28894974 -0.17695454 -8.3119995 ] [ 0.28874962 0.95701087 -0.02745626 -4.23589202] [ 0.17728089 -0.02526339 0.98383599 0.12385621] [ 0. 0. 0. 1. ]] SLAMing on 200.282414037 meters Centerline goodness : 0.796464 Centerline is valid? [False, False] Translation: X:-8.33, Y:-4.24, Z:0.12 [[ 0.94258095 -0.28525842 -0.17369163 -8.33415691] [ 0.28528806 0.95810684 -0.02533776 -4.24117295] [ 0.17364295 -0.02566926 0.98447408 0.11644361] [ 0. 0. 0. 1. ]] SLAMing on 200.312414037 meters Centerline goodness : 0.793507 Centerline is valid? [False, False] Translation: X:-8.33, Y:-4.24, Z:0.12 [[ 0.94254713 -0.28539813 -0.17364567 -8.33435031] [ 0.28537591 0.95807269 -0.02563794 -4.24011258] [ 0.1736822 -0.02538933 0.98447442 0.11653476] [ 0. 0. 0. 1. ]] SLAMing on 200.342414037 meters Centerline goodness : 0.796925 Centerline is valid? [False, False] Translation: X:-8.33, Y:-4.24, Z:0.12 [[ 0.94252241 -0.2854913 -0.17362669 -8.33441415] [ 0.28542733 0.95805086 -0.02588036 -4.23921685] [ 0.17373181 -0.02516499 0.98447142 0.11657286] [ 0. 0. 0. 1. ]] SLAMing on 200.372414037 meters Centerline goodness : 0.800195 Centerline is valid? [False, False] Translation: X:-8.34, Y:-4.24, Z:0.12 [[ 0.94246114 -0.28601917 -0.17308966 -8.33575655] [ 0.28585403 0.95790875 -0.02642534 -4.2377362 ] [ 0.17336225 -0.02457352 0.98455151 0.11673458] [ 0. 0. 0. 1. ]] SLAMing on 200.402414037 meters Centerline goodness : 0.798619 Centerline is valid? [False, False] Translation: X:-8.34, Y:-4.24, Z:0.12 [[ 0.94240322 -0.28640653 -0.17276421 -8.33644049] [ 0.28618218 0.95780172 -0.02675123 -4.23691333] [ 0.17313559 -0.0242316 0.98459987 0.11664436] [ 0. 0. 0. 1. ]] SLAMing on 200.43241403699997 meters Centerline goodness : 0.797370 Centerline is valid? [False, False] Translation: X:-8.34, Y:-4.24, Z:0.12 [[ 0.94232265 -0.28684093 -0.17248277 -8.33720197] [ 0.28654743 0.95768142 -0.0271453 -4.23622212] [ 0.17296992 -0.02384486 0.98463842 0.11682227] [ 0. 0. 0. 1. ]] SLAMing on 200.46241403699997 meters Centerline goodness : 0.796337 Centerline is valid? [False, False] Translation: X:-8.34, Y:-4.24, Z:0.12 [[ 0.94223522 -0.28734508 -0.17212086 -8.33779058] [ 0.28697406 0.95754115 -0.02758337 -4.23509236] [ 0.17273875 -0.0234042 0.98468958 0.11658492] [ 0. 0. 0. 1. ]] SLAMing on 200.49241403699997 meters Centerline goodness : 0.801166 Centerline is valid? [False, False] Translation: X:-8.34, Y:-4.23, Z:0.12 [[ 0.94216187 -0.28770012 -0.17192922 -8.33832391] [ 0.28726021 0.95744375 -0.02798279 -4.23400417] [ 0.17266321 -0.0230241 0.98471179 0.11664707] [ 0. 0. 0. 1. ]] SLAMing on 200.52241403699998 meters Centerline goodness : 0.799089 Centerline is valid? [False, False] Translation: X:-8.34, Y:-4.24, Z:0.11 [[ 0.94359553 -0.28568398 -0.16736825 -8.34410351] [ 0.28528649 0.95806368 -0.02693694 -4.23528586] [ 0.16804489 -0.02233032 0.98552639 0.11321032] [ 0. 0. 0. 1. ]] SLAMing on 200.55241403699998 meters Centerline goodness : 0.800477 Centerline is valid? [False, False] Translation: X:-8.35, Y:-4.23, Z:0.11 [[ 0.94445722 -0.28282956 -0.1673559 -8.34720479] [ 0.28292655 0.95884696 -0.02377115 -4.23464281] [ 0.16719188 -0.02489859 0.98560993 0.11325597] [ 0. 0. 0. 1. ]] SLAMing on 200.58241403699998 meters Centerline goodness : 0.800477 Centerline is valid? [False, False] Translation: X:-8.35, Y:-4.23, Z:0.11 [[ 0.94445722 -0.28282956 -0.1673559 -8.34720479] [ 0.28292655 0.95884696 -0.02377115 -4.23464281] [ 0.16719188 -0.02489859 0.98560993 0.11325597] [ 0. 0. 0. 1. ]] SLAMing on 200.61241403699998 meters Centerline goodness : 0.800093 Centerline is valid? [False, False] Translation: X:-8.35, Y:-4.23, Z:0.11 [[ 0.94432828 -0.28352547 -0.16690541 -8.34856586] [ 0.28352491 0.95865588 -0.02434179 -4.23316479] [ 0.16690637 -0.0243352 0.98567239 0.11345371] [ 0. 0. 0. 1. ]] SLAMing on 200.64241403699998 meters Centerline goodness : 0.800119 Centerline is valid? [False, False] Translation: X:-8.36, Y:-4.24, Z:0.11 [[ 0.94667679 -0.28030301 -0.15884989 -8.35847582] [ 0.27986379 0.95969846 -0.02559529 -4.23748199] [ 0.15962243 -0.02022586 0.98697092 0.10775703] [ 0. 0. 0. 1. ]] SLAMing on 200.67241403699998 meters Centerline goodness : 0.800134 Centerline is valid? [False, False] Translation: X:-8.36, Y:-4.24, Z:0.11 [[ 0.94649294 -0.28123083 -0.15830459 -8.35937946] [ 0.28079866 0.95942628 -0.02556024 -4.23963339] [ 0.15906991 -0.02025913 0.98705944 0.10750331] [ 0. 0. 0. 1. ]] SLAMing on 200.70241403699998 meters Centerline goodness : 0.801976 Centerline is valid? [False, False] Translation: X:-8.36, Y:-4.24, Z:0.11 [[ 0.94639284 -0.28183064 -0.15783565 -8.36045637] [ 0.28141009 0.9592493 -0.02547811 -4.24076969] [ 0.15858425 -0.02030424 0.98713665 0.1074195 ] [ 0. 0. 0. 1. ]] SLAMing on 200.73241403699998 meters Centerline goodness : 0.798912 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.25, Z:0.10 [[ 0.94746064 -0.28078227 -0.15323074 -8.38836355] [ 0.28082188 0.95951144 -0.02183714 -4.24917092] [ 0.15315813 -0.02234071 0.98794913 0.09829482] [ 0. 0. 0. 1. ]] SLAMing on 200.76241403699999 meters Centerline goodness : 0.800778 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.25, Z:0.10 [[ 0.94740669 -0.28107409 -0.15302912 -8.3887736 ] [ 0.28114121 0.95942209 -0.02165358 -4.25007266] [ 0.15290578 -0.02250805 0.98798442 0.09817166] [ 0. 0. 0. 1. ]] SLAMing on 200.792414037 meters Centerline goodness : 0.804222 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.26, Z:0.09 [[ 0.94942454 -0.27851778 -0.14498582 -8.39948035] [ 0.27815338 0.96025659 -0.02319457 -4.25594419] [ 0.14568369 -0.0183068 0.98916183 0.09323092] [ 0. 0. 0. 1. ]] SLAMing on 200.822414037 meters Centerline goodness : 0.799985 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.26, Z:0.09 [[ 0.94941249 -0.27858437 -0.14493679 -8.39947955] [ 0.27825278 0.96023317 -0.02297061 -4.25696011] [ 0.14557236 -0.01852048 0.98917424 0.09318148] [ 0. 0. 0. 1. ]] SLAMing on 200.852414037 meters Centerline goodness : 0.804207 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.26, Z:0.09 [[ 0.9514718 -0.27526376 -0.13759096 -8.40789165] [ 0.27469721 0.96124433 -0.02346867 -4.26155658] [ 0.1387186 -0.01546608 0.99021106 0.08782747] [ 0. 0. 0. 1. ]] SLAMing on 200.882414037 meters Centerline goodness : 0.803776 Centerline is valid? [False, False] Translation: X:-8.42, Y:-4.27, Z:0.08 [[ 0.95346994 -0.27146359 -0.13115863 -8.4230418 ] [ 0.27044961 0.96238761 -0.0258284 -4.26697641] [ 0.13323691 -0.0108452 0.99102488 0.08430497] [ 0. 0. 0. 1. ]] SLAMing on 200.912414037 meters Centerline goodness : 0.803698 Centerline is valid? [False, False] Translation: X:-8.43, Y:-4.27, Z:0.08 [[ 9.55531626e-01 -2.67727715e-01 -1.23617076e-01 -8.43236344e+00] [ 2.66507908e-01 9.63465291e-01 -2.66114195e-02 -4.27114129e+00] [ 1.26225377e-01 -7.51687547e-03 9.91973110e-01 7.93458880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.942414037 meters Centerline goodness : 0.806263 Centerline is valid? [False, False] Translation: X:-8.43, Y:-4.27, Z:0.08 [[ 9.55579143e-01 -2.67563383e-01 -1.23605571e-01 -8.43193103e+00] [ 2.66399822e-01 9.63507607e-01 -2.61577273e-02 -4.27243994e+00] [ 1.26093758e-01 -7.93272353e-03 9.91986611e-01 7.89620170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.972414037 meters Centerline goodness : 0.806528 Centerline is valid? [False, False] Translation: X:-8.43, Y:-4.27, Z:0.08 [[ 9.55601400e-01 -2.67506247e-01 -1.23557163e-01 -8.43154727e+00] [ 2.66381995e-01 9.63521069e-01 -2.58414617e-02 -4.27331550e+00] [ 1.25962682e-01 -8.21926663e-03 9.92000931e-01 7.84361592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.002414037 meters Centerline goodness : 0.811169 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.28, Z:0.07 [[ 9.56845275e-01 -2.65716422e-01 -1.17651613e-01 -8.43649075e+00] [ 2.64457092e-01 9.64033914e-01 -2.64775226e-02 -4.27758427e+00] [ 1.20455657e-01 -5.77891093e-03 9.92701888e-01 7.36271840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.032414037 meters Centerline goodness : 0.804973 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.28, Z:0.07 [[ 9.56857112e-01 -2.65687053e-01 -1.17621670e-01 -8.43645211e+00] [ 2.64445220e-01 9.64041211e-01 -2.63300074e-02 -4.27804193e+00] [ 1.20387679e-01 -5.91043340e-03 9.92709360e-01 7.35664754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.062414037 meters Centerline goodness : 0.811621 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.28, Z:0.07 [[ 9.56834877e-01 -2.65738781e-01 -1.17685678e-01 -8.43654702e+00] [ 2.64477278e-01 9.64027801e-01 -2.64984534e-02 -4.27781115e+00] [ 1.20493932e-01 -5.77054331e-03 9.92697292e-01 7.39824890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.092414037 meters Centerline goodness : 0.815548 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.28, Z:0.07 [[ 9.57377817e-01 -2.63944003e-01 -1.17308475e-01 -8.43864537e+00] [ 2.62866615e-01 9.64512238e-01 -2.48452221e-02 -4.27881234e+00] [ 1.19703207e-01 -7.05021712e-03 9.92784688e-01 7.48348677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.122414037 meters Centerline goodness : 0.807564 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.28, Z:0.07 [[ 9.57724910e-01 -2.63357144e-01 -1.15784333e-01 -8.44111747e+00] [ 2.62357120e-01 9.64670602e-01 -2.40701454e-02 -4.27963663e+00] [ 1.18032787e-01 -7.32426634e-03 9.92982687e-01 7.44007751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.152414037 meters Centerline goodness : 0.807564 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.28, Z:0.07 [[ 9.57724910e-01 -2.63357144e-01 -1.15784333e-01 -8.44111747e+00] [ 2.62357120e-01 9.64670602e-01 -2.40701454e-02 -4.27963663e+00] [ 1.18032787e-01 -7.32426634e-03 9.92982687e-01 7.44007751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18241403699997 meters Centerline goodness : 0.789583 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.28, Z:0.08 [[ 9.57722867e-01 -2.63405102e-01 -1.15692098e-01 -8.44156123e+00] [ 2.62360434e-01 9.64660324e-01 -2.44430146e-02 -4.27989789e+00] [ 1.18041991e-01 -6.94339491e-03 9.92984329e-01 7.54034498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.21241403699997 meters Centerline goodness : 0.806740 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.28, Z:0.08 [[ 9.57737658e-01 -2.63323821e-01 -1.15754669e-01 -8.44143294e+00] [ 2.62281747e-01 9.64682306e-01 -2.44199607e-02 -4.28053740e+00] [ 1.18096838e-01 -6.97242086e-03 9.92977604e-01 7.57165558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24241403699997 meters Centerline goodness : 0.787649 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.28, Z:0.08 [[ 9.57754568e-01 -2.63271750e-01 -1.15733196e-01 -8.44136928e+00] [ 2.62251150e-01 9.64695291e-01 -2.42348812e-02 -4.28140483e+00] [ 1.18027629e-01 -7.14009568e-03 9.92984641e-01 7.57215503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.27241403699998 meters Centerline goodness : 0.790237 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.28, Z:0.08 [[ 9.57787001e-01 -2.63108635e-01 -1.15835694e-01 -8.44096448e+00] [ 2.62121657e-01 9.64737637e-01 -2.39484616e-02 -4.28244295e+00] [ 1.18052100e-01 -7.42551876e-03 9.92979639e-01 7.56483977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.30241403699998 meters Centerline goodness : 0.809312 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.28, Z:0.07 [[ 9.57905543e-01 -2.62520923e-01 -1.16188358e-01 -8.43941288e+00] [ 2.61635579e-01 9.64890698e-01 -2.30817069e-02 -4.28470475e+00] [ 1.18168497e-01 -8.28891323e-03 9.92958962e-01 7.49113324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.33241403699998 meters Centerline goodness : 0.807545 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.29, Z:0.07 [[ 0.95801188 -0.26194352 -0.11661403 -8.43780686] [ 0.26114253 0.96504103 -0.02236947 -4.2860783 ] [ 0.11839686 -0.00902267 0.99292536 0.07414931] [ 0. 0. 0. 1. ]] SLAMing on 201.36241403699998 meters Centerline goodness : 0.806204 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.29, Z:0.07 [[ 0.95807912 -0.26160481 -0.11682172 -8.43687129] [ 0.26086852 0.96512765 -0.02182255 -4.28743528] [ 0.11845676 -0.00956738 0.99291312 0.07363649] [ 0. 0. 0. 1. ]] SLAMing on 201.39241403699998 meters Centerline goodness : 0.813132 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.29, Z:0.07 [[ 0.95816319 -0.26123041 -0.11696998 -8.43621197] [ 0.26058974 0.96522099 -0.02101035 -4.2901267 ] [ 0.11839042 -0.01034984 0.99291318 0.07349331] [ 0. 0. 0. 1. ]] SLAMing on 201.42241403699998 meters Centerline goodness : 0.801249 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.29, Z:0.07 [[ 0.95817365 -0.26118135 -0.11699379 -8.43632869] [ 0.26057002 0.96523166 -0.02076334 -4.29148525] [ 0.11834911 -0.01059019 0.99291557 0.07389929] [ 0. 0. 0. 1. ]] SLAMing on 201.45241403699998 meters Centerline goodness : 0.810571 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.29, Z:0.07 [[ 0.95817744 -0.26122464 -0.11686606 -8.43668746] [ 0.26063748 0.96521798 -0.02055149 -4.29265283] [ 0.11816978 -0.0107677 0.99293502 0.07414383] [ 0. 0. 0. 1. ]] SLAMing on 201.48241403699998 meters Centerline goodness : 0.797299 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.29, Z:0.07 [[ 0.95821148 -0.26106322 -0.11694768 -8.43640583] [ 0.26051433 0.96525807 -0.02022745 -4.293816 ] [ 0.11816533 -0.01108437 0.99293207 0.07415623] [ 0. 0. 0. 1. ]] SLAMing on 201.51241403699999 meters Centerline goodness : 0.803353 Centerline is valid? [False, False] Translation: X:-8.45, Y:-4.30, Z:0.07 [[ 9.59387526e-01 -2.57696511e-01 -1.14752269e-01 -8.45036452e+00] [ 2.56587421e-01 9.66208181e-01 -2.45895453e-02 -4.29918178e+00] [ 1.17211221e-01 -5.85308563e-03 9.93089760e-01 7.21778049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.542414037 meters Centerline goodness : 0.801154 Centerline is valid? [False, False] Translation: X:-8.45, Y:-4.30, Z:0.07 [[ 9.59396321e-01 -2.57669051e-01 -1.14740398e-01 -8.45015780e+00] [ 2.56588672e-01 9.66214068e-01 -2.43439461e-02 -4.30008836e+00] [ 1.17136469e-01 -6.08559411e-03 9.93097182e-01 7.19580580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.572414037 meters Centerline goodness : 0.795934 Centerline is valid? [False, False] Translation: X:-8.45, Y:-4.30, Z:0.07 [[ 9.59407332e-01 -2.57609909e-01 -1.14781119e-01 -8.44982184e+00] [ 2.56559201e-01 9.66228235e-01 -2.40909719e-02 -4.30121009e+00] [ 1.17110831e-01 -6.33509706e-03 9.93098646e-01 7.17933760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.602414037 meters Centerline goodness : 0.797839 Centerline is valid? [False, False] Translation: X:-8.45, Y:-4.30, Z:0.07 [[ 9.59343432e-01 -2.57881479e-01 -1.14705374e-01 -8.45017107e+00] [ 2.56840449e-01 9.66155252e-01 -2.40210895e-02 -4.30310463e+00] [ 1.17017794e-01 -6.41650543e-03 9.93109090e-01 7.23605620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.632414037 meters Centerline goodness : 0.794042 Centerline is valid? [False, False] Translation: X:-8.45, Y:-4.30, Z:0.07 [[ 9.59332453e-01 -2.57907308e-01 -1.14739116e-01 -8.45023446e+00] [ 2.56864195e-01 9.66148415e-01 -2.40421781e-02 -4.30357095e+00] [ 1.17055668e-01 -6.40792896e-03 9.93104682e-01 7.26921790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.662414037 meters Centerline goodness : 0.789225 Centerline is valid? [False, False] Translation: X:-8.45, Y:-4.30, Z:0.07 [[ 9.59325803e-01 -2.57864318e-01 -1.14891237e-01 -8.45010690e+00] [ 2.56815737e-01 9.66159998e-01 -2.40943151e-02 -4.30376420e+00] [ 1.17216382e-01 -6.39157967e-03 9.93085831e-01 7.30789151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.692414037 meters Centerline goodness : 0.792001 Centerline is valid? [False, False] Translation: X:-8.45, Y:-4.30, Z:0.07 [[ 9.59347203e-01 -2.57628368e-01 -1.15241344e-01 -8.44939589e+00] [ 2.56596871e-01 9.66221612e-01 -2.39550027e-02 -4.30454573e+00] [ 1.17520165e-01 -6.58940331e-03 9.93048635e-01 7.34392704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.722414037 meters Centerline goodness : 0.789611 Centerline is valid? [False, False] Translation: X:-8.45, Y:-4.31, Z:0.07 [[ 9.59393026e-01 -2.57436998e-01 -1.15287524e-01 -8.44889979e+00] [ 2.56456900e-01 9.66269662e-01 -2.35116512e-02 -4.30570176e+00] [ 1.17451606e-01 -7.00936697e-03 9.93053870e-01 7.30036013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.752414037 meters Centerline goodness : 0.785832 Centerline is valid? [False, False] Translation: X:-8.45, Y:-4.31, Z:0.07 [[ 9.59377020e-01 -2.57484133e-01 -1.15315459e-01 -8.44862385e+00] [ 2.56559889e-01 9.66253593e-01 -2.30437979e-02 -4.30856486e+00] [ 1.17357389e-01 -7.47763134e-03 9.93061593e-01 7.30756438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.782414037 meters Centerline goodness : 0.788548 Centerline is valid? [False, False] Translation: X:-8.45, Y:-4.31, Z:0.07 [[ 9.59348141e-01 -2.57621541e-01 -1.15248800e-01 -8.44894499e+00] [ 2.56714828e-01 9.66215873e-01 -2.28994047e-02 -4.30967691e+00] [ 1.17254600e-01 -7.61757462e-03 9.93072672e-01 7.33770441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.812414037 meters Centerline goodness : 0.781755 Centerline is valid? [False, False] Translation: X:-8.45, Y:-4.31, Z:0.07 [[ 9.59331091e-01 -2.57735992e-01 -1.15134774e-01 -8.44947104e+00] [ 2.56841730e-01 9.66184656e-01 -2.27933231e-02 -4.31088860e+00] [ 1.17116112e-01 -7.70507117e-03 9.93088339e-01 7.39170692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.842414037 meters Centerline goodness : 0.785685 Centerline is valid? [False, False] Translation: X:-8.45, Y:-4.31, Z:0.07 [[ 9.59323745e-01 -2.57759562e-01 -1.15143219e-01 -8.44947482e+00] [ 2.56925101e-01 9.66174280e-01 -2.22879713e-02 -4.31309935e+00] [ 1.16993355e-01 -8.20180324e-03 9.93098830e-01 7.41073858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.872414037 meters Centerline goodness : 0.783453 Centerline is valid? [False, False] Translation: X:-8.45, Y:-4.31, Z:0.07 [[ 0.95935374 -0.25761009 -0.11522782 -8.44896842] [ 0.25682439 0.96621058 -0.02187105 -4.31432894] [ 0.11696854 -0.00861124 0.99309829 0.07379316] [ 0. 0. 0. 1. ]] SLAMing on 201.902414037 meters Centerline goodness : 0.783650 Centerline is valid? [False, False] Translation: X:-8.45, Y:-4.32, Z:0.07 [[ 0.95940248 -0.2573519 -0.11539882 -8.44813682] [ 0.25662908 0.96627447 -0.02133465 -4.31589221] [ 0.11699745 -0.00914618 0.9930901 0.0733381 ] [ 0. 0. 0. 1. ]] SLAMing on 201.93241403699997 meters Centerline goodness : 0.782887 Centerline is valid? [False, False] Translation: X:-8.45, Y:-4.32, Z:0.07 [[ 9.58615554e-01 -2.60336901e-01 -1.15242860e-01 -8.44524045e+00] [ 2.59300254e-01 9.65494455e-01 -2.41626895e-02 -4.31833524e+00] [ 1.17556782e-01 -6.71977287e-03 9.93043427e-01 7.28033246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96241403699997 meters Centerline goodness : 0.783028 Centerline is valid? [False, False] Translation: X:-8.45, Y:-4.32, Z:0.07 [[ 9.58601234e-01 -2.60436285e-01 -1.15137375e-01 -8.44529983e+00] [ 2.59448952e-01 9.65464858e-01 -2.37455102e-02 -4.32107428e+00] [ 1.17345282e-01 -7.10979602e-03 9.93065726e-01 7.29615168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.99241403699997 meters Centerline goodness : 0.784182 Centerline is valid? [False, False] Translation: X:-8.45, Y:-4.32, Z:0.07 [[ 9.58608022e-01 -2.60419656e-01 -1.15118470e-01 -8.44531393e+00] [ 2.59480081e-01 9.65466406e-01 -2.33389337e-02 -4.32309152e+00] [ 1.17220933e-01 -7.49806081e-03 9.93077556e-01 7.31505104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02241403699998 meters Centerline goodness : 0.784924 Centerline is valid? [False, False] Translation: X:-8.45, Y:-4.32, Z:0.07 [[ 9.58600683e-01 -2.60426749e-01 -1.15163534e-01 -8.44536594e+00] [ 2.59519418e-01 9.65462318e-01 -2.30691179e-02 -4.32430158e+00] [ 1.17193868e-01 -7.77310130e-03 9.93078635e-01 7.34247499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.05241403699998 meters Centerline goodness : 0.785295 Centerline is valid? [False, False] Translation: X:-8.45, Y:-4.32, Z:0.07 [[ 9.58605160e-01 -2.60319810e-01 -1.15367866e-01 -8.44519999e+00] [ 2.59434413e-01 9.65489410e-01 -2.28907160e-02 -4.32475091e+00] [ 1.17345359e-01 -7.98723600e-03 9.93059047e-01 7.37620299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08241403699998 meters Centerline goodness : 0.783462 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.33, Z:0.07 [[ 0.9586792 -0.25989509 -0.11570967 -8.44444936] [ 0.25907577 0.96559883 -0.02233042 -4.32606235] [ 0.11753269 -0.00856987 0.99303204 0.07385333] [ 0. 0. 0. 1. ]] SLAMing on 202.11241403699998 meters Centerline goodness : 0.784326 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.33, Z:0.07 [[ 0.95871156 -0.25974301 -0.115783 -8.44404311] [ 0.25895521 0.96563738 -0.02206033 -4.32713768] [ 0.11753441 -0.00883312 0.99302953 0.07373561] [ 0. 0. 0. 1. ]] SLAMing on 202.14241403699998 meters Centerline goodness : 0.783079 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.33, Z:0.07 [[ 0.95872611 -0.25969498 -0.11577033 -8.44373825] [ 0.25894642 0.96564734 -0.02172464 -4.32868762] [ 0.11743509 -0.00915033 0.9930384 0.07353152] [ 0. 0. 0. 1. ]] SLAMing on 202.17241403699998 meters Centerline goodness : 0.782710 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.33, Z:0.07 [[ 9.57901625e-01 -2.62887832e-01 -1.15388316e-01 -8.44141678e+00] [ 2.61763667e-01 9.64806508e-01 -2.50636248e-02 -4.32990992e+00] [ 1.17916320e-01 -6.19598178e-03 9.93004205e-01 7.32315645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20241403699998 meters Centerline goodness : 0.781501 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.33, Z:0.07 [[ 9.57893851e-01 -2.62995763e-01 -1.15206768e-01 -8.44151556e+00] [ 2.61896551e-01 9.64775969e-01 -2.48500773e-02 -4.33098865e+00] [ 1.17684187e-01 -6.36851898e-03 9.93030651e-01 7.29997126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.23241403699998 meters Centerline goodness : 0.785114 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.33, Z:0.07 [[ 9.57884222e-01 -2.63040190e-01 -1.15185401e-01 -8.44150776e+00] [ 2.61958302e-01 9.64762920e-01 -2.47053661e-02 -4.33146081e+00] [ 1.17625108e-01 -6.50889164e-03 9.93036741e-01 7.29650711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26241403699999 meters Centerline goodness : 0.783268 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.33, Z:0.07 [[ 9.57921176e-01 -2.62859033e-01 -1.15291586e-01 -8.44124298e+00] [ 2.61797438e-01 9.64811083e-01 -2.45290907e-02 -4.33203853e+00] [ 1.17682293e-01 -6.68610645e-03 9.93028788e-01 7.30654636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.292414037 meters Centerline goodness : 0.784575 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.33, Z:0.07 [[ 9.57947941e-01 -2.62733512e-01 -1.15355295e-01 -8.44103190e+00] [ 2.61698443e-01 9.64843702e-01 -2.43013525e-02 -4.33297761e+00] [ 1.17684609e-01 -6.90887034e-03 9.93026989e-01 7.31153145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.322414037 meters Centerline goodness : 0.784180 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.34, Z:0.07 [[ 9.58015607e-01 -2.62424246e-01 -1.15497238e-01 -8.44054397e+00] [ 2.61450920e-01 9.64924034e-01 -2.37702670e-02 -4.33535775e+00] [ 1.17683955e-01 -7.42457225e-03 9.93023344e-01 7.33088527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.352414037 meters Centerline goodness : 0.785501 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.34, Z:0.07 [[ 9.58022504e-01 -2.62403534e-01 -1.15487083e-01 -8.44062118e+00] [ 2.61441752e-01 9.64928960e-01 -2.36709286e-02 -4.33567611e+00] [ 1.17648166e-01 -7.51586317e-03 9.93026898e-01 7.33961940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.382414037 meters Centerline goodness : 0.786983 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.34, Z:0.07 [[ 9.58023068e-01 -2.62339268e-01 -1.15628329e-01 -8.44057216e+00] [ 2.61369750e-01 9.64946736e-01 -2.37413312e-02 -4.33563311e+00] [ 1.17803463e-01 -7.47700464e-03 9.93008781e-01 7.38255885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.412414037 meters Centerline goodness : 0.786412 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.34, Z:0.07 [[ 9.58018647e-01 -2.62328915e-01 -1.15688429e-01 -8.44063129e+00] [ 2.61351859e-01 9.64949938e-01 -2.38080508e-02 -4.33534913e+00] [ 1.17879082e-01 -7.42682929e-03 9.93000183e-01 7.40713233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.442414037 meters Centerline goodness : 0.786740 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.34, Z:0.07 [[ 9.58087603e-01 -2.62000076e-01 -1.15862437e-01 -8.44000264e+00] [ 2.61075507e-01 9.65035759e-01 -2.33573175e-02 -4.33686960e+00] [ 1.17931013e-01 -7.87048803e-03 9.92990600e-01 7.39865578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.472414037 meters Centerline goodness : 0.784837 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.34, Z:0.07 [[ 9.58076053e-01 -2.62093088e-01 -1.15747527e-01 -8.44013082e+00] [ 2.61197487e-01 9.65008680e-01 -2.31110574e-02 -4.33870620e+00] [ 1.17754617e-01 -8.09081268e-03 9.93009763e-01 7.40892147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.502414037 meters Centerline goodness : 0.783590 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.34, Z:0.07 [[ 9.58049640e-01 -2.62234148e-01 -1.15646608e-01 -8.44042891e+00] [ 2.61369030e-01 9.64968323e-01 -2.28553249e-02 -4.34201702e+00] [ 1.17588760e-01 -8.32990592e-03 9.93027440e-01 7.48995698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.532414037 meters Centerline goodness : 0.785003 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.34, Z:0.08 [[ 9.58067767e-01 -2.62123874e-01 -1.15746396e-01 -8.44031487e+00] [ 2.61258676e-01 9.64998181e-01 -2.28563993e-02 -4.34218835e+00] [ 1.17686269e-01 -8.34177071e-03 9.93015789e-01 7.51658196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.562414037 meters Centerline goodness : 0.782118 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.34, Z:0.08 [[ 9.58090530e-01 -2.61966439e-01 -1.15914282e-01 -8.43997411e+00] [ 2.61096943e-01 9.65041038e-01 -2.28949924e-02 -4.34165701e+00] [ 1.17859759e-01 -8.32938928e-03 9.92995316e-01 7.52230248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.592414037 meters Centerline goodness : 0.784526 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.34, Z:0.08 [[ 0.95810499 -0.26180311 -0.11616352 -8.43956817] [ 0.26096762 0.96508258 -0.02261676 -4.34236173] [ 0.11802853 -0.00864568 0.99297257 0.07538039] [ 0. 0. 0. 1. ]] SLAMing on 202.622414037 meters Centerline goodness : 0.784667 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.34, Z:0.08 [[ 0.95814701 -0.26164002 -0.11618436 -8.43915743] [ 0.26086092 0.96512262 -0.02213373 -4.34410476] [ 0.11792323 -0.00910059 0.99298101 0.07511739] [ 0. 0. 0. 1. ]] SLAMing on 202.652414037 meters Centerline goodness : 0.782907 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.35, Z:0.07 [[ 0.95816356 -0.26160381 -0.11612943 -8.43889155] [ 0.26087891 0.96512828 -0.02167035 -4.34617121] [ 0.11774884 -0.00953198 0.99299766 0.07487119] [ 0. 0. 0. 1. ]] SLAMing on 202.68241403699997 meters Centerline goodness : 0.782885 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.35, Z:0.08 [[ 0.95805371 -0.26200668 -0.11612744 -8.43867227] [ 0.26132632 0.96501505 -0.02131913 -4.34956919] [ 0.11765049 -0.00992228 0.99300549 0.07501146] [ 0. 0. 0. 1. ]] SLAMing on 202.71241403699997 meters Centerline goodness : 0.780839 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.35, Z:0.08 [[ 0.95803177 -0.26210779 -0.11608032 -8.43885111] [ 0.26143124 0.96498729 -0.02128916 -4.35010156] [ 0.11759609 -0.00995133 0.99301165 0.07522456] [ 0. 0. 0. 1. ]] SLAMing on 202.74241403699997 meters Centerline goodness : 0.781547 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.35, Z:0.08 [[ 0.95800493 -0.2621975 -0.11609923 -8.43908685] [ 0.26151061 0.9649637 -0.02138357 -4.35009174] [ 0.11763826 -0.00987561 0.99300741 0.07559504] [ 0. 0. 0. 1. ]] SLAMing on 202.77241403699998 meters Centerline goodness : 0.782861 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.35, Z:0.08 [[ 0.95797955 -0.26229868 -0.11608008 -8.43930753] [ 0.26160519 0.96493673 -0.02144386 -4.35006184] [ 0.11763463 -0.00982437 0.99300835 0.07580449] [ 0. 0. 0. 1. ]] SLAMing on 202.80241403699998 meters Centerline goodness : 0.781591 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.35, Z:0.08 [[ 0.9579912 -0.26220618 -0.11619288 -8.43912868] [ 0.26152556 0.96496063 -0.02133918 -4.35068608] [ 0.11771682 -0.00994466 0.99299741 0.07605691] [ 0. 0. 0. 1. ]] SLAMing on 202.83241403699998 meters Centerline goodness : 0.782462 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.35, Z:0.08 [[ 0.95803646 -0.26194478 -0.11640906 -8.43839763] [ 0.2612983 0.96502846 -0.02105398 -4.35162439] [ 0.11785303 -0.010247 0.99297818 0.07589404] [ 0. 0. 0. 1. ]] SLAMing on 202.86241403699998 meters Centerline goodness : 0.780333 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.35, Z:0.08 [[ 0.95806633 -0.26185136 -0.11637341 -8.43812631] [ 0.26123984 0.96505086 -0.02075029 -4.35274624] [ 0.11773975 -0.01052122 0.99298875 0.07559513] [ 0. 0. 0. 1. ]] SLAMing on 202.89241403699998 meters Centerline goodness : 0.777227 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.35, Z:0.08 [[ 0.95813291 -0.26162521 -0.11633392 -8.43768338] [ 0.26107775 0.96510657 -0.02019211 -4.3547135 ] [ 0.11755739 -0.01102548 0.99300488 0.07520365] [ 0. 0. 0. 1. ]] SLAMing on 202.92241403699998 meters Centerline goodness : 0.778765 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.35, Z:0.08 [[ 0.95815938 -0.26146203 -0.11648268 -8.43750765] [ 0.26092131 0.96514998 -0.02013928 -4.354931 ] [ 0.11768892 -0.01109617 0.99298852 0.07547205] [ 0. 0. 0. 1. ]] SLAMing on 202.95241403699998 meters Centerline goodness : 0.779124 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.35, Z:0.08 [[ 0.95816398 -0.26144877 -0.11647454 -8.43775766] [ 0.26089598 0.96515473 -0.02023952 -4.35473662] [ 0.11770755 -0.01099495 0.99298743 0.0758231 ] [ 0. 0. 0. 1. ]] SLAMing on 202.98241403699998 meters Centerline goodness : 0.780972 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.35, Z:0.08 [[ 0.95818911 -0.26133028 -0.11653375 -8.43777649] [ 0.26078129 0.96518643 -0.02020566 -4.35468345] [ 0.11775714 -0.01102898 0.99298118 0.07603437] [ 0. 0. 0. 1. ]] SLAMing on 203.01241403699999 meters Centerline goodness : 0.779037 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.36, Z:0.08 [[ 0.9582671 -0.26098437 -0.11666755 -8.43736708] [ 0.26045825 0.96527785 -0.02000435 -4.35508338] [ 0.11783743 -0.01121752 0.99296954 0.07608327] [ 0. 0. 0. 1. ]] SLAMing on 203.042414037 meters Centerline goodness : 0.779037 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.36, Z:0.08 [[ 0.9582671 -0.26098437 -0.11666755 -8.43736708] [ 0.26045825 0.96527785 -0.02000435 -4.35508338] [ 0.11783743 -0.01121752 0.99296954 0.07608327] [ 0. 0. 0. 1. ]] SLAMing on 203.072414037 meters Centerline goodness : 0.778180 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.36, Z:0.08 [[ 0.9583129 -0.26079529 -0.11671418 -8.43706475] [ 0.26030358 0.96532568 -0.01970725 -4.35599065] [ 0.11780676 -0.01149541 0.99297 0.07594562] [ 0. 0. 0. 1. ]] SLAMing on 203.102414037 meters Centerline goodness : 0.778118 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.36, Z:0.08 [[ 0.95834836 -0.26061055 -0.1168356 -8.43665385] [ 0.26015085 0.96537231 -0.01943814 -4.35702491] [ 0.11785564 -0.01176637 0.99296103 0.07594403] [ 0. 0. 0. 1. ]] SLAMing on 203.132414037 meters Centerline goodness : 0.774886 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.36, Z:0.08 [[ 0.95840757 -0.26042354 -0.11676691 -8.43648483] [ 0.26001081 0.96541829 -0.01902354 -4.35879536] [ 0.11768309 -0.01212835 0.99297714 0.07590374] [ 0. 0. 0. 1. ]] SLAMing on 203.162414037 meters Centerline goodness : 0.775249 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.36, Z:0.08 [[ 0.95847826 -0.26007134 -0.11697149 -8.43612241] [ 0.25967479 0.96551142 -0.01888671 -4.35883304] [ 0.1178492 -0.01227204 0.99295567 0.07614505] [ 0. 0. 0. 1. ]] SLAMing on 203.192414037 meters Centerline goodness : 0.776923 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.36, Z:0.08 [[ 0.95851796 -0.25984512 -0.11714876 -8.4357158 ] [ 0.25946016 0.96557093 -0.01879374 -4.35870012] [ 0.1179989 -0.0123813 0.99293654 0.07613835] [ 0. 0. 0. 1. ]] SLAMing on 203.222414037 meters Centerline goodness : 0.776169 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.36, Z:0.08 [[ 0.9585594 -0.25961102 -0.11732855 -8.43517923] [ 0.25924613 0.9656316 -0.0186297 -4.35878904] [ 0.11813263 -0.01255929 0.9929184 0.07598751] [ 0. 0. 0. 1. ]] SLAMing on 203.252414037 meters Centerline goodness : 0.775447 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.36, Z:0.07 [[ 9.60608128e-01 -2.54861713e-01 -1.10804023e-01 -8.44454175e+00] [ 2.54144460e-01 9.66942823e-01 -2.07886861e-02 -4.36300445e+00] [ 1.12439395e-01 -8.19044771e-03 9.93624828e-01 7.19564812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.282414037 meters Centerline goodness : 0.775224 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.37, Z:0.07 [[ 0.96073812 -0.25430993 -0.11094469 -8.44286191] [ 0.2537105 0.96707905 -0.01972568 -4.36528741] [ 0.11230872 -0.00919662 0.9936308 0.07038795] [ 0. 0. 0. 1. ]] SLAMing on 203.312414037 meters Centerline goodness : 0.772574 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.37, Z:0.07 [[ 0.96078867 -0.25409597 -0.11099715 -8.44238769] [ 0.2535392 0.96713176 -0.01934002 -4.36640304] [ 0.11226309 -0.00956046 0.99363253 0.07007321] [ 0. 0. 0. 1. ]] SLAMing on 203.342414037 meters Centerline goodness : 0.774198 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.37, Z:0.07 [[ 0.96081669 -0.25406961 -0.1108148 -8.44247174] [ 0.25353472 0.96713713 -0.01912882 -4.36702386] [ 0.11203316 -0.00971611 0.99365697 0.06979056] [ 0. 0. 0. 1. ]] SLAMing on 203.372414037 meters Centerline goodness : 0.773623 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.37, Z:0.07 [[ 0.96079576 -0.25421651 -0.11065924 -8.44315314] [ 0.25366687 0.96709998 -0.0192549 -4.36708869] [ 0.11191347 -0.00957055 0.99367187 0.07036241] [ 0. 0. 0. 1. ]] SLAMing on 203.402414037 meters Centerline goodness : 0.772187 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.37, Z:0.07 [[ 0.96079264 -0.25428211 -0.11053555 -8.44356253] [ 0.25372677 0.96708339 -0.01929874 -4.36694375] [ 0.11180441 -0.00950374 0.99368478 0.07051966] [ 0. 0. 0. 1. ]] SLAMing on 203.43241403699997 meters Centerline goodness : 0.770690 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.37, Z:0.07 [[ 0.96078556 -0.25428708 -0.11058571 -8.44358139] [ 0.25372808 0.96708231 -0.01933578 -4.36683345] [ 0.11186233 -0.00948116 0.99367848 0.07069015] [ 0. 0. 0. 1. ]] SLAMing on 203.46241403699997 meters Centerline goodness : 0.771975 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.37, Z:0.07 [[ 0.96078915 -0.25425538 -0.11062731 -8.44348987] [ 0.2537014 0.96709016 -0.01929294 -4.36704 ] [ 0.11189192 -0.00952985 0.99367469 0.07076527] [ 0. 0. 0. 1. ]] SLAMing on 203.49241403699997 meters Centerline goodness : 0.771678 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.37, Z:0.07 [[ 0.96078115 -0.25436848 -0.11043662 -8.44366799] [ 0.25383579 0.96705885 -0.01909379 -4.36822503] [ 0.11165557 -0.00968781 0.99369974 0.07069949] [ 0. 0. 0. 1. ]] SLAMing on 203.52241403699998 meters Centerline goodness : 0.769514 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.37, Z:0.07 [[ 0.96077863 -0.25440636 -0.11037133 -8.44365552] [ 0.25389217 0.96704736 -0.01892546 -4.36920455] [ 0.11154907 -0.00983924 0.99371022 0.07066578] [ 0. 0. 0. 1. ]] SLAMing on 203.55241403699998 meters Centerline goodness : 0.768291 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.37, Z:0.07 [[ 0.9607722 -0.25445998 -0.11030363 -8.44363522] [ 0.25396632 0.96703151 -0.0187395 -4.37037191] [ 0.11143554 -0.01000901 0.99372126 0.07062918] [ 0. 0. 0. 1. ]] SLAMing on 203.58241403699998 meters Centerline goodness : 0.768269 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.37, Z:0.07 [[ 0.96078881 -0.2544005 -0.11029621 -8.44328723] [ 0.25393424 0.96704472 -0.01849105 -4.37136094] [ 0.1113655 -0.01024198 0.99372674 0.07033236] [ 0. 0. 0. 1. ]] SLAMing on 203.61241403699998 meters Centerline goodness : 0.767165 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.37, Z:0.07 [[ 0.96091647 -0.25385672 -0.11043685 -8.44202528] [ 0.25347302 0.96717985 -0.01773591 -4.37259304] [ 0.11131467 -0.01095003 0.99372488 0.06924013] [ 0. 0. 0. 1. ]] SLAMing on 203.64241403699998 meters Centerline goodness : 0.769455 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.37, Z:0.07 [[ 0.96094207 -0.25372328 -0.11052075 -8.44166767] [ 0.25335328 0.96721345 -0.01761433 -4.37265356] [ 0.11136632 -0.01107445 0.99371772 0.06905177] [ 0. 0. 0. 1. ]] SLAMing on 203.67241403699998 meters Centerline goodness : 0.769092 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.37, Z:0.07 [[ 0.96104004 -0.25332225 -0.11058882 -8.44135553] [ 0.2530018 0.96731369 -0.01715557 -4.37365525] [ 0.11131997 -0.01149198 0.99371817 0.0689593 ] [ 0. 0. 0. 1. ]] SLAMing on 203.70241403699998 meters Centerline goodness : 0.768861 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.37, Z:0.07 [[ 0.96109689 -0.25308962 -0.11062739 -8.4410051 ] [ 0.25280252 0.96737119 -0.01684834 -4.37461426] [ 0.11128189 -0.011774 0.99371913 0.06883112] [ 0. 0. 0. 1. ]] SLAMing on 203.73241403699998 meters Centerline goodness : 0.767766 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.38, Z:0.07 [[ 0.96116728 -0.25282454 -0.11062195 -8.44059357] [ 0.25258908 0.96743514 -0.01637093 -4.37590776] [ 0.11115854 -0.01220669 0.99372772 0.0684645 ] [ 0. 0. 0. 1. ]] SLAMing on 203.76241403699999 meters Centerline goodness : 0.767316 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.38, Z:0.07 [[ 0.96158108 -0.24643978 -0.12095151 -8.44209266] [ 0.24647189 0.9690349 -0.01493196 -4.38244587] [ 0.12088606 -0.01545285 0.9925461 0.07159249] [ 0. 0. 0. 1. ]] SLAMing on 203.792414037 meters Centerline goodness : 0.767580 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.39, Z:0.08 [[ 0.96179259 -0.23960094 -0.13246283 -8.44366154] [ 0.2403297 0.97063236 -0.0106981 -4.38919574] [ 0.13113599 -0.0215454 0.99113024 0.07521518] [ 0. 0. 0. 1. ]] SLAMing on 203.822414037 meters Centerline goodness : 0.765868 Centerline is valid? [False, False] Translation: X:-8.45, Y:-4.40, Z:0.08 [[ 9.61807956e-01 -2.33040373e-01 -1.43588441e-01 -8.44551375e+00] [ 2.34406234e-01 9.72109262e-01 -7.56972228e-03 -4.39503102e+00] [ 1.41347704e-01 -2.63774066e-02 9.89608538e-01 7.91949899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.852414037 meters Centerline goodness : 0.766615 Centerline is valid? [False, False] Translation: X:-8.45, Y:-4.40, Z:0.08 [[ 9.61917467e-01 -2.32455807e-01 -1.43802239e-01 -8.44503081e+00] [ 2.33910458e-01 9.72233337e-01 -6.94516426e-03 -4.39569538e+00] [ 1.41423775e-01 -2.69561728e-02 9.89582074e-01 7.91791392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.882414037 meters Centerline goodness : 0.766484 Centerline is valid? [False, False] Translation: X:-8.45, Y:-4.40, Z:0.08 [[ 9.61612759e-01 -2.26145880e-01 -1.55431471e-01 -8.44599826e+00] [ 2.28149002e-01 9.73613043e-01 -5.06709760e-03 -4.40083988e+00] [ 1.52476011e-01 -3.05889494e-02 9.87833681e-01 8.27477279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.912414037 meters Centerline goodness : 0.764449 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.40, Z:0.08 [[ 9.61646311e-01 -2.25702129e-01 -1.55868280e-01 -8.44424967e+00] [ 2.27807588e-01 9.73695962e-01 -4.45841407e-03 -4.40190217e+00] [ 1.52774588e-01 -3.12205594e-02 9.87767787e-01 8.19639519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.942414037 meters Centerline goodness : 0.765298 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.40, Z:0.08 [[ 9.61604260e-01 -2.25510290e-01 -1.56404464e-01 -8.44221850e+00] [ 2.27681109e-01 9.73726982e-01 -4.13243003e-03 -4.40261846e+00] [ 1.53227152e-01 -3.16365795e-02 9.87684447e-01 8.11434683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.972414037 meters Centerline goodness : 0.765834 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.40, Z:0.08 [[ 9.61556645e-01 -2.25438257e-01 -1.56800547e-01 -8.44013997e+00] [ 2.27669784e-01 9.73730910e-01 -3.81889970e-03 -4.40351374e+00] [ 1.53542465e-01 -3.20266582e-02 9.87622906e-01 8.00453847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.002414037 meters Centerline goodness : 0.764412 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.40, Z:0.08 [[ 9.61506108e-01 -2.25254232e-01 -1.57373873e-01 -8.43886214e+00] [ 2.27581632e-01 9.73753379e-01 -3.31020712e-03 -4.40379885e+00] [ 1.53988979e-01 -3.26326186e-02 9.87533547e-01 7.99863233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.032414037 meters Centerline goodness : 0.766255 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.40, Z:0.08 [[ 9.61404679e-01 -2.25253596e-01 -1.57993228e-01 -8.43794748e+00] [ 2.27703226e-01 9.73726941e-01 -2.66181068e-03 -4.40413503e+00] [ 1.54441845e-01 -3.34164904e-02 9.87436608e-01 8.04898918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.062414037 meters Centerline goodness : 0.766140 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.40, Z:0.08 [[ 9.61369998e-01 -2.25046573e-01 -1.58498476e-01 -8.43685765e+00] [ 2.27616323e-01 9.73748865e-01 -1.98955327e-03 -4.40458395e+00] [ 1.54785453e-01 -3.41641434e-02 9.87357217e-01 8.04151936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.092414037 meters Centerline goodness : 0.767683 Centerline is valid? [False, False] Translation: X:-8.44, Y:-4.41, Z:0.08 [[ 9.61316127e-01 -2.25107081e-01 -1.58739110e-01 -8.43579766e+00] [ 2.27761551e-01 9.73715770e-01 -1.50853372e-03 -4.40647371e+00] [ 1.54906357e-01 -3.47044881e-02 9.87319411e-01 8.03411909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.122414037 meters Centerline goodness : 0.768910 Centerline is valid? [False, False] Translation: X:-8.43, Y:-4.41, Z:0.08 [[ 9.61254866e-01 -2.25031850e-01 -1.59216043e-01 -8.43415264e+00] [ 2.27802569e-01 9.73706953e-01 -8.71450634e-04 -4.40757311e+00] [ 1.55225872e-01 -3.54321375e-02 9.87243380e-01 7.98261818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.152414037 meters Centerline goodness : 0.769195 Centerline is valid? [False, False] Translation: X:-8.43, Y:-4.41, Z:0.08 [[ 9.61166502e-01 -2.24991323e-01 -1.59805697e-01 -8.43241094e+00] [ 2.27878880e-01 9.73689451e-01 -2.63642255e-04 -4.40856327e+00] [ 1.55660439e-01 -3.61629392e-02 9.87148454e-01 7.94652900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18241403699997 meters Centerline goodness : 0.769409 Centerline is valid? [False, False] Translation: X:-8.43, Y:-4.41, Z:0.08 [[ 9.61000373e-01 -2.25125933e-01 -1.60613191e-01 -8.43013179e+00] [ 2.28108323e-01 9.73635751e-01 1.34033386e-04 -4.40874901e+00] [ 1.56348571e-01 -3.67660119e-02 9.87017419e-01 7.89677630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.21241403699997 meters Centerline goodness : 0.770867 Centerline is valid? [False, False] Translation: X:-8.43, Y:-4.41, Z:0.08 [[ 9.60812329e-01 -2.25232853e-01 -1.61585368e-01 -8.42792970e+00] [ 2.28364686e-01 9.73575307e-01 8.32143731e-04 -4.40914604e+00] [ 1.57128098e-01 -3.76999257e-02 9.86858387e-01 7.88350052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24241403699997 meters Centerline goodness : 0.767674 Centerline is valid? [False, False] Translation: X:-8.43, Y:-4.41, Z:0.08 [[ 9.60853790e-01 -2.24796132e-01 -1.61946576e-01 -8.42702324e+00] [ 2.28013656e-01 9.73657042e-01 1.31801634e-03 -4.40926066e+00] [ 1.57384139e-01 -3.81924518e-02 9.86798647e-01 7.85964449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.27241403699998 meters Centerline goodness : 0.769895 Centerline is valid? [False, False] Translation: X:-8.43, Y:-4.41, Z:0.08 [[ 9.61366713e-01 -2.21684627e-01 -1.63186918e-01 -8.42568718e+00] [ 2.25500872e-01 9.74230096e-01 5.00773033e-03 -4.41134904e+00] [ 1.57871469e-01 -4.16130574e-02 9.86582461e-01 7.87866581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.30241403699998 meters Centerline goodness : 0.770089 Centerline is valid? [False, False] Translation: X:-8.42, Y:-4.41, Z:0.08 [[ 9.61478153e-01 -2.21034373e-01 -1.63412259e-01 -8.42473217e+00] [ 2.24926476e-01 9.74360354e-01 5.47549588e-03 -4.41175966e+00] [ 1.58012154e-01 -4.20203133e-02 9.86542676e-01 7.82659569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.33241403699998 meters Centerline goodness : 0.769718 Centerline is valid? [False, False] Translation: X:-8.42, Y:-4.41, Z:0.08 [[ 9.61566439e-01 -2.20526049e-01 -1.63579478e-01 -8.42384196e+00] [ 2.24463894e-01 9.74465393e-01 5.75833042e-03 -4.41194836e+00] [ 1.58132678e-01 -4.22547039e-02 9.86513353e-01 7.76267797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36241403699998 meters Centerline goodness : 0.769174 Centerline is valid? [False, False] Translation: X:-8.42, Y:-4.41, Z:0.08 [[ 9.61592709e-01 -2.20123432e-01 -1.63966876e-01 -8.42175711e+00] [ 2.24085611e-01 9.74551973e-01 5.83876651e-03 -4.41199723e+00] [ 1.58508993e-01 -4.23571328e-02 9.86448566e-01 7.62200289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.39241403699998 meters Centerline goodness : 0.769518 Centerline is valid? [False, False] Translation: X:-8.42, Y:-4.41, Z:0.08 [[ 9.61530806e-01 -2.20020256e-01 -1.64467613e-01 -8.42003491e+00] [ 2.24047009e-01 9.74559168e-01 6.11271211e-03 -4.41215747e+00] [ 1.58938499e-01 -4.27260376e-02 9.86363543e-01 7.55861926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.42241403699998 meters Centerline goodness : 0.770608 Centerline is valid? [False, False] Translation: X:-8.42, Y:-4.41, Z:0.08 [[ 9.61453413e-01 -2.19983862e-01 -1.64967985e-01 -8.41842165e+00] [ 2.24072722e-01 9.74551648e-01 6.36395444e-03 -4.41212848e+00] [ 1.59369855e-01 -4.30834713e-02 9.86278391e-01 7.50373326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.45241403699998 meters Centerline goodness : 0.772475 Centerline is valid? [False, False] Translation: X:-8.42, Y:-4.41, Z:0.08 [[ 9.61405006e-01 -2.19744018e-01 -1.65568659e-01 -8.41735778e+00] [ 2.23977470e-01 9.74568374e-01 7.11179778e-03 -4.41271337e+00] [ 1.59795204e-01 -4.39209674e-02 9.86172623e-01 7.52931107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.48241403699998 meters Centerline goodness : 0.770792 Centerline is valid? [False, False] Translation: X:-8.42, Y:-4.41, Z:0.08 [[ 9.61334003e-01 -2.19658662e-01 -1.66093369e-01 -8.41636249e+00] [ 2.23968838e-01 9.74567868e-01 7.44512276e-03 -4.41239926e+00] [ 1.60233875e-01 -4.43569886e-02 9.86081925e-01 7.53924684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.51241403699999 meters Centerline goodness : 0.770787 Centerline is valid? [False, False] Translation: X:-8.42, Y:-4.41, Z:0.08 [[ 9.61257630e-01 -2.19633661e-01 -1.66567772e-01 -8.41539416e+00] [ 2.23991004e-01 9.74561549e-01 7.60375695e-03 -4.41195465e+00] [ 1.60660505e-01 -4.46188519e-02 9.86000690e-01 7.54026535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.542414037 meters Centerline goodness : 0.774267 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.41, Z:0.08 [[ 0.9615334 -0.21706472 -0.16833429 -8.41333526] [ 0.22205694 0.97496949 0.01119011 -4.41227484] [ 0.16169181 -0.04813946 0.98566645 0.07568155] [ 0. 0. 0. 1. ]] SLAMing on 204.572414037 meters Centerline goodness : 0.771950 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.41, Z:0.08 [[ 0.96151018 -0.21686044 -0.16872972 -8.41237045] [ 0.22188703 0.97500693 0.01129739 -4.41190335] [ 0.16206269 -0.04830149 0.98559761 0.07546297] [ 0. 0. 0. 1. ]] SLAMing on 204.602414037 meters Centerline goodness : 0.771355 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.41, Z:0.08 [[ 0.96136892 -0.21705051 -0.16928931 -8.41083967] [ 0.22210408 0.97495776 0.01127585 -4.41121823] [ 0.1626025 -0.04844009 0.98550189 0.07507754] [ 0. 0. 0. 1. ]] SLAMing on 204.632414037 meters Centerline goodness : 0.770072 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.41, Z:0.07 [[ 0.96123267 -0.21742651 -0.16958025 -8.40985355] [ 0.22244861 0.97488275 0.01096544 -4.41086607] [ 0.16293668 -0.04826323 0.98545538 0.07483212] [ 0. 0. 0. 1. ]] SLAMing on 204.662414037 meters Centerline goodness : 0.768931 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.41, Z:0.07 [[ 0.96097552 -0.21788569 -0.17044611 -8.40690993] [ 0.22297869 0.9747602 0.01109303 -4.41077311] [ 0.16372707 -0.04866598 0.98530456 0.07376292] [ 0. 0. 0. 1. ]] SLAMing on 204.692414037 meters Centerline goodness : 0.768618 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.41, Z:0.07 [[ 0.96085868 -0.21807693 -0.17085974 -8.40558481] [ 0.22322641 0.97470123 0.01129101 -4.41136677] [ 0.16407489 -0.04898947 0.98523066 0.07349363] [ 0. 0. 0. 1. ]] SLAMing on 204.722414037 meters Centerline goodness : 0.768779 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.41, Z:0.07 [[ 0.96053726 -0.21875628 -0.17179596 -8.40357494] [ 0.22404138 0.97450869 0.01175929 -4.41190537] [ 0.16484424 -0.04978464 0.98506237 0.07374562] [ 0. 0. 0. 1. ]] SLAMing on 204.752414037 meters Centerline goodness : 0.770724 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.41, Z:0.07 [[ 0.96035952 -0.21915687 -0.17227844 -8.40321186] [ 0.22452543 0.97439342 0.01207417 -4.41201313] [ 0.16522084 -0.05027643 0.98497429 0.07455145] [ 0. 0. 0. 1. ]] SLAMing on 204.782414037 meters Centerline goodness : 0.769004 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.41, Z:0.08 [[ 0.96018113 -0.21928386 -0.17310918 -8.40195077] [ 0.2247912 0.97432509 0.0126308 -4.41204803] [ 0.16589489 -0.05104128 0.98482165 0.0751043 ] [ 0. 0. 0. 1. ]] SLAMing on 204.812414037 meters Centerline goodness : 0.770742 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.41, Z:0.08 [[ 0.9598755 -0.21996237 -0.17394131 -8.40092204] [ 0.2256584 0.97411395 0.01342728 -4.41351395] [ 0.16648516 -0.05213983 0.98466448 0.07626804] [ 0. 0. 0. 1. ]] SLAMing on 204.842414037 meters Centerline goodness : 0.769053 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.42, Z:0.08 [[ 0.95968763 -0.2201431 -0.17474747 -8.39901085] [ 0.22603976 0.97401256 0.01433739 -4.41500772] [ 0.16704995 -0.0532593 0.98450889 0.07635817] [ 0. 0. 0. 1. ]] SLAMing on 204.872414037 meters Centerline goodness : 0.768845 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.42, Z:0.08 [[ 0.95948236 -0.22060888 -0.1752864 -8.39747402] [ 0.22662675 0.9738687 0.01483452 -4.41671261] [ 0.16743331 -0.05395805 0.98440572 0.07648003] [ 0. 0. 0. 1. ]] SLAMing on 204.902414037 meters Centerline goodness : 0.769441 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.42, Z:0.08 [[ 0.95921871 -0.22151142 -0.17559091 -8.39664286] [ 0.22754121 0.97365711 0.01472525 -4.41764884] [ 0.16770352 -0.0540789 0.98435309 0.07683403] [ 0. 0. 0. 1. ]] SLAMing on 204.93241403699997 meters Centerline goodness : 0.769801 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.42, Z:0.08 [[ 0.95881908 -0.22204612 -0.17709176 -8.3939877 ] [ 0.22838393 0.97343996 0.01598214 -4.41882089] [ 0.16883942 -0.05576889 0.98406457 0.07751101] [ 0. 0. 0. 1. ]] SLAMing on 204.96241403699997 meters Centerline goodness : 0.769801 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.42, Z:0.08 [[ 0.95881908 -0.22204612 -0.17709176 -8.3939877 ] [ 0.22838393 0.97343996 0.01598214 -4.41882089] [ 0.16883942 -0.05576889 0.98406457 0.07751101] [ 0. 0. 0. 1. ]] SLAMing on 204.99241403699997 meters Centerline goodness : 0.770024 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.42, Z:0.08 [[ 0.95862948 -0.22214988 -0.17798581 -8.39249805] [ 0.2286072 0.97338115 0.01636702 -4.41815791] [ 0.1696121 -0.05637875 0.98389693 0.07780274] [ 0. 0. 0. 1. ]] SLAMing on 205.02241403699998 meters Centerline goodness : 0.770985 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.42, Z:0.08 [[ 0.95895225 -0.2193116 -0.17975817 -8.3907244 ] [ 0.22653109 0.97379005 0.02041105 -4.41933722] [ 0.17057034 -0.06029404 0.98349905 0.07848097] [ 0. 0. 0. 1. ]] SLAMing on 205.05241403699998 meters Centerline goodness : 0.770656 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.42, Z:0.08 [[ 0.95946968 -0.21599996 -0.18100262 -8.39004047] [ 0.22387277 0.97432264 0.02400783 -4.41963196] [ 0.17116926 -0.06355635 0.98318954 0.07884855] [ 0. 0. 0. 1. ]] SLAMing on 205.08241403699998 meters Centerline goodness : 0.771974 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.42, Z:0.08 [[ 0.95956478 -0.21586963 -0.18065365 -8.39075926] [ 0.22361492 0.97439622 0.02341749 -4.41863622] [ 0.17097311 -0.06286745 0.98326796 0.0787313 ] [ 0. 0. 0. 1. ]] SLAMing on 205.11241403699998 meters Centerline goodness : 0.770993 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.42, Z:0.08 [[ 0.96031545 -0.21145527 -0.18188159 -8.38981682] [ 0.21993842 0.97512398 0.02757374 -4.41915752] [ 0.17152649 -0.06648224 0.98293376 0.07850191] [ 0. 0. 0. 1. ]] SLAMing on 205.14241403699998 meters Centerline goodness : 0.771712 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.42, Z:0.08 [[ 0.96089011 -0.20804039 -0.18278238 -8.38902897] [ 0.21712807 0.97565162 0.03097274 -4.41959241] [ 0.17188834 -0.06944858 0.9826654 0.07825023] [ 0. 0. 0. 1. ]] SLAMing on 205.17241403699998 meters Centerline goodness : 0.771422 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.42, Z:0.08 [[ 0.96098473 -0.20742597 -0.18298312 -8.38833121] [ 0.21646164 0.97580996 0.03064767 -4.41774735] [ 0.17219963 -0.06906077 0.98263823 0.0775672 ] [ 0. 0. 0. 1. ]] SLAMing on 205.20241403699998 meters Centerline goodness : 0.769637 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.42, Z:0.08 [[ 0.96112891 -0.20699066 -0.18271861 -8.38827234] [ 0.21587005 0.97596416 0.02990106 -4.41585569] [ 0.17213757 -0.06818225 0.98271045 0.07650503] [ 0. 0. 0. 1. ]] SLAMing on 205.23241403699998 meters Centerline goodness : 0.769591 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.41, Z:0.07 [[ 0.96153809 -0.20557292 -0.18216553 -8.38826569] [ 0.21421282 0.97636004 0.02887812 -4.41283971] [ 0.17192258 -0.06678961 0.98284372 0.07446867] [ 0. 0. 0. 1. ]] SLAMing on 205.26241403699999 meters Centerline goodness : 0.770884 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.41, Z:0.07 [[ 0.96168797 -0.2051026 -0.1819043 -8.38846579] [ 0.21363116 0.97650192 0.02838548 -4.41131238] [ 0.17180796 -0.0661584 0.98290645 0.07377697] [ 0. 0. 0. 1. ]] SLAMing on 205.292414037 meters Centerline goodness : 0.769658 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.41, Z:0.07 [[ 0.9618712 -0.20439442 -0.18173253 -8.38885119] [ 0.21287047 0.97667298 0.02821433 -4.4097831 ] [ 0.1717264 -0.06582404 0.98294315 0.07334274] [ 0. 0. 0. 1. ]] SLAMing on 205.322414037 meters Centerline goodness : 0.771631 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.41, Z:0.07 [[ 0.96238868 -0.20125558 -0.18249444 -8.39044513] [ 0.21026298 0.97714605 0.0312262 -4.40826165] [ 0.17203927 -0.06842357 0.9827109 0.07492668] [ 0. 0. 0. 1. ]] SLAMing on 205.352414037 meters Centerline goodness : 0.770617 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.41, Z:0.08 [[ 0.96243301 -0.20115422 -0.18237238 -8.39127464] [ 0.21007556 0.97720012 0.03079263 -4.40645052] [ 0.17202024 -0.06794783 0.98274724 0.07517511] [ 0. 0. 0. 1. ]] SLAMing on 205.382414037 meters Centerline goodness : 0.772323 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.40, Z:0.08 [[ 0.96236621 -0.20153471 -0.18230481 -8.39203838] [ 0.21034912 0.97716053 0.0301754 -4.40484663] [ 0.17205968 -0.06738744 0.98277892 0.07565842] [ 0. 0. 0. 1. ]] SLAMing on 205.412414037 meters Centerline goodness : 0.773031 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.40, Z:0.08 [[ 0.96227787 -0.20188049 -0.18238852 -8.39193032] [ 0.21063367 0.9771119 0.02976225 -4.40363064] [ 0.17220557 -0.06705672 0.98277599 0.07560777] [ 0. 0. 0. 1. ]] SLAMing on 205.442414037 meters Centerline goodness : 0.771704 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.40, Z:0.08 [[ 0.96216054 -0.20199417 -0.18288096 -8.39077303] [ 0.21079337 0.97707571 0.02981973 -4.4028967 ] [ 0.17266513 -0.06724146 0.98268273 0.07534762] [ 0. 0. 0. 1. ]] SLAMing on 205.472414037 meters Centerline goodness : 0.770770 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.40, Z:0.07 [[ 0.96150687 -0.20576013 -0.18211893 -8.39069606] [ 0.213745 0.97656588 0.02514271 -4.39904125] [ 0.17267777 -0.0631019 0.982955 0.07472472] [ 0. 0. 0. 1. ]] SLAMing on 205.502414037 meters Centerline goodness : 0.770280 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.40, Z:0.07 [[ 0.96141748 -0.20627109 -0.1820128 -8.39107357] [ 0.21416961 0.97648554 0.02464484 -4.39819863] [ 0.17264935 -0.06267559 0.98298727 0.07484572] [ 0. 0. 0. 1. ]] SLAMing on 205.532414037 meters Centerline goodness : 0.771720 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.40, Z:0.07 [[ 0.9613087 -0.20690217 -0.18187103 -8.39152426] [ 0.21470285 0.97638245 0.02408338 -4.39740898] [ 0.17259278 -0.06219979 0.98302743 0.07496655] [ 0. 0. 0. 1. ]] SLAMing on 205.562414037 meters Centerline goodness : 0.768244 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.40, Z:0.07 [[ 0.96051748 -0.21100236 -0.18133996 -8.39028811] [ 0.21812454 0.97571515 0.02004096 -4.39508662] [ 0.17270746 -0.05880439 0.98321624 0.07436044] [ 0. 0. 0. 1. ]] SLAMing on 205.592414037 meters Centerline goodness : 0.767950 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.39, Z:0.07 [[ 0.96040856 -0.21164775 -0.18116463 -8.39086001] [ 0.21867071 0.97560428 0.01947824 -4.39449133] [ 0.17262246 -0.05832247 0.98325987 0.07457175] [ 0. 0. 0. 1. ]] SLAMing on 205.622414037 meters Centerline goodness : 0.770562 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.39, Z:0.08 [[ 0.96026787 -0.21252916 -0.18087831 -8.39211949] [ 0.21938918 0.97546072 0.01856792 -4.39258482] [ 0.17249347 -0.05751292 0.98333019 0.07507615] [ 0. 0. 0. 1. ]] SLAMing on 205.652414037 meters Centerline goodness : 0.771758 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.39, Z:0.08 [[ 0.96018941 -0.21312 -0.18059945 -8.3931569 ] [ 0.21987059 0.97536326 0.01798452 -4.39159687] [ 0.1723172 -0.05697705 0.98339229 0.07546006] [ 0. 0. 0. 1. ]] SLAMing on 205.68241403699997 meters Centerline goodness : 0.771760 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.39, Z:0.08 [[ 0.96007655 -0.21385004 -0.18033628 -8.39448205] [ 0.22047102 0.97524069 0.01726663 -4.39070793] [ 0.17217881 -0.05633621 0.98345345 0.07622626] [ 0. 0. 0. 1. ]] SLAMing on 205.71241403699997 meters Centerline goodness : 0.770952 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.08 [[ 0.95999516 -0.21444115 -0.18006742 -8.3956148 ] [ 0.22095232 0.97514205 0.01667471 -4.39002712] [ 0.17201557 -0.05579396 0.98351293 0.07679954] [ 0. 0. 0. 1. ]] SLAMing on 205.74241403699997 meters Centerline goodness : 0.772012 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.08 [[ 0.95982398 -0.21562077 -0.17957061 -8.39759637] [ 0.22195681 0.97492963 0.01572861 -4.3890499 ] [ 0.1716773 -0.05495362 0.98361934 0.07763117] [ 0. 0. 0. 1. ]] SLAMing on 205.77241403699998 meters Centerline goodness : 0.771374 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.08 [[ 0.95975876 -0.21612825 -0.17930896 -8.39801808] [ 0.22239903 0.9748342 0.01539359 -4.38875257] [ 0.17146951 -0.05465227 0.98367237 0.077458 ] [ 0. 0. 0. 1. ]] SLAMing on 205.80241403699998 meters Centerline goodness : 0.771834 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.08 [[ 0.95967464 -0.2165202 -0.17928636 -8.39816812] [ 0.22274676 0.97475921 0.01511192 -4.38880603] [ 0.17148899 -0.05443798 0.98368086 0.07763108] [ 0. 0. 0. 1. ]] SLAMing on 205.83241403699998 meters Centerline goodness : 0.772573 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.08 [[ 0.95954599 -0.21727754 -0.17905856 -8.39863417] [ 0.22342924 0.97460949 0.01468726 -4.3889477 ] [ 0.17132096 -0.05410002 0.98372878 0.0776747 ] [ 0. 0. 0. 1. ]] SLAMing on 205.86241403699998 meters Centerline goodness : 0.771960 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.08 [[ 0.95948924 -0.21755876 -0.17902117 -8.39879008] [ 0.22366888 0.97455829 0.01443512 -4.38876431] [ 0.17132608 -0.05389181 0.98373932 0.07783503] [ 0. 0. 0. 1. ]] SLAMing on 205.89241403699998 meters Centerline goodness : 0.773911 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.08 [[ 0.9594208 -0.21796313 -0.17889606 -8.39930112] [ 0.22401106 0.97448487 0.01408138 -4.38833747] [ 0.17126228 -0.05358466 0.98376721 0.07808091] [ 0. 0. 0. 1. ]] SLAMing on 205.92241403699998 meters Centerline goodness : 0.772069 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.08 [[ 0.95936212 -0.21840897 -0.17866687 -8.40018593] [ 0.22436964 0.97440904 0.01361224 -4.38772755] [ 0.17112158 -0.05314649 0.98381546 0.07855882] [ 0. 0. 0. 1. ]] SLAMing on 205.95241403699998 meters Centerline goodness : 0.771876 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.08 [[ 0.95932507 -0.2185693 -0.17866973 -8.40021087] [ 0.22449786 0.97438228 0.0134123 -4.38773596] [ 0.17116111 -0.05297773 0.98381768 0.07876561] [ 0. 0. 0. 1. ]] SLAMing on 205.98241403699998 meters Centerline goodness : 0.773878 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.08 [[ 0.95930147 -0.21877823 -0.17854071 -8.4004066 ] [ 0.22469511 0.97433743 0.0133669 -4.38811458] [ 0.17103451 -0.05294012 0.98384172 0.07871351] [ 0. 0. 0. 1. ]] SLAMing on 206.01241403699999 meters Centerline goodness : 0.773706 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.08 [[ 0.95923403 -0.21926357 -0.17830747 -8.4010505 ] [ 0.2251613 0.97423091 0.0132862 -4.38989086] [ 0.17079947 -0.05289252 0.98388512 0.07913617] [ 0. 0. 0. 1. ]] SLAMing on 206.042414037 meters Centerline goodness : 0.773706 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.08 [[ 0.95923403 -0.21926357 -0.17830747 -8.4010505 ] [ 0.2251613 0.97423091 0.0132862 -4.38989086] [ 0.17079947 -0.05289252 0.98388512 0.07913617] [ 0. 0. 0. 1. ]] SLAMing on 206.072414037 meters Centerline goodness : 0.773600 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.08 [[ 0.95922542 -0.21927352 -0.17834159 -8.40101749] [ 0.22520072 0.97421963 0.01344431 -4.39108024] [ 0.1707959 -0.05305877 0.98387679 0.07940306] [ 0. 0. 0. 1. ]] SLAMing on 206.102414037 meters Centerline goodness : 0.775225 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.08 [[ 0.95922254 -0.21920087 -0.17844636 -8.40078674] [ 0.22514549 0.97423137 0.01351817 -4.39139631] [ 0.17088485 -0.05314333 0.98385678 0.07950347] [ 0. 0. 0. 1. ]] SLAMing on 206.132414037 meters Centerline goodness : 0.774355 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.08 [[ 0.95920612 -0.21921866 -0.17851273 -8.4007941 ] [ 0.2251581 0.97422918 0.01346581 -4.39139629] [ 0.17096036 -0.05311007 0.98384545 0.07972232] [ 0. 0. 0. 1. ]] SLAMing on 206.162414037 meters Centerline goodness : 0.773634 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.08 [[ 0.95925147 -0.21888873 -0.17867387 -8.40020414] [ 0.22489322 0.97428542 0.01381878 -4.39198116] [ 0.17105457 -0.05343823 0.98381131 0.07953894] [ 0. 0. 0. 1. ]] SLAMing on 206.192414037 meters Centerline goodness : 0.772467 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.08 [[ 0.95924626 -0.21887147 -0.17872294 -8.40002707] [ 0.22489056 0.97428504 0.01388871 -4.39256961] [ 0.17108724 -0.0535158 0.98380141 0.07960704] [ 0. 0. 0. 1. ]] SLAMing on 206.222414037 meters Centerline goodness : 0.773237 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.08 [[ 0.95924244 -0.21891982 -0.17868422 -8.40003901] [ 0.22494865 0.97427071 0.01395267 -4.39320881] [ 0.17103228 -0.05357877 0.98380754 0.07963435] [ 0. 0. 0. 1. ]] SLAMing on 206.252414037 meters Centerline goodness : 0.772422 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.08 [[ 0.95925803 -0.21880126 -0.17874575 -8.39996911] [ 0.22482769 0.97429896 0.01392996 -4.39374073] [ 0.1711039 -0.05354942 0.98379668 0.07997403] [ 0. 0. 0. 1. ]] SLAMing on 206.282414037 meters Centerline goodness : 0.770510 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.08 [[ 0.9592598 -0.21875378 -0.17879434 -8.39981807] [ 0.22475528 0.97431786 0.01377553 -4.39328768] [ 0.17118907 -0.05339928 0.98379003 0.08004869] [ 0. 0. 0. 1. ]] SLAMing on 206.312414037 meters Centerline goodness : 0.772578 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.08 [[ 0.95926479 -0.21859244 -0.1789648 -8.39951047] [ 0.22458236 0.97435923 0.01366966 -4.39263555] [ 0.17138792 -0.05330516 0.98376051 0.08016598] [ 0. 0. 0. 1. ]] SLAMing on 206.342414037 meters Centerline goodness : 0.773599 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.08 [[ 0.95926911 -0.21853328 -0.17901389 -8.39974308] [ 0.22444472 0.97439729 0.0132093 -4.39093743] [ 0.17154398 -0.05285 0.98375787 0.08058261] [ 0. 0. 0. 1. ]] SLAMing on 206.372414037 meters Centerline goodness : 0.774932 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.08 [[ 0.95922292 -0.21877774 -0.17896282 -8.40036578] [ 0.22461662 0.97436331 0.01278706 -4.39015898] [ 0.17157728 -0.05246366 0.98377274 0.08113665] [ 0. 0. 0. 1. ]] SLAMing on 206.402414037 meters Centerline goodness : 0.771891 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.08 [[ 0.95915257 -0.2191595 -0.17887273 -8.40123677] [ 0.22488505 0.97430979 0.0121306 -4.38972998] [ 0.17161892 -0.0518609 0.98379744 0.08215807] [ 0. 0. 0. 1. ]] SLAMing on 206.43241403699997 meters Centerline goodness : 0.774204 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.08 [[ 0.95910945 -0.21942977 -0.17877257 -8.40156777] [ 0.22510398 0.97426278 0.01184241 -4.38975928] [ 0.17157289 -0.05160058 0.98381915 0.08244868] [ 0. 0. 0. 1. ]] SLAMing on 206.46241403699997 meters Centerline goodness : 0.773734 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.08 [[ 0.95909613 -0.2196044 -0.17862954 -8.40177818] [ 0.22524462 0.97423229 0.01167522 -4.38990409] [ 0.17146273 -0.051433 0.98384713 0.08250068] [ 0. 0. 0. 1. ]] SLAMing on 206.49241403699997 meters Centerline goodness : 0.776712 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.08 [[ 0.95910324 -0.21953482 -0.17867692 -8.40118951] [ 0.22516798 0.97425058 0.01162663 -4.38966482] [ 0.17152364 -0.05138346 0.9838391 0.08210108] [ 0. 0. 0. 1. ]] SLAMing on 206.52241403699998 meters Centerline goodness : 0.775676 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.08 [[ 0.95910202 -0.21934093 -0.17892141 -8.40053326] [ 0.22499351 0.97429024 0.01168112 -4.38943413] [ 0.17175924 -0.05145954 0.98379402 0.08200393] [ 0. 0. 0. 1. ]] SLAMing on 206.55241403699998 meters Centerline goodness : 0.776656 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.08 [[ 0.95916352 -0.21893318 -0.17909104 -8.40019484] [ 0.22458178 0.97438568 0.01164378 -4.38835 ] [ 0.17195453 -0.05138888 0.9837636 0.08208602] [ 0. 0. 0. 1. ]] SLAMing on 206.58241403699998 meters Centerline goodness : 0.776798 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.08 [[ 0.95915819 -0.2188379 -0.17923597 -8.40018095] [ 0.22446316 0.97441501 0.01147508 -4.38761836] [ 0.17213904 -0.05123828 0.98373919 0.08244075] [ 0. 0. 0. 1. ]] SLAMing on 206.61241403699998 meters Centerline goodness : 0.777250 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.08 [[ 0.95916028 -0.21869835 -0.17939508 -8.40001888] [ 0.22430467 0.97445319 0.01133154 -4.38705444] [ 0.17233391 -0.05110792 0.98371185 0.08273696] [ 0. 0. 0. 1. ]] SLAMing on 206.64241403699998 meters Centerline goodness : 0.776995 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.08 [[ 0.95915639 -0.21861021 -0.17952323 -8.39978792] [ 0.22420482 0.97447729 0.01123419 -4.38663993] [ 0.17248541 -0.05102531 0.98368959 0.08283729] [ 0. 0. 0. 1. ]] SLAMing on 206.67241403699998 meters Centerline goodness : 0.777775 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.08 [[ 0.95914144 -0.21873493 -0.17945116 -8.39978246] [ 0.22430422 0.97445595 0.01110005 -4.38680777] [ 0.17243928 -0.05089817 0.98370426 0.08281709] [ 0. 0. 0. 1. ]] SLAMing on 206.70241403699998 meters Centerline goodness : 0.777563 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.08 [[ 0.95911631 -0.21887817 -0.17941085 -8.39982958] [ 0.22443481 0.97442671 0.01102696 -4.38725326] [ 0.17240916 -0.05084218 0.98371243 0.08293123] [ 0. 0. 0. 1. ]] SLAMing on 206.73241403699998 meters Centerline goodness : 0.777116 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.08 [[ 0.95905957 -0.21930459 -0.17919332 -8.40047026] [ 0.22480124 0.97434577 0.01071068 -4.38753206] [ 0.17224735 -0.05055507 0.98375558 0.08324209] [ 0. 0. 0. 1. ]] SLAMing on 206.76241403699999 meters Centerline goodness : 0.776833 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.08 [[ 0.95901211 -0.21964876 -0.17902571 -8.40095386] [ 0.22510525 0.97427788 0.01049978 -4.38802975] [ 0.17211452 -0.05036904 0.98378837 0.08354052] [ 0. 0. 0. 1. ]] SLAMing on 206.792414037 meters Centerline goodness : 0.778821 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.08 [[ 0.95890018 -0.22040907 -0.17869046 -8.40230555] [ 0.22577777 0.97412722 0.0100278 -4.3884876 ] [ 0.17185703 -0.04995999 0.98385424 0.08430329] [ 0. 0. 0. 1. ]] SLAMing on 206.822414037 meters Centerline goodness : 0.780180 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.08 [[ 0.95884757 -0.22075439 -0.17854644 -8.40299016] [ 0.2260679 0.97406302 0.00972275 -4.38841567] [ 0.17176915 -0.04968625 0.98388345 0.08480058] [ 0. 0. 0. 1. ]] SLAMing on 206.852414037 meters Centerline goodness : 0.780180 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.08 [[ 0.95884757 -0.22075439 -0.17854644 -8.40299016] [ 0.2260679 0.97406302 0.00972275 -4.38841567] [ 0.17176915 -0.04968625 0.98388345 0.08480058] [ 0. 0. 0. 1. ]] SLAMing on 206.882414037 meters Centerline goodness : 0.779830 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.09 [[ 0.95878897 -0.2210682 -0.17847285 -8.40371907] [ 0.22631981 0.97400807 0.00936122 -4.38800636] [ 0.17176453 -0.04936737 0.9839003 0.0854667 ] [ 0. 0. 0. 1. ]] SLAMing on 206.912414037 meters Centerline goodness : 0.780293 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.09 [[ 0.95872543 -0.22141439 -0.17838501 -8.40442603] [ 0.22658826 0.97394988 0.00890995 -4.38742765] [ 0.17176527 -0.04896214 0.98392042 0.0861085 ] [ 0. 0. 0. 1. ]] SLAMing on 206.942414037 meters Centerline goodness : 0.779859 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.39, Z:0.09 [[ 0.95868152 -0.22180308 -0.17813797 -8.40511584] [ 0.22691367 0.97387705 0.00858329 -4.38707866] [ 0.17158068 -0.04865058 0.98396808 0.08629724] [ 0. 0. 0. 1. ]] SLAMing on 206.972414037 meters Centerline goodness : 0.779625 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.09 [[ 0.95866231 -0.22182144 -0.17821846 -8.40458581] [ 0.22693901 0.97387101 0.00859844 -4.38756172] [ 0.17165447 -0.04868772 0.98395338 0.08611207] [ 0. 0. 0. 1. ]] SLAMing on 207.002414037 meters Centerline goodness : 0.779172 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.09 [[ 0.95862953 -0.22206817 -0.17808748 -8.40436887] [ 0.2271769 0.97381586 0.00856307 -4.38817427] [ 0.17152283 -0.04866618 0.9839774 0.08572884] [ 0. 0. 0. 1. ]] SLAMing on 207.032414037 meters Centerline goodness : 0.779183 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.09 [[ 0.95857965 -0.22236015 -0.17799161 -8.40418158] [ 0.22746586 0.97374855 0.00854686 -4.38918386] [ 0.17141859 -0.04867985 0.98399489 0.08549821] [ 0. 0. 0. 1. ]] SLAMing on 207.062414037 meters Centerline goodness : 0.779612 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.09 [[ 9.58548132e-01 -2.22566987e-01 -1.77902827e-01 -8.40438245e+00] [ 2.27645459e-01 9.73707877e-01 8.39728775e-03 -4.38921392e+00] [ 1.71356426e-01 -4.85479753e-02 9.84012230e-01 8.55804419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.092414037 meters Centerline goodness : 0.780125 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.09 [[ 9.58508785e-01 -2.22734188e-01 -1.77905565e-01 -8.40474928e+00] [ 2.27766706e-01 9.73681896e-01 8.11746397e-03 -4.38889054e+00] [ 1.71415391e-01 -4.83016250e-02 9.84014084e-01 8.60732750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.122414037 meters Centerline goodness : 0.779231 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.39, Z:0.09 [[ 9.58473085e-01 -2.22916854e-01 -1.77869112e-01 -8.40528318e+00] [ 2.27884601e-01 9.73657388e-01 7.73948678e-03 -4.38804740e+00] [ 1.71458313e-01 -4.79517215e-02 9.84023719e-01 8.65905174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.152414037 meters Centerline goodness : 0.778557 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.39, Z:0.09 [[ 9.58514060e-01 -2.22607618e-01 -1.78035519e-01 -8.40549129e+00] [ 2.27543980e-01 9.73738609e-01 7.54047144e-03 -4.38687260e+00] [ 1.71681492e-01 -4.77385584e-02 9.83995170e-01 8.72444209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18241403699997 meters Centerline goodness : 0.776774 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.39, Z:0.09 [[ 9.58503256e-01 -2.22676233e-01 -1.78007873e-01 -8.40579201e+00] [ 2.27567669e-01 9.73735021e-01 7.28454122e-03 -4.38628788e+00] [ 1.71710406e-01 -4.74910933e-02 9.84002100e-01 8.75841846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.21241403699997 meters Centerline goodness : 0.778466 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.39, Z:0.09 [[ 9.58463071e-01 -2.22899314e-01 -1.77945041e-01 -8.40663446e+00] [ 2.27720122e-01 9.73702343e-01 6.87708399e-03 -4.38617229e+00] [ 1.71732606e-01 -4.71130974e-02 9.84016396e-01 8.85191363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24241403699997 meters Centerline goodness : 0.779734 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.39, Z:0.09 [[ 9.58433820e-01 -2.23050513e-01 -1.77913129e-01 -8.40683933e+00] [ 2.27845289e-01 9.73674137e-01 6.72302913e-03 -4.38637592e+00] [ 1.71729837e-01 -4.69802467e-02 9.84023231e-01 8.88001280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.27241403699998 meters Centerline goodness : 0.778394 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.39, Z:0.09 [[ 9.58413483e-01 -2.23135989e-01 -1.77915502e-01 -8.40663171e+00] [ 2.27919902e-01 9.73657160e-01 6.65233763e-03 -4.38659200e+00] [ 1.71744326e-01 -4.69261738e-02 9.84023283e-01 8.87008558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.30241403699998 meters Centerline goodness : 0.778532 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.39, Z:0.09 [[ 9.58398966e-01 -2.23179895e-01 -1.77938630e-01 -8.40626196e+00] [ 2.27969257e-01 9.73645463e-01 6.67313219e-03 -4.38696284e+00] [ 1.71759831e-01 -4.69600603e-02 9.84018960e-01 8.84904122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.33241403699998 meters Centerline goodness : 0.778973 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.39, Z:0.09 [[ 9.58405784e-01 -2.23006356e-01 -1.78119395e-01 -8.40519435e+00] [ 2.27845204e-01 9.73672763e-01 6.92202260e-03 -4.38724594e+00] [ 1.71886349e-01 -4.72177564e-02 9.83984536e-01 8.77823891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.36241403699998 meters Centerline goodness : 0.774964 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.09 [[ 9.58329353e-01 -2.22860639e-01 -1.78712019e-01 -8.40390700e+00] [ 2.27766018e-01 9.73689643e-01 7.14985346e-03 -4.38659717e+00] [ 1.72416621e-01 -4.75564394e-02 9.83875446e-01 8.76431595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.39241403699998 meters Centerline goodness : 0.778390 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.09 [[ 0.95860109 -0.22006431 -0.18070875 -8.4014473 ] [ 0.22573709 0.97412401 0.01118864 -4.3875747 ] [ 0.17357051 -0.0515181 0.98347301 0.08803243] [ 0. 0. 0. 1. ]] SLAMing on 207.42241403699998 meters Centerline goodness : 0.777651 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.09 [[ 0.95858356 -0.22003238 -0.18084059 -8.40135753] [ 0.22566476 0.97414378 0.01092319 -4.38641316] [ 0.17376128 -0.05128014 0.98345176 0.08821669] [ 0. 0. 0. 1. ]] SLAMing on 207.45241403699998 meters Centerline goodness : 0.777646 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.38, Z:0.09 [[ 0.95856557 -0.2199737 -0.18100722 -8.40137531] [ 0.22552956 0.97418032 0.01044611 -4.38454834] [ 0.17403581 -0.05083576 0.98342629 0.08863179] [ 0. 0. 0. 1. ]] SLAMing on 207.48241403699998 meters Centerline goodness : 0.776699 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.38, Z:0.09 [[ 0.95858625 -0.21964899 -0.18129179 -8.40062031] [ 0.22525532 0.97424127 0.01067636 -4.38401952] [ 0.17427689 -0.05107115 0.9833714 0.08824391] [ 0. 0. 0. 1. ]] SLAMing on 207.51241403699999 meters Centerline goodness : 0.780371 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.38, Z:0.09 [[ 0.95854142 -0.22006402 -0.18102532 -8.40152137] [ 0.22556629 0.97417516 0.01012969 -4.38336846] [ 0.17412119 -0.05054294 0.98342627 0.08866427] [ 0. 0. 0. 1. ]] SLAMing on 207.542414037 meters Centerline goodness : 0.780005 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.38, Z:0.09 [[ 0.95849855 -0.22046061 -0.18076962 -8.40235193] [ 0.22589216 0.97410333 0.0097687 -4.38307443] [ 0.17393467 -0.05019772 0.98347695 0.08897947] [ 0. 0. 0. 1. ]] SLAMing on 207.572414037 meters Centerline goodness : 0.780857 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.38, Z:0.09 [[ 0.95843287 -0.22086793 -0.18062057 -8.403102 ] [ 0.2261956 0.97403857 0.00918729 -4.38211471] [ 0.17390222 -0.04966098 0.98350994 0.08949602] [ 0. 0. 0. 1. ]] SLAMing on 207.602414037 meters Centerline goodness : 0.779968 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.38, Z:0.09 [[ 0.95836296 -0.22112424 -0.18067792 -8.40367012] [ 0.22633642 0.97401215 0.00849439 -4.38033448] [ 0.17410417 -0.0490347 0.98350564 0.09029094] [ 0. 0. 0. 1. ]] SLAMing on 207.632414037 meters Centerline goodness : 0.779968 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.38, Z:0.09 [[ 0.95836296 -0.22112424 -0.18067792 -8.40367012] [ 0.22633642 0.97401215 0.00849439 -4.38033448] [ 0.17410417 -0.0490347 0.98350564 0.09029094] [ 0. 0. 0. 1. ]] SLAMing on 207.662414037 meters Centerline goodness : 0.780093 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.38, Z:0.09 [[ 9.58300501e-01 -2.21314779e-01 -1.80775879e-01 -8.40395432e+00] [ 2.26431059e-01 9.73995096e-01 7.90751728e-03 -4.37857599e+00] [ 1.74324769e-01 -4.85110515e-02 9.83492528e-01 9.08178625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.692414037 meters Centerline goodness : 0.779316 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.38, Z:0.09 [[ 9.58251654e-01 -2.21335133e-01 -1.81009742e-01 -8.40356905e+00] [ 2.26421130e-01 9.73999312e-01 7.66895101e-03 -4.37789323e+00] [ 1.74605956e-01 -4.83332154e-02 9.83451402e-01 9.10250157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.722414037 meters Centerline goodness : 0.777407 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.38, Z:0.09 [[ 9.58222751e-01 -2.21453463e-01 -1.81018021e-01 -8.40364027e+00] [ 2.26501574e-01 9.73982366e-01 7.44231686e-03 -4.37721182e+00] [ 1.74660233e-01 -4.81322640e-02 9.83451620e-01 9.11118750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.752414037 meters Centerline goodness : 0.779352 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.38, Z:0.09 [[ 9.58175438e-01 -2.21723214e-01 -1.80938238e-01 -8.40372944e+00] [ 2.26732608e-01 9.73930271e-01 7.22161217e-03 -4.37653051e+00] [ 1.74620028e-01 -4.79441698e-02 9.83467947e-01 9.09263717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.782414037 meters Centerline goodness : 0.781231 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.38, Z:0.09 [[ 9.58119738e-01 -2.22075536e-01 -1.80801060e-01 -8.40396532e+00] [ 2.27034914e-01 9.73861853e-01 6.94541532e-03 -4.37649269e+00] [ 1.74532849e-01 -4.77026926e-02 9.83495164e-01 9.09916488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.812414037 meters Centerline goodness : 0.780905 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.38, Z:0.09 [[ 9.58081037e-01 -2.22354498e-01 -1.80663234e-01 -8.40408052e+00] [ 2.27294735e-01 9.73801921e-01 6.84997167e-03 -4.37699650e+00] [ 1.74407082e-01 -4.76266297e-02 9.83521161e-01 9.09053084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.842414037 meters Centerline goodness : 0.778826 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.38, Z:0.09 [[ 9.58024565e-01 -2.22697183e-01 -1.80540570e-01 -8.40430652e+00] [ 2.27608949e-01 9.73729628e-01 6.69167560e-03 -4.37730480e+00] [ 1.74307484e-01 -4.75034388e-02 9.83544775e-01 9.09447345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.872414037 meters Centerline goodness : 0.780362 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.38, Z:0.09 [[ 9.57854705e-01 -2.23851673e-01 -1.80013310e-01 -8.40601497e+00] [ 2.28639984e-01 9.73492353e-01 6.03284585e-03 -4.37740857e+00] [ 1.73891118e-01 -4.69368302e-02 9.83645674e-01 9.15102758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.902414037 meters Centerline goodness : 0.780464 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.38, Z:0.09 [[ 9.57759720e-01 -2.24396731e-01 -1.79840000e-01 -8.40696194e+00] [ 2.29091669e-01 9.73389306e-01 5.50152885e-03 -4.37689440e+00] [ 1.73819808e-01 -4.64689886e-02 9.83680491e-01 9.21718192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.93241403699997 meters Centerline goodness : 0.781624 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.38, Z:0.09 [[ 9.57672425e-01 -2.24941633e-01 -1.79624020e-01 -8.40804061e+00] [ 2.29549044e-01 9.73284180e-01 5.01412550e-03 -4.37642891e+00] [ 1.73697332e-01 -4.60344119e-02 9.83722557e-01 9.28100195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96241403699997 meters Centerline goodness : 0.778521 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.38, Z:0.09 [[ 9.57574514e-01 -2.25529649e-01 -1.79408549e-01 -8.40882831e+00] [ 2.30052409e-01 9.73167660e-01 4.53803527e-03 -4.37612065e+00] [ 1.73571136e-01 -4.56188757e-02 9.83764189e-01 9.31908405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.99241403699997 meters Centerline goodness : 0.779436 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.38, Z:0.09 [[ 9.57554374e-01 -2.25650170e-01 -1.79364494e-01 -8.40873212e+00] [ 2.30178269e-01 9.73137754e-01 4.56895621e-03 -4.37662921e+00] [ 1.73515375e-01 -4.56608329e-02 9.83772079e-01 9.30549376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02241403699998 meters Centerline goodness : 0.779438 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.38, Z:0.09 [[ 9.57440367e-01 -2.26432502e-01 -1.78986777e-01 -8.40974172e+00] [ 2.30892349e-01 9.72970193e-01 4.21025745e-03 -4.37756464e+00] [ 1.73195460e-01 -4.53577480e-02 9.83842471e-01 9.34129322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.05241403699998 meters Centerline goodness : 0.775829 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.38, Z:0.09 [[ 9.57372080e-01 -2.26802100e-01 -1.78884063e-01 -8.41039298e+00] [ 2.31215988e-01 9.72894457e-01 3.94235752e-03 -4.37787119e+00] [ 1.73141178e-01 -4.51351584e-02 9.83862262e-01 9.39860372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.08241403699998 meters Centerline goodness : 0.775931 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.38, Z:0.09 [[ 9.57336208e-01 -2.27062931e-01 -1.78745099e-01 -8.41094347e+00] [ 2.31447136e-01 9.72840113e-01 3.78637522e-03 -4.37808342e+00] [ 1.73030657e-01 -4.49948754e-02 9.83888130e-01 9.43351385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.11241403699998 meters Centerline goodness : 0.780723 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.38, Z:0.09 [[ 9.57273344e-01 -2.27428555e-01 -1.78616900e-01 -8.41166600e+00] [ 2.31750686e-01 9.72769156e-01 3.43343999e-03 -4.37768293e+00] [ 1.72972149e-01 -4.46813297e-02 9.83912707e-01 9.48897541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14241403699998 meters Centerline goodness : 0.776725 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.38, Z:0.10 [[ 9.57234554e-01 -2.27571046e-01 -1.78643298e-01 -8.41176084e+00] [ 2.31870400e-01 9.72741144e-01 3.28385660e-03 -4.37747998e+00] [ 1.73026375e-01 -4.45655138e-02 9.83908425e-01 9.50855373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.17241403699998 meters Centerline goodness : 0.776116 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.38, Z:0.10 [[ 9.57203823e-01 -2.27677160e-01 -1.78672752e-01 -8.41168262e+00] [ 2.31959477e-01 9.72720286e-01 3.16951465e-03 -4.37759164e+00] [ 1.73076984e-01 -4.44787096e-02 9.83903452e-01 9.51953350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.20241403699998 meters Centerline goodness : 0.777295 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.38, Z:0.10 [[ 9.57192167e-01 -2.27787204e-01 -1.78594919e-01 -8.41158945e+00] [ 2.32082999e-01 9.72690535e-01 3.25637089e-03 -4.37837494e+00] [ 1.72975828e-01 -4.45658171e-02 9.83917299e-01 9.50523907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.23241403699998 meters Centerline goodness : 0.778089 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.38, Z:0.10 [[ 9.57136722e-01 -2.28124425e-01 -1.78461599e-01 -8.41179514e+00] [ 2.32412741e-01 9.72611929e-01 3.21767808e-03 -4.37945509e+00] [ 1.72839849e-01 -4.45565073e-02 9.83941616e-01 9.51358800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.26241403699999 meters Centerline goodness : 0.773981 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.38, Z:0.10 [[ 9.57070871e-01 -2.28566990e-01 -1.78248363e-01 -8.41225059e+00] [ 2.32853929e-01 9.72506374e-01 3.22503816e-03 -4.38110275e+00] [ 1.72610532e-01 -4.45924218e-02 9.83980244e-01 9.53551591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.292414037 meters Centerline goodness : 0.776733 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.38, Z:0.10 [[ 9.56879373e-01 -2.29607125e-01 -1.77939410e-01 -8.41330937e+00] [ 2.33849319e-01 9.72268359e-01 2.95520458e-03 -4.38349743e+00] [ 1.72326322e-01 -4.44387842e-02 9.84037008e-01 9.60797695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.322414037 meters Centerline goodness : 0.776652 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.38, Z:0.10 [[ 9.56834369e-01 -2.29929959e-01 -1.77764465e-01 -8.41397151e+00] [ 2.34146264e-01 9.72197282e-01 2.82346456e-03 -4.38413062e+00] [ 1.72172931e-01 -4.43244733e-02 9.84069013e-01 9.65323850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.352414037 meters Centerline goodness : 0.775818 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.38, Z:0.10 [[ 9.56815945e-01 -2.30107517e-01 -1.77633833e-01 -8.41438255e+00] [ 2.34321438e-01 9.72155064e-01 2.82772851e-03 -4.38471772e+00] [ 1.72036949e-01 -4.43290309e-02 9.84092590e-01 9.67503167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.382414037 meters Centerline goodness : 0.778183 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.39, Z:0.10 [[ 9.56791350e-01 -2.30225265e-01 -1.77613740e-01 -8.41450915e+00] [ 2.34443472e-01 9.72125586e-01 2.84671778e-03 -4.38518014e+00] [ 1.72007474e-01 -4.43640968e-02 9.84096162e-01 9.69255052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.412414037 meters Centerline goodness : 0.777201 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.39, Z:0.10 [[ 9.56793586e-01 -2.30195493e-01 -1.77640281e-01 -8.41443434e+00] [ 2.34470278e-01 9.72118133e-01 3.16620390e-03 -4.38686381e+00] [ 1.71958492e-01 -4.46807696e-02 9.84090395e-01 9.71200629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.442414037 meters Centerline goodness : 0.775938 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.39, Z:0.10 [[ 9.56774511e-01 -2.30392946e-01 -1.77486970e-01 -8.41490386e+00] [ 2.34656949e-01 9.72073217e-01 3.12684854e-03 -4.38746716e+00] [ 1.71809926e-01 -4.46402399e-02 9.84118183e-01 9.73760239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.472414037 meters Centerline goodness : 0.777646 Centerline is valid? [False, False] Translation: X:-8.42, Y:-4.39, Z:0.10 [[ 9.56770654e-01 -2.30427922e-01 -1.77462360e-01 -8.41505934e+00] [ 2.34700636e-01 9.72062497e-01 3.18005305e-03 -4.38821897e+00] [ 1.71771732e-01 -4.46931102e-02 9.84122451e-01 9.76492544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.502414037 meters Centerline goodness : 0.776914 Centerline is valid? [False, False] Translation: X:-8.42, Y:-4.39, Z:0.10 [[ 9.56740790e-01 -2.30581438e-01 -1.77423956e-01 -8.41535874e+00] [ 2.34854087e-01 9.72025448e-01 3.17577910e-03 -4.38905364e+00] [ 1.71728324e-01 -4.47071386e-02 9.84129389e-01 9.80408087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.532414037 meters Centerline goodness : 0.777144 Centerline is valid? [False, False] Translation: X:-8.42, Y:-4.39, Z:0.10 [[ 9.56665067e-01 -2.31100453e-01 -1.77156794e-01 -8.41648486e+00] [ 2.35357204e-01 9.71903971e-01 3.10780076e-03 -4.39116986e+00] [ 1.71461178e-01 -4.46682522e-02 9.84177734e-01 9.89679340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.562414037 meters Centerline goodness : 0.776068 Centerline is valid? [False, False] Translation: X:-8.42, Y:-4.39, Z:0.10 [[ 9.56636448e-01 -2.31175310e-01 -1.77213664e-01 -8.41641058e+00] [ 2.35458196e-01 9.71879091e-01 3.23588458e-03 -4.39250902e+00] [ 1.71482198e-01 -4.48219747e-02 9.84167083e-01 9.92539736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.592414037 meters Centerline goodness : 0.775555 Centerline is valid? [False, False] Translation: X:-8.42, Y:-4.39, Z:0.10 [[ 9.56639348e-01 -2.31202110e-01 -1.77163041e-01 -8.41634121e+00] [ 2.35530643e-01 9.71860588e-01 3.50898206e-03 -4.39401101e+00] [ 1.71366493e-01 -4.50841552e-02 9.84175261e-01 9.92550055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.622414037 meters Centerline goodness : 0.776181 Centerline is valid? [False, False] Translation: X:-8.42, Y:-4.40, Z:0.10 [[ 9.56646648e-01 -2.31064551e-01 -1.77303028e-01 -8.41576990e+00] [ 2.35481637e-01 9.71870598e-01 3.99246516e-03 -4.39637511e+00] [ 1.71393082e-01 -4.55709857e-02 9.84148209e-01 9.92835077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.652414037 meters Centerline goodness : 0.775661 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.40, Z:0.10 [[ 0.95696692 -0.2280588 -0.17945332 -8.41345832] [ 0.23340675 0.97233768 0.00898495 -4.39922975] [ 0.17244012 -0.05048391 0.98372546 0.10017386] [ 0. 0. 0. 1. ]] SLAMing on 208.68241403699997 meters Centerline goodness : 0.774172 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.40, Z:0.10 [[ 0.95699004 -0.22784695 -0.17959906 -8.41315243] [ 0.23322901 0.97237874 0.00915544 -4.3996318 ] [ 0.17255227 -0.05064938 0.98369729 0.10027896] [ 0. 0. 0. 1. ]] SLAMing on 208.71241403699997 meters Centerline goodness : 0.778154 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.40, Z:0.10 [[ 0.9570089 -0.22762017 -0.17978605 -8.41267248] [ 0.23303162 0.9724248 0.0092879 -4.40011822] [ 0.1727143 -0.05078443 0.98366189 0.10041689] [ 0. 0. 0. 1. ]] SLAMing on 208.74241403699997 meters Centerline goodness : 0.776205 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.40, Z:0.10 [[ 0.95705096 -0.22739372 -0.1798487 -8.41242299] [ 0.23283563 0.97247006 0.00946339 -4.40075147] [ 0.17274556 -0.05093213 0.98364876 0.10046698] [ 0. 0. 0. 1. ]] SLAMing on 208.77241403699998 meters Centerline goodness : 0.776205 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.40, Z:0.10 [[ 0.95705096 -0.22739372 -0.1798487 -8.41242299] [ 0.23283563 0.97247006 0.00946339 -4.40075147] [ 0.17274556 -0.05093213 0.98364876 0.10046698] [ 0. 0. 0. 1. ]] SLAMing on 208.80241403699998 meters Centerline goodness : 0.776330 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.40, Z:0.10 [[ 0.95714098 -0.22689071 -0.18000486 -8.41214681] [ 0.23239555 0.97257178 0.00982089 -4.40207693] [ 0.17283938 -0.0512323 0.98361669 0.10091808] [ 0. 0. 0. 1. ]] SLAMing on 208.83241403699998 meters Centerline goodness : 0.774449 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.40, Z:0.10 [[ 0.9571547 -0.22686077 -0.17996963 -8.41244156] [ 0.23235057 0.97258325 0.00974857 -4.40226514] [ 0.17282388 -0.05114694 0.98362386 0.10131805] [ 0. 0. 0. 1. ]] SLAMing on 208.86241403699998 meters Centerline goodness : 0.773921 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.40, Z:0.10 [[ 0.95716175 -0.22672071 -0.18010857 -8.41241518] [ 0.23221269 0.97261634 0.00973209 -4.40240077] [ 0.17297007 -0.05113868 0.98359859 0.10174409] [ 0. 0. 0. 1. ]] SLAMing on 208.89241403699998 meters Centerline goodness : 0.777020 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.40, Z:0.10 [[ 0.95715924 -0.22672066 -0.18012197 -8.41288262] [ 0.23219783 0.97262077 0.00964391 -4.40260869] [ 0.1730039 -0.05105468 0.98359701 0.1023985 ] [ 0. 0. 0. 1. ]] SLAMing on 208.92241403699998 meters Centerline goodness : 0.776655 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.40, Z:0.10 [[ 0.95720835 -0.22632363 -0.18036017 -8.41278449] [ 0.23190158 0.97268597 0.01018132 -4.40303375] [ 0.17312954 -0.05157145 0.98354794 0.10280581] [ 0. 0. 0. 1. ]] SLAMing on 208.95241403699998 meters Centerline goodness : 0.775617 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.40, Z:0.10 [[ 0.95721205 -0.22619644 -0.18050004 -8.41264411] [ 0.23178547 0.97271331 0.01021361 -4.40354698] [ 0.17326451 -0.05161387 0.98352195 0.10318774] [ 0. 0. 0. 1. ]] SLAMing on 208.98241403699998 meters Centerline goodness : 0.772046 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.41, Z:0.10 [[ 0.9572551 -0.22587059 -0.18067971 -8.41182928] [ 0.23154963 0.97276425 0.01069977 -4.40531688] [ 0.173342 -0.05207873 0.98348379 0.10299011] [ 0. 0. 0. 1. ]] SLAMing on 209.01241403699999 meters Centerline goodness : 0.773303 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.41, Z:0.10 [[ 0.95725687 -0.22555605 -0.18106283 -8.4100612 ] [ 0.23135937 0.97280255 0.01131566 -4.40665488] [ 0.17358606 -0.05272257 0.98340643 0.10225459] [ 0. 0. 0. 1. ]] SLAMing on 209.042414037 meters Centerline goodness : 0.774140 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.41, Z:0.10 [[ 0.95725127 -0.22554227 -0.18110962 -8.40987762] [ 0.23137874 0.97279589 0.01149029 -4.40793316] [ 0.17359115 -0.05290401 0.98339579 0.10239971] [ 0. 0. 0. 1. ]] SLAMing on 209.072414037 meters Centerline goodness : 0.774052 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.41, Z:0.10 [[ 0.95723159 -0.22531042 -0.18150178 -8.40862548] [ 0.23128625 0.97280952 0.01217832 -4.40923926] [ 0.17382275 -0.05363634 0.98331521 0.10214483] [ 0. 0. 0. 1. ]] SLAMing on 209.102414037 meters Centerline goodness : 0.777261 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.41, Z:0.10 [[ 0.95730559 -0.22473309 -0.18182697 -8.40799438] [ 0.23095599 0.97287018 0.01352567 -4.41204648] [ 0.17385437 -0.05494223 0.98323751 0.10259784] [ 0. 0. 0. 1. ]] SLAMing on 209.132414037 meters Centerline goodness : 0.775401 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.41, Z:0.10 [[ 0.95735925 -0.22423066 -0.1821644 -8.40727769] [ 0.23061591 0.97293859 0.01438045 -4.41349337] [ 0.17401023 -0.05577726 0.98316292 0.10279466] [ 0. 0. 0. 1. ]] SLAMing on 209.162414037 meters Centerline goodness : 0.775336 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.41, Z:0.10 [[ 0.95739585 -0.2237074 -0.18261483 -8.40649228] [ 0.23026252 0.97300921 0.01523986 -4.41464903] [ 0.17427664 -0.05663993 0.98306641 0.10303122] [ 0. 0. 0. 1. ]] SLAMing on 209.192414037 meters Centerline goodness : 0.769669 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.42, Z:0.10 [[ 0.95745477 -0.22317534 -0.18295662 -8.40561393] [ 0.22986294 0.97309276 0.01592217 -4.41575079] [ 0.17448033 -0.05729971 0.98299204 0.10304525] [ 0. 0. 0. 1. ]] SLAMing on 209.222414037 meters Centerline goodness : 0.775402 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.42, Z:0.10 [[ 0.95751861 -0.22272473 -0.18317153 -8.40496621] [ 0.22953979 0.97315755 0.01660938 -4.4170335 ] [ 0.17455544 -0.05794894 0.98294065 0.10296889] [ 0. 0. 0. 1. ]] SLAMing on 209.252414037 meters Centerline goodness : 0.769849 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.42, Z:0.10 [[ 0.95743507 -0.22245647 -0.1839326 -8.40345698] [ 0.22954517 0.97313315 0.01791328 -4.41904604] [ 0.17500599 -0.05937164 0.98277562 0.1032479 ] [ 0. 0. 0. 1. ]] SLAMing on 209.282414037 meters Centerline goodness : 0.774923 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.42, Z:0.10 [[ 0.95736812 -0.22220649 -0.18458209 -8.40202576] [ 0.22948063 0.9731326 0.01875076 -4.41993008] [ 0.17545631 -0.0603094 0.98263821 0.10332367] [ 0. 0. 0. 1. ]] SLAMing on 209.312414037 meters Centerline goodness : 0.774805 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.42, Z:0.10 [[ 0.95715944 -0.2229168 -0.18480776 -8.40150347] [ 0.23017148 0.97297427 0.01849756 -4.41997652] [ 0.17568978 -0.06024259 0.9826006 0.1035489 ] [ 0. 0. 0. 1. ]] SLAMing on 209.342414037 meters Centerline goodness : 0.775162 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.42, Z:0.10 [[ 0.9570888 -0.22274516 -0.18537966 -8.40015417] [ 0.23014551 0.97296825 0.01912685 -4.42097905] [ 0.17610811 -0.06097039 0.98248081 0.10359292] [ 0. 0. 0. 1. ]] SLAMing on 209.372414037 meters Centerline goodness : 0.767297 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.42, Z:0.10 [[ 0.95719344 -0.22213321 -0.18557361 -8.39947028] [ 0.22972341 0.97304685 0.02017376 -4.42291988] [ 0.17609055 -0.06194079 0.98242326 0.10352974] [ 0. 0. 0. 1. ]] SLAMing on 209.402414037 meters Centerline goodness : 0.767509 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.42, Z:0.10 [[ 0.95722525 -0.2217438 -0.18587496 -8.3989523 ] [ 0.22943793 0.97310355 0.02068115 -4.42337658] [ 0.17628967 -0.06244329 0.98235573 0.10367677] [ 0. 0. 0. 1. ]] SLAMing on 209.43241403699997 meters Centerline goodness : 0.769814 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.42, Z:0.10 [[ 0.957259 -0.22134318 -0.18617842 -8.39862006] [ 0.2291582 0.97315652 0.0212817 -4.42383013] [ 0.17647019 -0.06303641 0.98228544 0.10398054] [ 0. 0. 0. 1. ]] SLAMing on 209.46241403699997 meters Centerline goodness : 0.766744 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.42, Z:0.10 [[ 0.957204 -0.22165499 -0.18609021 -8.39908484] [ 0.22940201 0.97310721 0.02090627 -4.42338126] [ 0.17645175 -0.06270104 0.98231022 0.10434194] [ 0. 0. 0. 1. ]] SLAMing on 209.49241403699997 meters Centerline goodness : 0.774254 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.42, Z:0.10 [[ 0.95726169 -0.22104783 -0.18651518 -8.39815334] [ 0.22894047 0.97320035 0.02161816 -4.42390057] [ 0.17673799 -0.06339511 0.9822142 0.10429793] [ 0. 0. 0. 1. ]] SLAMing on 209.52241403699998 meters Centerline goodness : 0.767875 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.42, Z:0.10 [[ 0.95732663 -0.22081409 -0.18645877 -8.39833187] [ 0.22875401 0.97323737 0.02192327 -4.42459013] [ 0.17662767 -0.06364092 0.98221815 0.10442657] [ 0. 0. 0. 1. ]] SLAMing on 209.55241403699998 meters Centerline goodness : 0.767535 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.43, Z:0.10 [[ 0.95731356 -0.22054035 -0.1868494 -8.39723333] [ 0.22857846 0.97326889 0.02235062 -4.42531375] [ 0.17692549 -0.0641063 0.98213428 0.10432618] [ 0. 0. 0. 1. ]] SLAMing on 209.58241403699998 meters Centerline goodness : 0.773011 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.43, Z:0.10 [[ 0.95770595 -0.21719584 -0.18874662 -8.39501912] [ 0.22624892 0.97367972 0.02755412 -4.42823693] [ 0.17779411 -0.06909246 0.98163918 0.10493933] [ 0. 0. 0. 1. ]] SLAMing on 209.61241403699998 meters Centerline goodness : 0.767282 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.43, Z:0.11 [[ 0.95765142 -0.21746574 -0.18871252 -8.39525717] [ 0.22647518 0.97363423 0.0273018 -4.42796436] [ 0.17779976 -0.06888431 0.98165279 0.10517612] [ 0. 0. 0. 1. ]] SLAMing on 209.64241403699998 meters Centerline goodness : 0.768857 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.43, Z:0.11 [[ 0.95766501 -0.21710155 -0.18906252 -8.39460655] [ 0.22621275 0.97368232 0.02775852 -4.42802407] [ 0.17806042 -0.06935171 0.98157263 0.10520475] [ 0. 0. 0. 1. ]] SLAMing on 209.67241403699998 meters Centerline goodness : 0.772742 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.43, Z:0.11 [[ 0.95789213 -0.21665215 -0.18842641 -8.39614235] [ 0.22565366 0.97382091 0.02744562 -4.42776215] [ 0.17754743 -0.06880905 0.98170374 0.10538841] [ 0. 0. 0. 1. ]] SLAMing on 209.70241403699998 meters Centerline goodness : 0.774932 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.43, Z:0.11 [[ 0.9584466 -0.21296161 -0.18980903 -8.3949202 ] [ 0.22283476 0.97432976 0.0320342 -4.42985888] [ 0.17811453 -0.07299912 0.98129829 0.10583283] [ 0. 0. 0. 1. ]] SLAMing on 209.73241403699998 meters Centerline goodness : 0.772723 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.43, Z:0.11 [[ 0.95853551 -0.21296039 -0.18936089 -8.39592385] [ 0.22269063 0.97438232 0.0314322 -4.42909707] [ 0.17781609 -0.07229778 0.98140434 0.10580332] [ 0. 0. 0. 1. ]] SLAMing on 209.76241403699999 meters Centerline goodness : 0.767039 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.43, Z:0.11 [[ 0.95864815 -0.21257597 -0.1892226 -8.39580948] [ 0.22225238 0.97448896 0.03122725 -4.42843976] [ 0.17775717 -0.07199112 0.98143755 0.10518633] [ 0. 0. 0. 1. ]] SLAMing on 209.792414037 meters Centerline goodness : 0.775439 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.43, Z:0.10 [[ 0.95870983 -0.21245438 -0.18904653 -8.39562817] [ 0.2220259 0.97455635 0.03073129 -4.42752252] [ 0.1777075 -0.07143562 0.98148713 0.10449992] [ 0. 0. 0. 1. ]] SLAMing on 209.822414037 meters Centerline goodness : 0.776906 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.43, Z:0.10 [[ 0.95886807 -0.21140205 -0.18942334 -8.39384099] [ 0.22095242 0.97480576 0.03055738 -4.42536128] [ 0.17819107 -0.07115404 0.98141991 0.10282056] [ 0. 0. 0. 1. ]] SLAMing on 209.852414037 meters Centerline goodness : 0.776063 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.42, Z:0.10 [[ 0.9589058 -0.21085897 -0.18983718 -8.39296307] [ 0.22044151 0.97491958 0.03061627 -4.42405008] [ 0.17862027 -0.07120612 0.98133811 0.10242008] [ 0. 0. 0. 1. ]] SLAMing on 209.882414037 meters Centerline goodness : 0.776124 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.42, Z:0.10 [[ 0.95901147 -0.21029753 -0.18992617 -8.3928663 ] [ 0.21986199 0.97505306 0.03053247 -4.42292776] [ 0.17876719 -0.07103853 0.9813235 0.10218575] [ 0. 0. 0. 1. ]] SLAMing on 209.912414037 meters Centerline goodness : 0.777447 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.42, Z:0.10 [[ 0.95926509 -0.20974188 -0.18925862 -8.39519012] [ 0.21910374 0.97524828 0.02973793 -4.42045071] [ 0.17833685 -0.06999383 0.98147686 0.10248797] [ 0. 0. 0. 1. ]] SLAMing on 209.942414037 meters Centerline goodness : 0.779843 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.42, Z:0.10 [[ 0.95940153 -0.2095062 -0.1888276 -8.39640524] [ 0.21876163 0.97533699 0.02934474 -4.41974495] [ 0.17802264 -0.06946162 0.98157171 0.10270408] [ 0. 0. 0. 1. ]] SLAMing on 209.972414037 meters Centerline goodness : 0.778664 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.42, Z:0.10 [[ 0.95951405 -0.20914811 -0.18865276 -8.39663761] [ 0.21838981 0.97541952 0.02937108 -4.41954952] [ 0.17787268 -0.0693818 0.98160454 0.10248815] [ 0. 0. 0. 1. ]] SLAMing on 210.002414037 meters Centerline goodness : 0.777148 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.42, Z:0.10 [[ 0.95957927 -0.20912569 -0.18834563 -8.39728896] [ 0.21827858 0.97545539 0.0290042 -4.41891177] [ 0.17765723 -0.06894364 0.98167443 0.10236425] [ 0. 0. 0. 1. ]] SLAMing on 210.032414037 meters Centerline goodness : 0.777261 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.42, Z:0.10 [[ 0.95962071 -0.2088622 -0.18842683 -8.39682802] [ 0.21790641 0.97555648 0.02839635 -4.41669521] [ 0.17789009 -0.06830914 0.98167662 0.10164512] [ 0. 0. 0. 1. ]] SLAMing on 210.062414037 meters Centerline goodness : 0.776466 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.41, Z:0.10 [[ 0.95947634 -0.20941091 -0.18855298 -8.39690142] [ 0.21830957 0.97549218 0.02749446 -4.41456317] [ 0.17817432 -0.06754321 0.98167807 0.10180142] [ 0. 0. 0. 1. ]] SLAMing on 210.092414037 meters Centerline goodness : 0.775687 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.42, Z:0.10 [[ 0.95991882 -0.20610348 -0.18994003 -8.39517976] [ 0.21577401 0.97593531 0.03149348 -4.41530084] [ 0.17887827 -0.0712153 0.98129045 0.10154089] [ 0. 0. 0. 1. ]] SLAMing on 210.122414037 meters Centerline goodness : 0.776062 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.41, Z:0.10 [[ 0.96002326 -0.20615891 -0.18935113 -8.39611859] [ 0.2155163 0.97603915 0.03000506 -4.41247273] [ 0.17862831 -0.06961381 0.98145089 0.10074073] [ 0. 0. 0. 1. ]] SLAMing on 210.152414037 meters Centerline goodness : 0.776050 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.41, Z:0.10 [[ 0.96009644 -0.20612547 -0.18901616 -8.39670956] [ 0.21535411 0.97609238 0.0294325 -4.41180201] [ 0.17843045 -0.06896344 0.98153279 0.10054577] [ 0. 0. 0. 1. ]] SLAMing on 210.18241403699997 meters Centerline goodness : 0.776230 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.41, Z:0.10 [[ 0.96024219 -0.20588453 -0.18853778 -8.39747621] [ 0.21498067 0.97619025 0.02891219 -4.4108279 ] [ 0.17809617 -0.06829469 0.98164025 0.10017707] [ 0. 0. 0. 1. ]] SLAMing on 210.21241403699997 meters Centerline goodness : 0.775234 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.41, Z:0.10 [[ 0.96028096 -0.20567849 -0.18856518 -8.39773715] [ 0.21482877 0.97621456 0.02921875 -4.41040086] [ 0.17807041 -0.06856744 0.98162591 0.10031259] [ 0. 0. 0. 1. ]] SLAMing on 210.24241403699997 meters Centerline goodness : 0.776875 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.41, Z:0.10 [[ 0.9601876 -0.20601945 -0.18866836 -8.39835248] [ 0.21514634 0.9761506 0.02901831 -4.40988489] [ 0.1781904 -0.06845433 0.98161204 0.10119162] [ 0. 0. 0. 1. ]] SLAMing on 210.27241403699998 meters Centerline goodness : 0.778873 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.41, Z:0.10 [[ 0.96002588 -0.206749 -0.18869332 -8.39924326] [ 0.21585803 0.97599865 0.02884336 -4.40967806] [ 0.17820109 -0.06842134 0.98161239 0.10237546] [ 0. 0. 0. 1. ]] SLAMing on 210.30241403699998 meters Centerline goodness : 0.778498 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.41, Z:0.10 [[ 0.95964399 -0.209369 -0.18774458 -8.39958127] [ 0.21781726 0.97566106 0.02532078 -4.40823936] [ 0.17787369 -0.06519294 0.98189146 0.10186913] [ 0. 0. 0. 1. ]] SLAMing on 210.33241403699998 meters Centerline goodness : 0.775602 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.41, Z:0.10 [[ 0.95951549 -0.20976431 -0.18796001 -8.39885884] [ 0.21825626 0.97555971 0.02544505 -4.4086788 ] [ 0.17802875 -0.06543837 0.98184703 0.10183462] [ 0. 0. 0. 1. ]] SLAMing on 210.36241403699998 meters Centerline goodness : 0.781926 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.41, Z:0.10 [[ 0.95915999 -0.21089717 -0.18850597 -8.39750647] [ 0.21937823 0.97531756 0.02507668 -4.40848135] [ 0.17856458 -0.06540665 0.98175183 0.10197065] [ 0. 0. 0. 1. ]] SLAMing on 210.39241403699998 meters Centerline goodness : 0.780695 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.41, Z:0.10 [[ 0.95904875 -0.21097745 -0.18898151 -8.39646454] [ 0.21955095 0.97527035 0.02539935 -4.4082359 ] [ 0.17894937 -0.06585029 0.98165211 0.10194784] [ 0. 0. 0. 1. ]] SLAMing on 210.42241403699998 meters Centerline goodness : 0.779408 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.41, Z:0.10 [[ 0.95892761 -0.21145177 -0.18906609 -8.39654546] [ 0.2199646 0.97518768 0.0249911 -4.40742539] [ 0.17909051 -0.0655525 0.9816463 0.10223541] [ 0. 0. 0. 1. ]] SLAMing on 210.45241403699998 meters Centerline goodness : 0.778196 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.41, Z:0.10 [[ 0.95885178 -0.2115121 -0.18938293 -8.3957534 ] [ 0.22008468 0.97515535 0.0251946 -4.40709827] [ 0.17934881 -0.06583817 0.98158002 0.10210992] [ 0. 0. 0. 1. ]] SLAMing on 210.48241403699998 meters Centerline goodness : 0.777584 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.41, Z:0.10 [[ 0.9588349 -0.21201797 -0.18890214 -8.39634704] [ 0.22040655 0.97510491 0.02431804 -4.40641204] [ 0.17904354 -0.06495225 0.98169477 0.10183533] [ 0. 0. 0. 1. ]] SLAMing on 210.51241403699999 meters Centerline goodness : 0.779151 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.41, Z:0.10 [[ 0.95884202 -0.21183653 -0.18906947 -8.39543125] [ 0.22023245 0.97514436 0.02431343 -4.40629064] [ 0.17921955 -0.06495197 0.98166267 0.1012783 ] [ 0. 0. 0. 1. ]] SLAMing on 210.542414037 meters Centerline goodness : 0.779160 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.41, Z:0.10 [[ 0.95883769 -0.21173422 -0.18920597 -8.39507715] [ 0.22014283 0.97516388 0.02434218 -4.40584142] [ 0.17935276 -0.06499254 0.98163565 0.10113791] [ 0. 0. 0. 1. ]] SLAMing on 210.572414037 meters Centerline goodness : 0.776827 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.41, Z:0.10 [[ 0.95905191 -0.20970532 -0.19037622 -8.39458288] [ 0.21867593 0.97541944 0.0271616 -4.40517663] [ 0.18000073 -0.06768008 0.98133539 0.10177314] [ 0. 0. 0. 1. ]] SLAMing on 210.602414037 meters Centerline goodness : 0.779476 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.40, Z:0.10 [[ 0.95899033 -0.21010287 -0.19024807 -8.39514907] [ 0.21894601 0.97537764 0.02647841 -4.40355862] [ 0.18000053 -0.0670466 0.98137891 0.10190224] [ 0. 0. 0. 1. ]] SLAMing on 210.632414037 meters Centerline goodness : 0.779988 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.40, Z:0.10 [[ 0.95901792 -0.20981671 -0.19042471 -8.39454851] [ 0.2186583 0.9754435 0.02642974 -4.40268821] [ 0.18020314 -0.06698453 0.98134596 0.1015545 ] [ 0. 0. 0. 1. ]] SLAMing on 210.662414037 meters Centerline goodness : 0.779988 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.40, Z:0.10 [[ 0.95901792 -0.20981671 -0.19042471 -8.39454851] [ 0.2186583 0.9754435 0.02642974 -4.40268821] [ 0.18020314 -0.06698453 0.98134596 0.1015545 ] [ 0. 0. 0. 1. ]] SLAMing on 210.692414037 meters Centerline goodness : 0.780043 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.40, Z:0.10 [[ 0.95896489 -0.21021749 -0.19024969 -8.3952329 ] [ 0.21891195 0.97540724 0.02565691 -4.40065502] [ 0.1801774 -0.06625201 0.98140042 0.10179308] [ 0. 0. 0. 1. ]] SLAMing on 210.722414037 meters Centerline goodness : 0.779147 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.40, Z:0.10 [[ 0.95898581 -0.21030828 -0.19004381 -8.39557773] [ 0.21892015 0.97541536 0.02527518 -4.40036022] [ 0.18005607 -0.06584296 0.98145021 0.10176292] [ 0. 0. 0. 1. ]] SLAMing on 210.752414037 meters Centerline goodness : 0.778647 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.40, Z:0.10 [[ 0.9589681 -0.21002806 -0.19044264 -8.39499085] [ 0.21866861 0.9754709 0.02530924 -4.39890617] [ 0.1804556 -0.06591458 0.98137202 0.10155388] [ 0. 0. 0. 1. ]] SLAMing on 210.782414037 meters Centerline goodness : 0.780363 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.40, Z:0.10 [[ 0.95891918 -0.21038747 -0.19029222 -8.39535622] [ 0.21893815 0.97542244 0.02484249 -4.39751532] [ 0.18038875 -0.06548416 0.98141313 0.10145376] [ 0. 0. 0. 1. ]] SLAMing on 210.812414037 meters Centerline goodness : 0.778339 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.40, Z:0.10 [[ 0.95888462 -0.21020169 -0.19067126 -8.39457197] [ 0.21882065 0.97544245 0.02509085 -4.39665564] [ 0.1807147 -0.06578204 0.98133324 0.10121434] [ 0. 0. 0. 1. ]] SLAMing on 210.842414037 meters Centerline goodness : 0.780252 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.40, Z:0.10 [[ 0.9588307 -0.21025916 -0.19087897 -8.39370226] [ 0.21887768 0.97543183 0.02500623 -4.39592497] [ 0.18093163 -0.06575588 0.98129502 0.10069801] [ 0. 0. 0. 1. ]] SLAMing on 210.872414037 meters Centerline goodness : 0.780028 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.39, Z:0.10 [[ 0.95873411 -0.2108678 -0.19069263 -8.39413506] [ 0.21936054 0.97534032 0.02433528 -4.39462532] [ 0.18085868 -0.0651615 0.98134811 0.10067172] [ 0. 0. 0. 1. ]] SLAMing on 210.902414037 meters Centerline goodness : 0.782363 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.39, Z:0.10 [[ 0.95867566 -0.21128567 -0.19052387 -8.39467209] [ 0.21970039 0.97527375 0.02393422 -4.39402275] [ 0.18075597 -0.06480332 0.98139075 0.10082602] [ 0. 0. 0. 1. ]] SLAMing on 210.93241403699997 meters Centerline goodness : 0.781342 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.39, Z:0.10 [[ 0.95860356 -0.21172296 -0.19040115 -8.39497664] [ 0.22005296 0.97520536 0.02347776 -4.39334862] [ 0.18070945 -0.0644042 0.98142559 0.10089097] [ 0. 0. 0. 1. ]] SLAMing on 210.96241403699997 meters Centerline goodness : 0.781542 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.10 [[ 0.95854411 -0.21204348 -0.19034376 -8.39508849] [ 0.22031142 0.97515528 0.02313126 -4.39264939] [ 0.18070989 -0.06410723 0.98144495 0.10088598] [ 0. 0. 0. 1. ]] SLAMing on 210.99241403699997 meters Centerline goodness : 0.780979 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.10 [[ 0.9584152 -0.21290715 -0.19002855 -8.3958808 ] [ 0.22104301 0.97500574 0.02244552 -4.39137518] [ 0.18050011 -0.06351661 0.98152196 0.10081759] [ 0. 0. 0. 1. ]] SLAMing on 211.02241403699998 meters Centerline goodness : 0.784254 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.10 [[ 0.95832766 -0.21348818 -0.18981806 -8.39641249] [ 0.22152502 0.97490813 0.02192727 -4.39085074] [ 0.18037396 -0.06306296 0.9815744 0.10097955] [ 0. 0. 0. 1. ]] SLAMing on 211.05241403699998 meters Centerline goodness : 0.778570 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.10 [[ 0.95817385 -0.21454263 -0.18940521 -8.39757056] [ 0.22243365 0.97471774 0.02118002 -4.39068143] [ 0.1800726 -0.06242423 0.98167055 0.10128483] [ 0. 0. 0. 1. ]] SLAMing on 211.08241403699998 meters Centerline goodness : 0.779621 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.10 [[ 0.95807956 -0.21515019 -0.18919291 -8.39836189] [ 0.22295002 0.97461007 0.02070012 -4.390545 ] [ 0.17993568 -0.06201292 0.98172173 0.10167387] [ 0. 0. 0. 1. ]] SLAMing on 211.11241403699998 meters Centerline goodness : 0.778388 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.10 [[ 0.95800798 -0.21571619 -0.18891063 -8.39930368] [ 0.22342489 0.97451082 0.02024802 -4.3902753 ] [ 0.17972763 -0.06160511 0.98178551 0.10205396] [ 0. 0. 0. 1. ]] SLAMing on 211.14241403699998 meters Centerline goodness : 0.781942 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.10 [[ 0.95786189 -0.21662123 -0.1886156 -8.40070345] [ 0.2241629 0.97435953 0.01935224 -4.38893609] [ 0.17958731 -0.06081739 0.9818603 0.10279325] [ 0. 0. 0. 1. ]] SLAMing on 211.17241403699998 meters Centerline goodness : 0.783133 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.10 [[ 0.95779237 -0.21700699 -0.18852516 -8.40118992] [ 0.22447108 0.97429701 0.01892284 -4.38823739] [ 0.17957311 -0.0604426 0.98188604 0.10310047] [ 0. 0. 0. 1. ]] SLAMing on 211.20241403699998 meters Centerline goodness : 0.782890 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.10 [[ 0.95769801 -0.21764703 -0.18826654 -8.40236032] [ 0.22498167 0.97419221 0.01824253 -4.38716485] [ 0.17943737 -0.05982735 0.98194853 0.1036862 ] [ 0. 0. 0. 1. ]] SLAMing on 211.23241403699998 meters Centerline goodness : 0.785110 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.10 [[ 0.95765084 -0.21794717 -0.18815925 -8.40275802] [ 0.22522206 0.97414258 0.01792347 -4.38661267] [ 0.17938757 -0.05954204 0.98197497 0.10383514] [ 0. 0. 0. 1. ]] SLAMing on 211.26241403699999 meters Centerline goodness : 0.783376 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.10 [[ 0.95759459 -0.2182673 -0.1880744 -8.4031466 ] [ 0.22548163 0.97408861 0.01759037 -4.38636301] [ 0.17936173 -0.05925177 0.98199725 0.10414181] [ 0. 0. 0. 1. ]] SLAMing on 211.292414037 meters Centerline goodness : 0.782172 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.10 [[ 0.95757753 -0.21838679 -0.18802255 -8.40297711] [ 0.22558732 0.97406539 0.01752095 -4.38631311] [ 0.17931992 -0.05919317 0.98200842 0.1038851 ] [ 0. 0. 0. 1. ]] SLAMing on 211.322414037 meters Centerline goodness : 0.784145 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.10 [[ 0.9575385 -0.21860518 -0.18796753 -8.40284003] [ 0.22576217 0.97402918 0.01728033 -4.38598621] [ 0.17930829 -0.05898254 0.98202322 0.10368905] [ 0. 0. 0. 1. ]] SLAMing on 211.352414037 meters Centerline goodness : 0.783625 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.10 [[ 0.95751528 -0.21873505 -0.18793475 -8.4023049 ] [ 0.22589141 0.97399929 0.01727563 -4.38612056] [ 0.17926953 -0.05899452 0.98202957 0.10310415] [ 0. 0. 0. 1. ]] SLAMing on 211.382414037 meters Centerline goodness : 0.780139 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.10 [[ 0.95746543 -0.21910578 -0.18775679 -8.40282032] [ 0.22620082 0.97393296 0.01696411 -4.38605579] [ 0.17914559 -0.05871329 0.98206904 0.10329965] [ 0. 0. 0. 1. ]] SLAMing on 211.412414037 meters Centerline goodness : 0.783756 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.10 [[ 0.95739422 -0.21967885 -0.18745003 -8.40415942] [ 0.22668687 0.97382733 0.01653468 -4.38627398] [ 0.17891164 -0.05832267 0.98213497 0.10411838] [ 0. 0. 0. 1. ]] SLAMing on 211.442414037 meters Centerline goodness : 0.785167 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.10 [[ 0.95734298 -0.21996533 -0.18737573 -8.40474553] [ 0.22691646 0.97377915 0.01621998 -4.38617592] [ 0.17889475 -0.05804673 0.98215439 0.10468191] [ 0. 0. 0. 1. ]] SLAMing on 211.472414037 meters Centerline goodness : 0.786052 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.39, Z:0.11 [[ 0.95727832 -0.22030598 -0.18730587 -8.40574941] [ 0.22718631 0.97372278 0.01582211 -4.38568687] [ 0.17889829 -0.05769949 0.98217421 0.10558118] [ 0. 0. 0. 1. ]] SLAMing on 211.502414037 meters Centerline goodness : 0.786030 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.39, Z:0.11 [[ 0.95725119 -0.22035015 -0.18739255 -8.40577072] [ 0.22721699 0.97371734 0.01571557 -4.38556111] [ 0.17900445 -0.05762252 0.98215938 0.10585726] [ 0. 0. 0. 1. ]] SLAMing on 211.532414037 meters Centerline goodness : 0.786093 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.39, Z:0.11 [[ 0.95721327 -0.22045798 -0.18745943 -8.40574357] [ 0.22729 0.97370387 0.01549251 -4.38530369] [ 0.17911452 -0.05743729 0.98215016 0.10609133] [ 0. 0. 0. 1. ]] SLAMing on 211.562414037 meters Centerline goodness : 0.782950 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.39, Z:0.11 [[ 0.95720955 -0.22046618 -0.18746877 -8.40560248] [ 0.22729133 0.97370422 0.015451 -4.38509428] [ 0.17913271 -0.05739987 0.98214903 0.10596499] [ 0. 0. 0. 1. ]] SLAMing on 211.592414037 meters Centerline goodness : 0.783248 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.38, Z:0.11 [[ 0.95722796 -0.22026218 -0.1876145 -8.40492399] [ 0.22709395 0.97375015 0.01545913 -4.38492056] [ 0.17928458 -0.05740403 0.98212108 0.1057262 ] [ 0. 0. 0. 1. ]] SLAMing on 211.622414037 meters Centerline goodness : 0.783362 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.11 [[ 0.95720338 -0.22035247 -0.18763387 -8.40474001] [ 0.22717177 0.97373331 0.01537592 -4.38513257] [ 0.17931722 -0.057343 0.98211869 0.10572038] [ 0. 0. 0. 1. ]] SLAMing on 211.652414037 meters Centerline goodness : 0.780768 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.11 [[ 0.95720105 -0.2204098 -0.18757842 -8.40469866] [ 0.2272268 0.97372047 0.015376 -4.38558131] [ 0.17925993 -0.05734077 0.98212928 0.10567561] [ 0. 0. 0. 1. ]] SLAMing on 211.68241403699997 meters Centerline goodness : 0.780311 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.11 [[ 0.95720643 -0.22048635 -0.187461 -8.40485092] [ 0.22730296 0.97370224 0.01540481 -4.38602592] [ 0.17913465 -0.05735602 0.98215124 0.10563359] [ 0. 0. 0. 1. ]] SLAMing on 211.71241403699997 meters Centerline goodness : 0.783614 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.11 [[ 0.95718374 -0.22050068 -0.18755995 -8.40482512] [ 0.22729529 0.97370646 0.01525072 -4.38583298] [ 0.17926554 -0.05722923 0.98213476 0.10593571] [ 0. 0. 0. 1. ]] SLAMing on 211.74241403699997 meters Centerline goodness : 0.780448 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.11 [[ 0.95715558 -0.22055408 -0.18764085 -8.40497176] [ 0.22732089 0.97370334 0.01506714 -4.38555367] [ 0.1793834 -0.05707629 0.98212214 0.10633609] [ 0. 0. 0. 1. ]] SLAMing on 211.77241403699998 meters Centerline goodness : 0.782909 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.39, Z:0.11 [[ 0.95713521 -0.22067835 -0.18759863 -8.40561849] [ 0.22739385 0.97369058 0.01478811 -4.3850022 ] [ 0.1793996 -0.056813 0.98213444 0.10697173] [ 0. 0. 0. 1. ]] SLAMing on 211.80241403699998 meters Centerline goodness : 0.782016 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.38, Z:0.11 [[ 0.95711488 -0.22076046 -0.18760575 -8.40567897] [ 0.22745286 0.97367886 0.01465156 -4.38483502] [ 0.17943327 -0.0566947 0.98213513 0.10712329] [ 0. 0. 0. 1. ]] SLAMing on 211.83241403699998 meters Centerline goodness : 0.781742 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.39, Z:0.11 [[ 0.95712178 -0.22060697 -0.18775107 -8.40529 ] [ 0.22732084 0.97370841 0.01473686 -4.3854873 ] [ 0.17956374 -0.0567847 0.98210608 0.10726941] [ 0. 0. 0. 1. ]] SLAMing on 211.86241403699998 meters Centerline goodness : 0.782538 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.39, Z:0.11 [[ 0.95711565 -0.22066726 -0.18771147 -8.40513562] [ 0.22739462 0.97368995 0.01481774 -4.38629597] [ 0.17950298 -0.05686687 0.98211244 0.10718879] [ 0. 0. 0. 1. ]] SLAMing on 211.89241403699998 meters Centerline goodness : 0.779663 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.39, Z:0.11 [[ 0.9570992 -0.22076305 -0.1876827 -8.40503114] [ 0.22748966 0.97366781 0.0148138 -4.38701915] [ 0.17947026 -0.05687415 0.98211799 0.10720254] [ 0. 0. 0. 1. ]] SLAMing on 211.92241403699998 meters Centerline goodness : 0.782953 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.11 [[ 0.95712945 -0.22056883 -0.18775681 -8.40459228] [ 0.22733264 0.97370145 0.01501183 -4.38777358] [ 0.17950793 -0.05705151 0.98210082 0.10709592] [ 0. 0. 0. 1. ]] SLAMing on 211.95241403699998 meters Centerline goodness : 0.781667 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.11 [[ 0.95711934 -0.22065634 -0.18770549 -8.40473754] [ 0.2273949 0.97368891 0.01488199 -4.38751057] [ 0.17948295 -0.05692711 0.98211261 0.1071582 ] [ 0. 0. 0. 1. ]] SLAMing on 211.98241403699998 meters Centerline goodness : 0.783306 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.11 [[ 0.95711315 -0.220523 -0.18789367 -8.40436708] [ 0.22727193 0.97371749 0.0148906 -4.38731679] [ 0.17967163 -0.05695494 0.98207649 0.10724934] [ 0. 0. 0. 1. ]] SLAMing on 212.01241403699999 meters Centerline goodness : 0.783323 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.11 [[ 0.95709593 -0.22047059 -0.18804281 -8.40405675] [ 0.22721261 0.97373256 0.01480977 -4.38694104] [ 0.17983829 -0.05690007 0.98204917 0.10728569] [ 0. 0. 0. 1. ]] SLAMing on 212.042414037 meters Centerline goodness : 0.781714 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.11 [[ 0.95712806 -0.22040002 -0.18796197 -8.40436168] [ 0.22710553 0.97376006 0.01464305 -4.38639226] [ 0.17980253 -0.05670248 0.98206715 0.10751567] [ 0. 0. 0. 1. ]] SLAMing on 212.072414037 meters Centerline goodness : 0.783588 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.11 [[ 0.95711511 -0.22049495 -0.1879166 -8.40458846] [ 0.22716097 0.97375027 0.01443291 -4.38605889] [ 0.17980146 -0.05650127 0.98207894 0.1077172 ] [ 0. 0. 0. 1. ]] SLAMing on 212.102414037 meters Centerline goodness : 0.784530 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.11 [[ 0.95708625 -0.22066076 -0.18786894 -8.40496416] [ 0.22727488 0.97372786 0.01414889 -4.38568743] [ 0.17981112 -0.0562396 0.98209219 0.10806398] [ 0. 0. 0. 1. ]] SLAMing on 212.132414037 meters Centerline goodness : 0.780378 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.39, Z:0.11 [[ 0.95705601 -0.22080572 -0.18785267 -8.40518504] [ 0.22737785 0.97370724 0.01391096 -4.38545186] [ 0.17984189 -0.0560271 0.9820987 0.10835629] [ 0. 0. 0. 1. ]] SLAMing on 212.162414037 meters Centerline goodness : 0.782795 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.38, Z:0.11 [[ 0.95699409 -0.22127924 -0.18761079 -8.40594977] [ 0.2277567 0.97362552 0.01342514 -4.38486745] [ 0.17969195 -0.05557739 0.9821517 0.10864434] [ 0. 0. 0. 1. ]] SLAMing on 212.192414037 meters Centerline goodness : 0.781093 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.38, Z:0.11 [[ 0.95694649 -0.22154645 -0.18753822 -8.40614821] [ 0.22797031 0.97357956 0.01312954 -4.38466577] [ 0.17967458 -0.05531742 0.98216955 0.10883607] [ 0. 0. 0. 1. ]] SLAMing on 212.222414037 meters Centerline goodness : 0.781508 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.39, Z:0.11 [[ 0.95688446 -0.22188558 -0.1874538 -8.40628213] [ 0.22827646 0.97351031 0.01294343 -4.38513254] [ 0.17961625 -0.05517666 0.98218814 0.10893644] [ 0. 0. 0. 1. ]] SLAMing on 212.252414037 meters Centerline goodness : 0.779357 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.39, Z:0.11 [[ 0.95684306 -0.22209406 -0.18741821 -8.4063715 ] [ 0.22845465 0.97347081 0.01276913 -4.38529893] [ 0.17961021 -0.05503462 0.98219721 0.10910604] [ 0. 0. 0. 1. ]] SLAMing on 212.282414037 meters Centerline goodness : 0.781245 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.39, Z:0.11 [[ 0.95681573 -0.22221828 -0.18741048 -8.40635275] [ 0.22855468 0.97344918 0.01262741 -4.38520068] [ 0.17962854 -0.05491565 0.98220052 0.10914931] [ 0. 0. 0. 1. ]] SLAMing on 212.312414037 meters Centerline goodness : 0.780860 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.38, Z:0.11 [[ 0.9567658 -0.22234318 -0.18751722 -8.40659777] [ 0.22861077 0.97344138 0.01220645 -4.38400933] [ 0.179823 -0.05454717 0.98218547 0.10965082] [ 0. 0. 0. 1. ]] SLAMing on 212.342414037 meters Centerline goodness : 0.781494 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.38, Z:0.11 [[ 0.9567448 -0.22239037 -0.18756842 -8.40665643] [ 0.22861128 0.97344467 0.01193129 -4.38283428] [ 0.17993407 -0.05429546 0.98217907 0.10976471] [ 0. 0. 0. 1. ]] SLAMing on 212.372414037 meters Centerline goodness : 0.781237 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.38, Z:0.11 [[ 0.95676881 -0.22214448 -0.18773725 -8.40625958] [ 0.2283102 0.97351931 0.01160204 -4.38084052] [ 0.18018851 -0.0539628 0.98215076 0.10969364] [ 0. 0. 0. 1. ]] SLAMing on 212.402414037 meters Centerline goodness : 0.778894 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.38, Z:0.11 [[ 0.95675914 -0.22208368 -0.18785844 -8.40576416] [ 0.22823853 0.97353719 0.01151176 -4.38047241] [ 0.1803306 -0.05389052 0.98212865 0.10951175] [ 0. 0. 0. 1. ]] SLAMing on 212.43241403699997 meters Centerline goodness : 0.778240 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.38, Z:0.11 [[ 0.95677923 -0.2219753 -0.18788419 -8.40529107] [ 0.22813232 0.97356191 0.01152605 -4.38067189] [ 0.18035839 -0.05389034 0.98212356 0.10928284] [ 0. 0. 0. 1. ]] SLAMing on 212.46241403699997 meters Centerline goodness : 0.780151 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.38, Z:0.11 [[ 0.95675519 -0.22212308 -0.18783197 -8.40517838] [ 0.22825294 0.97353536 0.01137993 -4.38062747] [ 0.18033331 -0.05376101 0.98213525 0.10911098] [ 0. 0. 0. 1. ]] SLAMing on 212.49241403699997 meters Centerline goodness : 0.780869 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.38, Z:0.11 [[ 0.95674005 -0.22228219 -0.1877208 -8.40535783] [ 0.22837605 0.97350854 0.01120232 -4.38046531] [ 0.18025773 -0.05358865 0.98215855 0.10913913] [ 0. 0. 0. 1. ]] SLAMing on 212.52241403699998 meters Centerline goodness : 0.779485 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.38, Z:0.11 [[ 0.95669919 -0.22243212 -0.18775147 -8.40570941] [ 0.2284264 0.97350308 0.01063639 -4.37853343] [ 0.18041076 -0.05306322 0.98215897 0.1095118 ] [ 0. 0. 0. 1. ]] SLAMing on 212.55241403699998 meters Centerline goodness : 0.779456 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.38, Z:0.11 [[ 0.95665336 -0.2225883 -0.18779989 -8.40588667] [ 0.22851618 0.9734862 0.0102457 -4.37717232] [ 0.18054003 -0.0527169 0.98215387 0.10970411] [ 0. 0. 0. 1. ]] SLAMing on 212.58241403699998 meters Centerline goodness : 0.779456 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.38, Z:0.11 [[ 0.95665336 -0.2225883 -0.18779989 -8.40588667] [ 0.22851618 0.9734862 0.0102457 -4.37717232] [ 0.18054003 -0.0527169 0.98215387 0.10970411] [ 0. 0. 0. 1. ]] SLAMing on 212.61241403699998 meters Centerline goodness : 0.778609 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.38, Z:0.11 [[ 0.95662705 -0.22274005 -0.18775399 -8.40623848] [ 0.22860107 0.97347004 0.00988105 -4.37617986] [ 0.18057198 -0.05237325 0.98216638 0.10999262] [ 0. 0. 0. 1. ]] SLAMing on 212.64241403699998 meters Centerline goodness : 0.775752 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.37, Z:0.11 [[ 0.9565808 -0.22286396 -0.18784254 -8.40645852] [ 0.22863505 0.97346726 0.00935428 -4.37450734] [ 0.18077383 -0.05189552 0.98215461 0.11041426] [ 0. 0. 0. 1. ]] SLAMing on 212.67241403699998 meters Centerline goodness : 0.775959 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.37, Z:0.11 [[ 0.95656356 -0.22290494 -0.18788173 -8.4063964 ] [ 0.22863224 0.97347032 0.00910106 -4.37375383] [ 0.18086862 -0.05166156 0.98214949 0.11048209] [ 0. 0. 0. 1. ]] SLAMing on 212.70241403699998 meters Centerline goodness : 0.775472 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.37, Z:0.11 [[ 0.95654273 -0.22302898 -0.18784055 -8.40637719] [ 0.22871564 0.97345277 0.00888045 -4.37296878] [ 0.1808733 -0.0514566 0.98215939 0.11034214] [ 0. 0. 0. 1. ]] SLAMing on 212.73241403699998 meters Centerline goodness : 0.776329 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.37, Z:0.11 [[ 0.95651126 -0.22329455 -0.18768528 -8.40657305] [ 0.22891416 0.97340919 0.00853558 -4.37179869] [ 0.18078863 -0.0511282 0.98219213 0.11006471] [ 0. 0. 0. 1. ]] SLAMing on 212.76241403699999 meters Centerline goodness : 0.775103 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.37, Z:0.11 [[ 9.56464152e-01 -2.23566127e-01 -1.87602004e-01 -8.40679447e+00] [ 2.29131383e-01 9.73360644e-01 8.23810289e-03 -4.37107906e+00] [ 1.80762647e-01 -5.08649567e-02 9.82210579e-01 1.10047896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.792414037 meters Centerline goodness : 0.776679 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.37, Z:0.11 [[ 9.56360143e-01 -2.24194826e-01 -1.87381849e-01 -8.40770077e+00] [ 2.29645369e-01 9.73244566e-01 7.61697102e-03 -4.37013128e+00] [ 1.80660681e-01 -5.03159415e-02 9.82257616e-01 1.10412226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.822414037 meters Centerline goodness : 0.776920 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.37, Z:0.11 [[ 9.56325904e-01 -2.24494890e-01 -1.87197246e-01 -8.40827567e+00] [ 2.29889024e-01 9.73189219e-01 7.33355680e-03 -4.36966501e+00] [ 1.80531995e-01 -5.00478624e-02 9.82294971e-01 1.10548909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.852414037 meters Centerline goodness : 0.776866 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.37, Z:0.11 [[ 9.56264680e-01 -2.24845109e-01 -1.87089654e-01 -8.40879779e+00] [ 2.30163519e-01 9.73127378e-01 6.91813600e-03 -4.36865864e+00] [ 1.80506555e-01 -4.96767821e-02 9.82318482e-01 1.10754717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.882414037 meters Centerline goodness : 0.779281 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.37, Z:0.11 [[ 9.56141763e-01 -2.25480480e-01 -1.86953157e-01 -8.41013192e+00] [ 2.30592876e-01 9.73033188e-01 5.77411213e-03 -4.36540900e+00] [ 1.80609676e-01 -4.86309358e-02 9.82351860e-01 1.11661990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.912414037 meters Centerline goodness : 0.778645 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.36, Z:0.11 [[ 9.56088585e-01 -2.25695782e-01 -1.86965323e-01 -8.41038225e+00] [ 2.30719226e-01 9.73006117e-01 5.26644355e-03 -4.36386963e+00] [ 1.80729788e-01 -4.81716811e-02 9.82352397e-01 1.11894423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.942414037 meters Centerline goodness : 0.778869 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.36, Z:0.11 [[ 9.56056863e-01 -2.25761362e-01 -1.87048341e-01 -8.41030607e+00] [ 2.30723037e-01 9.73007117e-01 4.90211107e-03 -4.36277955e+00] [ 1.80892660e-01 -4.78430583e-02 9.82338479e-01 1.12050322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.972414037 meters Centerline goodness : 0.777628 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.36, Z:0.11 [[ 9.56015620e-01 -2.26058969e-01 -1.86899644e-01 -8.41067385e+00] [ 2.30935021e-01 9.72959007e-01 4.44825617e-03 -4.36163229e+00] [ 1.80840124e-01 -4.74142756e-02 9.82368941e-01 1.12063287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.002414037 meters Centerline goodness : 0.776459 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.36, Z:0.11 [[ 9.55953933e-01 -2.26475266e-01 -1.86711090e-01 -8.41122871e+00] [ 2.31240261e-01 9.72889039e-01 3.85479336e-03 -4.36051106e+00] [ 1.80776157e-01 -4.68601259e-02 9.82407303e-01 1.12224973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.032414037 meters Centerline goodness : 0.777112 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.36, Z:0.11 [[ 9.55897088e-01 -2.26868545e-01 -1.86524583e-01 -8.41182802e+00] [ 2.31564666e-01 9.72813247e-01 3.49157054e-03 -4.35980235e+00] [ 1.80661458e-01 -4.65300849e-02 9.82444089e-01 1.12334080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.062414037 meters Centerline goodness : 0.777608 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.36, Z:0.11 [[ 9.55833616e-01 -2.27276533e-01 -1.86353096e-01 -8.41242350e+00] [ 2.31885870e-01 9.72738296e-01 3.02502217e-03 -4.35873937e+00] [ 1.80585277e-01 -4.61040677e-02 9.82478179e-01 1.12503195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.092414037 meters Centerline goodness : 0.779105 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.36, Z:0.11 [[ 9.55725659e-01 -2.27852767e-01 -1.86203066e-01 -8.41337318e+00] [ 2.32315645e-01 9.72637934e-01 2.21144866e-03 -4.35613434e+00] [ 1.80604281e-01 -4.53714237e-02 9.82508793e-01 1.12917255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.122414037 meters Centerline goodness : 0.778255 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.35, Z:0.11 [[ 9.55658764e-01 -2.28249881e-01 -1.86059987e-01 -8.41407035e+00] [ 2.32620545e-01 9.72566072e-01 1.70790050e-03 -4.35464596e+00] [ 1.80565802e-01 -4.49135455e-02 9.82536902e-01 1.13137497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.152414037 meters Centerline goodness : 0.777786 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.35, Z:0.11 [[ 9.55576981e-01 -2.28765946e-01 -1.85846108e-01 -8.41474462e+00] [ 2.33017243e-01 9.72472023e-01 1.06233865e-03 -4.35287915e+00] [ 1.80487114e-01 -4.43204941e-02 9.82578290e-01 1.13210887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18241403699997 meters Centerline goodness : 0.776832 Centerline is valid? [False, False] Translation: X:-8.42, Y:-4.35, Z:0.11 [[ 9.55549904e-01 -2.29066209e-01 -1.85615337e-01 -8.41506200e+00] [ 2.33260675e-01 9.72413928e-01 7.81422630e-04 -4.35259117e+00] [ 1.80315941e-01 -4.40434472e-02 9.82622174e-01 1.13103227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.21241403699997 meters Centerline goodness : 0.779304 Centerline is valid? [False, False] Translation: X:-8.42, Y:-4.35, Z:0.11 [[ 9.55494857e-01 -2.29556171e-01 -1.85293125e-01 -8.41563802e+00] [ 2.33661418e-01 9.72317970e-01 3.27552976e-04 -4.35175289e+00] [ 1.80088643e-01 -4.36088296e-02 9.82683240e-01 1.12941380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24241403699997 meters Centerline goodness : 0.776923 Centerline is valid? [False, False] Translation: X:-8.42, Y:-4.35, Z:0.11 [[ 9.55440402e-01 -2.29993953e-01 -1.85030859e-01 -8.41603929e+00] [ 2.34033953e-01 9.72228424e-01 -6.29398305e-06 -4.35096758e+00] [ 1.79893708e-01 -4.32974899e-02 9.82732711e-01 1.12665945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.27241403699998 meters Centerline goodness : 0.774823 Centerline is valid? [False, False] Translation: X:-8.42, Y:-4.35, Z:0.11 [[ 9.55332916e-01 -2.30768037e-01 -1.84621595e-01 -8.41681578e+00] [ 2.34682026e-01 9.72071961e-01 -6.69878656e-04 -4.34904935e+00] [ 1.79620063e-01 -4.26874130e-02 9.82809451e-01 1.12229208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.30241403699998 meters Centerline goodness : 0.777887 Centerline is valid? [False, False] Translation: X:-8.42, Y:-4.35, Z:0.11 [[ 9.55273386e-01 -2.31256856e-01 -1.84317728e-01 -8.41754775e+00] [ 2.35095136e-01 9.71971789e-01 -1.05802966e-03 -4.34802785e+00] [ 1.79396309e-01 -4.23214938e-02 9.82866143e-01 1.12123543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.33241403699998 meters Centerline goodness : 0.777804 Centerline is valid? [False, False] Translation: X:-8.42, Y:-4.35, Z:0.11 [[ 9.55180930e-01 -2.31831214e-01 -1.84075200e-01 -8.41851444e+00] [ 2.35572506e-01 9.71855481e-01 -1.58669547e-03 -4.34696227e+00] [ 1.79262338e-01 -4.18474750e-02 9.82910883e-01 1.12422874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.36241403699998 meters Centerline goodness : 0.778342 Centerline is valid? [False, False] Translation: X:-8.42, Y:-4.35, Z:0.11 [[ 9.54980497e-01 -2.33136824e-01 -1.83465176e-01 -8.42094382e+00] [ 2.36655473e-01 9.71589626e-01 -2.79049376e-03 -4.34526066e+00] [ 1.78903429e-01 -4.07531709e-02 9.83022249e-01 1.13468363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.39241403699998 meters Centerline goodness : 0.776908 Centerline is valid? [False, False] Translation: X:-8.42, Y:-4.34, Z:0.11 [[ 9.54884325e-01 -2.33823884e-01 -1.83091007e-01 -8.42228868e+00] [ 2.37226468e-01 9.71448397e-01 -3.40814647e-03 -4.34447578e+00] [ 1.78660371e-01 -4.01796474e-02 9.83090061e-01 1.13985401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42241403699998 meters Centerline goodness : 0.776119 Centerline is valid? [False, False] Translation: X:-8.42, Y:-4.34, Z:0.11 [[ 9.54809181e-01 -2.34367382e-01 -1.82787741e-01 -8.42328331e+00] [ 2.37679217e-01 9.71335911e-01 -3.89060942e-03 -4.34359537e+00] [ 1.78460129e-01 -3.97300576e-02 9.83144702e-01 1.14243090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.45241403699998 meters Centerline goodness : 0.778619 Centerline is valid? [False, False] Translation: X:-8.42, Y:-4.34, Z:0.11 [[ 9.54721767e-01 -2.34943368e-01 -1.82504689e-01 -8.42382171e+00] [ 2.38156338e-01 9.71216743e-01 -4.42669258e-03 -4.34203679e+00] [ 1.78291632e-01 -3.92383888e-02 9.83195018e-01 1.13951606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.48241403699998 meters Centerline goodness : 0.776652 Centerline is valid? [False, False] Translation: X:-8.42, Y:-4.34, Z:0.11 [[ 9.54679905e-01 -2.35167970e-01 -1.82434384e-01 -8.42375453e+00] [ 2.38333948e-01 9.71171930e-01 -4.69155172e-03 -4.34127218e+00] [ 1.78278456e-01 -3.90013769e-02 9.83206837e-01 1.13710405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.51241403699999 meters Centerline goodness : 0.775220 Centerline is valid? [False, False] Translation: X:-8.42, Y:-4.34, Z:0.11 [[ 9.54670395e-01 -2.35228937e-01 -1.82405547e-01 -8.42323020e+00] [ 2.38357987e-01 9.71165029e-01 -4.89460568e-03 -4.33981664e+00] [ 1.78297242e-01 -3.88050840e-02 9.83211198e-01 1.12945808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.542414037 meters Centerline goodness : 0.775331 Centerline is valid? [False, False] Translation: X:-8.42, Y:-4.34, Z:0.11 [[ 9.54655556e-01 -2.35430426e-01 -1.82223173e-01 -8.42361252e+00] [ 2.38501494e-01 9.71128244e-01 -5.19341019e-03 -4.33881520e+00] [ 1.78184757e-01 -3.85025812e-02 9.83243481e-01 1.12846857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.572414037 meters Centerline goodness : 0.775742 Centerline is valid? [False, False] Translation: X:-8.42, Y:-4.34, Z:0.11 [[ 9.54607578e-01 -2.35591405e-01 -1.82266461e-01 -8.42370543e+00] [ 2.38602674e-01 9.71101428e-01 -5.54807959e-03 -4.33772297e+00] [ 1.78306300e-01 -3.81930262e-02 9.83233521e-01 1.13027274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.602414037 meters Centerline goodness : 0.774862 Centerline is valid? [False, False] Translation: X:-8.42, Y:-4.34, Z:0.11 [[ 9.54581656e-01 -2.35776852e-01 -1.82162397e-01 -8.42416792e+00] [ 2.38703198e-01 9.71073965e-01 -6.01149374e-03 -4.33592221e+00] [ 1.78310532e-01 -3.77442852e-02 9.83250082e-01 1.13154503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.632414037 meters Centerline goodness : 0.776541 Centerline is valid? [False, False] Translation: X:-8.42, Y:-4.34, Z:0.11 [[ 9.54521140e-01 -2.36085194e-01 -1.82080132e-01 -8.42466508e+00] [ 2.38948023e-01 9.71011442e-01 -6.37348665e-03 -4.33516766e+00] [ 1.78306577e-01 -3.74240598e-02 9.83263039e-01 1.13453417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.662414037 meters Centerline goodness : 0.775706 Centerline is valid? [False, False] Translation: X:-8.43, Y:-4.33, Z:0.11 [[ 9.54461743e-01 -2.36435116e-01 -1.81937397e-01 -8.42519928e+00] [ 2.39246602e-01 9.70935998e-01 -6.65963208e-03 -4.33477383e+00] [ 1.78224139e-01 -3.71715400e-02 9.83287564e-01 1.13662952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.692414037 meters Centerline goodness : 0.778166 Centerline is valid? [False, False] Translation: X:-8.43, Y:-4.33, Z:0.11 [[ 9.54402069e-01 -2.36882577e-01 -1.81668202e-01 -8.42608919e+00] [ 2.39628086e-01 9.70839455e-01 -7.00954123e-03 -4.33469887e+00] [ 1.78031096e-01 -3.68428827e-02 9.83334903e-01 1.14076285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.722414037 meters Centerline goodness : 0.778208 Centerline is valid? [False, False] Translation: X:-8.43, Y:-4.34, Z:0.11 [[ 9.54272454e-01 -2.37775790e-01 -1.81181560e-01 -8.42742480e+00] [ 2.40437366e-01 9.70636015e-01 -7.45655222e-03 -4.33534209e+00] [ 1.77634335e-01 -3.64472347e-02 9.83421396e-01 1.14462989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.752414037 meters Centerline goodness : 0.777990 Centerline is valid? [False, False] Translation: X:-8.43, Y:-4.34, Z:0.11 [[ 9.54231680e-01 -2.38071235e-01 -1.81008255e-01 -8.42765701e+00] [ 2.40722628e-01 9.70564935e-01 -7.50482721e-03 -4.33602948e+00] [ 1.77466949e-01 -3.64114390e-02 9.83452942e-01 1.14426808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.782414037 meters Centerline goodness : 0.778477 Centerline is valid? [False, False] Translation: X:-8.43, Y:-4.34, Z:0.11 [[ 9.54199066e-01 -2.38269925e-01 -1.80918728e-01 -8.42765764e+00] [ 2.40927627e-01 9.70514337e-01 -7.46999492e-03 -4.33664771e+00] [ 1.77364094e-01 -3.64604575e-02 9.83469681e-01 1.14269973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.812414037 meters Centerline goodness : 0.778053 Centerline is valid? [False, False] Translation: X:-8.43, Y:-4.34, Z:0.11 [[ 9.54099445e-01 -2.38904951e-01 -1.80606407e-01 -8.42837991e+00] [ 2.41535703e-01 9.70362058e-01 -7.61445584e-03 -4.33746315e+00] [ 1.77072736e-01 -3.63579473e-02 9.83525976e-01 1.14317757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.842414037 meters Centerline goodness : 0.779571 Centerline is valid? [False, False] Translation: X:-8.43, Y:-4.34, Z:0.11 [[ 9.54050224e-01 -2.39301939e-01 -1.80340655e-01 -8.42904392e+00] [ 2.41916537e-01 9.70266618e-01 -7.68631856e-03 -4.33785527e+00] [ 1.76817869e-01 -3.62942530e-02 9.83574180e-01 1.14344280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.872414037 meters Centerline goodness : 0.778500 Centerline is valid? [False, False] Translation: X:-8.43, Y:-4.34, Z:0.12 [[ 9.53933852e-01 -2.39976145e-01 -1.80060146e-01 -8.43035347e+00] [ 2.42534678e-01 9.70109721e-01 -8.00372295e-03 -4.33872355e+00] [ 1.76598800e-01 -3.60358073e-02 9.83623040e-01 1.15199973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.902414037 meters Centerline goodness : 0.778781 Centerline is valid? [False, False] Translation: X:-8.43, Y:-4.34, Z:0.12 [[ 9.53916683e-01 -2.40094575e-01 -1.79993211e-01 -8.43060530e+00] [ 2.42655521e-01 9.70079634e-01 -7.98756501e-03 -4.33936827e+00] [ 1.76525519e-01 -3.60568749e-02 9.83635422e-01 1.15420817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.93241403699997 meters Centerline goodness : 0.779042 Centerline is valid? [False, False] Translation: X:-8.43, Y:-4.34, Z:0.12 [[ 9.53914548e-01 -2.40132643e-01 -1.79953742e-01 -8.43064405e+00] [ 2.42701708e-01 9.70068489e-01 -7.93770541e-03 -4.34011027e+00] [ 1.76473556e-01 -3.61031878e-02 9.83643047e-01 1.15556480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96241403699997 meters Centerline goodness : 0.780033 Centerline is valid? [False, False] Translation: X:-8.43, Y:-4.34, Z:0.12 [[ 9.53923283e-01 -2.40100353e-01 -1.79950522e-01 -8.43048784e+00] [ 2.42702419e-01 9.70069829e-01 -7.75002054e-03 -4.34115545e+00] [ 1.76425355e-01 -3.62815020e-02 9.83645133e-01 1.15555151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.99241403699997 meters Centerline goodness : 0.782415 Centerline is valid? [False, False] Translation: X:-8.43, Y:-4.34, Z:0.12 [[ 9.53933740e-01 -2.40061757e-01 -1.79946581e-01 -8.43015672e+00] [ 2.42750222e-01 9.70061631e-01 -7.26366968e-03 -4.34381799e+00] [ 1.76303003e-01 -3.67530130e-02 9.83649565e-01 1.15505504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02241403699998 meters Centerline goodness : 0.778478 Centerline is valid? [False, False] Translation: X:-8.43, Y:-4.35, Z:0.12 [[ 9.53923662e-01 -2.40065262e-01 -1.79995323e-01 -8.43011632e+00] [ 2.42782362e-01 9.70054693e-01 -7.11459530e-03 -4.34512083e+00] [ 1.76313275e-01 -3.69129088e-02 9.83641737e-01 1.15838025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.05241403699998 meters Centerline goodness : 0.782362 Centerline is valid? [False, False] Translation: X:-8.43, Y:-4.35, Z:0.12 [[ 9.53927213e-01 -2.40068960e-01 -1.79971572e-01 -8.43055983e+00] [ 2.42844676e-01 9.70041472e-01 -6.78274817e-03 -4.34716687e+00] [ 1.76208216e-01 -3.72348900e-02 9.83648427e-01 1.16468483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.08241403699998 meters Centerline goodness : 0.783159 Centerline is valid? [False, False] Translation: X:-8.43, Y:-4.35, Z:0.12 [[ 9.53925835e-01 -2.40024627e-01 -1.80037997e-01 -8.43078524e+00] [ 2.42808369e-01 9.70050803e-01 -6.74805197e-03 -4.34785163e+00] [ 1.76265702e-01 -3.72775913e-02 9.83636510e-01 1.17039291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.11241403699998 meters Centerline goodness : 0.780350 Centerline is valid? [False, False] Translation: X:-8.43, Y:-4.35, Z:0.12 [[ 9.53931432e-01 -2.39934151e-01 -1.80128915e-01 -8.43092859e+00] [ 2.42734044e-01 9.70069950e-01 -6.66898014e-03 -4.34857642e+00] [ 1.76337763e-01 -3.73616701e-02 9.83620404e-01 1.17609858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14241403699998 meters Centerline goodness : 0.782435 Centerline is valid? [False, False] Translation: X:-8.43, Y:-4.35, Z:0.12 [[ 9.53962743e-01 -2.39691715e-01 -1.80285792e-01 -8.43062880e+00] [ 2.42534404e-01 9.70121421e-01 -6.44133880e-03 -4.34977501e+00] [ 1.76443045e-01 -3.75807099e-02 9.83593179e-01 1.17954943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.17241403699998 meters Centerline goodness : 0.781841 Centerline is valid? [False, False] Translation: X:-8.43, Y:-4.35, Z:0.12 [[ 9.54049635e-01 -2.39172913e-01 -1.80514852e-01 -8.42974299e+00] [ 2.42143381e-01 9.70223555e-01 -5.73021957e-03 -4.35308901e+00] [ 1.76510275e-01 -3.82435627e-02 9.83555567e-01 1.18158995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.20241403699998 meters Centerline goodness : 0.780868 Centerline is valid? [False, False] Translation: X:-8.43, Y:-4.36, Z:0.12 [[ 9.54102611e-01 -2.38862757e-01 -1.80645483e-01 -8.42911311e+00] [ 2.41917248e-01 9.70282618e-01 -5.26170467e-03 -4.35504774e+00] [ 1.76533998e-01 -3.86810520e-02 9.83534201e-01 1.18125262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.23241403699998 meters Centerline goodness : 0.781482 Centerline is valid? [False, False] Translation: X:-8.43, Y:-4.36, Z:0.12 [[ 9.54214857e-01 -2.38070092e-01 -1.81098424e-01 -8.42753491e+00] [ 2.41308816e-01 9.70439015e-01 -4.26314016e-03 -4.35842763e+00] [ 1.76759902e-01 -3.96326945e-02 9.83455737e-01 1.18007465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.26241403699999 meters Centerline goodness : 0.781450 Centerline is valid? [False, False] Translation: X:-8.43, Y:-4.36, Z:0.12 [[ 9.54288225e-01 -2.37509030e-01 -1.81448188e-01 -8.42655057e+00] [ 2.40848729e-01 9.70555504e-01 -3.72883420e-03 -4.35966430e+00] [ 1.76991169e-01 -4.01431829e-02 9.83393436e-01 1.17950754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.292414037 meters Centerline goodness : 0.778469 Centerline is valid? [False, False] Translation: X:-8.43, Y:-4.36, Z:0.12 [[ 9.54357552e-01 -2.36981145e-01 -1.81773484e-01 -8.42576510e+00] [ 2.40408669e-01 9.70666267e-01 -3.26655768e-03 -4.36067062e+00] [ 1.77215502e-01 -4.05824575e-02 9.83335004e-01 1.18028762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.322414037 meters Centerline goodness : 0.780409 Centerline is valid? [False, False] Translation: X:-8.43, Y:-4.36, Z:0.12 [[ 9.55023687e-01 -2.33982338e-01 -1.82159336e-01 -8.42593788e+00] [ 2.37845851e-01 9.71302694e-01 -6.54665820e-04 -4.36382585e+00] [ 1.77085034e-01 -4.27006208e-02 9.83268808e-01 1.18671663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.352414037 meters Centerline goodness : 0.779735 Centerline is valid? [False, False] Translation: X:-8.43, Y:-4.36, Z:0.12 [[ 9.55104983e-01 -2.33403014e-01 -1.82476038e-01 -8.42518623e+00] [ 2.37336004e-01 9.71427576e-01 -2.92225787e-04 -4.36458166e+00] [ 1.77330462e-01 -4.30290275e-02 9.83210257e-01 1.18837437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.382414037 meters Centerline goodness : 0.785002 Centerline is valid? [False, False] Translation: X:-8.42, Y:-4.37, Z:0.12 [[ 9.55189554e-01 -2.32833084e-01 -1.82761238e-01 -8.42445307e+00] [ 2.36841348e-01 9.71548333e-01 1.08265502e-04 -4.36556694e+00] [ 1.77536168e-01 -4.33888320e-02 9.83157321e-01 1.18997693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.412414037 meters Centerline goodness : 0.784055 Centerline is valid? [False, False] Translation: X:-8.42, Y:-4.37, Z:0.12 [[ 9.55239054e-01 -2.32497066e-01 -1.82930217e-01 -8.42411424e+00] [ 2.36540229e-01 9.71621652e-01 2.91268364e-04 -4.36656635e+00] [ 1.77671241e-01 -4.35485864e-02 9.83125857e-01 1.19377930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.442414037 meters Centerline goodness : 0.784393 Centerline is valid? [False, False] Translation: X:-8.42, Y:-4.37, Z:0.12 [[ 9.55363629e-01 -2.31648318e-01 -1.83355917e-01 -8.42325022e+00] [ 2.35820000e-01 9.71796263e-01 9.75595127e-04 -4.36873281e+00] [ 1.77958599e-01 -4.41710403e-02 9.83046111e-01 1.19883139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.472414037 meters Centerline goodness : 0.784393 Centerline is valid? [False, False] Translation: X:-8.42, Y:-4.37, Z:0.12 [[ 9.55363629e-01 -2.31648318e-01 -1.83355917e-01 -8.42325022e+00] [ 2.35820000e-01 9.71796263e-01 9.75595127e-04 -4.36873281e+00] [ 1.77958599e-01 -4.41710403e-02 9.83046111e-01 1.19883139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.502414037 meters Centerline goodness : 0.784767 Centerline is valid? [False, False] Translation: X:-8.42, Y:-4.37, Z:0.12 [[ 9.55387288e-01 -2.31468350e-01 -1.83459895e-01 -8.42318179e+00] [ 2.35665991e-01 9.71833478e-01 1.10978024e-03 -4.36958892e+00] [ 1.78035589e-01 -4.42955279e-02 9.83026569e-01 1.20272418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.532414037 meters Centerline goodness : 0.781793 Centerline is valid? [False, False] Translation: X:-8.42, Y:-4.37, Z:0.12 [[ 9.55524102e-01 -2.30475087e-01 -1.83997078e-01 -8.42152611e+00] [ 2.34838120e-01 9.72032478e-01 1.97945179e-03 -4.37211400e+00] [ 1.78394921e-01 -4.51009417e-02 9.82924797e-01 1.20247643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.562414037 meters Centerline goodness : 0.782480 Centerline is valid? [False, False] Translation: X:-8.42, Y:-4.37, Z:0.12 [[ 9.55591075e-01 -2.29987249e-01 -1.84259500e-01 -8.42056666e+00] [ 2.34427999e-01 9.72130557e-01 2.38615104e-03 -4.37327657e+00] [ 1.78575506e-01 -4.54757704e-02 9.82874734e-01 1.20132121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.592414037 meters Centerline goodness : 0.783603 Centerline is valid? [False, False] Translation: X:-8.42, Y:-4.37, Z:0.12 [[ 9.55684597e-01 -2.29284609e-01 -1.84649719e-01 -8.41874196e+00] [ 2.33846854e-01 9.72268754e-01 3.01963715e-03 -4.37425797e+00] [ 1.78836796e-01 -4.60655766e-02 9.82799757e-01 1.19227688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.622414037 meters Centerline goodness : 0.782869 Centerline is valid? [False, False] Translation: X:-8.42, Y:-4.38, Z:0.12 [[ 9.56076721e-01 -2.27861498e-01 -1.84381238e-01 -8.41803824e+00] [ 2.32506102e-01 9.72587980e-01 3.67888827e-03 -4.37566776e+00] [ 1.78488699e-01 -4.63870623e-02 9.82847915e-01 1.17924829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.652414037 meters Centerline goodness : 0.781386 Centerline is valid? [False, False] Translation: X:-8.42, Y:-4.38, Z:0.12 [[ 9.56169059e-01 -2.27122631e-01 -1.84813530e-01 -8.41692395e+00] [ 2.31899360e-01 9.72730008e-01 4.36111876e-03 -4.37621604e+00] [ 1.78783158e-01 -4.70281062e-02 9.82763929e-01 1.17682667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68241403699997 meters Centerline goodness : 0.783745 Centerline is valid? [False, False] Translation: X:-8.42, Y:-4.38, Z:0.12 [[ 0.95671485 -0.22370471 -0.18615287 -8.41562659] [ 0.2292773 0.97332242 0.00868202 -4.37883536] [ 0.17924456 -0.05098684 0.98248243 0.11811681] [ 0. 0. 0. 1. ]] SLAMing on 214.71241403699997 meters Centerline goodness : 0.785147 Centerline is valid? [False, False] Translation: X:-8.42, Y:-4.38, Z:0.12 [[ 0.95693385 -0.22273108 -0.18619473 -8.41606401] [ 0.22856926 0.97347402 0.01021915 -4.38126298] [ 0.17897961 -0.05233744 0.98245972 0.11879248] [ 0. 0. 0. 1. ]] SLAMing on 214.74241403699997 meters Centerline goodness : 0.784744 Centerline is valid? [False, False] Translation: X:-8.42, Y:-4.38, Z:0.12 [[ 0.95699269 -0.22227014 -0.18644294 -8.41519653] [ 0.22829552 0.97352728 0.01121576 -4.38295915] [ 0.17901436 -0.05329749 0.98240177 0.11861892] [ 0. 0. 0. 1. ]] SLAMing on 214.77241403699998 meters Centerline goodness : 0.786130 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.38, Z:0.12 [[ 0.95702243 -0.22206995 -0.18652883 -8.41439085] [ 0.2281911 0.97354565 0.01173421 -4.38467872] [ 0.17898851 -0.05379412 0.98237941 0.11836554] [ 0. 0. 0. 1. ]] SLAMing on 214.80241403699998 meters Centerline goodness : 0.785701 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.39, Z:0.12 [[ 0.95679264 -0.22261201 -0.18706081 -8.41181489] [ 0.22890692 0.97336842 0.01247166 -4.38732388] [ 0.17930274 -0.0547523 0.98226916 0.11757856] [ 0. 0. 0. 1. ]] SLAMing on 214.83241403699998 meters Centerline goodness : 0.787980 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.39, Z:0.12 [[ 0.95657265 -0.22298764 -0.18773726 -8.40952363] [ 0.22941343 0.97324304 0.01294066 -4.38843889] [ 0.17982837 -0.05544813 0.98213403 0.11705128] [ 0. 0. 0. 1. ]] SLAMing on 214.86241403699998 meters Centerline goodness : 0.785330 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.39, Z:0.12 [[ 0.95634694 -0.22373047 -0.18800323 -8.40836037] [ 0.23015282 0.97307074 0.01276772 -4.38898829] [ 0.18008392 -0.05547985 0.98208542 0.11681913] [ 0. 0. 0. 1. ]] SLAMing on 214.89241403699998 meters Centerline goodness : 0.785843 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.39, Z:0.12 [[ 0.95610408 -0.22427429 -0.18858958 -8.40653977] [ 0.2308498 0.9728976 0.01336508 -4.39066177] [ 0.18048091 -0.05631427 0.98196504 0.11676009] [ 0. 0. 0. 1. ]] SLAMing on 214.92241403699998 meters Centerline goodness : 0.788296 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.39, Z:0.12 [[ 0.95600227 -0.22458517 -0.18873569 -8.40659238] [ 0.23122271 0.97280542 0.01362627 -4.39101341] [ 0.18054284 -0.05666672 0.98193338 0.11728598] [ 0. 0. 0. 1. ]] SLAMing on 214.95241403699998 meters Centerline goodness : 0.789360 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.39, Z:0.12 [[ 0.95612316 -0.22390388 -0.18893268 -8.40716021] [ 0.23071991 0.97291069 0.01459868 -4.3916942 ] [ 0.18054593 -0.05754867 0.98188152 0.11825703] [ 0. 0. 0. 1. ]] SLAMing on 214.98241403699998 meters Centerline goodness : 0.789600 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.39, Z:0.12 [[ 0.95612875 -0.22370184 -0.18914362 -8.40709 ] [ 0.23054757 0.97294985 0.01471096 -4.39131196] [ 0.18073639 -0.05767218 0.98183923 0.11856148] [ 0. 0. 0. 1. ]] SLAMing on 215.01241403699999 meters Centerline goodness : 0.790850 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.39, Z:0.12 [[ 0.95662043 -0.22026844 -0.19068079 -8.40544931] [ 0.22796984 0.97347962 0.0191617 -4.39302023] [ 0.18140315 -0.06179994 0.98146506 0.11875979] [ 0. 0. 0. 1. ]] SLAMing on 215.042414037 meters Centerline goodness : 0.788006 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.12 [[ 0.95658469 -0.220117 -0.19103463 -8.40494386] [ 0.2278563 0.9735043 0.01925831 -4.39242146] [ 0.18173395 -0.06195065 0.98139436 0.11889024] [ 0. 0. 0. 1. ]] SLAMing on 215.072414037 meters Centerline goodness : 0.787695 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.12 [[ 0.95666723 -0.21981957 -0.1909638 -8.4049543 ] [ 0.22751909 0.97358635 0.01909641 -4.3914019 ] [ 0.18172198 -0.06171682 0.98141131 0.11846355] [ 0. 0. 0. 1. ]] SLAMing on 215.102414037 meters Centerline goodness : 0.787975 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.12 [[ 0.95666939 -0.21956954 -0.19124039 -8.40433261] [ 0.22727975 0.97364253 0.01908248 -4.39091963] [ 0.18200985 -0.06172069 0.98135772 0.1183401 ] [ 0. 0. 0. 1. ]] SLAMing on 215.132414037 meters Centerline goodness : 0.789665 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.12 [[ 0.95665814 -0.21950129 -0.19137498 -8.40376971] [ 0.22712399 0.97368876 0.01857124 -4.3891779 ] [ 0.18226326 -0.06123218 0.98134129 0.11770028] [ 0. 0. 0. 1. ]] SLAMing on 215.162414037 meters Centerline goodness : 0.787643 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.12 [[ 0.95666313 -0.21923711 -0.19165266 -8.40242599] [ 0.22683509 0.97375994 0.01836893 -4.38838235] [ 0.18259653 -0.06104643 0.98129091 0.11683967] [ 0. 0. 0. 1. ]] SLAMing on 215.192414037 meters Centerline goodness : 0.788274 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.12 [[ 0.95666563 -0.21932924 -0.19153476 -8.40208909] [ 0.22686163 0.97375977 0.01804756 -4.38780159] [ 0.18255048 -0.06071736 0.98131989 0.11614811] [ 0. 0. 0. 1. ]] SLAMing on 215.222414037 meters Centerline goodness : 0.788884 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.12 [[ 0.95669629 -0.21903538 -0.1917178 -8.4010908 ] [ 0.22655859 0.97383185 0.0179646 -4.38669628] [ 0.18276602 -0.06062198 0.98128567 0.11529615] [ 0. 0. 0. 1. ]] SLAMing on 215.252414037 meters Centerline goodness : 0.789616 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.12 [[ 0.95661503 -0.21942703 -0.1916754 -8.40149055] [ 0.22687014 0.97376758 0.01751114 -4.38576344] [ 0.18280488 -0.06023685 0.98130214 0.11561727] [ 0. 0. 0. 1. ]] SLAMing on 215.282414037 meters Centerline goodness : 0.788716 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.12 [[ 0.95702867 -0.21632385 -0.19313237 -8.40025711] [ 0.22460732 0.9742053 0.02180785 -4.38736674] [ 0.18343302 -0.06424968 0.98093033 0.1161395 ] [ 0. 0. 0. 1. ]] SLAMing on 215.312414037 meters Centerline goodness : 0.792040 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.12 [[ 0.95701154 -0.2165569 -0.19295602 -8.40095103] [ 0.22477386 0.9741739 0.02149248 -4.38691632] [ 0.18331838 -0.06394002 0.98097199 0.11651953] [ 0. 0. 0. 1. ]] SLAMing on 215.342414037 meters Centerline goodness : 0.790233 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.12 [[ 0.95698236 -0.21630937 -0.1933779 -8.40029508] [ 0.22468786 0.9741772 0.02222936 -4.38731236] [ 0.18357592 -0.06472277 0.98087249 0.11672776] [ 0. 0. 0. 1. ]] SLAMing on 215.372414037 meters Centerline goodness : 0.788348 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.12 [[ 0.95695206 -0.21645046 -0.19336999 -8.40017437] [ 0.2248551 0.97413566 0.02235837 -4.38772162] [ 0.18352912 -0.06487612 0.98087112 0.11671775] [ 0. 0. 0. 1. ]] SLAMing on 215.402414037 meters Centerline goodness : 0.788761 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.39, Z:0.12 [[ 0.95679823 -0.21703381 -0.19347731 -8.39996411] [ 0.2254363 0.97400376 0.02225223 -4.38771278] [ 0.18361814 -0.0649077 0.98085237 0.11683926] [ 0. 0. 0. 1. ]] SLAMing on 215.43241403699997 meters Centerline goodness : 0.789016 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.38, Z:0.12 [[ 0.95597279 -0.22142987 -0.19257426 -8.40141358] [ 0.22902509 0.97325722 0.01782968 -4.38483795] [ 0.18347626 -0.06114902 0.98112041 0.11781914] [ 0. 0. 0. 1. ]] SLAMing on 215.46241403699997 meters Centerline goodness : 0.788265 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.38, Z:0.12 [[ 0.9558047 -0.22160325 -0.1932081 -8.40026248] [ 0.22927193 0.97319615 0.01798967 -4.38405798] [ 0.18404281 -0.06149181 0.98099286 0.11790936] [ 0. 0. 0. 1. ]] SLAMing on 215.49241403699997 meters Centerline goodness : 0.789825 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.38, Z:0.12 [[ 0.9554556 -0.22228024 -0.1941548 -8.39873061] [ 0.22996362 0.97303861 0.01768059 -4.38205431] [ 0.18499006 -0.06154156 0.98081156 0.11811667] [ 0. 0. 0. 1. ]] SLAMing on 215.52241403699998 meters Centerline goodness : 0.787721 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.38, Z:0.12 [[ 0.95532214 -0.22255218 -0.19449969 -8.39777839] [ 0.23022012 0.97298201 0.01745564 -4.38106788] [ 0.18535991 -0.06145351 0.98074725 0.11780339] [ 0. 0. 0. 1. ]] SLAMing on 215.55241403699998 meters Centerline goodness : 0.784679 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.38, Z:0.12 [[ 0.95526474 -0.22278718 -0.19451262 -8.39746102] [ 0.23035923 0.97295853 0.0169211 -4.38010104] [ 0.18548291 -0.0609719 0.98075406 0.11752692] [ 0. 0. 0. 1. ]] SLAMing on 215.58241403699998 meters Centerline goodness : 0.785572 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.38, Z:0.12 [[ 0.95518059 -0.22304228 -0.19463345 -8.39702848] [ 0.2304727 0.97294547 0.01610758 -4.37776058] [ 0.18577506 -0.06024334 0.98074378 0.11703099] [ 0. 0. 0. 1. ]] SLAMing on 215.61241403699998 meters Centerline goodness : 0.785640 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.38, Z:0.12 [[ 0.95513366 -0.22283335 -0.19510252 -8.39616814] [ 0.23025739 0.97299921 0.01593984 -4.37611628] [ 0.18628266 -0.06014848 0.98065332 0.11689448] [ 0. 0. 0. 1. ]] SLAMing on 215.64241403699998 meters Centerline goodness : 0.787078 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.37, Z:0.12 [[ 0.95509396 -0.22293465 -0.19518113 -8.3961808 ] [ 0.23027259 0.97300349 0.01545111 -4.37436233] [ 0.18646733 -0.05970212 0.9806455 0.11705296] [ 0. 0. 0. 1. ]] SLAMing on 215.67241403699998 meters Centerline goodness : 0.782995 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.37, Z:0.12 [[ 0.95560919 -0.21987292 -0.19612999 -8.39578315] [ 0.22781111 0.97352788 0.01858961 -4.37403233] [ 0.18685066 -0.06244499 0.98040168 0.11709206] [ 0. 0. 0. 1. ]] SLAMing on 215.70241403699998 meters Centerline goodness : 0.782218 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.37, Z:0.12 [[ 0.95558959 -0.21995063 -0.19613835 -8.39578552] [ 0.2278474 0.97352371 0.01836179 -4.37339225] [ 0.18690664 -0.06223595 0.9804043 0.11711557] [ 0. 0. 0. 1. ]] SLAMing on 215.73241403699998 meters Centerline goodness : 0.783178 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.37, Z:0.12 [[ 0.95556956 -0.2200694 -0.1961027 -8.3958341 ] [ 0.22791524 0.97351282 0.01809505 -4.37270365] [ 0.18692632 -0.06198587 0.98041639 0.11710556] [ 0. 0. 0. 1. ]] SLAMing on 215.76241403699999 meters Centerline goodness : 0.782597 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.37, Z:0.12 [[ 0.95553775 -0.22022703 -0.19608078 -8.3960002 ] [ 0.22801126 0.97349644 0.01776379 -4.3718217 ] [ 0.18697188 -0.06168259 0.98042683 0.11721956] [ 0. 0. 0. 1. ]] SLAMing on 215.792414037 meters Centerline goodness : 0.784474 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.37, Z:0.12 [[ 0.95550641 -0.22051057 -0.19591475 -8.39677641] [ 0.22813494 0.97348192 0.01695301 -4.36904771] [ 0.18698115 -0.06089371 0.98047438 0.1175253 ] [ 0. 0. 0. 1. ]] SLAMing on 215.822414037 meters Centerline goodness : 0.783633 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.37, Z:0.12 [[ 0.95546954 -0.2206875 -0.19589537 -8.39709634] [ 0.22823489 0.97346562 0.01653838 -4.36765183] [ 0.18704759 -0.06051208 0.98048533 0.11771376] [ 0. 0. 0. 1. ]] SLAMing on 215.852414037 meters Centerline goodness : 0.780681 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.37, Z:0.12 [[ 0.95540339 -0.22104912 -0.19581022 -8.39768142] [ 0.22845609 0.97342609 0.01579459 -4.36566634] [ 0.18711539 -0.05982424 0.9805146 0.11807247] [ 0. 0. 0. 1. ]] SLAMing on 215.882414037 meters Centerline goodness : 0.781028 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.36, Z:0.12 [[ 0.95537226 -0.22118957 -0.19580351 -8.39758247] [ 0.22854684 0.97340916 0.01552247 -4.36494277] [ 0.18716352 -0.05958001 0.98052029 0.11799496] [ 0. 0. 0. 1. ]] SLAMing on 215.912414037 meters Centerline goodness : 0.780720 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.36, Z:0.12 [[ 0.95532666 -0.22144116 -0.19574164 -8.39763476] [ 0.22875174 0.97336498 0.01527301 -4.36462443] [ 0.18714598 -0.05936695 0.98053656 0.11794428] [ 0. 0. 0. 1. ]] SLAMing on 215.942414037 meters Centerline goodness : 0.781679 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.36, Z:0.12 [[ 0.95522359 -0.2221729 -0.19541519 -8.39843156] [ 0.22935595 0.97323255 0.0146371 -4.36334668] [ 0.18693245 -0.05880133 0.98061137 0.11786985] [ 0. 0. 0. 1. ]] SLAMing on 215.972414037 meters Centerline goodness : 0.779421 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.36, Z:0.12 [[ 0.95511703 -0.22283375 -0.19518343 -8.39930406] [ 0.22989366 0.97311506 0.01399947 -4.36216375] [ 0.18681639 -0.05824256 0.98066684 0.11811361] [ 0. 0. 0. 1. ]] SLAMing on 216.002414037 meters Centerline goodness : 0.780271 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.36, Z:0.12 [[ 0.95501437 -0.22336524 -0.19507824 -8.39984443] [ 0.2303182 0.97302285 0.01341875 -4.3609542 ] [ 0.1868183 -0.05774516 0.98069588 0.11836121] [ 0. 0. 0. 1. ]] SLAMing on 216.032414037 meters Centerline goodness : 0.781287 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.36, Z:0.12 [[ 0.95483388 -0.22444473 -0.19472245 -8.40131581] [ 0.23118362 0.9728324 0.01229879 -4.35862819] [ 0.18667191 -0.05675994 0.98078127 0.11884494] [ 0. 0. 0. 1. ]] SLAMing on 216.062414037 meters Centerline goodness : 0.778978 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.36, Z:0.12 [[ 0.95475902 -0.22491036 -0.19455214 -8.4019831 ] [ 0.23154103 0.97275434 0.0117365 -4.35737401] [ 0.18661178 -0.05625233 0.98082196 0.11906674] [ 0. 0. 0. 1. ]] SLAMing on 216.092414037 meters Centerline goodness : 0.779137 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.35, Z:0.12 [[ 0.95463389 -0.22563524 -0.19432673 -8.40307521] [ 0.23204087 0.97264882 0.01055043 -4.35413332] [ 0.18663111 -0.05516354 0.98088012 0.11950808] [ 0. 0. 0. 1. ]] SLAMing on 216.122414037 meters Centerline goodness : 0.778207 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.35, Z:0.12 [[ 0.95456558 -0.22597282 -0.19427 -8.40348368] [ 0.23223949 0.97260923 0.00980372 -4.35196024] [ 0.18673342 -0.05447546 0.98089911 0.11974229] [ 0. 0. 0. 1. ]] SLAMing on 216.152414037 meters Centerline goodness : 0.778101 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.35, Z:0.12 [[ 0.95453376 -0.22607687 -0.1943053 -8.40354414] [ 0.23224244 0.97261393 0.0092521 -4.34985272] [ 0.18689236 -0.05395738 0.98089747 0.11981902] [ 0. 0. 0. 1. ]] SLAMing on 216.18241403699997 meters Centerline goodness : 0.780167 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.35, Z:0.12 [[ 9.54535892e-01 -2.26214911e-01 -1.94134088e-01 -8.40424745e+00] [ 2.32189470e-01 9.72635283e-01 8.28592012e-03 -4.34593833e+00] [ 1.86947265e-01 -5.29850993e-02 9.80940008e-01 1.19999983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.21241403699997 meters Centerline goodness : 0.778245 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.34, Z:0.12 [[ 9.54480440e-01 -2.26473128e-01 -1.94105674e-01 -8.40465628e+00] [ 2.32334401e-01 9.72605693e-01 7.67410420e-03 -4.34432908e+00] [ 1.87050306e-01 -5.24222079e-02 9.80950608e-01 1.20355815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24241403699997 meters Centerline goodness : 0.780272 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.34, Z:0.12 [[ 9.54444862e-01 -2.26698635e-01 -1.94017356e-01 -8.40507529e+00] [ 2.32490353e-01 9.72571216e-01 7.31200528e-03 -4.34332241e+00] [ 1.87038074e-01 -5.20860695e-02 9.80970846e-01 1.20505564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.27241403699998 meters Centerline goodness : 0.779772 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.34, Z:0.12 [[ 9.54378892e-01 -2.27253660e-01 -1.93692294e-01 -8.40612733e+00] [ 2.32944811e-01 9.72466036e-01 6.82084258e-03 -4.34280579e+00] [ 1.86809116e-01 -5.16292830e-02 9.81038619e-01 1.20872272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.30241403699998 meters Centerline goodness : 0.778256 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.34, Z:0.12 [[ 9.54307522e-01 -2.27624863e-01 -1.93608046e-01 -8.40654412e+00] [ 2.33265268e-01 9.72391140e-01 6.54105134e-03 -4.34287649e+00] [ 1.86773843e-01 -5.14042072e-02 9.81057154e-01 1.21225588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.33241403699998 meters Centerline goodness : 0.776838 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.34, Z:0.12 [[ 9.54104106e-01 -2.28784052e-01 -1.93243921e-01 -8.40809183e+00] [ 2.34343691e-01 9.72134655e-01 6.10302899e-03 -4.34420719e+00] [ 1.86462837e-01 -5.11084188e-02 9.81131765e-01 1.22045712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.36241403699998 meters Centerline goodness : 0.777564 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.35, Z:0.12 [[ 9.54037708e-01 -2.29186432e-01 -1.93094878e-01 -8.40849861e+00] [ 2.34746375e-01 9.72037475e-01 6.10628886e-03 -4.34509615e+00] [ 1.86295980e-01 -5.11539526e-02 9.81161088e-01 1.22155062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.39241403699998 meters Centerline goodness : 0.777564 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.35, Z:0.12 [[ 9.54037708e-01 -2.29186432e-01 -1.93094878e-01 -8.40849861e+00] [ 2.34746375e-01 9.72037475e-01 6.10628886e-03 -4.34509615e+00] [ 1.86295980e-01 -5.11539526e-02 9.81161088e-01 1.22155062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42241403699998 meters Centerline goodness : 0.779080 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.35, Z:0.12 [[ 9.53975547e-01 -2.29526980e-01 -1.92997463e-01 -8.40874182e+00] [ 2.35097411e-01 9.71952326e-01 6.15500052e-03 -4.34619191e+00] [ 1.86171594e-01 -5.12449239e-02 9.81179950e-01 1.22259080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.45241403699998 meters Centerline goodness : 0.779833 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.35, Z:0.12 [[ 9.53074588e-01 -2.33649959e-01 -1.92500717e-01 -8.40750113e+00] [ 2.38589642e-01 9.71117111e-01 2.55714233e-03 -4.34632073e+00] [ 1.86343264e-01 -4.83658244e-02 9.81293501e-01 1.22159173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.48241403699998 meters Centerline goodness : 0.777123 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.35, Z:0.12 [[ 9.53001554e-01 -2.34056877e-01 -1.92367918e-01 -8.40772799e+00] [ 2.38996913e-01 9.71016969e-01 2.55359655e-03 -4.34733053e+00] [ 1.86194826e-01 -4.84089200e-02 9.81319552e-01 1.22173173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.51241403699999 meters Centerline goodness : 0.775251 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.35, Z:0.12 [[ 9.52087577e-01 -2.38202828e-01 -1.91803699e-01 -8.40661719e+00] [ 2.42493053e-01 9.70152474e-01 -1.13887501e-03 -4.34727738e+00] [ 1.86350116e-01 -4.54267556e-02 9.81432649e-01 1.22116407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.542414037 meters Centerline goodness : 0.773508 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.35, Z:0.12 [[ 9.52041594e-01 -2.38480831e-01 -1.91686451e-01 -8.40690562e+00] [ 2.42761810e-01 9.70085201e-01 -1.18623184e-03 -4.34794869e+00] [ 1.86235083e-01 -4.54048078e-02 9.81455499e-01 1.22264782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.572414037 meters Centerline goodness : 0.774970 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.35, Z:0.12 [[ 9.51963870e-01 -2.38967285e-01 -1.91466515e-01 -8.40775386e+00] [ 2.43177396e-01 9.69980587e-01 -1.55396413e-03 -4.34814999e+00] [ 1.86090149e-01 -4.50810108e-02 9.81497916e-01 1.22773383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.602414037 meters Centerline goodness : 0.775337 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.35, Z:0.12 [[ 9.51881918e-01 -2.39375972e-01 -1.91363422e-01 -8.40860744e+00] [ 2.43521982e-01 9.69893502e-01 -1.90751491e-03 -4.34876306e+00] [ 1.86058752e-01 -4.47854708e-02 9.81517398e-01 1.23676245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.632414037 meters Centerline goodness : 0.778362 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.35, Z:0.12 [[ 9.51866091e-01 -2.39437452e-01 -1.91365230e-01 -8.40863007e+00] [ 2.43565771e-01 9.69882305e-01 -2.00741752e-03 -4.34895905e+00] [ 1.86082402e-01 -4.46992272e-02 9.81516846e-01 1.23859770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.662414037 meters Centerline goodness : 0.775697 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.35, Z:0.12 [[ 9.51869000e-01 -2.39322202e-01 -1.91494885e-01 -8.40824113e+00] [ 2.43454659e-01 9.69910205e-01 -2.00581416e-03 -4.34912468e+00] [ 1.86212879e-01 -4.47110497e-02 9.81491562e-01 1.23900857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.692414037 meters Centerline goodness : 0.778000 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.35, Z:0.12 [[ 9.51937275e-01 -2.38935160e-01 -1.91638756e-01 -8.40777446e+00] [ 2.43093679e-01 9.70001023e-01 -1.86505125e-03 -4.34899834e+00] [ 1.86335416e-01 -4.48107583e-02 9.81463758e-01 1.23860365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.722414037 meters Centerline goodness : 0.777824 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.35, Z:0.12 [[ 9.51955212e-01 -2.38849844e-01 -1.91656009e-01 -8.40786270e+00] [ 2.43002168e-01 9.70023897e-01 -1.89337572e-03 -4.34876698e+00] [ 1.86363141e-01 -4.47704168e-02 9.81460335e-01 1.24018838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.752414037 meters Centerline goodness : 0.777481 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.35, Z:0.12 [[ 9.52023789e-01 -2.38522696e-01 -1.91722792e-01 -8.40821581e+00] [ 2.42665960e-01 9.70107998e-01 -1.92469647e-03 -4.34878340e+00] [ 1.86450898e-01 -4.46922385e-02 9.81447231e-01 1.24768543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.782414037 meters Centerline goodness : 0.779758 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.35, Z:0.13 [[ 9.52010869e-01 -2.38538359e-01 -1.91767454e-01 -8.40840624e+00] [ 2.42675701e-01 9.70105474e-01 -1.96833511e-03 -4.34926510e+00] [ 1.86504180e-01 -4.46634249e-02 9.81438418e-01 1.25236030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.812414037 meters Centerline goodness : 0.778235 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.35, Z:0.13 [[ 9.52057013e-01 -2.38350447e-01 -1.91772019e-01 -8.40835612e+00] [ 2.42518787e-01 9.70145063e-01 -1.78752512e-03 -4.35019348e+00] [ 1.86472735e-01 -4.48064918e-02 9.81437872e-01 1.25448892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.842414037 meters Centerline goodness : 0.780455 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.35, Z:0.13 [[ 9.52116561e-01 -2.37960391e-01 -1.91960689e-01 -8.40759796e+00] [ 2.42242738e-01 9.70214939e-01 -1.19505333e-03 -4.35247833e+00] [ 1.86527504e-01 -4.53632529e-02 9.81401888e-01 1.25445919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.872414037 meters Centerline goodness : 0.778985 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.35, Z:0.13 [[ 9.52150840e-01 -2.37737536e-01 -1.92066764e-01 -8.40697801e+00] [ 2.42083595e-01 9.70255011e-01 -8.63956431e-04 -4.35348656e+00] [ 1.86559135e-01 -4.56735958e-02 9.81381481e-01 1.25217986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.902414037 meters Centerline goodness : 0.779637 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.35, Z:0.13 [[ 9.52173706e-01 -2.37463488e-01 -1.92292293e-01 -8.40614029e+00] [ 2.41876261e-01 9.70306952e-01 -5.42183220e-04 -4.35441527e+00] [ 1.86711297e-01 -4.59946881e-02 9.81337547e-01 1.25022298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.93241403699997 meters Centerline goodness : 0.776183 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.36, Z:0.12 [[ 9.52240598e-01 -2.37108725e-01 -1.92398794e-01 -8.40528095e+00] [ 2.41651012e-01 9.70363214e-01 1.47193234e-04 -4.35660012e+00] [ 1.86661811e-01 -4.66335266e-02 9.81316811e-01 1.24631603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96241403699997 meters Centerline goodness : 0.776889 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.36, Z:0.12 [[ 9.52249741e-01 -2.37145166e-01 -1.92308609e-01 -8.40550221e+00] [ 2.41720219e-01 9.70345928e-01 3.38878796e-04 -4.35779821e+00] [ 1.86525512e-01 -4.68075762e-02 9.81334441e-01 1.24815956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.99241403699997 meters Centerline goodness : 0.778545 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.36, Z:0.13 [[ 9.52240536e-01 -2.37320804e-01 -1.92137445e-01 -8.40601868e+00] [ 2.41944063e-01 9.70290001e-01 6.19041541e-04 -4.36027759e+00] [ 1.86282131e-01 -4.70759907e-02 9.81367831e-01 1.25313966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02241403699998 meters Centerline goodness : 0.778481 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.36, Z:0.13 [[ 9.52209940e-01 -2.37484725e-01 -1.92086529e-01 -8.40629760e+00] [ 2.42100187e-01 9.70251086e-01 5.74699032e-04 -4.36109327e+00] [ 1.86235681e-01 -4.70514186e-02 9.81377825e-01 1.25675479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.05241403699998 meters Centerline goodness : 0.781619 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.36, Z:0.13 [[ 9.52213798e-01 -2.37505851e-01 -1.92041281e-01 -8.40647024e+00] [ 2.42151925e-01 9.70238058e-01 7.45612722e-04 -4.36196179e+00] [ 1.86148672e-01 -4.72131485e-02 9.81386565e-01 1.25809842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.08241403699998 meters Centerline goodness : 0.776013 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.36, Z:0.13 [[ 9.52189297e-01 -2.37619046e-01 -1.92022740e-01 -8.40671600e+00] [ 2.42258279e-01 9.70211540e-01 7.03042709e-04 -4.36239176e+00] [ 1.86135622e-01 -4.71885282e-02 9.81390225e-01 1.26130796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.11241403699998 meters Centerline goodness : 0.776362 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.36, Z:0.13 [[ 9.52208529e-01 -2.37502306e-01 -1.92071788e-01 -8.40642429e+00] [ 2.42175627e-01 9.70232028e-01 8.81718377e-04 -4.36310199e+00] [ 1.86144790e-01 -4.73546854e-02 9.81380482e-01 1.26069855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14241403699998 meters Centerline goodness : 0.781673 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.36, Z:0.13 [[ 9.52230818e-01 -2.37475994e-01 -1.91993806e-01 -8.40635459e+00] [ 2.42174298e-01 9.70232207e-01 1.03634725e-03 -4.36394398e+00] [ 1.86032466e-01 -4.74828068e-02 9.81395590e-01 1.25955028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.17241403699998 meters Centerline goodness : 0.779089 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.37, Z:0.13 [[ 9.52206691e-01 -2.37657417e-01 -1.91888950e-01 -8.40667726e+00] [ 2.42368658e-01 9.70183587e-01 1.11383038e-03 -4.36575838e+00] [ 1.85902800e-01 -4.75684640e-02 9.81416013e-01 1.26392979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.20241403699998 meters Centerline goodness : 0.777826 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.37, Z:0.13 [[ 9.52173396e-01 -2.37806068e-01 -1.91870003e-01 -8.40695966e+00] [ 2.42497317e-01 9.70151562e-01 9.98415686e-04 -4.36615706e+00] [ 1.85905554e-01 -4.74786260e-02 9.81419841e-01 1.26768525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.23241403699998 meters Centerline goodness : 0.779367 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.37, Z:0.13 [[ 9.52180828e-01 -2.37763769e-01 -1.91885543e-01 -8.40695638e+00] [ 2.42462422e-01 9.70160243e-01 1.03767304e-03 -4.36635397e+00] [ 1.85913004e-01 -4.75130859e-02 9.81416762e-01 1.26850197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.26241403699999 meters Centerline goodness : 0.781823 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.37, Z:0.13 [[ 9.52223658e-01 -2.37475764e-01 -1.92029599e-01 -8.40684613e+00] [ 2.42211484e-01 9.70222705e-01 1.22442820e-03 -4.36650963e+00] [ 1.86020705e-01 -4.76777036e-02 9.81388371e-01 1.27139537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.292414037 meters Centerline goodness : 0.779992 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.37, Z:0.13 [[ 9.52235741e-01 -2.37410950e-01 -1.92049823e-01 -8.40679393e+00] [ 2.42164860e-01 9.70234216e-01 1.32157638e-03 -4.36708917e+00] [ 1.86019553e-01 -4.77661709e-02 9.81384287e-01 1.27257395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.322414037 meters Centerline goodness : 0.780802 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.37, Z:0.13 [[ 9.52222188e-01 -2.37102709e-01 -1.92497298e-01 -8.40534333e+00] [ 2.41984172e-01 9.70278323e-01 1.90693140e-03 -4.36830990e+00] [ 1.86323817e-01 -4.83971217e-02 9.81295651e-01 1.26991855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.352414037 meters Centerline goodness : 0.779289 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.37, Z:0.13 [[ 9.51407626e-01 -2.40723380e-01 -1.92030683e-01 -8.40387860e+00] [ 2.45072963e-01 9.69503973e-01 -1.13516937e-03 -4.37053738e+00] [ 1.86447772e-01 -4.59815197e-02 9.81388266e-01 1.27092994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.382414037 meters Centerline goodness : 0.778592 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.37, Z:0.13 [[ 9.51294106e-01 -2.40568799e-01 -1.92785312e-01 -8.40210232e+00] [ 2.45210914e-01 9.69469730e-01 2.25790716e-04 -4.37302197e+00] [ 1.86845207e-01 -4.74878561e-02 9.81240935e-01 1.27262024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.412414037 meters Centerline goodness : 0.778110 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.37, Z:0.13 [[ 9.50466667e-01 -2.44041854e-01 -1.92501137e-01 -8.40139433e+00] [ 2.48308627e-01 9.68678863e-01 -2.02135049e-03 -4.37461462e+00] [ 1.86965077e-01 -4.58784668e-02 9.81294668e-01 1.28065125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.442414037 meters Centerline goodness : 0.780601 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.38, Z:0.13 [[ 9.50322368e-01 -2.43882462e-01 -1.93413396e-01 -8.39950533e+00] [ 2.48387611e-01 9.68660219e-01 -9.87193331e-04 -4.37640715e+00] [ 1.87592621e-01 -4.71033393e-02 9.81116855e-01 1.28432257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.472414037 meters Centerline goodness : 0.779967 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.38, Z:0.13 [[ 9.50198603e-01 -2.43647794e-01 -1.94315123e-01 -8.39761382e+00] [ 2.48460382e-01 9.68641973e-01 4.07730793e-04 -4.37852609e+00] [ 1.88122441e-01 -4.86670349e-02 9.80939074e-01 1.28688659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.502414037 meters Centerline goodness : 0.777853 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.38, Z:0.13 [[ 9.50098336e-01 -2.43591990e-01 -1.94874559e-01 -8.39555116e+00] [ 2.48701298e-01 9.68578540e-01 1.80996404e-03 -4.38232205e+00] [ 1.88310423e-01 -5.01851996e-02 9.80826504e-01 1.28467329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.532414037 meters Centerline goodness : 0.779095 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.38, Z:0.13 [[ 9.50074731e-01 -2.43161511e-01 -1.95526177e-01 -8.39383424e+00] [ 2.48469430e-01 9.68635952e-01 2.70831052e-03 -4.38389843e+00] [ 1.88735128e-01 -5.11553752e-02 9.80694743e-01 1.28354391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.562414037 meters Centerline goodness : 0.780022 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.39, Z:0.13 [[ 9.50092363e-01 -2.42716913e-01 -1.95992353e-01 -8.39271541e+00] [ 2.48188509e-01 9.68705527e-01 3.47356513e-03 -4.38513025e+00] [ 1.89015782e-01 -5.19432576e-02 9.80599272e-01 1.28385638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.592414037 meters Centerline goodness : 0.780531 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.39, Z:0.13 [[ 9.50204769e-01 -2.42072182e-01 -1.96244634e-01 -8.39259952e+00] [ 2.47758360e-01 9.68811029e-01 4.58089359e-03 -4.38689019e+00] [ 1.89015059e-01 -5.29740357e-02 9.80544267e-01 1.29004056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.622414037 meters Centerline goodness : 0.779475 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.39, Z:0.13 [[ 9.50207242e-01 -2.41585246e-01 -1.96831820e-01 -8.39151694e+00] [ 2.47463437e-01 9.68881869e-01 5.45636323e-03 -4.38770706e+00] [ 1.89388605e-01 -5.38933547e-02 9.80422084e-01 1.29125277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.652414037 meters Centerline goodness : 0.776740 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.39, Z:0.13 [[ 9.50080295e-01 -2.41628677e-01 -1.97390513e-01 -8.38948932e+00] [ 2.47645854e-01 9.68831997e-01 6.00764755e-03 -4.38906923e+00] [ 1.89786625e-01 -5.45906898e-02 9.80306530e-01 1.28624328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68241403699997 meters Centerline goodness : 0.778781 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.39, Z:0.13 [[ 9.50049379e-01 -2.41318191e-01 -1.97918439e-01 -8.38767503e+00] [ 2.47454250e-01 9.68877794e-01 6.49722086e-03 -4.39002149e+00] [ 1.90190883e-01 -5.51484395e-02 9.80196959e-01 1.28184449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.71241403699997 meters Centerline goodness : 0.778570 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.39, Z:0.13 [[ 9.50026529e-01 -2.41151714e-01 -1.98230787e-01 -8.38660106e+00] [ 2.47367238e-01 9.68897718e-01 6.83089177e-03 -4.39095174e+00] [ 1.90418076e-01 -5.55253307e-02 9.80131570e-01 1.28010016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74241403699997 meters Centerline goodness : 0.778293 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.39, Z:0.13 [[ 9.50114711e-01 -2.40535008e-01 -1.98557161e-01 -8.38580098e+00] [ 2.46893460e-01 9.69013361e-01 7.53169521e-03 -4.39169226e+00] [ 1.90592906e-01 -5.61784389e-02 9.80060369e-01 1.27926138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.77241403699998 meters Centerline goodness : 0.777768 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.39, Z:0.13 [[ 0.95076221 -0.23713585 -0.19954399 -8.38601961] [ 0.24421788 0.96965464 0.01129198 -4.3933673 ] [ 0.19081102 -0.0594682 0.9798238 0.12878616] [ 0. 0. 0. 1. ]] SLAMing on 217.80241403699998 meters Centerline goodness : 0.777817 Centerline is valid? [False, False] Translation: X:-8.38, Y:-4.40, Z:0.13 [[ 0.95134235 -0.23338374 -0.20119583 -8.38447196] [ 0.24134626 0.97031295 0.01564476 -4.3951063 ] [ 0.19157169 -0.06344138 0.9794261 0.12922401] [ 0. 0. 0. 1. ]] SLAMing on 217.83241403699998 meters Centerline goodness : 0.779158 Centerline is valid? [False, False] Translation: X:-8.38, Y:-4.40, Z:0.13 [[ 0.9519012 -0.22955559 -0.20294912 -8.38261075] [ 0.23849817 0.97092819 0.02042239 -4.39715176] [ 0.19236095 -0.06784309 0.97897629 0.12959168] [ 0. 0. 0. 1. ]] SLAMing on 217.86241403699998 meters Centerline goodness : 0.774918 Centerline is valid? [False, False] Translation: X:-8.38, Y:-4.40, Z:0.13 [[ 0.95225798 -0.22853029 -0.20243184 -8.38238203] [ 0.2373814 0.97120552 0.02024609 -4.39664035] [ 0.19197608 -0.06733305 0.97908705 0.1279967 ] [ 0. 0. 0. 1. ]] SLAMing on 217.89241403699998 meters Centerline goodness : 0.775110 Centerline is valid? [False, False] Translation: X:-8.38, Y:-4.40, Z:0.13 [[ 0.95240559 -0.22810157 -0.20222085 -8.38197034] [ 0.23693135 0.9713152 0.02025615 -4.39691412] [ 0.19179973 -0.06720453 0.97913044 0.12720855] [ 0. 0. 0. 1. ]] SLAMing on 217.92241403699998 meters Centerline goodness : 0.775183 Centerline is valid? [False, False] Translation: X:-8.38, Y:-4.40, Z:0.13 [[ 0.95270825 -0.22699037 -0.20204544 -8.38161759] [ 0.23587715 0.97156191 0.02072262 -4.39750998] [ 0.19159582 -0.06740052 0.97915689 0.1263074 ] [ 0. 0. 0. 1. ]] SLAMing on 217.95241403699998 meters Centerline goodness : 0.776874 Centerline is valid? [False, False] Translation: X:-8.38, Y:-4.40, Z:0.13 [[ 0.95272706 -0.22654312 -0.2024583 -8.38061809] [ 0.23555922 0.971627 0.02127956 -4.39771714] [ 0.19189321 -0.06796453 0.97905966 0.12618567] [ 0. 0. 0. 1. ]] SLAMing on 217.98241403699998 meters Centerline goodness : 0.776666 Centerline is valid? [False, False] Translation: X:-8.38, Y:-4.40, Z:0.13 [[ 0.95266375 -0.22677982 -0.20249124 -8.38077264] [ 0.23575569 0.9715846 0.02103854 -4.39735713] [ 0.19196625 -0.06778111 0.97905806 0.12649161] [ 0. 0. 0. 1. ]] SLAMing on 218.01241403699999 meters Centerline goodness : 0.776441 Centerline is valid? [False, False] Translation: X:-8.38, Y:-4.40, Z:0.13 [[ 0.95292535 -0.22385233 -0.20450773 -8.37841569] [ 0.23384607 0.97193227 0.02576205 -4.39983562] [ 0.19300077 -0.07237264 0.97852588 0.12729048] [ 0. 0. 0. 1. ]] SLAMing on 218.042414037 meters Centerline goodness : 0.775686 Centerline is valid? [False, False] Translation: X:-8.38, Y:-4.40, Z:0.13 [[ 0.95291717 -0.22372467 -0.20468545 -8.37737358] [ 0.23378217 0.9719405 0.02603007 -4.40041319] [ 0.19311851 -0.07265631 0.97848163 0.12681708] [ 0. 0. 0. 1. ]] SLAMing on 218.072414037 meters Centerline goodness : 0.775518 Centerline is valid? [False, False] Translation: X:-8.38, Y:-4.40, Z:0.13 [[ 0.95281276 -0.22400199 -0.20486814 -8.37674335] [ 0.23408231 0.97186779 0.02604745 -4.40100592] [ 0.19327007 -0.07277435 0.97844293 0.12687578] [ 0. 0. 0. 1. ]] SLAMing on 218.102414037 meters Centerline goodness : 0.774527 Centerline is valid? [False, False] Translation: X:-8.38, Y:-4.40, Z:0.13 [[ 0.95213875 -0.2276946 -0.20392885 -8.37669134] [ 0.23703451 0.97124585 0.02227399 -4.40043053] [ 0.19299339 -0.0695461 0.97873229 0.12666408] [ 0. 0. 0. 1. ]] SLAMing on 218.132414037 meters Centerline goodness : 0.774414 Centerline is valid? [False, False] Translation: X:-8.38, Y:-4.40, Z:0.13 [[ 0.95203425 -0.22759161 -0.20453081 -8.37540459] [ 0.23709761 0.97121581 0.02290353 -4.40106805] [ 0.1934309 -0.07029871 0.97859214 0.12674792] [ 0. 0. 0. 1. ]] SLAMing on 218.162414037 meters Centerline goodness : 0.773930 Centerline is valid? [False, False] Translation: X:-8.38, Y:-4.40, Z:0.13 [[ 0.95177485 -0.22842294 -0.20481111 -8.37504242] [ 0.23790175 0.97102679 0.02257741 -4.40036909] [ 0.19371987 -0.07021353 0.97854109 0.12709772] [ 0. 0. 0. 1. ]] SLAMing on 218.192414037 meters Centerline goodness : 0.773128 Centerline is valid? [False, False] Translation: X:-8.37, Y:-4.40, Z:0.13 [[ 0.95173232 -0.2283052 -0.20513978 -8.37445633] [ 0.23784265 0.97103691 0.02276379 -4.40014317] [ 0.1940012 -0.07045602 0.97846793 0.12716427] [ 0. 0. 0. 1. ]] SLAMing on 218.222414037 meters Centerline goodness : 0.775139 Centerline is valid? [False, False] Translation: X:-8.37, Y:-4.40, Z:0.13 [[ 0.95175935 -0.22820574 -0.20512506 -8.37458063] [ 0.23772888 0.97106609 0.02270727 -4.3997856 ] [ 0.19400806 -0.07037601 0.97847233 0.12720033] [ 0. 0. 0. 1. ]] SLAMing on 218.252414037 meters Centerline goodness : 0.774702 Centerline is valid? [False, False] Translation: X:-8.38, Y:-4.40, Z:0.13 [[ 0.95175725 -0.22835052 -0.2049736 -8.37527455] [ 0.23771384 0.97108737 0.02194217 -4.3978261 ] [ 0.19403676 -0.06960868 0.97852152 0.1273194 ] [ 0. 0. 0. 1. ]] SLAMing on 218.282414037 meters Centerline goodness : 0.774702 Centerline is valid? [False, False] Translation: X:-8.38, Y:-4.40, Z:0.13 [[ 0.95175725 -0.22835052 -0.2049736 -8.37527455] [ 0.23771384 0.97108737 0.02194217 -4.3978261 ] [ 0.19403676 -0.06960868 0.97852152 0.1273194 ] [ 0. 0. 0. 1. ]] SLAMing on 218.312414037 meters Centerline goodness : 0.773769 Centerline is valid? [False, False] Translation: X:-8.37, Y:-4.40, Z:0.13 [[ 0.95174853 -0.22813252 -0.20525663 -8.37457695] [ 0.23748655 0.97114586 0.02181427 -4.3966667 ] [ 0.19435758 -0.06950739 0.97846505 0.12693176] [ 0. 0. 0. 1. ]] SLAMing on 218.342414037 meters Centerline goodness : 0.774406 Centerline is valid? [False, False] Translation: X:-8.37, Y:-4.40, Z:0.13 [[ 0.95226379 -0.22463488 -0.20671925 -8.37321192] [ 0.23469851 0.9717417 0.02519267 -4.39561548] [ 0.19521856 -0.07250677 0.97807591 0.12673193] [ 0. 0. 0. 1. ]] SLAMing on 218.372414037 meters Centerline goodness : 0.772956 Centerline is valid? [False, False] Translation: X:-8.37, Y:-4.39, Z:0.13 [[ 0.95229762 -0.22471529 -0.20647588 -8.37373513] [ 0.23459632 0.97178758 0.02436113 -4.39380779] [ 0.19517638 -0.07163753 0.97814838 0.12645995] [ 0. 0. 0. 1. ]] SLAMing on 218.402414037 meters Centerline goodness : 0.774032 Centerline is valid? [False, False] Translation: X:-8.37, Y:-4.39, Z:0.13 [[ 0.95235908 -0.22464514 -0.20626863 -8.37421601] [ 0.23441952 0.97184142 0.02391104 -4.39261395] [ 0.1950889 -0.07112529 0.97820321 0.12629325] [ 0. 0. 0. 1. ]] SLAMing on 218.43241403699997 meters Centerline goodness : 0.774827 Centerline is valid? [False, False] Translation: X:-8.38, Y:-4.39, Z:0.13 [[ 0.95257586 -0.22414115 -0.20581539 -8.37546794] [ 0.23385355 0.97198 0.02382005 -4.39171414] [ 0.19470939 -0.07082106 0.97830089 0.126255 ] [ 0. 0. 0. 1. ]] SLAMing on 218.46241403699997 meters Centerline goodness : 0.776277 Centerline is valid? [False, False] Translation: X:-8.37, Y:-4.39, Z:0.13 [[ 0.95296223 -0.22116054 -0.20724623 -8.37440848] [ 0.23173649 0.9723781 0.02791107 -4.39313504] [ 0.19534887 -0.07462471 0.97789057 0.12693389] [ 0. 0. 0. 1. ]] SLAMing on 218.49241403699997 meters Centerline goodness : 0.775039 Centerline is valid? [False, False] Translation: X:-8.38, Y:-4.39, Z:0.13 [[ 0.95291216 -0.22145544 -0.20716154 -8.37508681] [ 0.23190464 0.97235594 0.02727938 -4.39155804] [ 0.19539358 -0.07403658 0.97792634 0.12739896] [ 0. 0. 0. 1. ]] SLAMing on 218.52241403699998 meters Centerline goodness : 0.775667 Centerline is valid? [False, False] Translation: X:-8.37, Y:-4.39, Z:0.13 [[ 0.95332399 -0.21796721 -0.20895851 -8.37347523] [ 0.22948684 0.97277686 0.03226411 -4.39366397] [ 0.19623748 -0.07871138 0.97739213 0.12826273] [ 0. 0. 0. 1. ]] SLAMing on 218.55241403699998 meters Centerline goodness : 0.773819 Centerline is valid? [False, False] Translation: X:-8.37, Y:-4.39, Z:0.13 [[ 0.95324787 -0.21827917 -0.20898013 -8.37374809] [ 0.22971895 0.97273651 0.0318259 -4.39301427] [ 0.19633567 -0.07834467 0.97740187 0.12863506] [ 0. 0. 0. 1. ]] SLAMing on 218.58241403699998 meters Centerline goodness : 0.774235 Centerline is valid? [False, False] Translation: X:-8.37, Y:-4.39, Z:0.13 [[ 0.95302172 -0.21840128 -0.20988207 -8.3721489 ] [ 0.22998022 0.97266455 0.03213689 -4.39231652] [ 0.19712611 -0.07889588 0.97719841 0.12890145] [ 0. 0. 0. 1. ]] SLAMing on 218.61241403699998 meters Centerline goodness : 0.774546 Centerline is valid? [False, False] Translation: X:-8.37, Y:-4.39, Z:0.13 [[ 0.95296079 -0.21884119 -0.2097004 -8.37231139] [ 0.2302938 0.9726099 0.03153951 -4.39166115] [ 0.19705454 -0.07834862 0.97725688 0.12869313] [ 0. 0. 0. 1. ]] SLAMing on 218.64241403699998 meters Centerline goodness : 0.776258 Centerline is valid? [False, False] Translation: X:-8.37, Y:-4.39, Z:0.13 [[ 0.95293126 -0.21911508 -0.20954856 -8.37255551] [ 0.23049071 0.97257449 0.03119117 -4.39112453] [ 0.19696713 -0.07802203 0.97730063 0.12862166] [ 0. 0. 0. 1. ]] SLAMing on 218.67241403699998 meters Centerline goodness : 0.775110 Centerline is valid? [False, False] Translation: X:-8.37, Y:-4.39, Z:0.13 [[ 0.95272972 -0.21983818 -0.20970755 -8.37247795] [ 0.23107351 0.97246257 0.03035751 -4.38916577] [ 0.197259 -0.07738036 0.97729277 0.12873742] [ 0. 0. 0. 1. ]] SLAMing on 218.70241403699998 meters Centerline goodness : 0.776538 Centerline is valid? [False, False] Translation: X:-8.37, Y:-4.39, Z:0.13 [[ 0.95269986 -0.21968058 -0.21000813 -8.37166445] [ 0.23098517 0.97247608 0.03059611 -4.38886973] [ 0.19750651 -0.07765767 0.97722079 0.12843147] [ 0. 0. 0. 1. ]] SLAMing on 218.73241403699998 meters Centerline goodness : 0.776620 Centerline is valid? [False, False] Translation: X:-8.37, Y:-4.39, Z:0.13 [[ 0.95265917 -0.22000422 -0.20985386 -8.37197856] [ 0.23124874 0.97242186 0.03032742 -4.38871926] [ 0.19739432 -0.07742014 0.9772623 0.12846319] [ 0. 0. 0. 1. ]] SLAMing on 218.76241403699999 meters Centerline goodness : 0.776052 Centerline is valid? [False, False] Translation: X:-8.37, Y:-4.39, Z:0.13 [[ 0.9525669 -0.22083617 -0.20939838 -8.37343055] [ 0.23191896 0.97228397 0.02962225 -4.38863305] [ 0.19705302 -0.07678063 0.97738163 0.12913109] [ 0. 0. 0. 1. ]] SLAMing on 218.792414037 meters Centerline goodness : 0.775280 Centerline is valid? [False, False] Translation: X:-8.37, Y:-4.39, Z:0.13 [[ 0.95262999 -0.22033002 -0.20964441 -8.37316411] [ 0.23157896 0.97234101 0.03039978 -4.3891811 ] [ 0.19714787 -0.07750898 0.97730501 0.12937395] [ 0. 0. 0. 1. ]] SLAMing on 218.822414037 meters Centerline goodness : 0.775647 Centerline is valid? [False, False] Translation: X:-8.37, Y:-4.39, Z:0.13 [[ 0.95252537 -0.2210907 -0.20931871 -8.37455177] [ 0.23213335 0.97223868 0.02942869 -4.38704802] [ 0.19700133 -0.07662143 0.97740454 0.12997383] [ 0. 0. 0. 1. ]] SLAMing on 218.852414037 meters Centerline goodness : 0.774256 Centerline is valid? [False, False] Translation: X:-8.38, Y:-4.39, Z:0.13 [[ 0.95246976 -0.22146945 -0.2091713 -8.3750535 ] [ 0.23239184 0.97219423 0.0288514 -4.38531461] [ 0.19696543 -0.07608979 0.9774533 0.13002516] [ 0. 0. 0. 1. ]] SLAMing on 218.882414037 meters Centerline goodness : 0.774649 Centerline is valid? [False, False] Translation: X:-8.38, Y:-4.38, Z:0.13 [[ 0.95242007 -0.22165762 -0.20919825 -8.3751501 ] [ 0.23248917 0.97218511 0.02837076 -4.38395032] [ 0.19709083 -0.07565721 0.97746161 0.13017584] [ 0. 0. 0. 1. ]] SLAMing on 218.912414037 meters Centerline goodness : 0.774319 Centerline is valid? [False, False] Translation: X:-8.38, Y:-4.38, Z:0.13 [[ 0.95242194 -0.22169613 -0.20914893 -8.37511743] [ 0.23242775 0.97221369 0.02789054 -4.38261252] [ 0.19715423 -0.07517557 0.97748598 0.13017218] [ 0. 0. 0. 1. ]] SLAMing on 218.942414037 meters Centerline goodness : 0.775083 Centerline is valid? [False, False] Translation: X:-8.38, Y:-4.38, Z:0.13 [[ 0.95239612 -0.22187349 -0.20907842 -8.37534177] [ 0.23251863 0.97220391 0.0274709 -4.38201713] [ 0.19717179 -0.07477781 0.97751295 0.13040219] [ 0. 0. 0. 1. ]] SLAMing on 218.972414037 meters Centerline goodness : 0.772610 Centerline is valid? [False, False] Translation: X:-8.38, Y:-4.38, Z:0.13 [[ 0.95305604 -0.21814484 -0.20999289 -8.37515719] [ 0.22955766 0.9727918 0.03129535 -4.3823365 ] [ 0.19745244 -0.0780317 0.97720192 0.13045661] [ 0. 0. 0. 1. ]] SLAMing on 219.002414037 meters Centerline goodness : 0.773815 Centerline is valid? [False, False] Translation: X:-8.38, Y:-4.38, Z:0.13 [[ 0.95302226 -0.21817568 -0.21011413 -8.37506066] [ 0.22950423 0.97281937 0.03082666 -4.38046834] [ 0.19767746 -0.07760057 0.97719075 0.13051714] [ 0. 0. 0. 1. ]] SLAMing on 219.032414037 meters Centerline goodness : 0.773160 Centerline is valid? [False, False] Translation: X:-8.38, Y:-4.38, Z:0.13 [[ 0.95299064 -0.21824932 -0.21018107 -8.37504783] [ 0.22947916 0.97284169 0.03030461 -4.3784007 ] [ 0.19785895 -0.07711219 0.97719269 0.13054083] [ 0. 0. 0. 1. ]] SLAMing on 219.062414037 meters Centerline goodness : 0.772672 Centerline is valid? [False, False] Translation: X:-8.38, Y:-4.38, Z:0.13 [[ 0.95297415 -0.21834237 -0.21015917 -8.37510029] [ 0.22949254 0.97285073 0.02991029 -4.37684601] [ 0.19792282 -0.0767337 0.97720955 0.1304586 ] [ 0. 0. 0. 1. ]] SLAMing on 219.092414037 meters Centerline goodness : 0.776202 Centerline is valid? [False, False] Translation: X:-8.37, Y:-4.37, Z:0.13 [[ 0.95303538 -0.21815914 -0.21007179 -8.37454992] [ 0.22923187 0.97292225 0.02958132 -4.37491479] [ 0.19793008 -0.07634719 0.97723835 0.12975208] [ 0. 0. 0. 1. ]] SLAMing on 219.122414037 meters Centerline goodness : 0.773413 Centerline is valid? [False, False] Translation: X:-8.37, Y:-4.37, Z:0.13 [[ 0.95303534 -0.21832413 -0.2099005 -8.37447115] [ 0.22929296 0.97292181 0.02911848 -4.37430413] [ 0.19785951 -0.07587964 0.97728905 0.1292455 ] [ 0. 0. 0. 1. ]] SLAMing on 219.152414037 meters Centerline goodness : 0.775960 Centerline is valid? [False, False] Translation: X:-8.38, Y:-4.37, Z:0.13 [[ 0.95266341 -0.22143164 -0.20832775 -8.37582726] [ 0.23143477 0.9725389 0.02461773 -4.37197405] [ 0.19715569 -0.0716667 0.97774921 0.12854287] [ 0. 0. 0. 1. ]] SLAMing on 219.18241403699997 meters Centerline goodness : 0.775842 Centerline is valid? [False, False] Translation: X:-8.38, Y:-4.37, Z:0.13 [[ 0.95251997 -0.22215323 -0.2082154 -8.37672714] [ 0.23204142 0.97240942 0.02401453 -4.37093381] [ 0.19713571 -0.07118892 0.97778814 0.12921401] [ 0. 0. 0. 1. ]] SLAMing on 219.21241403699997 meters Centerline goodness : 0.772078 Centerline is valid? [False, False] Translation: X:-8.38, Y:-4.37, Z:0.13 [[ 0.9524395 -0.2227254 -0.20797209 -8.37761646] [ 0.23249795 0.97231364 0.02347089 -4.36980628] [ 0.19698653 -0.07070768 0.97785312 0.12945717] [ 0. 0. 0. 1. ]] SLAMing on 219.24241403699997 meters Centerline goodness : 0.773106 Centerline is valid? [False, False] Translation: X:-8.38, Y:-4.37, Z:0.13 [[ 0.95225838 -0.2239664 -0.20746816 -8.3793913 ] [ 0.23353374 0.97208819 0.02250646 -4.36862222] [ 0.19663665 -0.06988278 0.97798283 0.13003347] [ 0. 0. 0. 1. ]] SLAMing on 219.27241403699998 meters Centerline goodness : 0.773484 Centerline is valid? [False, False] Translation: X:-8.38, Y:-4.37, Z:0.13 [[ 0.95216793 -0.22455656 -0.20724522 -8.37993277] [ 0.2340483 0.97197262 0.02214991 -4.36875246] [ 0.19646277 -0.06959582 0.97803824 0.1301715 ] [ 0. 0. 0. 1. ]] SLAMing on 219.30241403699998 meters Centerline goodness : 0.773718 Centerline is valid? [False, False] Translation: X:-8.38, Y:-4.37, Z:0.13 [[ 0.95205645 -0.22524937 -0.20700542 -8.38048182] [ 0.23466938 0.9718306 0.02180746 -4.3690798 ] [ 0.19626208 -0.06933976 0.97809672 0.13023947] [ 0. 0. 0. 1. ]] SLAMing on 219.33241403699998 meters Centerline goodness : 0.775212 Centerline is valid? [False, False] Translation: X:-8.38, Y:-4.37, Z:0.13 [[ 0.95109706 -0.2300988 -0.20607989 -8.38047128] [ 0.23865911 0.97094854 0.01734224 -4.36718627] [ 0.19610254 -0.06567699 0.97838148 0.13031345] [ 0. 0. 0. 1. ]] SLAMing on 219.36241403699998 meters Centerline goodness : 0.777063 Centerline is valid? [False, False] Translation: X:-8.38, Y:-4.37, Z:0.13 [[ 0.9509682 -0.23084325 -0.20584186 -8.38131085] [ 0.23927611 0.97080777 0.01670968 -4.36635805] [ 0.19597556 -0.06514342 0.9784426 0.13061896] [ 0. 0. 0. 1. ]] SLAMing on 219.39241403699998 meters Centerline goodness : 0.776897 Centerline is valid? [False, False] Translation: X:-8.38, Y:-4.37, Z:0.13 [[ 0.95081533 -0.23171727 -0.20556586 -8.38249578] [ 0.23999546 0.97064315 0.01593932 -4.36502021] [ 0.19583768 -0.06449022 0.97851347 0.13106739] [ 0. 0. 0. 1. ]] SLAMing on 219.42241403699998 meters Centerline goodness : 0.776955 Centerline is valid? [False, False] Translation: X:-8.38, Y:-4.36, Z:0.13 [[ 0.95060133 -0.23296638 -0.20514331 -8.38413384] [ 0.24099381 0.97041537 0.01469645 -4.36251911] [ 0.19565044 -0.06340873 0.9786216 0.13159011] [ 0. 0. 0. 1. ]] SLAMing on 219.45241403699998 meters Centerline goodness : 0.776772 Centerline is valid? [False, False] Translation: X:-8.38, Y:-4.36, Z:0.13 [[ 0.95052251 -0.23340668 -0.20500803 -8.3844697 ] [ 0.24134783 0.97033385 0.01426359 -4.36180218] [ 0.19559701 -0.0630361 0.97865635 0.13163895] [ 0. 0. 0. 1. ]] SLAMing on 219.48241403699998 meters Centerline goodness : 0.777791 Centerline is valid? [False, False] Translation: X:-8.38, Y:-4.36, Z:0.13 [[ 0.95043647 -0.2339448 -0.20479344 -8.38482253] [ 0.24178926 0.97023074 0.01379384 -4.3612084 ] [ 0.19546989 -0.06262702 0.97870801 0.13153167] [ 0. 0. 0. 1. ]] SLAMing on 219.51241403699999 meters Centerline goodness : 0.776544 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.36, Z:0.13 [[ 0.95028978 -0.23472342 -0.20458309 -8.3851748 ] [ 0.24243316 0.97007957 0.01310649 -4.3604132 ] [ 0.19538548 -0.06205269 0.97876145 0.13148793] [ 0. 0. 0. 1. ]] SLAMing on 219.542414037 meters Centerline goodness : 0.777366 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.36, Z:0.13 [[ 0.95021567 -0.23524772 -0.20432495 -8.38590469] [ 0.24285626 0.96998009 0.01262803 -4.35953274] [ 0.19522041 -0.06162094 0.97882166 0.13158331] [ 0. 0. 0. 1. ]] SLAMing on 219.572414037 meters Centerline goodness : 0.776489 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.36, Z:0.13 [[ 0.95010775 -0.23588881 -0.20408758 -8.38721589] [ 0.24329981 0.96988121 0.01164653 -4.35694449] [ 0.19519342 -0.06071993 0.97888335 0.13223945] [ 0. 0. 0. 1. ]] SLAMing on 219.602414037 meters Centerline goodness : 0.777134 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.36, Z:0.13 [[ 0.95005091 -0.23627263 -0.20390812 -8.38800363] [ 0.24357473 0.96981842 0.01111701 -4.35566356] [ 0.19512721 -0.0602286 0.97892691 0.13257984] [ 0. 0. 0. 1. ]] SLAMing on 219.632414037 meters Centerline goodness : 0.777210 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.13 [[ 0.94997484 -0.23664193 -0.20383423 -8.38866671] [ 0.24383474 0.96975938 0.01055335 -4.35453225] [ 0.1951728 -0.05972728 0.97894853 0.13311537] [ 0. 0. 0. 1. ]] SLAMing on 219.662414037 meters Centerline goodness : 0.777193 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.13 [[ 0.94992991 -0.23683679 -0.20381734 -8.38906626] [ 0.2439635 0.9697307 0.01020678 -4.35393576] [ 0.19523059 -0.05941971 0.97895573 0.13356172] [ 0. 0. 0. 1. ]] SLAMing on 219.692414037 meters Centerline goodness : 0.776307 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.13 [[ 0.94988361 -0.23722152 -0.20358555 -8.39032182] [ 0.24423108 0.96966904 0.00965067 -4.35311834] [ 0.19512126 -0.05888894 0.97900959 0.13444158] [ 0. 0. 0. 1. ]] SLAMing on 219.722414037 meters Centerline goodness : 0.776091 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.13 [[ 0.9498227 -0.23745446 -0.20359819 -8.39068948] [ 0.24439096 0.9696326 0.00925597 -4.35265401] [ 0.19521758 -0.05854909 0.97901078 0.1349542 ] [ 0. 0. 0. 1. ]] SLAMing on 219.752414037 meters Centerline goodness : 0.776220 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.14 [[ 0.94980786 -0.23735585 -0.2037823 -8.39036148] [ 0.24426501 0.96966607 0.00907302 -4.35183301] [ 0.19544725 -0.05839451 0.97897418 0.13508705] [ 0. 0. 0. 1. ]] SLAMing on 219.782414037 meters Centerline goodness : 0.775780 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.13 [[ 0.9498098 -0.23720757 -0.20394587 -8.38991788] [ 0.24411812 0.96970332 0.00904561 -4.35122899] [ 0.1956213 -0.05837849 0.97894038 0.13498803] [ 0. 0. 0. 1. ]] SLAMing on 219.812414037 meters Centerline goodness : 0.776112 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.13 [[ 0.94983357 -0.23686482 -0.20423332 -8.3890683 ] [ 0.24379557 0.969784 0.00909498 -4.35071837] [ 0.19590793 -0.0584299 0.97887999 0.1348346 ] [ 0. 0. 0. 1. ]] SLAMing on 219.842414037 meters Centerline goodness : 0.774788 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.13 [[ 0.94994749 -0.23585026 -0.20487658 -8.38687634] [ 0.24286964 0.97001293 0.00944763 -4.34965723] [ 0.1965047 -0.05873305 0.97874222 0.13414624] [ 0. 0. 0. 1. ]] SLAMing on 219.872414037 meters Centerline goodness : 0.774412 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.13 [[ 0.94997096 -0.23546522 -0.20521038 -8.38582429] [ 0.24250036 0.97010515 0.00946483 -4.34917661] [ 0.19684701 -0.05875491 0.97867212 0.13399568] [ 0. 0. 0. 1. ]] SLAMing on 219.902414037 meters Centerline goodness : 0.775828 Centerline is valid? [False, False] Translation: X:-8.38, Y:-4.35, Z:0.13 [[ 0.95006248 -0.23472789 -0.20563098 -8.38442783] [ 0.24180607 0.97027683 0.00962815 -4.34835342] [ 0.19725897 -0.05887017 0.97858224 0.13369305] [ 0. 0. 0. 1. ]] SLAMing on 219.93241403699997 meters Centerline goodness : 0.773622 Centerline is valid? [False, False] Translation: X:-8.38, Y:-4.35, Z:0.13 [[ 0.95005839 -0.23461372 -0.20578014 -8.38411453] [ 0.24168346 0.97030812 0.00955293 -4.34781804] [ 0.19742889 -0.05880949 0.97855162 0.13373518] [ 0. 0. 0. 1. ]] SLAMing on 219.96241403699997 meters Centerline goodness : 0.775438 Centerline is valid? [False, False] Translation: X:-8.38, Y:-4.35, Z:0.13 [[ 0.95003856 -0.23465635 -0.20582306 -8.38421988] [ 0.24169347 0.97030737 0.00937375 -4.34733467] [ 0.19751202 -0.05865151 0.97854433 0.13396705] [ 0. 0. 0. 1. ]] SLAMing on 219.99241403699997 meters Centerline goodness : 0.775658 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.13 [[ 0.95000384 -0.2348771 -0.20573153 -8.38501228] [ 0.24183924 0.97027453 0.0090066 -4.34709715] [ 0.19750062 -0.05831026 0.97856702 0.13474423] [ 0. 0. 0. 1. ]] SLAMing on 220.02241403699998 meters Centerline goodness : 0.776894 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.14 [[ 0.9499583 -0.23505316 -0.20574071 -8.38534013] [ 0.24197239 0.97024348 0.00877263 -4.3472127 ] [ 0.19755654 -0.0581172 0.97856722 0.13528887] [ 0. 0. 0. 1. ]] SLAMing on 220.05241403699998 meters Centerline goodness : 0.775227 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.14 [[ 0.94991943 -0.2352355 -0.20571176 -8.38581879] [ 0.24210099 0.97021386 0.00849583 -4.34744002] [ 0.19758588 -0.05787337 0.97857575 0.13603184] [ 0. 0. 0. 1. ]] SLAMing on 220.08241403699998 meters Centerline goodness : 0.776523 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.14 [[ 9.49903148e-01 -2.35416291e-01 -2.05580106e-01 -8.38611829e+00] [ 2.42245060e-01 9.70179300e-01 8.33413653e-03 -4.34748645e+00] [ 1.97487572e-01 -5.77173876e-02 9.78604804e-01 1.36166488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.11241403699998 meters Centerline goodness : 0.773524 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.14 [[ 9.49866778e-01 -2.35585238e-01 -2.05554614e-01 -8.38632864e+00] [ 2.42388249e-01 9.70144710e-01 8.19623302e-03 -4.34789924e+00] [ 1.97486810e-01 -5.76093525e-02 9.78611323e-01 1.36543749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14241403699998 meters Centerline goodness : 0.772061 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.14 [[ 9.49813565e-01 -2.35695601e-01 -2.05673954e-01 -8.38632084e+00] [ 2.42505757e-01 9.70115443e-01 8.18438558e-03 -4.34901317e+00] [ 1.97598455e-01 -5.76507584e-02 9.78586348e-01 1.37114866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.17241403699998 meters Centerline goodness : 0.770840 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.14 [[ 9.49769665e-01 -2.35889173e-01 -2.05654764e-01 -8.38628990e+00] [ 2.42696026e-01 9.70068123e-01 8.15325930e-03 -4.34976465e+00] [ 1.97575866e-01 -5.76553125e-02 9.78590641e-01 1.37245627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.20241403699998 meters Centerline goodness : 0.770840 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.14 [[ 9.49769665e-01 -2.35889173e-01 -2.05654764e-01 -8.38628990e+00] [ 2.42696026e-01 9.70068123e-01 8.15325930e-03 -4.34976465e+00] [ 1.97575866e-01 -5.76553125e-02 9.78590641e-01 1.37245627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.23241403699998 meters Centerline goodness : 0.770823 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.14 [[ 9.49711741e-01 -2.35951654e-01 -2.05850492e-01 -8.38556792e+00] [ 2.42813817e-01 9.70036869e-01 8.36203250e-03 -4.35150487e+00] [ 1.97709532e-01 -5.79248642e-02 9.78547726e-01 1.37343458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.26241403699999 meters Centerline goodness : 0.768562 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.14 [[ 0.9496784 -0.23599148 -0.20595862 -8.38510693] [ 0.24289664 0.9700146 0.00853816 -4.3524624 ] [ 0.19776793 -0.05813517 0.97852345 0.13725959] [ 0. 0. 0. 1. ]] SLAMing on 220.292414037 meters Centerline goodness : 0.770269 Centerline is valid? [False, False] Translation: X:-8.38, Y:-4.35, Z:0.14 [[ 0.94969111 -0.23588629 -0.20602051 -8.38457251] [ 0.24284384 0.97002557 0.00878991 -4.3532542 ] [ 0.19777174 -0.05837851 0.9785082 0.13703099] [ 0. 0. 0. 1. ]] SLAMing on 220.322414037 meters Centerline goodness : 0.770687 Centerline is valid? [False, False] Translation: X:-8.38, Y:-4.35, Z:0.14 [[ 0.94969637 -0.23588774 -0.20599461 -8.38443232] [ 0.24286724 0.97001865 0.00890622 -4.35359758] [ 0.19771774 -0.05848755 0.9785126 0.13695567] [ 0. 0. 0. 1. ]] SLAMing on 220.352414037 meters Centerline goodness : 0.768533 Centerline is valid? [False, False] Translation: X:-8.38, Y:-4.35, Z:0.14 [[ 0.94968663 -0.23591525 -0.20600799 -8.38438187] [ 0.24287892 0.97001651 0.00882088 -4.35348549] [ 0.19775017 -0.05841207 0.97851055 0.13704809] [ 0. 0. 0. 1. ]] SLAMing on 220.382414037 meters Centerline goodness : 0.771615 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.14 [[ 0.94964737 -0.23622353 -0.20583563 -8.38512291] [ 0.24313361 0.96995491 0.0085749 -4.35353971] [ 0.19762569 -0.05818869 0.97854901 0.13750238] [ 0. 0. 0. 1. ]] SLAMing on 220.412414037 meters Centerline goodness : 0.772911 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.14 [[ 9.49597334e-01 -2.36649297e-01 -2.05577271e-01 -8.38595240e+00] [ 2.43479730e-01 9.69871214e-01 8.21278251e-03 -4.35349336e+00] [ 1.97439928e-01 -5.78527348e-02 9.78606425e-01 1.37889542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.442414037 meters Centerline goodness : 0.772911 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.14 [[ 9.49537523e-01 -2.37125554e-01 -2.05304563e-01 -8.38679962e+00] [ 2.43869294e-01 9.69776629e-01 7.81387908e-03 -4.35347418e+00] [ 1.97246697e-01 -5.74870503e-02 9.78666940e-01 1.38333281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.472414037 meters Centerline goodness : 0.770791 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.14 [[ 9.49484793e-01 -2.37457670e-01 -2.05164523e-01 -8.38737036e+00] [ 2.44143923e-01 9.69709734e-01 7.53506279e-03 -4.35353392e+00] [ 1.97160777e-01 -5.72440991e-02 9.78698493e-01 1.38724836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.502414037 meters Centerline goodness : 0.774135 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.14 [[ 9.49388191e-01 -2.38025398e-01 -2.04953585e-01 -8.38817612e+00] [ 2.44597145e-01 9.69599749e-01 6.96877347e-03 -4.35313679e+00] [ 1.97064200e-01 -5.67471332e-02 9.78746885e-01 1.39261160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.532414037 meters Centerline goodness : 0.773937 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.14 [[ 9.49335376e-01 -2.38296267e-01 -2.04883462e-01 -8.38838802e+00] [ 2.44801117e-01 9.69550657e-01 6.62844076e-03 -4.35266411e+00] [ 1.97065363e-01 -5.64483138e-02 9.78763930e-01 1.39440058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.562414037 meters Centerline goodness : 0.773708 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.14 [[ 9.49278842e-01 -2.38473787e-01 -2.04938852e-01 -8.38845164e+00] [ 2.44904792e-01 9.69527137e-01 6.22687772e-03 -4.35162691e+00] [ 1.97208831e-01 -5.61015500e-02 9.78754971e-01 1.39764196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.592414037 meters Centerline goodness : 0.774161 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.14 [[ 9.49242086e-01 -2.38457593e-01 -2.05127860e-01 -8.38813810e+00] [ 2.44856609e-01 9.69540643e-01 6.01512985e-03 -4.35082965e+00] [ 1.97445444e-01 -5.59367267e-02 9.78716700e-01 1.39898728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.622414037 meters Centerline goodness : 0.773477 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.14 [[ 9.49211844e-01 -2.38524136e-01 -2.05190428e-01 -8.38810927e+00] [ 2.44874628e-01 9.69537704e-01 5.74955874e-03 -4.35006029e+00] [ 1.97568448e-01 -5.57034790e-02 9.78705181e-01 1.40069898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.652414037 meters Centerline goodness : 0.773640 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.14 [[ 9.49244288e-01 -2.38335700e-01 -2.05259289e-01 -8.38734821e+00] [ 2.44697620e-01 9.69582055e-01 5.80631555e-03 -4.34979401e+00] [ 1.97631871e-01 -5.57380713e-02 9.78690406e-01 1.39564367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68241403699997 meters Centerline goodness : 0.772472 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.14 [[ 9.49234287e-01 -2.38380981e-01 -2.05252955e-01 -8.38707046e+00] [ 2.44740183e-01 9.69571411e-01 5.78987317e-03 -4.34980079e+00] [ 1.97627201e-01 -5.57295918e-02 9.78691832e-01 1.39320599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.71241403699997 meters Centerline goodness : 0.775255 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.14 [[ 9.49217915e-01 -2.38437850e-01 -2.05262617e-01 -8.38683222e+00] [ 2.44803198e-01 9.69555373e-01 5.81149460e-03 -4.34997539e+00] [ 1.97627792e-01 -5.57653198e-02 9.78689677e-01 1.39168291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74241403699997 meters Centerline goodness : 0.774810 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.14 [[ 9.49133091e-01 -2.39071780e-01 -2.04917204e-01 -8.38776513e+00] [ 2.45357301e-01 9.69417410e-01 5.44799466e-03 -4.35013542e+00] [ 1.97347843e-01 -5.54488039e-02 9.78764149e-01 1.39457071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.77241403699998 meters Centerline goodness : 0.773398 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.14 [[ 9.49099033e-01 -2.39374248e-01 -2.04721750e-01 -8.38828726e+00] [ 2.45604546e-01 9.69356172e-01 5.19794405e-03 -4.34999576e+00] [ 1.97204038e-01 -5.52139562e-02 9.78806409e-01 1.39625885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.80241403699998 meters Centerline goodness : 0.773536 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.14 [[ 9.49052943e-01 -2.39650136e-01 -2.04612620e-01 -8.38864487e+00] [ 2.45835584e-01 9.69298763e-01 4.97723223e-03 -4.34997443e+00] [ 1.97137965e-01 -5.50247199e-02 9.78830375e-01 1.39858650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.83241403699998 meters Centerline goodness : 0.774627 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.14 [[ 9.49013485e-01 -2.40000221e-01 -2.04385174e-01 -8.38917425e+00] [ 2.46127195e-01 9.69226072e-01 4.71441476e-03 -4.34995697e+00] [ 1.96963979e-01 -5.47787929e-02 9.78879193e-01 1.40033850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.86241403699998 meters Centerline goodness : 0.774754 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.14 [[ 9.48977310e-01 -2.40264184e-01 -2.04242962e-01 -8.38952410e+00] [ 2.46341977e-01 9.69172605e-01 4.48231730e-03 -4.34981564e+00] [ 1.96869744e-01 -5.45672326e-02 9.78909966e-01 1.40154678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.89241403699998 meters Centerline goodness : 0.777849 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.14 [[ 9.48940632e-01 -2.40606133e-01 -2.04010700e-01 -8.39021979e+00] [ 2.46618472e-01 9.69103609e-01 4.18613773e-03 -4.34965753e+00] [ 1.96700295e-01 -5.42852034e-02 9.78959708e-01 1.40444422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.92241403699998 meters Centerline goodness : 0.777591 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.14 [[ 9.48904045e-01 -2.40834906e-01 -2.03910918e-01 -8.39062785e+00] [ 2.46804694e-01 9.69057076e-01 3.97821930e-03 -4.34959035e+00] [ 1.96643224e-01 -5.41011199e-02 9.78981364e-01 1.40727637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.95241403699998 meters Centerline goodness : 0.773931 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.14 [[ 9.48856636e-01 -2.41148677e-01 -2.03760644e-01 -8.39103093e+00] [ 2.47057216e-01 9.68993898e-01 3.68217534e-03 -4.34920212e+00] [ 1.96554869e-01 -5.38343939e-02 9.79013811e-01 1.40872938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.98241403699998 meters Centerline goodness : 0.775438 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.14 [[ 9.48829210e-01 -2.41248207e-01 -2.03770541e-01 -8.39097187e+00] [ 2.47144637e-01 9.68971881e-01 3.60857658e-03 -4.34901429e+00] [ 1.96577362e-01 -5.37847193e-02 9.79012025e-01 1.40876793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.01241403699999 meters Centerline goodness : 0.777778 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.14 [[ 9.48780461e-01 -2.41418019e-01 -2.03796412e-01 -8.39070451e+00] [ 2.47297804e-01 9.68933198e-01 3.50050907e-03 -4.34905428e+00] [ 1.96620024e-01 -5.37196198e-02 9.79007032e-01 1.40759712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.042414037 meters Centerline goodness : 0.776548 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.14 [[ 9.48729629e-01 -2.41664917e-01 -2.03740423e-01 -8.39074113e+00] [ 2.47524270e-01 9.68875769e-01 3.38826242e-03 -4.34952512e+00] [ 1.96580335e-01 -5.36452443e-02 9.79019080e-01 1.40856050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.072414037 meters Centerline goodness : 0.774966 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.14 [[ 9.48669714e-01 -2.42136717e-01 -2.03459046e-01 -8.39128423e+00] [ 2.47945903e-01 9.68768704e-01 3.16670920e-03 -4.35012090e+00] [ 1.96337980e-01 -5.34509981e-02 9.79078336e-01 1.40966804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.102414037 meters Centerline goodness : 0.772126 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.14 [[ 9.48634523e-01 -2.42406100e-01 -2.03302299e-01 -8.39174827e+00] [ 2.48168749e-01 9.68712327e-01 2.94962303e-03 -4.35010300e+00] [ 1.96226436e-01 -5.32513914e-02 9.79111574e-01 1.41150787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.132414037 meters Centerline goodness : 0.768890 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.14 [[ 9.48606060e-01 -2.42602400e-01 -2.03200933e-01 -8.39223549e+00] [ 2.48323077e-01 9.68673372e-01 2.74747944e-03 -4.35003505e+00] [ 1.96168788e-01 -5.30657565e-02 9.79133205e-01 1.41505264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.162414037 meters Centerline goodness : 0.770168 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.14 [[ 9.48611082e-01 -2.42635636e-01 -2.03137793e-01 -8.39251323e+00] [ 2.48323060e-01 9.68673795e-01 2.59540395e-03 -4.34970905e+00] [ 1.96144519e-01 -5.29058274e-02 9.79146721e-01 1.41722059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.192414037 meters Centerline goodness : 0.769979 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.14 [[ 9.48620162e-01 -2.42504470e-01 -2.03251985e-01 -8.39204102e+00] [ 2.48211796e-01 9.68702089e-01 2.67710776e-03 -4.34969091e+00] [ 1.96241412e-01 -5.29890987e-02 9.79122803e-01 1.41545452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.222414037 meters Centerline goodness : 0.770645 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.14 [[ 9.48622185e-01 -2.42533953e-01 -2.03207359e-01 -8.39195419e+00] [ 2.48237074e-01 9.68695644e-01 2.66531642e-03 -4.34984679e+00] [ 1.96199654e-01 -5.29719786e-02 9.79132098e-01 1.41433581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.252414037 meters Centerline goodness : 0.772484 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.14 [[ 9.48620778e-01 -2.42566186e-01 -2.03175452e-01 -8.39211122e+00] [ 2.48281597e-01 9.68684048e-01 2.73205625e-03 -4.35063233e+00] [ 1.96150115e-01 -5.30364110e-02 9.79138535e-01 1.41734703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.282414037 meters Centerline goodness : 0.770784 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.14 [[ 9.48583739e-01 -2.42823479e-01 -2.03041001e-01 -8.39266917e+00] [ 2.48496582e-01 9.68629467e-01 2.53072198e-03 -4.35070579e+00] [ 1.96056978e-01 -5.28555966e-02 9.79166966e-01 1.42104024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.312414037 meters Centerline goodness : 0.774943 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.14 [[ 9.48555492e-01 -2.43010195e-01 -2.02949559e-01 -8.39314636e+00] [ 2.48656485e-01 9.68588758e-01 2.40222890e-03 -4.35063275e+00] [ 1.95990895e-01 -5.27433714e-02 9.79186247e-01 1.42395059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.342414037 meters Centerline goodness : 0.773553 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.14 [[ 9.48556203e-01 -2.43009390e-01 -2.02947202e-01 -8.39306294e+00] [ 2.48680574e-01 9.68582255e-01 2.52735069e-03 -4.35130989e+00] [ 1.95956889e-01 -5.28663610e-02 9.79186420e-01 1.42454626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.372414037 meters Centerline goodness : 0.774166 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.14 [[ 9.48542439e-01 -2.43044816e-01 -2.02969107e-01 -8.39284992e+00] [ 2.48736233e-01 9.68567720e-01 2.61867185e-03 -4.35206997e+00] [ 1.95952871e-01 -5.29696925e-02 9.79181640e-01 1.42437706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.402414037 meters Centerline goodness : 0.775236 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.14 [[ 9.48530963e-01 -2.43090938e-01 -2.02967506e-01 -8.39225889e+00] [ 2.48835776e-01 9.68541406e-01 2.88124388e-03 -4.35388027e+00] [ 1.95882029e-01 -5.32385258e-02 9.79181235e-01 1.42177895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.43241403699997 meters Centerline goodness : 0.771159 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.14 [[ 9.48537216e-01 -2.43060017e-01 -2.02975313e-01 -8.39200000e+00] [ 2.48828824e-01 9.68542825e-01 3.00216221e-03 -4.35459246e+00] [ 1.95860577e-01 -5.33537709e-02 9.79179253e-01 1.42091489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46241403699997 meters Centerline goodness : 0.772749 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.14 [[ 9.48550532e-01 -2.42927917e-01 -2.03071207e-01 -8.39156990e+00] [ 2.48721112e-01 9.68570146e-01 3.11129778e-03 -4.35465840e+00] [ 1.95932887e-01 -5.34593196e-02 9.79159029e-01 1.41900689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.49241403699997 meters Centerline goodness : 0.773610 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.14 [[ 9.48560352e-01 -2.42737399e-01 -2.03253077e-01 -8.39110387e+00] [ 2.48540321e-01 9.68616496e-01 3.12932685e-03 -4.35430087e+00] [ 1.96114679e-01 -5.34849403e-02 9.79121236e-01 1.41899812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52241403699998 meters Centerline goodness : 0.772037 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.14 [[ 9.48637753e-01 -2.42329653e-01 -2.03378348e-01 -8.39055557e+00] [ 2.48125405e-01 9.68722955e-01 3.10175086e-03 -4.35313070e+00] [ 1.96265628e-01 -5.34057729e-02 9.79095310e-01 1.41654757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.55241403699998 meters Centerline goodness : 0.772223 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.14 [[ 9.48630009e-01 -2.42385143e-01 -2.03348342e-01 -8.39070057e+00] [ 2.48143294e-01 9.68718947e-01 2.91664066e-03 -4.35259296e+00] [ 1.96280442e-01 -5.32263403e-02 9.79102112e-01 1.41761496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.58241403699998 meters Centerline goodness : 0.771168 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.14 [[ 9.48654123e-01 -2.42364543e-01 -2.03260385e-01 -8.39116957e+00] [ 2.48058039e-01 9.68741628e-01 2.62057752e-03 -4.35191125e+00] [ 1.96271661e-01 -5.29063941e-02 9.79121212e-01 1.42183532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.61241403699998 meters Centerline goodness : 0.770921 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.14 [[ 9.48622866e-01 -2.42515578e-01 -2.03226113e-01 -8.39166892e+00] [ 2.48142933e-01 9.68720738e-01 2.28410600e-03 -4.35136373e+00] [ 1.96315419e-01 -5.25958789e-02 9.79129169e-01 1.42681215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64241403699998 meters Centerline goodness : 0.772508 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.14 [[ 9.48611827e-01 -2.42738459e-01 -2.03011435e-01 -8.39256445e+00] [ 2.48243783e-01 9.68696082e-01 1.71022298e-03 -4.34985941e+00] [ 1.96241245e-01 -5.20186645e-02 9.79174873e-01 1.43195980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.67241403699998 meters Centerline goodness : 0.768831 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.14 [[ 9.48584595e-01 -2.42819445e-01 -2.03041827e-01 -8.39272460e+00] [ 2.48257320e-01 9.68693172e-01 1.35701248e-03 -4.34873115e+00] [ 1.96355722e-01 -5.16938608e-02 9.79169125e-01 1.43434856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.70241403699998 meters Centerline goodness : 0.769420 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.14 [[ 9.48561535e-01 -2.42805385e-01 -2.03166333e-01 -8.39256110e+00] [ 2.48199090e-01 9.68708414e-01 1.10495967e-03 -4.34767046e+00] [ 1.96540646e-01 -5.14738212e-02 9.79143616e-01 1.43495574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.73241403699998 meters Centerline goodness : 0.768484 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.14 [[ 9.48548847e-01 -2.42712767e-01 -2.03336171e-01 -8.39212848e+00] [ 2.48069022e-01 9.68741958e-01 8.82988516e-04 -4.34668388e+00] [ 1.96765967e-01 -5.12789627e-02 9.79108585e-01 1.43474984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.76241403699999 meters Centerline goodness : 0.764467 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.14 [[ 9.48619030e-01 -2.42230528e-01 -2.03583663e-01 -8.39072415e+00] [ 2.47607830e-01 9.68859854e-01 9.72891976e-04 -4.34550722e+00] [ 1.97008374e-01 -5.13318129e-02 9.79057070e-01 1.42562849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.792414037 meters Centerline goodness : 0.763900 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.34, Z:0.14 [[ 9.48601800e-01 -2.42224765e-01 -2.03670783e-01 -8.39027682e+00] [ 2.47555459e-01 9.68873458e-01 7.18846545e-04 -4.34448729e+00] [ 1.97157094e-01 -5.11017134e-02 9.79039169e-01 1.42342429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.822414037 meters Centerline goodness : 0.767679 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.34, Z:0.14 [[ 9.48646780e-01 -2.42040711e-01 -2.03680095e-01 -8.39007963e+00] [ 2.47305358e-01 9.68937508e-01 4.08031831e-04 -4.34239818e+00] [ 1.97254523e-01 -5.07582568e-02 9.79037411e-01 1.42041101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.852414037 meters Centerline goodness : 0.766178 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.34, Z:0.14 [[ 9.48600961e-01 -2.42167800e-01 -2.03742418e-01 -8.39024149e+00] [ 2.47346042e-01 9.68927207e-01 -5.04418748e-05 -4.34088648e+00] [ 1.97423787e-01 -5.03470314e-02 9.79024527e-01 1.42315803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.882414037 meters Centerline goodness : 0.766139 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.34, Z:0.14 [[ 9.48577345e-01 -2.42308692e-01 -2.03684852e-01 -8.39059316e+00] [ 2.47416538e-01 9.68909127e-01 -3.99537869e-04 -4.33967481e+00] [ 1.97448924e-01 -5.00160084e-02 9.79036425e-01 1.42458525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.912414037 meters Centerline goodness : 0.770197 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.34, Z:0.14 [[ 9.48574566e-01 -2.42484913e-01 -2.03487986e-01 -8.39111065e+00] [ 2.47471614e-01 9.68894660e-01 -9.68404580e-04 -4.33776016e+00] [ 1.97393246e-01 -4.94388962e-02 9.79076964e-01 1.42516211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.942414037 meters Centerline goodness : 0.769402 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.34, Z:0.14 [[ 9.48545756e-01 -2.42559970e-01 -2.03532821e-01 -8.39094221e+00] [ 2.47499000e-01 9.68887375e-01 -1.22420620e-03 -4.33704402e+00] [ 1.97497324e-01 -4.92129541e-02 9.79067358e-01 1.42477697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.972414037 meters Centerline goodness : 0.763665 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.34, Z:0.14 [[ 9.48512843e-01 -2.42722337e-01 -2.03492637e-01 -8.39094726e+00] [ 2.47605138e-01 9.68859853e-01 -1.51000138e-03 -4.33609256e+00] [ 1.97522357e-01 -4.89535668e-02 9.79075312e-01 1.42353372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.002414037 meters Centerline goodness : 0.764950 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.33, Z:0.14 [[ 9.48471174e-01 -2.43051876e-01 -2.03293429e-01 -8.39166052e+00] [ 2.47830484e-01 9.68801324e-01 -2.01142525e-03 -4.33452556e+00] [ 1.97439824e-01 -4.84745301e-02 9.79115793e-01 1.42470322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.032414037 meters Centerline goodness : 0.762913 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.33, Z:0.14 [[ 9.48427861e-01 -2.43230761e-01 -2.03281551e-01 -8.39189626e+00] [ 2.47949003e-01 9.68770292e-01 -2.32678374e-03 -4.33370256e+00] [ 1.97499073e-01 -4.81966713e-02 9.79117560e-01 1.42678310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.062414037 meters Centerline goodness : 0.761879 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.33, Z:0.14 [[ 9.48373868e-01 -2.43627216e-01 -2.03058578e-01 -8.39263018e+00] [ 2.48256361e-01 9.68690449e-01 -2.75542185e-03 -4.33283308e+00] [ 1.97372201e-01 -4.77974135e-02 9.79162715e-01 1.42879859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.092414037 meters Centerline goodness : 0.761879 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.33, Z:0.14 [[ 9.48373868e-01 -2.43627216e-01 -2.03058578e-01 -8.39263018e+00] [ 2.48256361e-01 9.68690449e-01 -2.75542185e-03 -4.33283308e+00] [ 1.97372201e-01 -4.77974135e-02 9.79162715e-01 1.42879859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.122414037 meters Centerline goodness : 0.765710 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.33, Z:0.14 [[ 9.48317300e-01 -2.43974465e-01 -2.02905789e-01 -8.39322322e+00] [ 2.48543070e-01 9.68616028e-01 -3.05503582e-03 -4.33259996e+00] [ 1.97283150e-01 -4.75336844e-02 9.79193498e-01 1.43153886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.152414037 meters Centerline goodness : 0.765722 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.33, Z:0.14 [[ 9.48255411e-01 -2.44314152e-01 -2.02786268e-01 -8.39356426e+00] [ 2.48821634e-01 9.68543479e-01 -3.36520814e-03 -4.33218482e+00] [ 1.97229486e-01 -4.72665338e-02 9.79217241e-01 1.43256842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18241403699997 meters Centerline goodness : 0.766311 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.33, Z:0.14 [[ 9.48146965e-01 -2.44910309e-01 -2.02574120e-01 -8.39413738e+00] [ 2.49325585e-01 9.68412127e-01 -3.83472748e-03 -4.33135137e+00] [ 1.97114398e-01 -4.68710257e-02 9.79259425e-01 1.43252579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.21241403699997 meters Centerline goodness : 0.766816 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.33, Z:0.14 [[ 9.48074424e-01 -2.45260791e-01 -2.02489581e-01 -8.39424058e+00] [ 2.49629776e-01 9.68332751e-01 -4.08144421e-03 -4.33094566e+00] [ 1.97078311e-01 -4.66779159e-02 9.79275912e-01 1.43125119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24241403699997 meters Centerline goodness : 0.767638 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.33, Z:0.14 [[ 9.48009923e-01 -2.45627243e-01 -2.02347332e-01 -8.39438141e+00] [ 2.49954213e-01 9.68248132e-01 -4.29481723e-03 -4.33054370e+00] [ 1.96977350e-01 -4.65060387e-02 9.79304402e-01 1.42860294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.27241403699998 meters Centerline goodness : 0.769251 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.33, Z:0.14 [[ 9.47887706e-01 -2.46279893e-01 -2.02126472e-01 -8.39471498e+00] [ 2.50538887e-01 9.68095374e-01 -4.64904025e-03 -4.33029304e+00] [ 1.96822667e-01 -4.62337732e-02 9.79348393e-01 1.42607862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.30241403699998 meters Centerline goodness : 0.768328 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.33, Z:0.14 [[ 9.47805578e-01 -2.46758210e-01 -2.01928136e-01 -8.39526562e+00] [ 2.50950115e-01 9.67987178e-01 -4.98625619e-03 -4.33013558e+00] [ 1.96694246e-01 -4.59478874e-02 9.79387648e-01 1.42756798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.33241403699998 meters Centerline goodness : 0.768415 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.33, Z:0.14 [[ 9.47713584e-01 -2.47371677e-01 -2.01609069e-01 -8.39622916e+00] [ 2.51460233e-01 9.67852058e-01 -5.49036991e-03 -4.32920244e+00] [ 1.96485915e-01 -4.54933654e-02 9.79450682e-01 1.42893247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.36241403699998 meters Centerline goodness : 0.769685 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.33, Z:0.14 [[ 9.47642736e-01 -2.47705255e-01 -2.01532507e-01 -8.39674438e+00] [ 2.51712614e-01 9.67783965e-01 -5.91241704e-03 -4.32815853e+00] [ 1.96504466e-01 -4.51254152e-02 9.79463982e-01 1.43166784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.39241403699998 meters Centerline goodness : 0.767476 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.33, Z:0.14 [[ 9.47590449e-01 -2.47994808e-01 -2.01422232e-01 -8.39739703e+00] [ 2.51926418e-01 9.67725919e-01 -6.29491196e-03 -4.32711499e+00] [ 1.96482620e-01 -4.47785830e-02 9.79484282e-01 1.43466247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42241403699998 meters Centerline goodness : 0.768526 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.33, Z:0.14 [[ 9.47581090e-01 -2.48087526e-01 -2.01352072e-01 -8.39782778e+00] [ 2.51916907e-01 9.67724991e-01 -6.79805064e-03 -4.32515514e+00] [ 1.96539944e-01 -4.42822869e-02 9.79495344e-01 1.43666193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.45241403699998 meters Centerline goodness : 0.765127 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.32, Z:0.14 [[ 9.47547594e-01 -2.48161803e-01 -2.01418164e-01 -8.39782434e+00] [ 2.51926254e-01 9.67720062e-01 -7.14453925e-03 -4.32422297e+00] [ 1.96689400e-01 -4.39727326e-02 9.79479290e-01 1.43865814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.48241403699998 meters Centerline goodness : 0.764524 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.32, Z:0.14 [[ 9.47540981e-01 -2.48125920e-01 -2.01493469e-01 -8.39767985e+00] [ 2.51855558e-01 9.67737067e-01 -7.33119414e-03 -4.32351721e+00] [ 1.96811758e-01 -4.38006432e-02 9.79462422e-01 1.43906237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.51241403699999 meters Centerline goodness : 0.767397 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.32, Z:0.14 [[ 9.47519459e-01 -2.48186864e-01 -2.01519617e-01 -8.39767480e+00] [ 2.51861415e-01 9.67733331e-01 -7.61766656e-03 -4.32273907e+00] [ 1.96907855e-01 -4.35371286e-02 9.79454856e-01 1.44000134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.542414037 meters Centerline goodness : 0.766609 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.32, Z:0.14 [[ 9.47541265e-01 -2.48082190e-01 -2.01545970e-01 -8.39742219e+00] [ 2.51700215e-01 9.67773059e-01 -7.89358471e-03 -4.32131128e+00] [ 1.97009017e-01 -4.32496667e-02 9.79447249e-01 1.43829139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.572414037 meters Centerline goodness : 0.765762 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.32, Z:0.14 [[ 9.47517767e-01 -2.48168381e-01 -2.01550333e-01 -8.39732443e+00] [ 2.51762830e-01 9.67755725e-01 -8.02090830e-03 -4.32075044e+00] [ 1.97042025e-01 -4.31429292e-02 9.79445317e-01 1.43671917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.602414037 meters Centerline goodness : 0.766428 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.32, Z:0.14 [[ 9.47485403e-01 -2.48264818e-01 -2.01583709e-01 -8.39691390e+00] [ 2.51863054e-01 9.67729655e-01 -8.01979505e-03 -4.32086770e+00] [ 1.97069566e-01 -4.31728498e-02 9.79438457e-01 1.43351173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.632414037 meters Centerline goodness : 0.768254 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.32, Z:0.14 [[ 9.47469791e-01 -2.48266824e-01 -2.01654602e-01 -8.39653604e+00] [ 2.51891252e-01 9.67723254e-01 -7.90572919e-03 -4.32138938e+00] [ 1.97108578e-01 -4.33045906e-02 9.79424791e-01 1.43182898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.662414037 meters Centerline goodness : 0.768756 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.32, Z:0.14 [[ 9.47420200e-01 -2.48581656e-01 -2.01499691e-01 -8.39688018e+00] [ 2.52181807e-01 9.67646596e-01 -8.02510098e-03 -4.32178547e+00] [ 1.96975383e-01 -4.32114135e-02 9.79455702e-01 1.43275607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.692414037 meters Centerline goodness : 0.769697 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.32, Z:0.14 [[ 0.94724873 -0.24961581 -0.20102686 -8.39872827] [ 0.25311516 0.96739854 -0.00853098 -4.32213908] [ 0.19660256 -0.04280198 0.97954858 0.14401807] [ 0. 0. 0. 1. ]] SLAMing on 222.722414037 meters Centerline goodness : 0.768483 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.32, Z:0.14 [[ 0.94713717 -0.25015978 -0.20087625 -8.39964312] [ 0.25358765 0.96727136 -0.00891144 -4.32207314] [ 0.19653113 -0.04249938 0.97957609 0.14461997] [ 0. 0. 0. 1. ]] SLAMing on 222.752414037 meters Centerline goodness : 0.768132 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.32, Z:0.14 [[ 0.9470743 -0.25047899 -0.20077485 -8.40008322] [ 0.25388453 0.96719234 -0.00903422 -4.32240669] [ 0.19645078 -0.04241755 0.97959575 0.1448775 ] [ 0. 0. 0. 1. ]] SLAMing on 222.782414037 meters Centerline goodness : 0.768281 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.32, Z:0.14 [[ 0.94700821 -0.25090068 -0.20055998 -8.40055571] [ 0.25429282 0.96708448 -0.00909834 -4.32301017] [ 0.19624122 -0.04238476 0.97963918 0.1448861 ] [ 0. 0. 0. 1. ]] SLAMing on 222.812414037 meters Centerline goodness : 0.767612 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.32, Z:0.14 [[ 0.94609896 -0.25469925 -0.2000626 -8.39880234] [ 0.25744776 0.96620999 -0.01260556 -4.32337331] [ 0.19651311 -0.03957956 0.97970202 0.14469718] [ 0. 0. 0. 1. ]] SLAMing on 222.842414037 meters Centerline goodness : 0.767482 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.32, Z:0.14 [[ 0.94608767 -0.25471924 -0.20009057 -8.39836705] [ 0.25751634 0.96619475 -0.01237115 -4.32442167] [ 0.19647762 -0.0398224 0.9796993 0.14440648] [ 0. 0. 0. 1. ]] SLAMing on 222.872414037 meters Centerline goodness : 0.768856 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.32, Z:0.14 [[ 0.94605537 -0.25497382 -0.19991898 -8.39844157] [ 0.25778607 0.96612389 -0.01228695 -4.32490861] [ 0.19627935 -0.03991219 0.97973539 0.14404025] [ 0. 0. 0. 1. ]] SLAMing on 222.902414037 meters Centerline goodness : 0.769036 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.32, Z:0.14 [[ 0.94602799 -0.25504307 -0.1999602 -8.39852102] [ 0.25782859 0.96611063 -0.01243628 -4.32454684] [ 0.19635546 -0.03979039 0.97972509 0.14421957] [ 0. 0. 0. 1. ]] SLAMing on 222.93241403699997 meters Centerline goodness : 0.770391 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.32, Z:0.14 [[ 0.94601445 -0.25513384 -0.19990843 -8.39887222] [ 0.25789187 0.96609198 -0.01257233 -4.32426431] [ 0.19633756 -0.03966115 0.97973392 0.14447892] [ 0. 0. 0. 1. ]] SLAMing on 222.96241403699997 meters Centerline goodness : 0.770268 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.32, Z:0.14 [[ 0.94602497 -0.25511733 -0.19987971 -8.3992358 ] [ 0.25784111 0.96610339 -0.01273562 -4.32420923] [ 0.19635355 -0.039489 0.97973767 0.14494639] [ 0. 0. 0. 1. ]] SLAMing on 222.99241403699997 meters Centerline goodness : 0.766312 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.32, Z:0.15 [[ 0.94602461 -0.25511151 -0.19988887 -8.39934573] [ 0.25783626 0.96610474 -0.01273202 -4.32428809] [ 0.19636167 -0.03949379 0.97973585 0.14506165] [ 0. 0. 0. 1. ]] SLAMing on 223.02241403699998 meters Centerline goodness : 0.768131 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.32, Z:0.15 [[ 0.94599865 -0.25529991 -0.19977112 -8.40034856] [ 0.25796285 0.96606688 -0.01303636 -4.32431328] [ 0.19632044 -0.03920115 0.97975586 0.14597249] [ 0. 0. 0. 1. ]] SLAMing on 223.05241403699998 meters Centerline goodness : 0.769175 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.32, Z:0.15 [[ 0.94595215 -0.2554851 -0.19975457 -8.4008573 ] [ 0.25810477 0.96602581 -0.01326847 -4.32437592] [ 0.19635797 -0.03900627 0.97975612 0.14656198] [ 0. 0. 0. 1. ]] SLAMing on 223.08241403699998 meters Centerline goodness : 0.770201 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.32, Z:0.15 [[ 0.94591859 -0.25557804 -0.19979461 -8.40103961] [ 0.25818315 0.96600362 -0.01335906 -4.32486158] [ 0.1964166 -0.03894702 0.97974673 0.14699132] [ 0. 0. 0. 1. ]] SLAMing on 223.11241403699998 meters Centerline goodness : 0.767071 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.33, Z:0.15 [[ 0.94593668 -0.25545673 -0.19986409 -8.40069153] [ 0.25810638 0.96602717 -0.01313814 -4.32582191] [ 0.19643037 -0.03915835 0.97973554 0.14694057] [ 0. 0. 0. 1. ]] SLAMing on 223.14241403699998 meters Centerline goodness : 0.766738 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.33, Z:0.15 [[ 0.94596841 -0.25515196 -0.20010308 -8.39955049] [ 0.257911 0.96608639 -0.01260938 -4.32769159] [ 0.19653417 -0.03968071 0.97969371 0.14658377] [ 0. 0. 0. 1. ]] SLAMing on 223.17241403699998 meters Centerline goodness : 0.766996 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.33, Z:0.15 [[ 0.94600426 -0.25488749 -0.20027057 -8.39862613] [ 0.25772382 0.96614121 -0.01223083 -4.32856452] [ 0.19660713 -0.04004407 0.97966428 0.14613345] [ 0. 0. 0. 1. ]] SLAMing on 223.20241403699998 meters Centerline goodness : 0.767787 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.33, Z:0.15 [[ 0.94609758 -0.25430125 -0.2005748 -8.39709002] [ 0.25729607 0.96626487 -0.01144297 -4.33023926] [ 0.19671834 -0.04078094 0.97961156 0.14536471] [ 0. 0. 0. 1. ]] SLAMing on 223.23241403699998 meters Centerline goodness : 0.766311 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.33, Z:0.15 [[ 0.94613726 -0.25408271 -0.20066454 -8.39662198] [ 0.25713586 0.96631095 -0.01114838 -4.33098074] [ 0.19673695 -0.04105015 0.97959658 0.145182 ] [ 0. 0. 0. 1. ]] SLAMing on 223.26241403699999 meters Centerline goodness : 0.766697 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.33, Z:0.15 [[ 0.94614491 -0.25404196 -0.20068007 -8.39663642] [ 0.25710747 0.96631923 -0.01108587 -4.33152249] [ 0.19673729 -0.04110751 0.97959411 0.14538151] [ 0. 0. 0. 1. ]] SLAMing on 223.292414037 meters Centerline goodness : 0.766200 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.33, Z:0.15 [[ 0.94619991 -0.25387971 -0.20062607 -8.39699529] [ 0.25699334 0.96635263 -0.01081741 -4.33288556] [ 0.19662185 -0.04132414 0.97960817 0.14584832] [ 0. 0. 0. 1. ]] SLAMing on 223.322414037 meters Centerline goodness : 0.763816 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.33, Z:0.15 [[ 0.94618077 -0.25397224 -0.20059925 -8.3973134 ] [ 0.25707658 0.96632993 -0.01086775 -4.33337275] [ 0.19660517 -0.04128651 0.9796131 0.14624221] [ 0. 0. 0. 1. ]] SLAMing on 223.352414037 meters Centerline goodness : 0.767014 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.33, Z:0.15 [[ 0.94617536 -0.25404925 -0.20052723 -8.39765017] [ 0.25715305 0.96630963 -0.01086312 -4.33386004] [ 0.19653116 -0.04128777 0.9796279 0.14652093] [ 0. 0. 0. 1. ]] SLAMing on 223.382414037 meters Centerline goodness : 0.766271 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.33, Z:0.15 [[ 0.94614563 -0.25425275 -0.20040953 -8.39823734] [ 0.25733934 0.96625911 -0.0109453 -4.33437638] [ 0.19643041 -0.04121741 0.97965107 0.14695959] [ 0. 0. 0. 1. ]] SLAMing on 223.412414037 meters Centerline goodness : 0.764803 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.34, Z:0.15 [[ 0.94608044 -0.25472491 -0.2001175 -8.39929324] [ 0.25778564 0.96613881 -0.01106186 -4.33562712] [ 0.19615901 -0.041122 0.97970946 0.14755333] [ 0. 0. 0. 1. ]] SLAMing on 223.442414037 meters Centerline goodness : 0.764931 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.34, Z:0.15 [[ 0.94604033 -0.25498687 -0.19997346 -8.39963997] [ 0.25804625 0.96606919 -0.01106545 -4.33648252] [ 0.19600974 -0.04113404 0.97973883 0.1477122 ] [ 0. 0. 0. 1. ]] SLAMing on 223.472414037 meters Centerline goodness : 0.764924 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.34, Z:0.15 [[ 0.94597244 -0.25532628 -0.19986155 -8.39982462] [ 0.25840672 0.9659739 -0.01097207 -4.33799764] [ 0.1958625 -0.04126629 0.97976271 0.14780508] [ 0. 0. 0. 1. ]] SLAMing on 223.502414037 meters Centerline goodness : 0.764512 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.34, Z:0.15 [[ 0.94594573 -0.2554591 -0.19981822 -8.39992545] [ 0.25854197 0.9659378 -0.01096456 -4.33857414] [ 0.19581297 -0.04128951 0.97977164 0.14790926] [ 0. 0. 0. 1. ]] SLAMing on 223.532414037 meters Centerline goodness : 0.764796 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.34, Z:0.15 [[ 0.94593525 -0.2555068 -0.19980683 -8.39978217] [ 0.25861459 0.96591974 -0.01084249 -4.33914824] [ 0.19576769 -0.04141667 0.97977532 0.14777198] [ 0. 0. 0. 1. ]] SLAMing on 223.562414037 meters Centerline goodness : 0.769682 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.34, Z:0.15 [[ 0.94595184 -0.25545098 -0.19979967 -8.39948989] [ 0.25861199 0.96592347 -0.01056861 -4.34017127] [ 0.19569095 -0.0416732 0.97977977 0.14754516] [ 0. 0. 0. 1. ]] SLAMing on 223.592414037 meters Centerline goodness : 0.767741 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.34, Z:0.15 [[ 0.94595563 -0.25537748 -0.19987569 -8.39923832] [ 0.25855619 0.96593927 -0.01048877 -4.34065442] [ 0.19574637 -0.04175719 0.97976512 0.1476048 ] [ 0. 0. 0. 1. ]] SLAMing on 223.622414037 meters Centerline goodness : 0.769925 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.34, Z:0.15 [[ 0.94594043 -0.25538976 -0.19993192 -8.39919432] [ 0.25857015 0.96593548 -0.01049398 -4.34108642] [ 0.19580139 -0.04176975 0.97975359 0.14782197] [ 0. 0. 0. 1. ]] SLAMing on 223.652414037 meters Centerline goodness : 0.771082 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.34, Z:0.15 [[ 0.94601789 -0.25496545 -0.20010691 -8.39854772] [ 0.25822403 0.96603231 -0.01009612 -4.34232922] [ 0.1958839 -0.0421213 0.97972205 0.14779488] [ 0. 0. 0. 1. ]] SLAMing on 223.68241403699997 meters Centerline goodness : 0.769323 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.34, Z:0.15 [[ 0.94605632 -0.25469748 -0.20026638 -8.39810031] [ 0.25799695 0.96609502 -0.00989841 -4.34284396] [ 0.19599746 -0.04230366 0.97969148 0.14784521] [ 0. 0. 0. 1. ]] SLAMing on 223.71241403699997 meters Centerline goodness : 0.769772 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.34, Z:0.15 [[ 0.94609353 -0.25446922 -0.20038074 -8.39781733] [ 0.25780218 0.96614871 -0.00973215 -4.34323804] [ 0.19607413 -0.04245107 0.97966976 0.14790135] [ 0. 0. 0. 1. ]] SLAMing on 223.74241403699997 meters Centerline goodness : 0.772038 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.34, Z:0.15 [[ 0.94620522 -0.25377855 -0.200729 -8.39704695] [ 0.25719501 0.96631458 -0.00931926 -4.34371111] [ 0.19633239 -0.04280856 0.97960248 0.14804584] [ 0. 0. 0. 1. ]] SLAMing on 223.77241403699998 meters Centerline goodness : 0.771431 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.34, Z:0.15 [[ 0.94627576 -0.25340876 -0.20086361 -8.39666772] [ 0.25684603 0.96640849 -0.00920628 -4.34381482] [ 0.19644925 -0.04287934 0.97957596 0.14816844] [ 0. 0. 0. 1. ]] SLAMing on 223.80241403699998 meters Centerline goodness : 0.769067 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.34, Z:0.15 [[ 0.9463834 -0.25271062 -0.20123569 -8.39569554] [ 0.25623484 0.96657466 -0.00878217 -4.34427038] [ 0.19672866 -0.0432523 0.97950348 0.14814202] [ 0. 0. 0. 1. ]] SLAMing on 223.83241403699998 meters Centerline goodness : 0.770289 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.34, Z:0.15 [[ 9.46387493e-01 -2.52404203e-01 -2.01600675e-01 -8.39452667e+00] [ 2.56026772e-01 9.66633691e-01 -8.34258615e-03 -4.34462293e+00] [ 1.96979709e-01 -4.37198510e-02 9.79432269e-01 1.47740853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.86241403699998 meters Centerline goodness : 0.770076 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.15 [[ 9.46372214e-01 -2.52131020e-01 -2.02013814e-01 -8.39270021e+00] [ 2.55847031e-01 9.66684644e-01 -7.94333703e-03 -4.34528005e+00] [ 1.97286413e-01 -4.41672810e-02 9.79350459e-01 1.46907125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.89241403699998 meters Centerline goodness : 0.769965 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.15 [[ 9.46282541e-01 -2.52240064e-01 -2.02297559e-01 -8.39095609e+00] [ 2.56114277e-01 9.66619433e-01 -7.23527736e-03 -4.34732647e+00] [ 1.97369779e-01 -4.49646764e-02 9.79297375e-01 1.46255612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.92241403699998 meters Centerline goodness : 0.769901 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.15 [[ 9.46263325e-01 -2.52368152e-01 -2.02227683e-01 -8.39108533e+00] [ 2.56262378e-01 9.66580938e-01 -7.13332253e-03 -4.34818598e+00] [ 1.97269647e-01 -4.50733456e-02 9.79312555e-01 1.46345179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.95241403699998 meters Centerline goodness : 0.769662 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.15 [[ 9.46215225e-01 -2.52658029e-01 -2.02090744e-01 -8.39144012e+00] [ 2.56535988e-01 9.66507765e-01 -7.21304533e-03 -4.34862309e+00] [ 1.97144707e-01 -4.50184552e-02 9.79340239e-01 1.46472905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.98241403699998 meters Centerline goodness : 0.769366 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.15 [[ 9.46176273e-01 -2.52889158e-01 -2.01983993e-01 -8.39162028e+00] [ 2.56786770e-01 9.66441892e-01 -7.11505833e-03 -4.34956626e+00] [ 1.97005113e-01 -4.51347176e-02 9.79362978e-01 1.46501524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.01241403699999 meters Centerline goodness : 0.769366 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.15 [[ 9.46176273e-01 -2.52889158e-01 -2.01983993e-01 -8.39162028e+00] [ 2.56786770e-01 9.66441892e-01 -7.11505833e-03 -4.34956626e+00] [ 1.97005113e-01 -4.51347176e-02 9.79362978e-01 1.46501524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.042414037 meters Centerline goodness : 0.769250 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.15 [[ 9.46121091e-01 -2.53134692e-01 -2.01934914e-01 -8.39193104e+00] [ 2.56983680e-01 9.66387629e-01 -7.37146072e-03 -4.34923222e+00] [ 1.97013375e-01 -4.49196828e-02 9.79371202e-01 1.46717417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.072414037 meters Centerline goodness : 0.770005 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.15 [[ 9.46080739e-01 -2.53344651e-01 -2.01860651e-01 -8.39219155e+00] [ 2.57155680e-01 9.66340376e-01 -7.56526746e-03 -4.34896124e+00] [ 1.96982718e-01 -4.47522592e-02 9.79385034e-01 1.46842789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.102414037 meters Centerline goodness : 0.770278 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.15 [[ 9.45986143e-01 -2.53933208e-01 -2.01564242e-01 -8.39313449e+00] [ 2.57655967e-01 9.66203616e-01 -7.99848646e-03 -4.34873258e+00] [ 1.96783181e-01 -4.43677724e-02 9.79442638e-01 1.47182303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.132414037 meters Centerline goodness : 0.769342 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.15 [[ 9.45927908e-01 -2.54282762e-01 -2.01396795e-01 -8.39364446e+00] [ 2.57949110e-01 9.66123041e-01 -8.27805143e-03 -4.34861894e+00] [ 1.96679050e-01 -4.41196842e-02 9.79474760e-01 1.47377397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.162414037 meters Centerline goodness : 0.770624 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.15 [[ 0.94586316 -0.25460741 -0.20129069 -8.39413072] [ 0.25821201 0.96605003 -0.00859587 -4.34846157] [ 0.19664545 -0.04384516 0.97949383 0.14772513] [ 0. 0. 0. 1. ]] SLAMing on 224.192414037 meters Centerline goodness : 0.769086 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.35, Z:0.15 [[ 0.94575082 -0.25535844 -0.20086675 -8.39525398] [ 0.25887364 0.96586903 -0.00902512 -4.34884875] [ 0.19631562 -0.04346359 0.979577 0.14803015] [ 0. 0. 0. 1. ]] SLAMing on 224.222414037 meters Centerline goodness : 0.770153 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.35, Z:0.15 [[ 0.94570345 -0.2556901 -0.20066776 -8.39571535] [ 0.25916133 0.96578989 -0.00923493 -4.34907259] [ 0.19616417 -0.04327182 0.97961583 0.14816261] [ 0. 0. 0. 1. ]] SLAMing on 224.252414037 meters Centerline goodness : 0.768496 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.35, Z:0.15 [[ 0.9456919 -0.25578936 -0.2005957 -8.39569432] [ 0.25925791 0.9657639 -0.00924256 -4.34930172] [ 0.19609223 -0.0432654 0.97963051 0.14802795] [ 0. 0. 0. 1. ]] SLAMing on 224.282414037 meters Centerline goodness : 0.769580 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.35, Z:0.15 [[ 0.94566853 -0.2559172 -0.2005428 -8.39582539] [ 0.25937648 0.9657316 -0.00929056 -4.34954837] [ 0.19604813 -0.04323029 0.97964089 0.14809973] [ 0. 0. 0. 1. ]] SLAMing on 224.312414037 meters Centerline goodness : 0.770329 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.35, Z:0.15 [[ 0.94566842 -0.25591847 -0.20054171 -8.39592347] [ 0.2593929 0.96572792 -0.00921471 -4.3499365 ] [ 0.19602694 -0.04330504 0.97964183 0.14823814] [ 0. 0. 0. 1. ]] SLAMing on 224.342414037 meters Centerline goodness : 0.769691 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.35, Z:0.15 [[ 0.94565011 -0.256015 -0.20050485 -8.39616271] [ 0.25948172 0.96570367 -0.00925518 -4.35014754] [ 0.19599773 -0.04327518 0.97964899 0.14848948] [ 0. 0. 0. 1. ]] SLAMing on 224.372414037 meters Centerline goodness : 0.770098 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.35, Z:0.15 [[ 0.94562488 -0.25621365 -0.20037004 -8.39672538] [ 0.25967096 0.96565244 -0.0092929 -4.35064786] [ 0.19586879 -0.04324268 0.97967622 0.14889117] [ 0. 0. 0. 1. ]] SLAMing on 224.402414037 meters Centerline goodness : 0.769724 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.35, Z:0.15 [[ 0.94559357 -0.25637865 -0.20030675 -8.39693184] [ 0.25983299 0.96560868 -0.00931095 -4.35130929] [ 0.19580506 -0.04324193 0.97968899 0.14911947] [ 0. 0. 0. 1. ]] SLAMing on 224.43241403699997 meters Centerline goodness : 0.771473 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.35, Z:0.15 [[ 0.94557043 -0.25662753 -0.20009717 -8.39732898] [ 0.26007615 0.96554314 -0.00931867 -4.35190521] [ 0.19559387 -0.04322904 0.97973174 0.14912927] [ 0. 0. 0. 1. ]] SLAMing on 224.46241403699997 meters Centerline goodness : 0.769615 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.35, Z:0.15 [[ 0.9454924 -0.25704889 -0.19992494 -8.3978367 ] [ 0.26047321 0.96543486 -0.00944614 -4.35265997] [ 0.19544262 -0.04314383 0.97976568 0.14941998] [ 0. 0. 0. 1. ]] SLAMing on 224.49241403699997 meters Centerline goodness : 0.771599 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.35, Z:0.15 [[ 0.9454484 -0.25729495 -0.19981651 -8.39799519] [ 0.26069886 0.96537293 -0.00955005 -4.35276239] [ 0.19535463 -0.04306286 0.97978679 0.14936514] [ 0. 0. 0. 1. ]] SLAMing on 224.52241403699998 meters Centerline goodness : 0.769614 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.35, Z:0.15 [[ 0.94540359 -0.2574762 -0.19979503 -8.39794874] [ 0.26086174 0.96532787 -0.00965654 -4.35270352] [ 0.19535404 -0.04298955 0.97979013 0.14926798] [ 0. 0. 0. 1. ]] SLAMing on 224.55241403699998 meters Centerline goodness : 0.770314 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.35, Z:0.15 [[ 0.94538084 -0.2575257 -0.1998389 -8.39741982] [ 0.26091412 0.96531371 -0.00965718 -4.3527027 ] [ 0.19539421 -0.04301108 0.97978118 0.14885112] [ 0. 0. 0. 1. ]] SLAMing on 224.58241403699998 meters Centerline goodness : 0.769719 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.35, Z:0.15 [[ 0.94536687 -0.25764679 -0.19974885 -8.39749108] [ 0.2609953 0.96528982 -0.00984992 -4.35218209] [ 0.19535333 -0.04282172 0.97979762 0.14874306] [ 0. 0. 0. 1. ]] SLAMing on 224.61241403699998 meters Centerline goodness : 0.770797 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.35, Z:0.15 [[ 0.94533696 -0.25776183 -0.19974199 -8.39756364] [ 0.26106223 0.96526912 -0.01010186 -4.35137168] [ 0.19540865 -0.04259543 0.97979645 0.14878606] [ 0. 0. 0. 1. ]] SLAMing on 224.64241403699998 meters Centerline goodness : 0.771543 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.35, Z:0.15 [[ 0.94532344 -0.2578198 -0.19973118 -8.3978045 ] [ 0.26101267 0.96527669 -0.01064453 -4.34911535] [ 0.19554022 -0.04206984 0.97979291 0.14890856] [ 0. 0. 0. 1. ]] SLAMing on 224.67241403699998 meters Centerline goodness : 0.771490 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.35, Z:0.15 [[ 0.9452801 -0.25794032 -0.1997807 -8.39804427] [ 0.26104984 0.96526167 -0.01108559 -4.34780496] [ 0.19570007 -0.04167373 0.97977792 0.14925998] [ 0. 0. 0. 1. ]] SLAMing on 224.70241403699998 meters Centerline goodness : 0.773329 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.35, Z:0.15 [[ 0.94523698 -0.25826822 -0.19956098 -8.3991943 ] [ 0.26124021 0.96520216 -0.0117615 -4.34620986] [ 0.19565431 -0.04101595 0.97981482 0.14994443] [ 0. 0. 0. 1. ]] SLAMing on 224.73241403699998 meters Centerline goodness : 0.771583 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.35, Z:0.15 [[ 0.94519309 -0.25855788 -0.19939369 -8.39991096] [ 0.26145894 0.96513861 -0.01211176 -4.34568153] [ 0.19557414 -0.04068531 0.97984461 0.15030239] [ 0. 0. 0. 1. ]] SLAMing on 224.76241403699999 meters Centerline goodness : 0.772294 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.35, Z:0.15 [[ 0.94512921 -0.25885541 -0.19931045 -8.40040444] [ 0.26168398 0.96507281 -0.01248882 -4.3452313 ] [ 0.19558189 -0.0403528 0.97985681 0.15067488] [ 0. 0. 0. 1. ]] SLAMing on 224.792414037 meters Centerline goodness : 0.769930 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.35, Z:0.15 [[ 0.94510391 -0.25895542 -0.19930049 -8.4004369 ] [ 0.26175288 0.96505198 -0.01265313 -4.34510828] [ 0.19561193 -0.04020895 0.97985673 0.15078942] [ 0. 0. 0. 1. ]] SLAMing on 224.822414037 meters Centerline goodness : 0.770604 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.35, Z:0.15 [[ 0.94514258 -0.25871718 -0.19942647 -8.39968692] [ 0.26155634 0.96510797 -0.01244559 -4.34518306] [ 0.19568796 -0.0403984 0.97983376 0.15031068] [ 0. 0. 0. 1. ]] SLAMing on 224.852414037 meters Centerline goodness : 0.771744 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.35, Z:0.15 [[ 0.94513873 -0.25870677 -0.19945826 -8.39941715] [ 0.26155141 0.96510958 -0.01242372 -4.34512033] [ 0.19571317 -0.04042645 0.97982756 0.15011975] [ 0. 0. 0. 1. ]] SLAMing on 224.882414037 meters Centerline goodness : 0.769734 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.35, Z:0.15 [[ 0.94515245 -0.25856311 -0.19957947 -8.39896459] [ 0.26142742 0.96514431 -0.0123357 -4.34517578] [ 0.19581254 -0.04051642 0.97980399 0.14997947] [ 0. 0. 0. 1. ]] SLAMing on 224.912414037 meters Centerline goodness : 0.770927 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.35, Z:0.15 [[ 0.94518079 -0.25826712 -0.19982833 -8.39830821] [ 0.26117649 0.96521483 -0.01213168 -4.34522969] [ 0.19601048 -0.04072383 0.97975582 0.14986763] [ 0. 0. 0. 1. ]] SLAMing on 224.942414037 meters Centerline goodness : 0.769342 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.35, Z:0.15 [[ 0.94519126 -0.25824916 -0.19980206 -8.39840634] [ 0.26115418 0.96522069 -0.01214595 -4.34519004] [ 0.19598976 -0.0406989 0.979761 0.14995519] [ 0. 0. 0. 1. ]] SLAMing on 224.972414037 meters Centerline goodness : 0.769979 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.35, Z:0.15 [[ 0.945163 -0.25841097 -0.19972652 -8.39884901] [ 0.26128933 0.96518241 -0.01228037 -4.34516785] [ 0.19594591 -0.04057946 0.97977472 0.15027236] [ 0. 0. 0. 1. ]] SLAMing on 225.002414037 meters Centerline goodness : 0.773203 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.35, Z:0.15 [[ 0.94513528 -0.25863062 -0.19957333 -8.39933609] [ 0.26147223 0.96513063 -0.01245507 -4.34517441] [ 0.1958356 -0.04041116 0.97980373 0.15050082] [ 0. 0. 0. 1. ]] SLAMing on 225.032414037 meters Centerline goodness : 0.770614 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.35, Z:0.15 [[ 0.94510417 -0.25888425 -0.19939172 -8.3997052 ] [ 0.26171816 0.96506362 -0.0124822 -4.34563681] [ 0.19565714 -0.04038745 0.97984036 0.15049346] [ 0. 0. 0. 1. ]] SLAMing on 225.062414037 meters Centerline goodness : 0.769065 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.35, Z:0.15 [[ 0.94505302 -0.25917955 -0.19925049 -8.40002378] [ 0.26199746 0.96498678 -0.01256383 -4.34630884] [ 0.19553038 -0.04032963 0.97986805 0.15063069] [ 0. 0. 0. 1. ]] SLAMing on 225.092414037 meters Centerline goodness : 0.771728 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.35, Z:0.15 [[ 0.94496181 -0.25973498 -0.1989596 -8.40083428] [ 0.26249809 0.96484713 -0.01283618 -4.34683672] [ 0.1952996 -0.04009682 0.97992363 0.15092747] [ 0. 0. 0. 1. ]] SLAMing on 225.122414037 meters Centerline goodness : 0.772849 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.35, Z:0.15 [[ 0.94481743 -0.26059854 -0.19851554 -8.40229046] [ 0.26327435 0.96462969 -0.01327301 -4.34751208] [ 0.19495292 -0.03972348 0.98000786 0.15157151] [ 0. 0. 0. 1. ]] SLAMing on 225.152414037 meters Centerline goodness : 0.771242 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.35, Z:0.15 [[ 0.94473789 -0.26097365 -0.19840128 -8.40289658] [ 0.26358188 0.96454075 -0.01362859 -4.34699566] [ 0.19492282 -0.03941954 0.98002612 0.15190976] [ 0. 0. 0. 1. ]] SLAMing on 225.18241403699997 meters Centerline goodness : 0.771029 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.35, Z:0.15 [[ 0.94469331 -0.26107147 -0.19848487 -8.40297001] [ 0.26362455 0.96452473 -0.01393326 -4.34584746] [ 0.19508114 -0.03916283 0.98000491 0.15210209] [ 0. 0. 0. 1. ]] SLAMing on 225.21241403699997 meters Centerline goodness : 0.770357 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.35, Z:0.15 [[ 0.94467229 -0.26107537 -0.19857974 -8.40272346] [ 0.26360283 0.96452851 -0.01408177 -4.34519249] [ 0.19521222 -0.03904352 0.97998357 0.15205584] [ 0. 0. 0. 1. ]] SLAMing on 225.24241403699997 meters Centerline goodness : 0.773815 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.34, Z:0.15 [[ 0.94464868 -0.26110372 -0.19865479 -8.40255142] [ 0.26360784 0.96452516 -0.01421717 -4.34475306] [ 0.1953197 -0.03893673 0.9799664 0.15204927] [ 0. 0. 0. 1. ]] SLAMing on 225.27241403699998 meters Centerline goodness : 0.771637 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.34, Z:0.15 [[ 0.94466516 -0.26108363 -0.19860282 -8.40257599] [ 0.26356652 0.96453506 -0.01431105 -4.34438463] [ 0.19529576 -0.0388259 0.97997557 0.1519579 ] [ 0. 0. 0. 1. ]] SLAMing on 225.30241403699998 meters Centerline goodness : 0.772445 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.34, Z:0.15 [[ 0.94463923 -0.26122676 -0.19853794 -8.40284244] [ 0.26367633 0.96450252 -0.0144802 -4.34412411] [ 0.19527296 -0.03867119 0.97998623 0.15208779] [ 0. 0. 0. 1. ]] SLAMing on 225.33241403699998 meters Centerline goodness : 0.772160 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.34, Z:0.15 [[ 0.94462652 -0.26131619 -0.1984807 -8.40301004] [ 0.26373707 0.96448378 -0.01462204 -4.34375466] [ 0.19525239 -0.03853435 0.97999572 0.15212755] [ 0. 0. 0. 1. ]] SLAMing on 225.36241403699998 meters Centerline goodness : 0.772927 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.34, Z:0.15 [[ 0.94463593 -0.26133774 -0.19840752 -8.40325089] [ 0.2637537 0.96447904 -0.01463429 -4.34368571] [ 0.19518439 -0.03850664 0.98001035 0.15215428] [ 0. 0. 0. 1. ]] SLAMing on 225.39241403699998 meters Centerline goodness : 0.771429 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.34, Z:0.15 [[ 0.94462399 -0.26146426 -0.19829765 -8.40350598] [ 0.26386862 0.96444686 -0.01468372 -4.34393317] [ 0.19508682 -0.03845393 0.98003185 0.15223366] [ 0. 0. 0. 1. ]] SLAMing on 225.42241403699998 meters Centerline goodness : 0.773626 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.34, Z:0.15 [[ 0.94459077 -0.26166571 -0.19819013 -8.40394057] [ 0.26405864 0.96439398 -0.01474078 -4.34440242] [ 0.19499052 -0.03840981 0.98005274 0.15251866] [ 0. 0. 0. 1. ]] SLAMing on 225.45241403699998 meters Centerline goodness : 0.775997 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.35, Z:0.15 [[ 0.94453748 -0.26194217 -0.19807889 -8.40453036] [ 0.26433466 0.96431822 -0.0147497 -4.34559133] [ 0.19487465 -0.03842747 0.9800751 0.15304286] [ 0. 0. 0. 1. ]] SLAMing on 225.48241403699998 meters Centerline goodness : 0.773609 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.35, Z:0.15 [[ 0.94453032 -0.26197297 -0.1980723 -8.40460301] [ 0.26437352 0.96430816 -0.01471113 -4.34605589] [ 0.19485666 -0.03846996 0.98007701 0.15319799] [ 0. 0. 0. 1. ]] SLAMing on 225.51241403699999 meters Centerline goodness : 0.775285 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.35, Z:0.15 [[ 0.94455507 -0.26169661 -0.19831946 -8.40408696] [ 0.26412159 0.96437874 -0.01460908 -4.34599758] [ 0.19507822 -0.03858137 0.98002855 0.15331033] [ 0. 0. 0. 1. ]] SLAMing on 225.542414037 meters Centerline goodness : 0.776425 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.35, Z:0.15 [[ 0.94486929 -0.25888357 -0.20050268 -8.40136417] [ 0.26215174 0.96496899 -0.0105509 -4.34747335] [ 0.19621032 -0.0425929 0.97963634 0.15369198] [ 0. 0. 0. 1. ]] SLAMing on 225.572414037 meters Centerline goodness : 0.775666 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.35, Z:0.15 [[ 0.94491175 -0.25863904 -0.20061812 -8.4008059 ] [ 0.26193222 0.96502996 -0.01042574 -4.3473713 ] [ 0.196299 -0.04269694 0.97961404 0.15343879] [ 0. 0. 0. 1. ]] SLAMing on 225.602414037 meters Centerline goodness : 0.772708 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.35, Z:0.15 [[ 0.944968 -0.25826371 -0.20083657 -8.39997268] [ 0.26160754 0.96512063 -0.01018178 -4.3475257 ] [ 0.1964611 -0.04291891 0.97957185 0.15313394] [ 0. 0. 0. 1. ]] SLAMing on 225.632414037 meters Centerline goodness : 0.773695 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.35, Z:0.15 [[ 0.94504689 -0.2577341 -0.20114549 -8.39903721] [ 0.26111792 0.96525516 -0.00999523 -4.34757275] [ 0.19673283 -0.04307673 0.97951038 0.15306807] [ 0. 0. 0. 1. ]] SLAMing on 225.662414037 meters Centerline goodness : 0.775631 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.35, Z:0.15 [[ 0.94506484 -0.25760605 -0.2012252 -8.39888785] [ 0.26098523 0.96529077 -0.01002251 -4.34727135] [ 0.19682268 -0.04304489 0.97949373 0.15309893] [ 0. 0. 0. 1. ]] SLAMing on 225.692414037 meters Centerline goodness : 0.774480 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.35, Z:0.15 [[ 0.94505895 -0.25759492 -0.20126709 -8.39911182] [ 0.26093445 0.96530234 -0.01022788 -4.34679868] [ 0.19691825 -0.04285157 0.979483 0.15347494] [ 0. 0. 0. 1. ]] SLAMing on 225.722414037 meters Centerline goodness : 0.776607 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.35, Z:0.15 [[ 9.45789646e-01 -2.53786976e-01 -2.02667503e-01 -8.39877501e+00] [ 2.57931580e-01 9.66143635e-01 -6.14629334e-03 -4.34761257e+00] [ 1.97365767e-01 -4.64612486e-02 9.79228322e-01 1.54184622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.752414037 meters Centerline goodness : 0.774653 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.35, Z:0.15 [[ 9.46342599e-01 -2.50404708e-01 -2.04286974e-01 -8.39725110e+00] [ 2.55386986e-01 9.66836761e-01 -2.04072156e-03 -4.34901621e+00] [ 1.98023163e-01 -5.02410130e-02 9.78908917e-01 1.54473017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.782414037 meters Centerline goodness : 0.776066 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.35, Z:0.15 [[ 9.46376994e-01 -2.50272008e-01 -2.04290254e-01 -8.39733622e+00] [ 2.55225926e-01 9.66879014e-01 -2.16754356e-03 -4.34860850e+00] [ 1.98066434e-01 -5.00888558e-02 9.78907960e-01 1.54683555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.812414037 meters Centerline goodness : 0.772951 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.35, Z:0.15 [[ 9.46343931e-01 -2.50087405e-01 -2.04669132e-01 -8.39613473e+00] [ 2.55118897e-01 9.66907895e-01 -1.86283874e-03 -4.34885946e+00] [ 1.98362072e-01 -5.04520772e-02 9.78829442e-01 1.54294185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.842414037 meters Centerline goodness : 0.772021 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.35, Z:0.15 [[ 9.46311459e-01 -2.50165456e-01 -2.04723880e-01 -8.39598786e+00] [ 2.55177910e-01 9.66892091e-01 -1.97935353e-03 -4.34877860e+00] [ 1.98441066e-01 -5.03679268e-02 9.78817764e-01 1.54323958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.872414037 meters Centerline goodness : 0.773251 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.35, Z:0.15 [[ 9.46229921e-01 -2.50671907e-01 -2.04481127e-01 -8.39662604e+00] [ 2.55617595e-01 9.66775234e-01 -2.30033355e-03 -4.34875074e+00] [ 1.98263918e-01 -5.00923295e-02 9.78867804e-01 1.54463371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.902414037 meters Centerline goodness : 0.773251 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.35, Z:0.15 [[ 9.46229921e-01 -2.50671907e-01 -2.04481127e-01 -8.39662604e+00] [ 2.55617595e-01 9.66775234e-01 -2.30033355e-03 -4.34875074e+00] [ 1.98263918e-01 -5.00923295e-02 9.78867804e-01 1.54463371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.93241403699997 meters Centerline goodness : 0.774509 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.35, Z:0.15 [[ 9.46170586e-01 -2.50897072e-01 -2.04479536e-01 -8.39668095e+00] [ 2.55802677e-01 9.66725727e-01 -2.52194095e-03 -4.34849518e+00] [ 1.98308376e-01 -4.99202264e-02 9.78867590e-01 1.54563446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96241403699997 meters Centerline goodness : 0.775201 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.35, Z:0.15 [[ 9.46124422e-01 -2.51181481e-01 -2.04343929e-01 -8.39701879e+00] [ 2.56040494e-01 9.66662152e-01 -2.74765530e-03 -4.34815986e+00] [ 1.98221702e-01 -4.97206968e-02 9.78895300e-01 1.54575888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.99241403699997 meters Centerline goodness : 0.771821 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.35, Z:0.15 [[ 9.46058503e-01 -2.51677416e-01 -2.04038690e-01 -8.39787106e+00] [ 2.56471833e-01 9.66546918e-01 -3.04193787e-03 -4.34809531e+00] [ 1.97978554e-01 -4.94523257e-02 9.78958099e-01 1.54764501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02241403699998 meters Centerline goodness : 0.776404 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.35, Z:0.15 [[ 9.46004643e-01 -2.52050890e-01 -2.03827292e-01 -8.39841427e+00] [ 2.56778580e-01 9.66464424e-01 -3.35818018e-03 -4.34778868e+00] [ 1.97838259e-01 -4.91616287e-02 9.79001102e-01 1.54883201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.05241403699998 meters Centerline goodness : 0.772763 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.35, Z:0.16 [[ 9.45947662e-01 -2.52411615e-01 -2.03645275e-01 -8.39901189e+00] [ 2.57073624e-01 9.66384830e-01 -3.67581697e-03 -4.34731937e+00] [ 1.97727523e-01 -4.88746983e-02 9.79037839e-01 1.55062172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.08241403699998 meters Centerline goodness : 0.777748 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.35, Z:0.16 [[ 9.45847578e-01 -2.53073070e-01 -2.03288908e-01 -8.40035444e+00] [ 2.57592634e-01 9.66243759e-01 -4.36278606e-03 -4.34597566e+00] [ 1.97530742e-01 -4.82391947e-02 9.79109078e-01 1.55532895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.11241403699998 meters Centerline goodness : 0.776446 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.35, Z:0.16 [[ 9.45804291e-01 -2.53307484e-01 -2.03198331e-01 -8.40079067e+00] [ 2.57770426e-01 9.66195023e-01 -4.64598131e-03 -4.34544149e+00] [ 1.97506078e-01 -4.79843314e-02 9.79126577e-01 1.55762237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14241403699998 meters Centerline goodness : 0.775978 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.34, Z:0.16 [[ 9.45762566e-01 -2.53560849e-01 -2.03076502e-01 -8.40115859e+00] [ 2.57945302e-01 9.66146417e-01 -5.03207168e-03 -4.34454170e+00] [ 1.97477571e-01 -4.76234845e-02 9.79149944e-01 1.55851035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.17241403699998 meters Centerline goodness : 0.775777 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.34, Z:0.16 [[ 9.45721859e-01 -2.53724883e-01 -2.03061195e-01 -8.40120769e+00] [ 2.58065444e-01 9.66113100e-01 -5.26344425e-03 -4.34403752e+00] [ 1.97515548e-01 -4.74253232e-02 9.79151902e-01 1.55886590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.20241403699998 meters Centerline goodness : 0.776321 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.34, Z:0.16 [[ 9.45681905e-01 -2.53900459e-01 -2.03027809e-01 -8.40141301e+00] [ 2.58177784e-01 9.66081266e-01 -5.58750002e-03 -4.34337923e+00] [ 1.97560031e-01 -4.71332721e-02 9.79157030e-01 1.56069592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.23241403699998 meters Centerline goodness : 0.775695 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.34, Z:0.16 [[ 9.45652131e-01 -2.54028331e-01 -2.03006537e-01 -8.40155873e+00] [ 2.58250103e-01 9.66060253e-01 -5.87130562e-03 -4.34226830e+00] [ 1.97608025e-01 -4.68742466e-02 9.79159779e-01 1.56075992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.26241403699999 meters Centerline goodness : 0.775856 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.34, Z:0.16 [[ 9.45605764e-01 -2.54266864e-01 -2.02923880e-01 -8.40208780e+00] [ 2.58371817e-01 9.66023979e-01 -6.45566335e-03 -4.33991093e+00] [ 1.97670796e-01 -4.63252993e-02 9.79173235e-01 1.56173585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.292414037 meters Centerline goodness : 0.777224 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.34, Z:0.16 [[ 9.45526652e-01 -2.54642131e-01 -2.02821928e-01 -8.40261700e+00] [ 2.58663277e-01 9.65943002e-01 -6.88664069e-03 -4.33914208e+00] [ 1.97668051e-01 -4.59510824e-02 9.79191421e-01 1.56461957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.322414037 meters Centerline goodness : 0.775050 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.34, Z:0.16 [[ 9.45457734e-01 -2.55025343e-01 -2.02661656e-01 -8.40302864e+00] [ 2.58985371e-01 9.65854464e-01 -7.19250219e-03 -4.33884464e+00] [ 1.97575936e-01 -4.56861974e-02 9.79222406e-01 1.56542315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.352414037 meters Centerline goodness : 0.777206 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.34, Z:0.16 [[ 9.45290135e-01 -2.56129340e-01 -2.02050295e-01 -8.40439545e+00] [ 2.59971773e-01 9.65585114e-01 -7.75017858e-03 -4.33925499e+00] [ 1.97081805e-01 -4.52012060e-02 9.79344481e-01 1.56647671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.382414037 meters Centerline goodness : 0.776566 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.34, Z:0.16 [[ 9.45190233e-01 -2.56730954e-01 -2.01753910e-01 -8.40518464e+00] [ 2.60514570e-01 9.65436460e-01 -8.03749424e-03 -4.33945283e+00] [ 1.96844054e-01 -4.49628721e-02 9.79403267e-01 1.56811362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.412414037 meters Centerline goodness : 0.776865 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.34, Z:0.16 [[ 9.45090847e-01 -2.57250330e-01 -2.01557828e-01 -8.40563768e+00] [ 2.60986514e-01 9.65306908e-01 -8.28325900e-03 -4.33951784e+00] [ 1.96696035e-01 -4.47754426e-02 9.79441591e-01 1.56817221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.442414037 meters Centerline goodness : 0.775148 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.34, Z:0.16 [[ 0.944899 -0.25833096 -0.20107461 -8.40695018] [ 0.26194146 0.96504261 -0.00891289 -4.33881139] [ 0.19634804 -0.04424799 0.97953538 0.15686864] [ 0. 0. 0. 1. ]] SLAMing on 226.472414037 meters Centerline goodness : 0.776204 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.34, Z:0.16 [[ 0.94480868 -0.25882584 -0.20086249 -8.40772029] [ 0.26235517 0.96492635 -0.00932194 -4.33826635] [ 0.19623027 -0.04388987 0.97957509 0.15717624] [ 0. 0. 0. 1. ]] SLAMing on 226.502414037 meters Centerline goodness : 0.776455 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.34, Z:0.16 [[ 0.94472266 -0.25929998 -0.20065549 -8.40845519] [ 0.26275099 0.96481476 -0.00971632 -4.33769391] [ 0.19611482 -0.0435432 0.97961368 0.15738251] [ 0. 0. 0. 1. ]] SLAMing on 226.532414037 meters Centerline goodness : 0.778255 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.34, Z:0.16 [[ 0.94457404 -0.26002305 -0.2004193 -8.40991312] [ 0.26329402 0.96465697 -0.01063943 -4.33609253] [ 0.19610237 -0.04271948 0.97965244 0.1583375 ] [ 0. 0. 0. 1. ]] SLAMing on 226.562414037 meters Centerline goodness : 0.777481 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.33, Z:0.16 [[ 0.94449114 -0.2605166 -0.20016889 -8.41098972] [ 0.26366812 0.96454805 -0.01123338 -4.33491601] [ 0.19599899 -0.04216833 0.97969701 0.15879868] [ 0. 0. 0. 1. ]] SLAMing on 226.592414037 meters Centerline goodness : 0.776659 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.33, Z:0.16 [[ 0.94443828 -0.26082638 -0.20001484 -8.41157902] [ 0.26390163 0.96447968 -0.01161382 -4.33419694] [ 0.19593944 -0.04181571 0.97972403 0.15906409] [ 0. 0. 0. 1. ]] SLAMing on 226.622414037 meters Centerline goodness : 0.776227 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.33, Z:0.16 [[ 0.94434439 -0.26137139 -0.19974651 -8.41262866] [ 0.26433334 0.96435446 -0.01218024 -4.33356382] [ 0.19581001 -0.04129732 0.9797719 0.15957837] [ 0. 0. 0. 1. ]] SLAMing on 226.652414037 meters Centerline goodness : 0.776868 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.33, Z:0.16 [[ 0.94429878 -0.26167862 -0.19955978 -8.41312263] [ 0.26459341 0.96428022 -0.01240871 -4.33348322] [ 0.19567865 -0.04108468 0.97980708 0.15967952] [ 0. 0. 0. 1. ]] SLAMing on 226.68241403699997 meters Centerline goodness : 0.778786 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.33, Z:0.16 [[ 0.94427472 -0.26174464 -0.19958706 -8.41301653] [ 0.26464592 0.96426477 -0.01248921 -4.33349551] [ 0.19572375 -0.04102666 0.9798005 0.15970912] [ 0. 0. 0. 1. ]] SLAMing on 226.71241403699997 meters Centerline goodness : 0.777451 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.33, Z:0.16 [[ 0.94425001 -0.26185158 -0.19956368 -8.41309445] [ 0.26470326 0.96424571 -0.01274386 -4.33256786] [ 0.19576543 -0.04079176 0.97980199 0.15971102] [ 0. 0. 0. 1. ]] SLAMing on 226.74241403699997 meters Centerline goodness : 0.777301 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.33, Z:0.16 [[ 0.94422236 -0.26190479 -0.19962469 -8.41308209] [ 0.2647182 0.9642388 -0.0129539 -4.33159448] [ 0.19587856 -0.04061293 0.9797868 0.15972543] [ 0. 0. 0. 1. ]] SLAMing on 226.77241403699998 meters Centerline goodness : 0.777899 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.33, Z:0.16 [[ 0.94418768 -0.26210386 -0.19952743 -8.41339621] [ 0.26486368 0.96419521 -0.01322259 -4.3307602 ] [ 0.19584909 -0.04036296 0.97980302 0.15980514] [ 0. 0. 0. 1. ]] SLAMing on 226.80241403699998 meters Centerline goodness : 0.780519 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.33, Z:0.16 [[ 0.94414038 -0.26237218 -0.19939854 -8.41365405] [ 0.26509171 0.96412973 -0.01342556 -4.3304003 ] [ 0.19576855 -0.04018329 0.9798265 0.1597487 ] [ 0. 0. 0. 1. ]] SLAMing on 226.83241403699998 meters Centerline goodness : 0.778858 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.33, Z:0.16 [[ 0.94409389 -0.26262916 -0.19928034 -8.41380402] [ 0.26534223 0.96406033 -0.01346032 -4.33093034] [ 0.19565334 -0.04016968 0.97985007 0.1596954 ] [ 0. 0. 0. 1. ]] SLAMing on 226.86241403699998 meters Centerline goodness : 0.776820 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.33, Z:0.16 [[ 0.94394992 -0.26345797 -0.1988679 -8.41487913] [ 0.26611098 0.96384414 -0.01376284 -4.33211433] [ 0.19530359 -0.0399295 0.97992966 0.16003494] [ 0. 0. 0. 1. ]] SLAMing on 226.89241403699998 meters Centerline goodness : 0.778860 Centerline is valid? [False, False] Translation: X:-8.42, Y:-4.33, Z:0.16 [[ 0.94385082 -0.26405385 -0.1985477 -8.41585007] [ 0.26665209 0.96369067 -0.01403411 -4.33253993] [ 0.19504432 -0.03969706 0.97999074 0.16034001] [ 0. 0. 0. 1. ]] SLAMing on 226.92241403699998 meters Centerline goodness : 0.777566 Centerline is valid? [False, False] Translation: X:-8.42, Y:-4.33, Z:0.16 [[ 0.9437862 -0.2644592 -0.19831526 -8.41652144] [ 0.26705082 0.96357985 -0.01406186 -4.33329977] [ 0.19481137 -0.03968886 0.98003741 0.16050894] [ 0. 0. 0. 1. ]] SLAMing on 226.95241403699998 meters Centerline goodness : 0.779261 Centerline is valid? [False, False] Translation: X:-8.42, Y:-4.34, Z:0.16 [[ 0.943602 -0.26543266 -0.19789081 -8.41788634] [ 0.26797228 0.96331992 -0.01433816 -4.3352106 ] [ 0.19443797 -0.03949973 0.9801192 0.16120689] [ 0. 0. 0. 1. ]] SLAMing on 226.98241403699998 meters Centerline goodness : 0.776714 Centerline is valid? [False, False] Translation: X:-8.42, Y:-4.34, Z:0.16 [[ 0.94355279 -0.26581923 -0.19760636 -8.4185203 ] [ 0.26835602 0.96321315 -0.01433409 -4.33639696] [ 0.19414732 -0.03950389 0.98017665 0.16136558] [ 0. 0. 0. 1. ]] SLAMing on 227.01241403699999 meters Centerline goodness : 0.777307 Centerline is valid? [False, False] Translation: X:-8.42, Y:-4.34, Z:0.16 [[ 0.9434814 -0.26624347 -0.19737597 -8.41915281] [ 0.26876072 0.96309889 -0.01442953 -4.33739337] [ 0.19393434 -0.03943291 0.98022167 0.16166142] [ 0. 0. 0. 1. ]] SLAMing on 227.042414037 meters Centerline goodness : 0.778281 Centerline is valid? [False, False] Translation: X:-8.42, Y:-4.34, Z:0.16 [[ 0.94334826 -0.2669853 -0.19700992 -8.42051574] [ 0.26948675 0.96289476 -0.01451137 -4.33932968] [ 0.19357414 -0.03940229 0.9802941 0.16239046] [ 0. 0. 0. 1. ]] SLAMing on 227.072414037 meters Centerline goodness : 0.778580 Centerline is valid? [False, False] Translation: X:-8.42, Y:-4.34, Z:0.16 [[ 0.94334327 -0.26710231 -0.19687519 -8.42096362] [ 0.26959206 0.96286462 -0.01455496 -4.33976152] [ 0.19345182 -0.03934567 0.98032052 0.16265823] [ 0. 0. 0. 1. ]] SLAMing on 227.102414037 meters Centerline goodness : 0.780792 Centerline is valid? [False, False] Translation: X:-8.42, Y:-4.34, Z:0.16 [[ 0.94338533 -0.26691395 -0.19692907 -8.42108711] [ 0.26941928 0.9629143 -0.01446744 -4.34007508] [ 0.19348738 -0.03940812 0.98031099 0.16301056] [ 0. 0. 0. 1. ]] SLAMing on 227.132414037 meters Centerline goodness : 0.777462 Centerline is valid? [False, False] Translation: X:-8.42, Y:-4.34, Z:0.16 [[ 0.94339404 -0.26684364 -0.19698265 -8.42099584] [ 0.26935272 0.96293315 -0.01445222 -4.34041111] [ 0.19353761 -0.03942367 0.98030045 0.16319341] [ 0. 0. 0. 1. ]] SLAMing on 227.162414037 meters Centerline goodness : 0.779132 Centerline is valid? [False, False] Translation: X:-8.42, Y:-4.34, Z:0.16 [[ 0.94343343 -0.26661839 -0.19709893 -8.42045691] [ 0.26917619 0.96298617 -0.01420609 -4.34101134] [ 0.19359115 -0.03965184 0.98028067 0.16298175] [ 0. 0. 0. 1. ]] SLAMing on 227.192414037 meters Centerline goodness : 0.778009 Centerline is valid? [False, False] Translation: X:-8.42, Y:-4.34, Z:0.16 [[ 0.94346425 -0.26634386 -0.19732247 -8.41967859] [ 0.26895624 0.9630514 -0.01394787 -4.34166481] [ 0.19374661 -0.03991179 0.98023941 0.16281188] [ 0. 0. 0. 1. ]] SLAMing on 227.222414037 meters Centerline goodness : 0.776823 Centerline is valid? [False, False] Translation: X:-8.42, Y:-4.34, Z:0.16 [[ 0.94360436 -0.26547386 -0.19782429 -8.41806468] [ 0.26820593 0.96326899 -0.01335756 -4.34259064] [ 0.19410409 -0.0404534 0.98014648 0.16251801] [ 0. 0. 0. 1. ]] SLAMing on 227.252414037 meters Centerline goodness : 0.780443 Centerline is valid? [False, False] Translation: X:-8.42, Y:-4.34, Z:0.16 [[ 0.94367022 -0.26504727 -0.19808193 -8.41738377] [ 0.26781653 0.96337978 -0.0131799 -4.34264874] [ 0.19432143 -0.04061214 0.98009685 0.16251586] [ 0. 0. 0. 1. ]] SLAMing on 227.282414037 meters Centerline goodness : 0.776303 Centerline is valid? [False, False] Translation: X:-8.42, Y:-4.34, Z:0.16 [[ 0.94371287 -0.2646585 -0.1983983 -8.41677666] [ 0.26743008 0.96348693 -0.01319468 -4.34220562] [ 0.19464626 -0.04060568 0.98003266 0.16272604] [ 0. 0. 0. 1. ]] SLAMing on 227.312414037 meters Centerline goodness : 0.778745 Centerline is valid? [False, False] Translation: X:-8.42, Y:-4.34, Z:0.16 [[ 0.9447352 -0.26045021 -0.19910069 -8.41799463] [ 0.26390231 0.96450284 -0.00947844 -4.34319777] [ 0.19450184 -0.04358851 0.9799332 0.16328937] [ 0. 0. 0. 1. ]] SLAMing on 227.342414037 meters Centerline goodness : 0.779086 Centerline is valid? [False, False] Translation: X:-8.42, Y:-4.34, Z:0.16 [[ 0.94479369 -0.26002258 -0.19938191 -8.41744636] [ 0.26348791 0.9646166 -0.00943109 -4.34272702] [ 0.19477939 -0.04362429 0.97987648 0.16338834] [ 0. 0. 0. 1. ]] SLAMing on 227.372414037 meters Centerline goodness : 0.776472 Centerline is valid? [False, False] Translation: X:-8.42, Y:-4.34, Z:0.16 [[ 9.45763620e-01 -2.56106980e-01 -1.99850920e-01 -8.41873821e+00] [ 2.60173406e-01 9.65542621e-01 -6.10286514e-03 -4.34424570e+00] [ 1.94527568e-01 -4.62240267e-02 9.79807310e-01 1.64092665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.402414037 meters Centerline goodness : 0.780047 Centerline is valid? [False, False] Translation: X:-8.42, Y:-4.34, Z:0.16 [[ 9.45830329e-01 -2.55732059e-01 -2.00015257e-01 -8.41837236e+00] [ 2.59801288e-01 9.65642902e-01 -6.08908316e-03 -4.34393012e+00] [ 1.94700487e-01 -4.62049819e-02 9.79773862e-01 1.64239217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.43241403699997 meters Centerline goodness : 0.778683 Centerline is valid? [False, False] Translation: X:-8.42, Y:-4.34, Z:0.16 [[ 9.45892842e-01 -2.55392978e-01 -2.00152837e-01 -8.41807323e+00] [ 2.59468996e-01 9.65732472e-01 -6.05250558e-03 -4.34376201e+00] [ 1.94839861e-01 -4.62084339e-02 9.79745992e-01 1.64361453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46241403699997 meters Centerline goodness : 0.780187 Centerline is valid? [False, False] Translation: X:-8.42, Y:-4.34, Z:0.16 [[ 9.46049911e-01 -2.54647499e-01 -2.00360220e-01 -8.41725286e+00] [ 2.58815999e-01 9.65910644e-01 -5.55937296e-03 -4.34422334e+00] [ 1.94945750e-01 -4.65969862e-02 9.79706525e-01 1.64073877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.49241403699997 meters Centerline goodness : 0.778218 Centerline is valid? [False, False] Translation: X:-8.42, Y:-4.34, Z:0.16 [[ 9.46096151e-01 -2.54349000e-01 -2.00520968e-01 -8.41668915e+00] [ 2.58559868e-01 9.65980396e-01 -5.35431119e-03 -4.34464086e+00] [ 1.95061188e-01 -4.67809817e-02 9.79674779e-01 1.63974981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52241403699998 meters Centerline goodness : 0.778098 Centerline is valid? [False, False] Translation: X:-8.42, Y:-4.34, Z:0.16 [[ 9.46129578e-01 -2.53893229e-01 -2.00940412e-01 -8.41509196e+00] [ 2.58188766e-01 9.66081631e-01 -4.98434533e-03 -4.34499973e+00] [ 1.95390332e-01 -4.71647205e-02 9.79590786e-01 1.63261234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.55241403699998 meters Centerline goodness : 0.780296 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.35, Z:0.16 [[ 9.46159257e-01 -2.53666184e-01 -2.01087362e-01 -8.41445784e+00] [ 2.58006178e-01 9.66131473e-01 -4.77379404e-03 -4.34539851e+00] [ 1.95487779e-01 -4.73650123e-02 9.79561679e-01 1.63026805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.58241403699998 meters Centerline goodness : 0.779230 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.35, Z:0.16 [[ 9.46133570e-01 -2.53267975e-01 -2.01709197e-01 -8.41201287e+00] [ 2.57729879e-01 9.66207547e-01 -4.27614356e-03 -4.34571544e+00] [ 1.95975959e-01 -4.79406841e-02 9.79436121e-01 1.61879951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.61241403699998 meters Centerline goodness : 0.779860 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.35, Z:0.16 [[ 9.46186587e-01 -2.52837392e-01 -2.02000482e-01 -8.41100233e+00] [ 2.57409312e-01 9.66295169e-01 -3.75401388e-03 -4.34610873e+00] [ 1.96141245e-01 -4.84448076e-02 9.79378227e-01 1.61409037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64241403699998 meters Centerline goodness : 0.779287 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.35, Z:0.16 [[ 9.46162272e-01 -2.52362028e-01 -2.02707580e-01 -8.40905012e+00] [ 2.57129665e-01 9.66372538e-01 -2.90737001e-03 -4.34707837e+00] [ 1.96624748e-01 -4.93712881e-02 9.79235000e-01 1.61019835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.67241403699998 meters Centerline goodness : 0.776842 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.35, Z:0.16 [[ 9.46088749e-01 -2.52682198e-01 -2.02651885e-01 -8.40896483e+00] [ 2.57445268e-01 9.66288379e-01 -2.94988808e-03 -4.34742518e+00] [ 1.96565545e-01 -4.93809128e-02 9.79246400e-01 1.61000128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.70241403699998 meters Centerline goodness : 0.776363 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.35, Z:0.16 [[ 9.46177122e-01 -2.52092044e-01 -2.02974025e-01 -8.40794471e+00] [ 2.57012205e-01 9.66405680e-01 -2.18803606e-03 -4.34833738e+00] [ 1.96706837e-01 -5.00965321e-02 9.79181678e-01 1.60688775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.73241403699998 meters Centerline goodness : 0.781038 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.35, Z:0.16 [[ 9.46319898e-01 -2.51694568e-01 -2.02801617e-01 -8.40806522e+00] [ 2.56698814e-01 9.66489984e-01 -1.68185671e-03 -4.34982488e+00] [ 1.96429046e-01 -5.04673602e-02 9.79218400e-01 1.60679589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.76241403699999 meters Centerline goodness : 0.778934 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.35, Z:0.16 [[ 9.46423987e-01 -2.51070003e-01 -2.03089858e-01 -8.40709997e+00] [ 2.56205170e-01 9.66621866e-01 -1.03912855e-03 -4.35065264e+00] [ 1.96571992e-01 -5.10492155e-02 9.79159553e-01 1.60285422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.792414037 meters Centerline goodness : 0.777662 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.35, Z:0.16 [[ 9.46493362e-01 -2.50606100e-01 -2.03339370e-01 -8.40614303e+00] [ 2.55800832e-01 9.66729206e-01 -7.59548755e-04 -4.35083540e+00] [ 1.96764455e-01 -5.12954721e-02 9.79108025e-01 1.59839936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.822414037 meters Centerline goodness : 0.777662 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.35, Z:0.16 [[ 9.46493362e-01 -2.50606100e-01 -2.03339370e-01 -8.40614303e+00] [ 2.55800832e-01 9.66729206e-01 -7.59548755e-04 -4.35083540e+00] [ 1.96764455e-01 -5.12954721e-02 9.79108025e-01 1.59839936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.852414037 meters Centerline goodness : 0.779927 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.35, Z:0.16 [[ 9.47058235e-01 -2.46989057e-01 -2.05127048e-01 -8.40367018e+00] [ 2.53133339e-01 9.67423754e-01 3.84606800e-03 -4.35305495e+00] [ 1.97494842e-01 -5.55669450e-02 9.78727798e-01 1.59607322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.882414037 meters Centerline goodness : 0.778786 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.35, Z:0.16 [[ 9.47088379e-01 -2.46893200e-01 -2.05103269e-01 -8.40365765e+00] [ 2.53027460e-01 9.67451581e-01 3.81344470e-03 -4.35291468e+00] [ 1.97485969e-01 -5.55084283e-02 9.78732909e-01 1.59508168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.912414037 meters Centerline goodness : 0.780811 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.35, Z:0.16 [[ 9.47155654e-01 -2.46351010e-01 -2.05444268e-01 -8.40276139e+00] [ 2.52568166e-01 9.67570059e-01 4.18364274e-03 -4.35285491e+00] [ 1.97751078e-01 -5.58512428e-02 9.78659875e-01 1.59243013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.942414037 meters Centerline goodness : 0.778240 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.35, Z:0.16 [[ 9.47148091e-01 -2.46041279e-01 -2.05849905e-01 -8.40157014e+00] [ 2.52329005e-01 9.67631275e-01 4.44837711e-03 -4.35255545e+00] [ 1.98092322e-01 -5.61551736e-02 9.78573466e-01 1.58792245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.972414037 meters Centerline goodness : 0.780892 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.35, Z:0.16 [[ 0.94779071 -0.24227108 -0.20735839 -8.39992428] [ 0.24952922 0.96832371 0.00918528 -4.35498281] [ 0.19856471 -0.0604477 0.97822192 0.15891659] [ 0. 0. 0. 1. ]] SLAMing on 228.002414037 meters Centerline goodness : 0.781462 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.36, Z:0.16 [[ 0.94780272 -0.24236307 -0.20719591 -8.40043364] [ 0.24960731 0.96830384 0.00915747 -4.3550815 ] [ 0.19840916 -0.06039709 0.97825661 0.1591134 ] [ 0. 0. 0. 1. ]] SLAMing on 228.032414037 meters Centerline goodness : 0.783715 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.36, Z:0.16 [[ 0.94791092 -0.24216451 -0.20693294 -8.40046509] [ 0.24944034 0.96834438 0.00941649 -4.35601256] [ 0.19810201 -0.06054341 0.97830981 0.15872901] [ 0. 0. 0. 1. ]] SLAMing on 228.062414037 meters Centerline goodness : 0.783270 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.36, Z:0.16 [[ 0.94774251 -0.24257039 -0.2072287 -8.39913576] [ 0.24991484 0.96822004 0.00961932 -4.35718884] [ 0.19830962 -0.06090617 0.97824523 0.15856443] [ 0. 0. 0. 1. ]] SLAMing on 228.092414037 meters Centerline goodness : 0.781120 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.36, Z:0.16 [[ 0.94759096 -0.24251582 -0.20798427 -8.39727753] [ 0.25001842 0.96818771 0.01016596 -4.35753458] [ 0.19890241 -0.06163307 0.97807934 0.15839632] [ 0. 0. 0. 1. ]] SLAMing on 228.122414037 meters Centerline goodness : 0.778831 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.36, Z:0.16 [[ 0.94741929 -0.24309869 -0.20808585 -8.39639847] [ 0.2505884 0.96804199 0.01000812 -4.35792759] [ 0.19900288 -0.06162578 0.97805936 0.15799239] [ 0. 0. 0. 1. ]] SLAMing on 228.152414037 meters Centerline goodness : 0.778565 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.36, Z:0.16 [[ 0.94741132 -0.24305725 -0.20817054 -8.39545719] [ 0.25057042 0.96804568 0.010101 -4.35811707] [ 0.19906347 -0.06173118 0.97804039 0.1573469 ] [ 0. 0. 0. 1. ]] SLAMing on 228.18241403699997 meters Centerline goodness : 0.779010 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.36, Z:0.16 [[ 0.94745181 -0.2428531 -0.20822452 -8.39480131] [ 0.25041586 0.96808305 0.01034938 -4.35847975] [ 0.19906525 -0.06194826 0.9780263 0.15685226] [ 0. 0. 0. 1. ]] SLAMing on 228.21241403699997 meters Centerline goodness : 0.779495 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.36, Z:0.16 [[ 0.94760388 -0.24233277 -0.20813871 -8.39499206] [ 0.24997321 0.96819236 0.01081414 -4.35891322] [ 0.19889769 -0.06227662 0.97803953 0.15674081] [ 0. 0. 0. 1. ]] SLAMing on 228.24241403699997 meters Centerline goodness : 0.780742 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.36, Z:0.16 [[ 0.9476893 -0.24220563 -0.20789763 -8.39602464] [ 0.24986791 0.96821731 0.01101244 -4.35910712] [ 0.1986228 -0.06238332 0.9780886 0.15723506] [ 0. 0. 0. 1. ]] SLAMing on 228.27241403699998 meters Centerline goodness : 0.781362 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.36, Z:0.15 [[ 0.94846793 -0.24662822 -0.19895503 -8.39132637] [ 0.25445742 0.96697707 0.01437948 -4.35597064] [ 0.18883857 -0.06426406 0.97990312 0.15274562] [ 0. 0. 0. 1. ]] SLAMing on 228.30241403699998 meters Centerline goodness : 0.779476 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.36, Z:0.15 [[ 0.94850096 -0.24662209 -0.1988051 -8.39215143] [ 0.2544505 0.96697817 0.01442804 -4.35600006] [ 0.18868192 -0.06427107 0.97993284 0.15327928] [ 0. 0. 0. 1. ]] SLAMing on 228.33241403699998 meters Centerline goodness : 0.779902 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.36, Z:0.15 [[ 0.94859909 -0.24625016 -0.19879794 -8.39238584] [ 0.25411537 0.96706281 0.0146593 -4.35598069] [ 0.18864024 -0.06442341 0.97993086 0.15338465] [ 0. 0. 0. 1. ]] SLAMing on 228.36241403699998 meters Centerline goodness : 0.780301 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.36, Z:0.15 [[ 0.9485074 -0.24617549 -0.19932723 -8.39124987] [ 0.25411986 0.96705806 0.01489297 -4.35557987] [ 0.18909472 -0.0647791 0.97981981 0.15323975] [ 0. 0. 0. 1. ]] SLAMing on 228.39241403699998 meters Centerline goodness : 0.779289 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.36, Z:0.15 [[ 0.94851011 -0.24591202 -0.19963929 -8.39004977] [ 0.25388686 0.96711809 0.01496849 -4.35523803] [ 0.18939383 -0.06488356 0.97975512 0.15261172] [ 0. 0. 0. 1. ]] SLAMing on 228.42241403699998 meters Centerline goodness : 0.779982 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.15 [[ 0.94874471 -0.24537886 -0.19918004 -8.3896938 ] [ 0.25320655 0.96730476 0.01442033 -4.35424396] [ 0.18912935 -0.0641149 0.97985681 0.15091184] [ 0. 0. 0. 1. ]] SLAMing on 228.45241403699998 meters Centerline goodness : 0.778828 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.15 [[ 0.94887499 -0.24515502 -0.1988348 -8.38998143] [ 0.25284616 0.9674073 0.01385393 -4.3531169 ] [ 0.18895788 -0.06342026 0.97993509 0.15023183] [ 0. 0. 0. 1. ]] SLAMing on 228.48241403699998 meters Centerline goodness : 0.776928 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.15 [[ 0.94908561 -0.24481678 -0.19824541 -8.3915408 ] [ 0.25228417 0.96756684 0.01292676 -4.35054605] [ 0.188651 -0.06228278 0.98006717 0.149907 ] [ 0. 0. 0. 1. ]] SLAMing on 228.51241403699999 meters Centerline goodness : 0.777541 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.15 [[ 0.94962199 -0.2414093 -0.199849 -8.38998129] [ 0.24972038 0.96816717 0.01708995 -4.35139276] [ 0.18936157 -0.06613536 0.97967766 0.15006936] [ 0. 0. 0. 1. ]] SLAMing on 228.542414037 meters Centerline goodness : 0.777316 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.15 [[ 0.94972794 -0.24124758 -0.19954061 -8.39091171] [ 0.2494723 0.96823674 0.01676871 -4.35054815] [ 0.18915713 -0.06570556 0.97974607 0.1501219 ] [ 0. 0. 0. 1. ]] SLAMing on 228.572414037 meters Centerline goodness : 0.780021 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.15 [[ 0.94974644 -0.24098325 -0.19977179 -8.39071276] [ 0.24924662 0.96829234 0.01691357 -4.34991149] [ 0.18936161 -0.06585604 0.97969646 0.15021811] [ 0. 0. 0. 1. ]] SLAMing on 228.602414037 meters Centerline goodness : 0.778882 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.15 [[ 0.94948948 -0.24198473 -0.19978268 -8.39160019] [ 0.2500949 0.96808885 0.01601618 -4.34812401] [ 0.18953171 -0.06517182 0.97970933 0.1510996 ] [ 0. 0. 0. 1. ]] SLAMing on 228.632414037 meters Centerline goodness : 0.777567 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.15 [[ 0.94936361 -0.24195341 -0.20041777 -8.39077356] [ 0.25020614 0.96805144 0.01653176 -4.34781789] [ 0.1900148 -0.06584041 0.97957104 0.15150548] [ 0. 0. 0. 1. ]] SLAMing on 228.662414037 meters Centerline goodness : 0.777637 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.15 [[ 0.94890783 -0.24344009 -0.20077565 -8.3912822 ] [ 0.25168631 0.96767292 0.01622075 -4.34702159] [ 0.19033638 -0.06592448 0.97950295 0.153023 ] [ 0. 0. 0. 1. ]] SLAMing on 228.692414037 meters Centerline goodness : 0.777554 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.15 [[ 0.94864953 -0.24397793 -0.20134259 -8.39042054] [ 0.25231353 0.96750613 0.01642457 -4.34685687] [ 0.19079296 -0.06638262 0.97938317 0.15347973] [ 0. 0. 0. 1. ]] SLAMing on 228.722414037 meters Centerline goodness : 0.776042 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.15 [[ 0.94837194 -0.24456356 -0.20193893 -8.38930412] [ 0.25297553 0.96733121 0.01654423 -4.34654652] [ 0.19129571 -0.06677569 0.97925837 0.15368625] [ 0. 0. 0. 1. ]] SLAMing on 228.752414037 meters Centerline goodness : 0.777541 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.35, Z:0.15 [[ 0.94811971 -0.24508393 -0.2024917 -8.38810597] [ 0.25355998 0.96717685 0.0166215 -4.34600995] [ 0.19177162 -0.06710296 0.97914291 0.15370846] [ 0. 0. 0. 1. ]] SLAMing on 228.782414037 meters Centerline goodness : 0.778190 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.34, Z:0.15 [[ 0.94759784 -0.24664286 -0.20304094 -8.38635019] [ 0.25502678 0.96680495 0.01579625 -4.34465172] [ 0.19240496 -0.06674937 0.97904283 0.15334349] [ 0. 0. 0. 1. ]] SLAMing on 228.812414037 meters Centerline goodness : 0.777279 Centerline is valid? [False, False] Translation: X:-8.38, Y:-4.34, Z:0.15 [[ 0.94740808 -0.24703348 -0.2034512 -8.38496473] [ 0.2554198 0.96670401 0.01562305 -4.34399446] [ 0.19281768 -0.06676687 0.97896043 0.15285141] [ 0. 0. 0. 1. ]] SLAMing on 228.842414037 meters Centerline goodness : 0.777494 Centerline is valid? [False, False] Translation: X:-8.38, Y:-4.34, Z:0.15 [[ 0.94720273 -0.24751845 -0.20381756 -8.38395549] [ 0.25586852 0.96659114 0.01525982 -4.34307781] [ 0.19323116 -0.06660464 0.97888995 0.15264146] [ 0. 0. 0. 1. ]] SLAMing on 228.872414037 meters Centerline goodness : 0.778440 Centerline is valid? [False, False] Translation: X:-8.38, Y:-4.34, Z:0.15 [[ 0.9471205 -0.24798468 -0.2036329 -8.38455947] [ 0.25622714 0.96650435 0.01473096 -4.34189551] [ 0.19315903 -0.06612827 0.97893649 0.15276902] [ 0. 0. 0. 1. ]] SLAMing on 228.902414037 meters Centerline goodness : 0.776619 Centerline is valid? [False, False] Translation: X:-8.38, Y:-4.34, Z:0.15 [[ 0.94743075 -0.24550997 -0.20518244 -8.38322563] [ 0.25450582 0.96689915 0.0182436 -4.34229093] [ 0.19391174 -0.06950467 0.9785537 0.15314002] [ 0. 0. 0. 1. ]] SLAMing on 228.93241403699997 meters Centerline goodness : 0.776845 Centerline is valid? [False, False] Translation: X:-8.38, Y:-4.34, Z:0.15 [[ 0.94739034 -0.24578685 -0.20503747 -8.38375936] [ 0.25469939 0.96685557 0.01784726 -4.34153254] [ 0.193855 -0.06913124 0.97859139 0.15337693] [ 0. 0. 0. 1. ]] SLAMing on 228.96241403699997 meters Centerline goodness : 0.774407 Centerline is valid? [False, False] Translation: X:-8.38, Y:-4.34, Z:0.15 [[ 0.94730351 -0.24625203 -0.20488044 -8.38435689] [ 0.25504106 0.96677666 0.0172324 -4.3403473 ] [ 0.19383011 -0.06857723 0.9786353 0.1536384 ] [ 0. 0. 0. 1. ]] SLAMing on 228.99241403699997 meters Centerline goodness : 0.777036 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.34, Z:0.15 [[ 0.94718217 -0.24684398 -0.20472906 -8.38515198] [ 0.25546246 0.96668048 0.01636421 -4.33808676] [ 0.19386818 -0.06780048 0.97868188 0.15398034] [ 0. 0. 0. 1. ]] SLAMing on 229.02241403699998 meters Centerline goodness : 0.776551 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.34, Z:0.15 [[ 0.94710771 -0.24722067 -0.20461899 -8.38559545] [ 0.25573176 0.96661829 0.01582209 -4.33659529] [ 0.19387691 -0.0673128 0.97871382 0.15405122] [ 0. 0. 0. 1. ]] SLAMing on 229.05241403699998 meters Centerline goodness : 0.778057 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.33, Z:0.15 [[ 0.94700247 -0.2475767 -0.2046756 -8.38592044] [ 0.25597092 0.96656536 0.01517535 -4.33495886] [ 0.19407528 -0.06676209 0.97871222 0.15444872] [ 0. 0. 0. 1. ]] SLAMing on 229.08241403699998 meters Centerline goodness : 0.778159 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.33, Z:0.15 [[ 0.9468842 -0.24826671 -0.20438675 -8.38720574] [ 0.25643154 0.96646032 0.01404715 -4.33171499] [ 0.19404424 -0.06571223 0.97878942 0.15484199] [ 0. 0. 0. 1. ]] SLAMing on 229.11241403699998 meters Centerline goodness : 0.777724 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.33, Z:0.16 [[ 0.94678842 -0.24876841 -0.20422039 -8.38793007] [ 0.25681066 0.96636836 0.01343375 -4.33054667] [ 0.19401023 -0.0651649 0.97883276 0.15515908] [ 0. 0. 0. 1. ]] SLAMing on 229.14241403699998 meters Centerline goodness : 0.774710 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.33, Z:0.16 [[ 0.94671902 -0.24923227 -0.20397643 -8.38859389] [ 0.25715182 0.96628559 0.01284938 -4.32960342] [ 0.193897 -0.06461767 0.97889147 0.15534405] [ 0. 0. 0. 1. ]] SLAMing on 229.17241403699998 meters Centerline goodness : 0.773691 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.33, Z:0.16 [[ 0.94662018 -0.24987986 -0.20364258 -8.38942751] [ 0.25762398 0.96617063 0.01200869 -4.32729571] [ 0.19375275 -0.06383088 0.97897165 0.15524418] [ 0. 0. 0. 1. ]] SLAMing on 229.20241403699998 meters Centerline goodness : 0.773690 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.33, Z:0.16 [[ 0.94654447 -0.25026246 -0.2035246 -8.38989111] [ 0.25789117 0.96610642 0.01142513 -4.32545175] [ 0.19376714 -0.06330159 0.97900317 0.15526814] [ 0. 0. 0. 1. ]] SLAMing on 229.23241403699998 meters Centerline goodness : 0.774538 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.32, Z:0.16 [[ 0.94645354 -0.25065984 -0.20345845 -8.39040764] [ 0.25812481 0.96605366 0.01057852 -4.32230897] [ 0.19390017 -0.06252976 0.97902643 0.15533268] [ 0. 0. 0. 1. ]] SLAMing on 229.26241403699999 meters Centerline goodness : 0.775304 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.32, Z:0.16 [[ 0.9463968 -0.25098897 -0.20331659 -8.39093884] [ 0.25837353 0.9659914 0.01018459 -4.32119319] [ 0.19384586 -0.06217029 0.97906008 0.15541103] [ 0. 0. 0. 1. ]] SLAMing on 229.292414037 meters Centerline goodness : 0.775607 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.32, Z:0.16 [[ 0.9463163 -0.25133384 -0.20326526 -8.3913118 ] [ 0.25862451 0.96592932 0.00969108 -4.32012974] [ 0.19390418 -0.0617402 0.97907575 0.1556595 ] [ 0. 0. 0. 1. ]] SLAMing on 229.322414037 meters Centerline goodness : 0.778313 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.32, Z:0.16 [[ 0.9462555 -0.2516136 -0.20320218 -8.39148133] [ 0.25883662 0.96587595 0.00934073 -4.3192632 ] [ 0.19391784 -0.06143488 0.97909225 0.15566375] [ 0. 0. 0. 1. ]] SLAMing on 229.352414037 meters Centerline goodness : 0.775596 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.32, Z:0.16 [[ 0.94614976 -0.25222089 -0.20294149 -8.39184361] [ 0.25933557 0.96574706 0.00881392 -4.31810032] [ 0.19376709 -0.06096923 0.9791512 0.15530834] [ 0. 0. 0. 1. ]] SLAMing on 229.382414037 meters Centerline goodness : 0.778443 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.32, Z:0.16 [[ 0.94607519 -0.25265417 -0.20275011 -8.39233014] [ 0.25971746 0.96564662 0.00857015 -4.31787435] [ 0.19361968 -0.06076575 0.97919301 0.15529858] [ 0. 0. 0. 1. ]] SLAMing on 229.412414037 meters Centerline goodness : 0.777141 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.32, Z:0.16 [[ 9.45977216e-01 -2.53221378e-01 -2.02499484e-01 -8.39308601e+00] [ 2.60198490e-01 9.65520711e-01 8.15487702e-03 -4.31749060e+00] [ 1.93452457e-01 -6.04043879e-02 9.79248414e-01 1.55469985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.442414037 meters Centerline goodness : 0.777522 Centerline is valid? [False, False] Translation: X:-8.39, Y:-4.32, Z:0.16 [[ 9.45866965e-01 -2.53933711e-01 -2.02122127e-01 -8.39426992e+00] [ 2.60806199e-01 9.65360706e-01 7.67032254e-03 -4.31715413e+00] [ 1.93173006e-01 -5.99698084e-02 9.79330287e-01 1.55787576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.472414037 meters Centerline goodness : 0.777588 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.32, Z:0.16 [[ 9.45649438e-01 -2.55195065e-01 -2.01550536e-01 -8.39607568e+00] [ 2.61939216e-01 9.65058493e-01 7.06774573e-03 -4.31771922e+00] [ 1.92704403e-01 -5.94775992e-02 9.79452617e-01 1.56328257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.502414037 meters Centerline goodness : 0.777307 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.32, Z:0.16 [[ 9.45540000e-01 -2.55758188e-01 -2.01350087e-01 -8.39678797e+00] [ 2.62436843e-01 9.64925639e-01 6.73900226e-03 -4.31783076e+00] [ 1.92564307e-01 -5.92136773e-02 9.79496160e-01 1.56626005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.532414037 meters Centerline goodness : 0.774818 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.32, Z:0.16 [[ 9.45372986e-01 -2.56715678e-01 -2.00915351e-01 -8.39799974e+00] [ 2.63311569e-01 9.64689921e-01 6.35400239e-03 -4.31826306e+00] [ 1.92189842e-01 -5.89102384e-02 9.79587999e-01 1.56834401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.562414037 meters Centerline goodness : 0.772922 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.32, Z:0.16 [[ 9.45298075e-01 -2.57194668e-01 -2.00655056e-01 -8.39870868e+00] [ 2.63733932e-01 9.64576199e-01 6.09664405e-03 -4.31850319e+00] [ 1.91979067e-01 -5.86826927e-02 9.79642986e-01 1.57060977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.592414037 meters Centerline goodness : 0.773328 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.32, Z:0.16 [[ 9.45222899e-01 -2.57634796e-01 -2.00444463e-01 -8.39935388e+00] [ 2.64116384e-01 9.64473245e-01 5.82199405e-03 -4.31861976e+00] [ 1.91823374e-01 -5.84437490e-02 9.79687767e-01 1.57335191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.622414037 meters Centerline goodness : 0.777420 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.32, Z:0.16 [[ 9.45146665e-01 -2.58159895e-01 -2.00128085e-01 -8.40014267e+00] [ 2.64562807e-01 9.64352981e-01 5.46345288e-03 -4.31848832e+00] [ 1.91583671e-01 -5.81102121e-02 9.79754510e-01 1.57541088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.652414037 meters Centerline goodness : 0.777529 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.32, Z:0.16 [[ 9.45120753e-01 -2.58249755e-01 -2.00134520e-01 -8.40037644e+00] [ 2.64624227e-01 9.64337004e-01 5.30669854e-03 -4.31836014e+00] [ 1.91626670e-01 -5.79759136e-02 9.79754057e-01 1.57869558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68241403699997 meters Centerline goodness : 0.778252 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.32, Z:0.16 [[ 9.45101185e-01 -2.58277078e-01 -2.00191660e-01 -8.40045875e+00] [ 2.64613678e-01 9.64341053e-01 5.09267523e-03 -4.31794687e+00] [ 1.91737714e-01 -5.77865448e-02 9.79743520e-01 1.58182732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.71241403699997 meters Centerline goodness : 0.778252 Centerline is valid? [False, False] Translation: X:-8.40, Y:-4.32, Z:0.16 [[ 9.45101185e-01 -2.58277078e-01 -2.00191660e-01 -8.40045875e+00] [ 2.64613678e-01 9.64341053e-01 5.09267523e-03 -4.31794687e+00] [ 1.91737714e-01 -5.77865448e-02 9.79743520e-01 1.58182732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74241403699997 meters Centerline goodness : 0.789457 Centerline is valid? [False, False] Translation: X:-8.98, Y:-4.46, Z:0.11 [[ 0.90138609 -0.17187258 -0.39744552 -8.97649874] [ 0.27154455 0.93931398 0.20964926 -4.45636768] [ 0.33729317 -0.29689909 0.89335561 0.11310278] [ 0. 0. 0. 1. ]] SLAMing on 229.77241403699998 meters Centerline goodness : 0.777934 Centerline is valid? [False, False] Translation: X:-8.64, Y:-4.23, Z:0.25 [[ 0.85252998 -0.3681294 -0.37104362 -8.64473159] [ 0.40937478 0.91165142 0.03611054 -4.22943852] [ 0.3249691 -0.18268122 0.92791307 0.2508733 ] [ 0. 0. 0. 1. ]] SLAMing on 229.80241403699998 meters Centerline goodness : 0.778041 Centerline is valid? [False, False] Translation: X:-8.66, Y:-4.23, Z:0.25 [[ 0.85552919 -0.36863533 -0.36356264 -8.66331103] [ 0.40392533 0.91449636 0.02325387 -4.23331288] [ 0.32390451 -0.16674652 0.93127948 0.24528405] [ 0. 0. 0. 1. ]] SLAMing on 229.83241403699998 meters Centerline goodness : 0.779016 Centerline is valid? [False, False] Translation: X:-8.68, Y:-4.24, Z:0.24 [[ 0.85870693 -0.36762777 -0.35703254 -8.68339472] [ 0.39729768 0.91762752 0.01069066 -4.23756825] [ 0.3236927 -0.15102834 0.93403077 0.23923042] [ 0. 0. 0. 1. ]] SLAMing on 229.86241403699998 meters Centerline goodness : 0.774251 Centerline is valid? [False, False] Translation: X:-8.70, Y:-4.24, Z:0.24 [[ 8.60037816e-01 -3.68651361e-01 -3.52747967e-01 -8.69789228e+00] [ 3.94245069e-01 9.19005019e-01 7.74537935e-04 -4.24015213e+00] [ 3.23891618e-01 -1.39735278e-01 9.35718052e-01 2.35970419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.89241403699998 meters Centerline goodness : 0.775811 Centerline is valid? [False, False] Translation: X:-8.73, Y:-4.25, Z:0.23 [[ 0.86079777 -0.37052673 -0.34890849 -8.73292594] [ 0.39192309 0.91994339 -0.01002296 -4.24893031] [ 0.32468983 -0.12811755 0.9371032 0.22577629] [ 0. 0. 0. 1. ]] SLAMing on 229.92241403699998 meters Centerline goodness : 0.775301 Centerline is valid? [False, False] Translation: X:-8.75, Y:-4.26, Z:0.22 [[ 0.86310042 -0.36986269 -0.34388843 -8.75034667] [ 0.38890831 0.92116007 -0.01464375 -4.25510812] [ 0.32219247 -0.12110205 0.93889632 0.22051198] [ 0. 0. 0. 1. ]] SLAMing on 229.95241403699998 meters Centerline goodness : 0.776753 Centerline is valid? [False, False] Translation: X:-8.76, Y:-4.26, Z:0.22 [[ 0.86683641 -0.36785292 -0.33656927 -8.76071915] [ 0.38470884 0.92286586 -0.01782477 -4.25997247] [ 0.31716519 -0.11403001 0.94148999 0.21559287] [ 0. 0. 0. 1. ]] SLAMing on 229.98241403699998 meters Centerline goodness : 0.776640 Centerline is valid? [False, False] Translation: X:-8.78, Y:-4.27, Z:0.21 [[ 0.86942666 -0.36588511 -0.33200208 -8.77566599] [ 0.38082008 0.9243998 -0.02147271 -4.26575855] [ 0.3147592 -0.10776411 0.94303422 0.21138607] [ 0. 0. 0. 1. ]] SLAMing on 230.01241403699999 meters Centerline goodness : 0.776903 Centerline is valid? [False, False] Translation: X:-8.79, Y:-4.27, Z:0.21 [[ 0.87162309 -0.36475661 -0.3274535 -8.79243748] [ 0.37788973 0.92551116 -0.02506889 -4.27250903] [ 0.31220591 -0.10189069 0.94453468 0.20697821] [ 0. 0. 0. 1. ]] SLAMing on 230.042414037 meters Centerline goodness : 0.777718 Centerline is valid? [False, False] Translation: X:-8.83, Y:-4.28, Z:0.19 [[ 0.87481494 -0.36499295 -0.31855764 -8.82558644] [ 0.37587038 0.92621761 -0.02902417 -4.28362373] [ 0.30564731 -0.09434561 0.94745904 0.19186326] [ 0. 0. 0. 1. ]] SLAMing on 230.072414037 meters Centerline goodness : 0.778506 Centerline is valid? [False, False] Translation: X:-8.85, Y:-4.29, Z:0.19 [[ 0.87518826 -0.36633395 -0.31598252 -8.84516746] [ 0.37574055 0.92613669 -0.03301318 -4.29154225] [ 0.30473686 -0.0898347 0.94819047 0.18609881] [ 0. 0. 0. 1. ]] SLAMing on 230.102414037 meters Centerline goodness : 0.776266 Centerline is valid? [False, False] Translation: X:-8.86, Y:-4.30, Z:0.18 [[ 0.87603776 -0.36683154 -0.31303748 -8.85906166] [ 0.37375619 0.92666623 -0.03995007 -4.29643332] [ 0.30473621 -0.08200192 0.94890017 0.18289298] [ 0. 0. 0. 1. ]] SLAMing on 230.132414037 meters Centerline goodness : 0.776319 Centerline is valid? [False, False] Translation: X:-8.89, Y:-4.31, Z:0.17 [[ 0.87842234 -0.3680195 -0.3048538 -8.89194122] [ 0.37376207 0.92659115 -0.0416024 -4.3093701 ] [ 0.29778533 -0.07739831 0.95149009 0.16519234] [ 0. 0. 0. 1. ]] SLAMing on 230.162414037 meters Centerline goodness : 0.776372 Centerline is valid? [False, False] Translation: X:-8.89, Y:-4.31, Z:0.17 [[ 0.87836366 -0.36827825 -0.30471037 -8.89212751] [ 0.37401438 0.92648814 -0.04162903 -4.30995619] [ 0.29764161 -0.07740064 0.95153487 0.16520182] [ 0. 0. 0. 1. ]] SLAMing on 230.192414037 meters Centerline goodness : 0.777940 Centerline is valid? [False, False] Translation: X:-8.92, Y:-4.32, Z:0.16 [[ 0.87941574 -0.36801869 -0.30197716 -8.91687151] [ 0.37357676 0.92667458 -0.04140804 -4.31784074] [ 0.29507349 -0.07639677 0.95241544 0.15626671] [ 0. 0. 0. 1. ]] SLAMing on 230.222414037 meters Centerline goodness : 0.776071 Centerline is valid? [False, False] Translation: X:-8.93, Y:-4.32, Z:0.15 [[ 0.88143991 -0.36601714 -0.29848808 -8.93478882] [ 0.37028732 0.92785977 -0.04431187 -4.323916 ] [ 0.29317399 -0.0714681 0.95338414 0.15185473] [ 0. 0. 0. 1. ]] SLAMing on 230.252414037 meters Centerline goodness : 0.778408 Centerline is valid? [False, False] Translation: X:-8.94, Y:-4.32, Z:0.15 [[ 0.88137896 -0.36626452 -0.29836458 -8.93557879] [ 0.37046912 0.92777648 -0.04453585 -4.32427072] [ 0.29312754 -0.0712819 0.95341236 0.15249464] [ 0. 0. 0. 1. ]] SLAMing on 230.282414037 meters Centerline goodness : 0.777479 Centerline is valid? [False, False] Translation: X:-8.96, Y:-4.33, Z:0.15 [[ 0.88284918 -0.36518311 -0.29532798 -8.95729964] [ 0.36868361 0.92842163 -0.04588754 -4.33148602] [ 0.29094624 -0.06837081 0.95429331 0.1462653 ] [ 0. 0. 0. 1. ]] SLAMing on 230.312414037 meters Centerline goodness : 0.777788 Centerline is valid? [False, False] Translation: X:-8.97, Y:-4.34, Z:0.14 [[ 0.88635079 -0.36242079 -0.28815524 -8.9680492 ] [ 0.36453484 0.92993549 -0.04831496 -4.33687349] [ 0.28547613 -0.06221862 0.95636406 0.14173758] [ 0. 0. 0. 1. ]] SLAMing on 230.342414037 meters Centerline goodness : 0.776974 Centerline is valid? [False, False] Translation: X:-8.99, Y:-4.34, Z:0.13 [[ 0.88773233 -0.3613543 -0.2852269 -8.99122573] [ 0.36331806 0.93042886 -0.04798035 -4.34463016] [ 0.28272125 -0.06103438 0.95725833 0.13354 ] [ 0. 0. 0. 1. ]] SLAMing on 230.372414037 meters Centerline goodness : 0.777660 Centerline is valid? [False, False] Translation: X:-9.01, Y:-4.35, Z:0.13 [[ 0.88887096 -0.36023601 -0.28308732 -9.01299997] [ 0.36173561 0.93099747 -0.04889847 -4.35176419] [ 0.28116857 -0.05893834 0.95784681 0.12673234] [ 0. 0. 0. 1. ]] SLAMing on 230.40241403699997 meters Centerline goodness : 0.777018 Centerline is valid? [False, False] Translation: X:-9.02, Y:-4.36, Z:0.12 [[ 0.88973671 -0.35854887 -0.28250893 -9.02313801] [ 0.35771059 0.93212546 -0.05643815 -4.35544023] [ 0.2835696 -0.05084135 0.95760296 0.12473356] [ 0. 0. 0. 1. ]] SLAMing on 230.43241403699997 meters Centerline goodness : 0.780410 Centerline is valid? [False, False] Translation: X:-9.04, Y:-4.36, Z:0.12 [[ 0.8911641 -0.35637057 -0.28076067 -9.04065768] [ 0.35471062 0.93314106 -0.05855037 -4.36205604] [ 0.28285494 -0.0474108 0.95799024 0.11939446] [ 0. 0. 0. 1. ]] SLAMing on 230.46241403699997 meters Centerline goodness : 0.775496 Centerline is valid? [False, False] Translation: X:-9.07, Y:-4.37, Z:0.11 [[ 0.89229553 -0.35513984 -0.27871917 -9.06715686] [ 0.35451339 0.93346357 -0.05446122 -4.37192502] [ 0.27951554 -0.05021418 0.9588272 0.10756695] [ 0. 0. 0. 1. ]] SLAMing on 230.49241403699997 meters Centerline goodness : 0.779569 Centerline is valid? [False, False] Translation: X:-9.09, Y:-4.38, Z:0.10 [[ 0.89374148 -0.35408281 -0.27541157 -9.09000719] [ 0.35350019 0.93390198 -0.053523 -4.38148962] [ 0.27615898 -0.04952231 0.95983528 0.09922144] [ 0. 0. 0. 1. ]] SLAMing on 230.52241403699998 meters Centerline goodness : 0.781487 Centerline is valid? [False, False] Translation: X:-9.12, Y:-4.39, Z:0.09 [[ 0.89524956 -0.3527344 -0.27222541 -9.11671464] [ 0.35294065 0.93431216 -0.04993683 -4.39154401] [ 0.27195795 -0.05137349 0.96093685 0.0887125 ] [ 0. 0. 0. 1. ]] SLAMing on 230.55241403699998 meters Centerline goodness : 0.780199 Centerline is valid? [False, False] Translation: X:-9.13, Y:-4.40, Z:0.09 [[ 0.89759714 -0.34982864 -0.26821503 -9.1315559 ] [ 0.3488268 0.93568562 -0.05303092 -4.39778866] [ 0.26951668 -0.04596019 0.96189834 0.08540865] [ 0. 0. 0. 1. ]] SLAMing on 230.58241403699998 meters Centerline goodness : 0.783141 Centerline is valid? [False, False] Translation: X:-9.16, Y:-4.41, Z:0.07 [[ 0.89905412 -0.34840911 -0.26516559 -9.1598683 ] [ 0.34863212 0.93603801 -0.04783814 -4.4092743 ] [ 0.26487231 -0.04943617 0.96301543 0.07439254] [ 0. 0. 0. 1. ]] SLAMing on 230.61241403699998 meters Centerline goodness : 0.779833 Centerline is valid? [False, False] Translation: X:-9.16, Y:-4.41, Z:0.07 [[ 0.89916587 -0.34849036 -0.26467946 -9.16061721] [ 0.34879825 0.93599605 -0.04744652 -4.41085105] [ 0.26427358 -0.04965744 0.96316853 0.07419308] [ 0. 0. 0. 1. ]] SLAMing on 230.64241403699998 meters Centerline goodness : 0.782681 Centerline is valid? [False, False] Translation: X:-9.20, Y:-4.42, Z:0.06 [[ 0.90252743 -0.34669621 -0.25543291 -9.19510789] [ 0.3464789 0.93686104 -0.04736843 -4.42324922] [ 0.25572759 -0.04575081 0.96566571 0.05768975] [ 0. 0. 0. 1. ]] SLAMing on 230.67241403699998 meters Centerline goodness : 0.784569 Centerline is valid? [False, False] Translation: X:-9.23, Y:-4.44, Z:0.04 [[ 0.90523414 -0.34584515 -0.2468649 -9.22501941] [ 0.34502327 0.93736458 -0.0480269 -4.43582301] [ 0.24801229 -0.04169854 0.96785905 0.04189671] [ 0. 0. 0. 1. ]] SLAMing on 230.70241403699998 meters Centerline goodness : 0.782732 Centerline is valid? [False, False] Translation: X:-9.24, Y:-4.44, Z:0.04 [[ 0.90616628 -0.34423205 -0.24569689 -9.24479016] [ 0.34327365 0.9380011 -0.04813667 -4.44365589] [ 0.24703414 -0.04072144 0.96815076 0.03501747] [ 0. 0. 0. 1. ]] SLAMing on 230.73241403699998 meters Centerline goodness : 0.784189 Centerline is valid? [False, False] Translation: X:-9.24, Y:-4.44, Z:0.03 [[ 0.90613417 -0.34369949 -0.24655936 -9.242886 ] [ 0.34301829 0.93814577 -0.04712709 -4.44470819] [ 0.24750618 -0.0418709 0.96798116 0.0349805 ] [ 0. 0. 0. 1. ]] SLAMing on 230.76241403699999 meters Centerline goodness : 0.785676 Centerline is valid? [False, False] Translation: X:-9.24, Y:-4.45, Z:0.04 [[ 0.90607963 -0.34319505 -0.24746082 -9.24201362] [ 0.34283847 0.93826992 -0.04594925 -4.44588554] [ 0.2479546 -0.04320541 0.96780773 0.03592807] [ 0. 0. 0. 1. ]] SLAMing on 230.792414037 meters Centerline goodness : 0.785164 Centerline is valid? [False, False] Translation: X:-9.24, Y:-4.45, Z:0.04 [[ 0.90608867 -0.34280223 -0.24797166 -9.24121866] [ 0.34259689 0.93838501 -0.04539758 -4.44617213] [ 0.24825528 -0.04382009 0.96770301 0.03617653] [ 0. 0. 0. 1. ]] SLAMing on 230.822414037 meters Centerline goodness : 0.786366 Centerline is valid? [False, False] Translation: X:-9.24, Y:-4.45, Z:0.04 [[ 0.90606363 -0.34252084 -0.24845154 -9.24041465] [ 0.3424556 0.93846048 -0.04490092 -4.44689095] [ 0.24854145 -0.04440053 0.96760309 0.03649502] [ 0. 0. 0. 1. ]] SLAMing on 230.852414037 meters Centerline goodness : 0.787105 Centerline is valid? [False, False] Translation: X:-9.24, Y:-4.45, Z:0.04 [[ 0.90608319 -0.34182584 -0.24933582 -9.23874588] [ 0.34207536 0.9386537 -0.04374561 -4.44828472] [ 0.24899337 -0.04565448 0.96742854 0.03676053] [ 0. 0. 0. 1. ]] SLAMing on 230.882414037 meters Centerline goodness : 0.785561 Centerline is valid? [False, False] Translation: X:-9.24, Y:-4.45, Z:0.04 [[ 0.9061659 -0.34134132 -0.24969873 -9.23643785] [ 0.3418686 0.9387786 -0.04266847 -4.4511777 ] [ 0.24897634 -0.04669944 0.96738304 0.03597579] [ 0. 0. 0. 1. ]] SLAMing on 230.912414037 meters Centerline goodness : 0.785228 Centerline is valid? [False, False] Translation: X:-9.23, Y:-4.45, Z:0.04 [[ 0.90609492 -0.34101448 -0.25040191 -9.23467874] [ 0.34178669 0.93884706 -0.04180978 -4.45210242] [ 0.24934684 -0.04770041 0.96723876 0.03582411] [ 0. 0. 0. 1. ]] SLAMing on 230.942414037 meters Centerline goodness : 0.786542 Centerline is valid? [False, False] Translation: X:-9.23, Y:-4.45, Z:0.04 [[ 0.90617135 -0.34065121 -0.25061971 -9.23403617] [ 0.3415996 0.93894566 -0.0411189 -4.45377448] [ 0.2493255 -0.04835083 0.96721197 0.03601724] [ 0. 0. 0. 1. ]] SLAMing on 230.972414037 meters Centerline goodness : 0.788186 Centerline is valid? [False, False] Translation: X:-9.23, Y:-4.46, Z:0.04 [[ 0.90681989 -0.33712509 -0.25303035 -9.23151382] [ 0.33933966 0.93996611 -0.03622572 -4.45665777] [ 0.25005256 -0.05301303 0.96677988 0.03661253] [ 0. 0. 0. 1. ]] SLAMing on 231.002414037 meters Centerline goodness : 0.787708 Centerline is valid? [False, False] Translation: X:-9.23, Y:-4.46, Z:0.04 [[ 0.90694511 -0.33642431 -0.25351381 -9.23022861] [ 0.33886571 0.94017015 -0.03535702 -4.45785833] [ 0.25024108 -0.05384026 0.96668538 0.0365229 ] [ 0. 0. 0. 1. ]] SLAMing on 231.032414037 meters Centerline goodness : 0.787780 Centerline is valid? [False, False] Translation: X:-9.23, Y:-4.46, Z:0.04 [[ 0.90721093 -0.33539859 -0.25392146 -9.22884621] [ 0.33818407 0.94046652 -0.03397454 -4.46068703] [ 0.25019965 -0.05505012 0.96662796 0.0364337 ] [ 0. 0. 0. 1. ]] SLAMing on 231.062414037 meters Centerline goodness : 0.786837 Centerline is valid? [False, False] Translation: X:-9.23, Y:-4.46, Z:0.04 [[ 0.90723001 -0.33488029 -0.25453663 -9.22726307] [ 0.3378825 0.94060236 -0.03320564 -4.4618078 ] [ 0.25053767 -0.05587832 0.96649288 0.03642237] [ 0. 0. 0. 1. ]] SLAMing on 231.092414037 meters Centerline goodness : 0.787609 Centerline is valid? [False, False] Translation: X:-9.23, Y:-4.46, Z:0.04 [[ 0.907219 -0.33446304 -0.25512382 -9.22595552] [ 0.33768879 0.94069928 -0.03242135 -4.46257916] [ 0.25083853 -0.05673919 0.96636468 0.03639416] [ 0. 0. 0. 1. ]] SLAMing on 231.122414037 meters Centerline goodness : 0.789305 Centerline is valid? [False, False] Translation: X:-9.22, Y:-4.46, Z:0.04 [[ 0.90718612 -0.33388717 -0.25599354 -9.22366599] [ 0.33736868 0.94084339 -0.03156079 -4.46379607] [ 0.25138758 -0.0577327 0.96616314 0.03629816] [ 0. 0. 0. 1. ]] SLAMing on 231.15241403699997 meters Centerline goodness : 0.787330 Centerline is valid? [False, False] Translation: X:-9.22, Y:-4.46, Z:0.04 [[ 0.90717941 -0.33355719 -0.25644709 -9.22230368] [ 0.33717681 0.94092779 -0.03109168 -4.4643265 ] [ 0.25166905 -0.05826228 0.96605807 0.03605416] [ 0. 0. 0. 1. ]] SLAMing on 231.18241403699997 meters Centerline goodness : 0.782006 Centerline is valid? [False, False] Translation: X:-9.22, Y:-4.46, Z:0.04 [[ 0.90717287 -0.33325384 -0.25686428 -9.22095499] [ 0.33695654 0.9410153 -0.03083003 -4.46460705] [ 0.25198745 -0.05858393 0.96595561 0.0358036 ] [ 0. 0. 0. 1. ]] SLAMing on 231.21241403699997 meters Centerline goodness : 0.788040 Centerline is valid? [False, False] Translation: X:-9.22, Y:-4.47, Z:0.03 [[ 0.90735867 -0.33256798 -0.25709684 -9.21906815] [ 0.33638637 0.94123504 -0.03034476 -4.46553824] [ 0.25208026 -0.05895029 0.96590911 0.03476956] [ 0. 0. 0. 1. ]] SLAMing on 231.24241403699997 meters Centerline goodness : 0.785837 Centerline is valid? [False, False] Translation: X:-9.22, Y:-4.47, Z:0.03 [[ 0.90736657 -0.33222041 -0.25751797 -9.21778153] [ 0.33613659 0.94133459 -0.03002297 -4.46572164] [ 0.25238482 -0.05931938 0.96580698 0.034474 ] [ 0. 0. 0. 1. ]] SLAMing on 231.27241403699998 meters Centerline goodness : 0.787946 Centerline is valid? [False, False] Translation: X:-9.22, Y:-4.47, Z:0.03 [[ 0.90732227 -0.33171321 -0.25832663 -9.21625445] [ 0.33585274 0.94145884 -0.02929495 -4.46603335] [ 0.25292141 -0.06017975 0.96561336 0.03464673] [ 0. 0. 0. 1. ]] SLAMing on 231.30241403699998 meters Centerline goodness : 0.788721 Centerline is valid? [False, False] Translation: X:-9.22, Y:-4.47, Z:0.03 [[ 0.90737242 -0.33117376 -0.25884209 -9.21534788] [ 0.33548314 0.94160901 -0.02869721 -4.46630773] [ 0.25323181 -0.0607981 0.96549326 0.03475813] [ 0. 0. 0. 1. ]] SLAMing on 231.33241403699998 meters Centerline goodness : 0.788792 Centerline is valid? [False, False] Translation: X:-9.21, Y:-4.47, Z:0.04 [[ 0.90784862 -0.32815115 -0.26101287 -9.21367031] [ 0.33361277 0.94239349 -0.02443409 -4.46853364] [ 0.2539949 -0.06489477 0.96502604 0.03593884] [ 0. 0. 0. 1. ]] SLAMing on 231.36241403699998 meters Centerline goodness : 0.788508 Centerline is valid? [False, False] Translation: X:-9.21, Y:-4.47, Z:0.04 [[ 0.90789319 -0.32774201 -0.26137162 -9.21250057] [ 0.33334348 0.94250148 -0.02393928 -4.46924436] [ 0.25418905 -0.06539221 0.96494134 0.03568841] [ 0. 0. 0. 1. ]] SLAMing on 231.39241403699998 meters Centerline goodness : 0.789527 Centerline is valid? [False, False] Translation: X:-9.21, Y:-4.47, Z:0.04 [[ 0.90779013 -0.32773289 -0.26174079 -9.21112406] [ 0.33343423 0.94247648 -0.02365788 -4.46978037] [ 0.25443801 -0.06579695 0.96484821 0.03541428] [ 0. 0. 0. 1. ]] SLAMing on 231.42241403699998 meters Centerline goodness : 0.783550 Centerline is valid? [False, False] Translation: X:-9.21, Y:-4.47, Z:0.04 [[ 0.90770698 -0.32754548 -0.26226321 -9.20903254] [ 0.33349454 0.94247549 -0.02283304 -4.47162082] [ 0.25465551 -0.06673764 0.96472621 0.03501686] [ 0. 0. 0. 1. ]] SLAMing on 231.45241403699998 meters Centerline goodness : 0.791635 Centerline is valid? [False, False] Translation: X:-9.21, Y:-4.47, Z:0.03 [[ 0.90760935 -0.3273962 -0.26278698 -9.20756696] [ 0.33350564 0.9424832 -0.0223473 -4.47225025] [ 0.25498874 -0.06735833 0.96459504 0.0349551 ] [ 0. 0. 0. 1. ]] SLAMing on 231.48241403699998 meters Centerline goodness : 0.784905 Centerline is valid? [False, False] Translation: X:-9.21, Y:-4.47, Z:0.04 [[ 0.9074915 -0.32721168 -0.26342302 -9.20621695] [ 0.33348463 0.94250166 -0.02187767 -4.47243851] [ 0.25543526 -0.06799372 0.96443231 0.03509253] [ 0. 0. 0. 1. ]] SLAMing on 231.51241403699999 meters Centerline goodness : 0.786006 Centerline is valid? [False, False] Translation: X:-9.21, Y:-4.47, Z:0.04 [[ 0.90732257 -0.32706569 -0.26418512 -9.20509937] [ 0.33352697 0.9424986 -0.02135779 -4.47238114] [ 0.25597951 -0.06873446 0.96423548 0.03556331] [ 0. 0. 0. 1. ]] SLAMing on 231.542414037 meters Centerline goodness : 0.786009 Centerline is valid? [False, False] Translation: X:-9.20, Y:-4.47, Z:0.04 [[ 0.90726727 -0.32674663 -0.26476922 -9.20394477] [ 0.33337336 0.94256427 -0.02085197 -4.47266336] [ 0.25637532 -0.06934869 0.96408633 0.03571189] [ 0. 0. 0. 1. ]] SLAMing on 231.572414037 meters Centerline goodness : 0.785625 Centerline is valid? [False, False] Translation: X:-9.20, Y:-4.47, Z:0.04 [[ 0.90733944 -0.32631076 -0.2650593 -9.20298293] [ 0.33305765 0.94268536 -0.0204182 -4.47338214] [ 0.2565302 -0.06975379 0.96401591 0.03560345] [ 0. 0. 0. 1. ]] SLAMing on 231.602414037 meters Centerline goodness : 0.784922 Centerline is valid? [False, False] Translation: X:-9.20, Y:-4.48, Z:0.04 [[ 0.90751774 -0.32555732 -0.26537518 -9.20172245] [ 0.33253769 0.94288792 -0.01952032 -4.47503175] [ 0.25657403 -0.07053221 0.9639476 0.03534251] [ 0. 0. 0. 1. ]] SLAMing on 231.632414037 meters Centerline goodness : 0.784922 Centerline is valid? [False, False] Translation: X:-9.20, Y:-4.48, Z:0.04 [[ 0.90751774 -0.32555732 -0.26537518 -9.20172245] [ 0.33253769 0.94288792 -0.01952032 -4.47503175] [ 0.25657403 -0.07053221 0.9639476 0.03534251] [ 0. 0. 0. 1. ]] SLAMing on 231.662414037 meters Centerline goodness : 0.784361 Centerline is valid? [False, False] Translation: X:-9.20, Y:-4.48, Z:0.04 [[ 0.90798191 -0.32249526 -0.26751759 -9.19982425] [ 0.33065999 0.9436266 -0.01525814 -4.47685469] [ 0.25735739 -0.07460324 0.96343216 0.03622455] [ 0. 0. 0. 1. ]] SLAMing on 231.692414037 meters Centerline goodness : 0.786016 Centerline is valid? [False, False] Translation: X:-9.20, Y:-4.48, Z:0.04 [[ 0.90793817 -0.32215739 -0.26807256 -9.19882423] [ 0.33044462 0.94370748 -0.01491779 -4.47666796] [ 0.25778796 -0.07503871 0.96328322 0.03638641] [ 0. 0. 0. 1. ]] SLAMing on 231.722414037 meters Centerline goodness : 0.786892 Centerline is valid? [False, False] Translation: X:-9.20, Y:-4.48, Z:0.04 [[ 0.9083859 -0.31938284 -0.26986972 -9.19703012] [ 0.32861612 0.94439314 -0.01153412 -4.47754141] [ 0.25854691 -0.07820611 0.96282776 0.03679032] [ 0. 0. 0. 1. ]] SLAMing on 231.752414037 meters Centerline goodness : 0.787227 Centerline is valid? [False, False] Translation: X:-9.20, Y:-4.48, Z:0.04 [[ 0.90830867 -0.31963287 -0.26983362 -9.19668128] [ 0.32878128 0.94433142 -0.01187572 -4.4772686 ] [ 0.25860824 -0.07792942 0.96283373 0.03656963] [ 0. 0. 0. 1. ]] SLAMing on 231.782414037 meters Centerline goodness : 0.787144 Centerline is valid? [False, False] Translation: X:-9.20, Y:-4.48, Z:0.04 [[ 0.90823416 -0.31928394 -0.27049671 -9.19508968] [ 0.32862127 0.94439382 -0.01132993 -4.47717851] [ 0.25907289 -0.07860074 0.96265423 0.0364074 ] [ 0. 0. 0. 1. ]] SLAMing on 231.812414037 meters Centerline goodness : 0.787507 Centerline is valid? [False, False] Translation: X:-9.19, Y:-4.48, Z:0.04 [[ 0.90813684 -0.31900392 -0.27115306 -9.19314826] [ 0.3284799 0.94444712 -0.01098141 -4.47705001] [ 0.25959283 -0.07909571 0.9624736 0.03604245] [ 0. 0. 0. 1. ]] SLAMing on 231.842414037 meters Centerline goodness : 0.794863 Centerline is valid? [False, False] Translation: X:-9.19, Y:-4.48, Z:0.04 [[ 0.90823497 -0.31865957 -0.27122926 -9.19282373] [ 0.32819379 0.94454937 -0.01073857 -4.47701411] [ 0.25961138 -0.07926262 0.96245487 0.03584463] [ 0. 0. 0. 1. ]] SLAMing on 231.872414037 meters Centerline goodness : 0.786340 Centerline is valid? [False, False] Translation: X:-9.19, Y:-4.48, Z:0.04 [[ 0.90809586 -0.31859416 -0.27177136 -9.19212362] [ 0.32821818 0.94454282 -0.01056863 -4.47623019] [ 0.26006679 -0.07960297 0.96230381 0.03613254] [ 0. 0. 0. 1. ]] SLAMing on 231.90241403699997 meters Centerline goodness : 0.787486 Centerline is valid? [False, False] Translation: X:-9.19, Y:-4.48, Z:0.04 [[ 0.90804023 -0.31878863 -0.27172919 -9.19241997] [ 0.32839428 0.94448067 -0.01065208 -4.4755646 ] [ 0.26003873 -0.0795618 0.9623148 0.03619843] [ 0. 0. 0. 1. ]] SLAMing on 231.93241403699997 meters Centerline goodness : 0.788072 Centerline is valid? [False, False] Translation: X:-9.19, Y:-4.48, Z:0.04 [[ 0.90811243 -0.31839947 -0.27194408 -9.1919227 ] [ 0.3280351 0.9446066 -0.01055178 -4.47523754] [ 0.26023986 -0.079625 0.9622552 0.03610799] [ 0. 0. 0. 1. ]] SLAMing on 231.96241403699997 meters Centerline goodness : 0.786028 Centerline is valid? [False, False] Translation: X:-9.19, Y:-4.48, Z:0.04 [[ 0.9080991 -0.31818742 -0.27223664 -9.1907248 ] [ 0.32790194 0.94465537 -0.01032189 -4.47531219] [ 0.2604541 -0.07989363 0.96217497 0.03565465] [ 0. 0. 0. 1. ]] SLAMing on 231.99241403699997 meters Centerline goodness : 0.789285 Centerline is valid? [False, False] Translation: X:-9.19, Y:-4.48, Z:0.04 [[ 0.90805572 -0.31781502 -0.27281573 -9.18913717] [ 0.32768389 0.94473574 -0.00988206 -4.4753862 ] [ 0.26087943 -0.08042386 0.96201555 0.03537291] [ 0. 0. 0. 1. ]] SLAMing on 232.02241403699998 meters Centerline goodness : 0.787939 Centerline is valid? [False, False] Translation: X:-9.19, Y:-4.47, Z:0.03 [[ 0.90793668 -0.31782051 -0.27320524 -9.18773592] [ 0.32771075 0.94472593 -0.00992903 -4.47449833] [ 0.26125972 -0.08051737 0.96190452 0.03485133] [ 0. 0. 0. 1. ]] SLAMing on 232.05241403699998 meters Centerline goodness : 0.792075 Centerline is valid? [False, False] Translation: X:-9.19, Y:-4.47, Z:0.03 [[ 0.90779455 -0.31789053 -0.2735958 -9.18676738] [ 0.32779807 0.94469487 -0.01000105 -4.47334926] [ 0.26164379 -0.08060528 0.96179276 0.03456767] [ 0. 0. 0. 1. ]] SLAMing on 232.08241403699998 meters Centerline goodness : 0.786765 Centerline is valid? [False, False] Translation: X:-9.18, Y:-4.47, Z:0.04 [[ 9.08145634e-01 -3.15172845e-01 -2.75567750e-01 -9.18488095e+00] [ 3.26106073e-01 9.45311003e-01 -6.47591091e-03 -4.47386213e+00] [ 2.62538258e-01 -8.39832466e-02 9.61259839e-01 3.51717430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.11241403699998 meters Centerline goodness : 0.787476 Centerline is valid? [False, False] Translation: X:-9.18, Y:-4.47, Z:0.04 [[ 9.08032785e-01 -3.15125416e-01 -2.75993538e-01 -9.18409519e+00] [ 3.26084552e-01 9.45318153e-01 -6.51577639e-03 -4.47297596e+00] [ 2.62954989e-01 -8.40806908e-02 9.61137405e-01 3.51953382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14241403699998 meters Centerline goodness : 0.786391 Centerline is valid? [False, False] Translation: X:-9.18, Y:-4.47, Z:0.04 [[ 9.07872144e-01 -3.15628025e-01 -2.75947677e-01 -9.18436145e+00] [ 3.26498417e-01 9.45172560e-01 -6.90033344e-03 -4.47185966e+00] [ 2.62996111e-01 -8.38318592e-02 9.61147889e-01 3.52143984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.17241403699998 meters Centerline goodness : 0.794302 Centerline is valid? [False, False] Translation: X:-9.18, Y:-4.47, Z:0.04 [[ 9.07705238e-01 -3.15652796e-01 -2.76467923e-01 -9.18352239e+00] [ 3.26619308e-01 9.45132048e-01 -6.72597897e-03 -4.47123516e+00] [ 2.63421768e-01 -8.41945552e-02 9.60999609e-01 3.53829387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.20241403699998 meters Centerline goodness : 0.786389 Centerline is valid? [False, False] Translation: X:-9.18, Y:-4.47, Z:0.04 [[ 9.07648455e-01 -3.15527079e-01 -2.76797661e-01 -9.18284855e+00] [ 3.26570438e-01 9.45150263e-01 -6.53671865e-03 -4.47094257e+00] [ 2.63677894e-01 -8.44608907e-02 9.60905992e-01 3.54142830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.23241403699998 meters Centerline goodness : 0.792574 Centerline is valid? [False, False] Translation: X:-9.18, Y:-4.47, Z:0.04 [[ 9.07480367e-01 -3.15512205e-01 -2.77365160e-01 -9.18194776e+00] [ 3.26652079e-01 9.45123171e-01 -6.37263652e-03 -4.47024530e+00] [ 2.64154884e-01 -8.48188638e-02 9.60743440e-01 3.56164520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.26241403699999 meters Centerline goodness : 0.795187 Centerline is valid? [False, False] Translation: X:-9.17, Y:-4.47, Z:0.03 [[ 9.07778591e-01 -3.18241299e-01 -2.73240744e-01 -9.17446411e+00] [ 3.31025981e-01 9.43621359e-01 7.28335121e-04 -4.46668524e+00] [ 2.57604016e-01 -9.11109522e-02 9.61945407e-01 3.22810723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.292414037 meters Centerline goodness : 0.786609 Centerline is valid? [False, False] Translation: X:-9.17, Y:-4.47, Z:0.03 [[ 9.07537419e-01 -3.18350162e-01 -2.73914232e-01 -9.17341707e+00] [ 3.31241952e-01 9.43545454e-01 8.63838292e-04 -4.46567867e+00] [ 2.58175525e-01 -9.15158503e-02 9.61753735e-01 3.24759337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.322414037 meters Centerline goodness : 0.785444 Centerline is valid? [False, False] Translation: X:-9.17, Y:-4.46, Z:0.03 [[ 9.07082795e-01 -3.19710469e-01 -2.73835750e-01 -9.17363236e+00] [ 3.32320992e-01 9.43166280e-01 -3.55977236e-04 -4.46348091e+00] [ 2.58386456e-01 -9.06784674e-02 9.61776406e-01 3.25142527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.352414037 meters Centerline goodness : 0.792514 Centerline is valid? [False, False] Translation: X:-9.17, Y:-4.46, Z:0.03 [[ 9.06833269e-01 -3.19673138e-01 -2.74704400e-01 -9.17214682e+00] [ 3.32489113e-01 9.43107089e-01 9.53265686e-05 -4.46297758e+00] [ 2.59045194e-01 -9.14226676e-02 9.61528722e-01 3.27942692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.382414037 meters Centerline goodness : 0.790672 Centerline is valid? [False, False] Translation: X:-9.17, Y:-4.46, Z:0.03 [[ 9.06619148e-01 -3.20348446e-01 -2.74624458e-01 -9.17264943e+00] [ 3.33024815e-01 9.42917933e-01 -4.93841635e-04 -4.46199821e+00] [ 2.59106528e-01 -9.10090331e-02 9.61551435e-01 3.31676070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.412414037 meters Centerline goodness : 0.782746 Centerline is valid? [False, False] Translation: X:-9.17, Y:-4.46, Z:0.03 [[ 9.06454182e-01 -3.20301584e-01 -2.75223021e-01 -9.17212341e+00] [ 3.33139787e-01 9.42877442e-01 -1.06041373e-04 -4.46149459e+00] [ 2.59535544e-01 -9.15916170e-02 9.61380402e-01 3.36888379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.442414037 meters Centerline goodness : 0.790707 Centerline is valid? [False, False] Translation: X:-9.17, Y:-4.46, Z:0.03 [[ 9.06179484e-01 -3.20510916e-01 -2.75883119e-01 -9.17162357e+00] [ 3.33369279e-01 9.42796283e-01 -3.04834490e-04 -4.45961144e+00] [ 2.60199282e-01 -9.16947219e-02 9.61191142e-01 3.42015794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.472414037 meters Centerline goodness : 0.788345 Centerline is valid? [False, False] Translation: X:-9.17, Y:-4.46, Z:0.03 [[ 9.05908679e-01 -3.20724836e-01 -2.76523137e-01 -9.17071908e+00] [ 3.33587656e-01 9.42718923e-01 -5.54816382e-04 -4.45683166e+00] [ 2.60861538e-01 -9.17420922e-02 9.61007100e-01 3.40238007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.502414037 meters Centerline goodness : 0.788345 Centerline is valid? [False, False] Translation: X:-9.17, Y:-4.46, Z:0.03 [[ 9.05908679e-01 -3.20724836e-01 -2.76523137e-01 -9.17071908e+00] [ 3.33587656e-01 9.42718923e-01 -5.54816382e-04 -4.45683166e+00] [ 2.60861538e-01 -9.17420922e-02 9.61007100e-01 3.40238007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.532414037 meters Centerline goodness : 0.788929 Centerline is valid? [False, False] Translation: X:-9.17, Y:-4.46, Z:0.03 [[ 9.05663299e-01 -3.20984109e-01 -2.77025615e-01 -9.16989311e+00] [ 3.33815754e-01 9.42637919e-01 -8.92031844e-04 -4.45521231e+00] [ 2.61421177e-01 -9.16676340e-02 9.60862120e-01 3.41126314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.562414037 meters Centerline goodness : 0.786074 Centerline is valid? [False, False] Translation: X:-9.17, Y:-4.45, Z:0.03 [[ 9.05455162e-01 -3.21306212e-01 -2.77332414e-01 -9.16935015e+00] [ 3.34011309e-01 9.42567846e-01 -1.51673673e-03 -4.45244088e+00] [ 2.61891953e-01 -9.12588255e-02 9.60772831e-01 3.37575022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.592414037 meters Centerline goodness : 0.787505 Centerline is valid? [False, False] Translation: X:-9.17, Y:-4.45, Z:0.03 [[ 9.05928856e-01 -3.18187572e-01 -2.79373545e-01 -9.16733520e+00] [ 3.31990044e-01 9.43280285e-01 2.21673389e-03 -4.45295499e+00] [ 2.62822220e-01 -9.47574385e-02 9.60179936e-01 3.41353124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.622414037 meters Centerline goodness : 0.784644 Centerline is valid? [False, False] Translation: X:-9.17, Y:-4.45, Z:0.03 [[ 9.05830151e-01 -3.18567556e-01 -2.79260541e-01 -9.16771791e+00] [ 3.32203884e-01 9.43206253e-01 1.59486490e-03 -4.45135331e+00] [ 2.62892216e-01 -9.42161129e-02 9.60214042e-01 3.39820075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.65241403699997 meters Centerline goodness : 0.784180 Centerline is valid? [False, False] Translation: X:-9.17, Y:-4.45, Z:0.03 [[ 9.05516173e-01 -3.18961797e-01 -2.79828219e-01 -9.16692931e+00] [ 3.32490114e-01 9.43106282e-01 9.30216740e-04 -4.44777183e+00] [ 2.63611048e-01 -9.38824429e-02 9.60049635e-01 3.37241221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68241403699997 meters Centerline goodness : 0.782909 Centerline is valid? [False, False] Translation: X:-9.17, Y:-4.45, Z:0.03 [[ 9.05304326e-01 -3.19233833e-01 -2.80203208e-01 -9.16649556e+00] [ 3.32736607e-01 9.43019575e-01 6.57154449e-04 -4.44617076e+00] [ 2.64027324e-01 -9.38287895e-02 9.59940483e-01 3.37891862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.71241403699997 meters Centerline goodness : 0.782836 Centerline is valid? [False, False] Translation: X:-9.17, Y:-4.44, Z:0.03 [[ 9.05006303e-01 -3.19595107e-01 -2.80753555e-01 -9.16575065e+00] [ 3.33106461e-01 9.42889124e-01 4.29903057e-04 -4.44454387e+00] [ 2.64582079e-01 -9.39098882e-02 9.59779796e-01 3.39704283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74241403699997 meters Centerline goodness : 0.784146 Centerline is valid? [False, False] Translation: X:-9.17, Y:-4.44, Z:0.03 [[ 9.04868125e-01 -3.19637544e-01 -2.81150346e-01 -9.16542215e+00] [ 3.33201992e-01 9.42855351e-01 4.69118942e-04 -4.44379057e+00] [ 2.64934160e-01 -9.41043460e-02 9.59663620e-01 3.43100879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.77241403699998 meters Centerline goodness : 0.784026 Centerline is valid? [False, False] Translation: X:-9.17, Y:-4.44, Z:0.03 [[ 9.04501581e-01 -3.20368320e-01 -2.81497833e-01 -9.16548842e+00] [ 3.33939637e-01 9.42594427e-01 2.54129797e-04 -4.44246452e+00] [ 2.65256873e-01 -9.42331449e-02 9.59561830e-01 3.49103451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.80241403699998 meters Centerline goodness : 0.785117 Centerline is valid? [False, False] Translation: X:-9.16, Y:-4.44, Z:0.04 [[ 9.04302890e-01 -3.20535739e-01 -2.81945249e-01 -9.16479980e+00] [ 3.34203410e-01 9.42500882e-01 4.11047739e-04 -4.44206969e+00] [ 2.65601890e-01 -9.45987751e-02 9.59430408e-01 3.51427349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.83241403699998 meters Centerline goodness : 0.784510 Centerline is valid? [False, False] Translation: X:-9.16, Y:-4.44, Z:0.04 [[ 9.04033420e-01 -3.20820451e-01 -2.82485069e-01 -9.16397796e+00] [ 3.34586908e-01 9.42364753e-01 5.23430901e-04 -4.44147533e+00] [ 2.66036044e-01 -9.49890046e-02 9.59271553e-01 3.54464328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.86241403699998 meters Centerline goodness : 0.784708 Centerline is valid? [False, False] Translation: X:-9.16, Y:-4.44, Z:0.04 [[ 9.03766112e-01 -3.21168045e-01 -2.82945052e-01 -9.16333434e+00] [ 3.35008584e-01 9.42214906e-01 5.65784624e-04 -4.44083003e+00] [ 2.66413334e-01 -9.53003582e-02 9.59135954e-01 3.57645300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.89241403699998 meters Centerline goodness : 0.785801 Centerline is valid? [False, False] Translation: X:-9.16, Y:-4.44, Z:0.04 [[ 9.03040266e-01 -3.22889071e-01 -2.83303592e-01 -9.16386255e+00] [ 3.36555942e-01 9.41663363e-01 -4.56192579e-04 -4.43850062e+00] [ 2.66923913e-01 -9.49355470e-02 9.59030170e-01 3.69040451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.92241403699998 meters Centerline goodness : 0.783666 Centerline is valid? [False, False] Translation: X:-9.16, Y:-4.44, Z:0.04 [[ 9.02754753e-01 -3.23059827e-01 -2.84017965e-01 -9.16283954e+00] [ 3.36834492e-01 9.41563803e-01 -3.60895224e-04 -4.43756769e+00] [ 2.67537626e-01 -9.53412470e-02 9.58818891e-01 3.72825594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.95241403699998 meters Centerline goodness : 0.784504 Centerline is valid? [False, False] Translation: X:-9.16, Y:-4.44, Z:0.04 [[ 9.02518755e-01 -3.23240381e-01 -2.84562037e-01 -9.16190665e+00] [ 3.37083099e-01 9.41474834e-01 -3.47429780e-04 -4.43673956e+00] [ 2.68020300e-01 -9.56074914e-02 9.58657565e-01 3.74591615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.98241403699998 meters Centerline goodness : 0.783609 Centerline is valid? [False, False] Translation: X:-9.17, Y:-4.44, Z:0.03 [[ 9.04848904e-01 -3.22063293e-01 -2.78430774e-01 -9.16791744e+00] [ 3.34974761e-01 9.42226239e-01 -1.27478878e-03 -4.43836666e+00] [ 2.62755344e-01 -9.21137907e-02 9.60455454e-01 3.20885170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.01241403699999 meters Centerline goodness : 0.785976 Centerline is valid? [False, False] Translation: X:-9.17, Y:-4.44, Z:0.03 [[ 9.04772107e-01 -3.22417282e-01 -2.78270607e-01 -9.16823712e+00] [ 3.35247252e-01 9.42128877e-01 -1.56778789e-03 -4.43783367e+00] [ 2.62672257e-01 -9.18709657e-02 9.60501437e-01 3.20010803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.042414037 meters Centerline goodness : 0.783565 Centerline is valid? [False, False] Translation: X:-9.17, Y:-4.44, Z:0.03 [[ 9.04597894e-01 -3.22371970e-01 -2.78888801e-01 -9.16670155e+00] [ 3.35272492e-01 9.42119960e-01 -1.52848552e-03 -4.43692236e+00] [ 2.63239447e-01 -9.21210785e-02 9.60322186e-01 3.18215037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.072414037 meters Centerline goodness : 0.783419 Centerline is valid? [False, False] Translation: X:-9.17, Y:-4.44, Z:0.03 [[ 9.04542412e-01 -3.22826366e-01 -2.78542927e-01 -9.16744632e+00] [ 3.35590717e-01 9.42005836e-01 -1.96840262e-03 -4.43568349e+00] [ 2.63024516e-01 -9.16959171e-02 9.60421763e-01 3.16037630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.102414037 meters Centerline goodness : 0.783693 Centerline is valid? [False, False] Translation: X:-9.18, Y:-4.44, Z:0.03 [[ 9.07468325e-01 -3.20622840e-01 -2.71481552e-01 -9.17533652e+00] [ 3.32231750e-01 9.43191711e-01 -3.38518471e-03 -4.43884845e+00] [ 2.57144517e-01 -8.71228434e-02 9.62437690e-01 2.60881137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.132414037 meters Centerline goodness : 0.782881 Centerline is valid? [False, False] Translation: X:-9.18, Y:-4.44, Z:0.02 [[ 9.08102246e-01 -3.20733354e-01 -2.69221890e-01 -9.17875080e+00] [ 3.32181726e-01 9.43209947e-01 -3.20894218e-03 -4.43946216e+00] [ 2.54961979e-01 -8.65165447e-02 9.63072830e-01 2.49200219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.162414037 meters Centerline goodness : 0.784919 Centerline is valid? [False, False] Translation: X:-9.18, Y:-4.44, Z:0.02 [[ 9.08931905e-01 -3.20502173e-01 -2.66685488e-01 -9.18265731e+00] [ 3.31796849e-01 9.43346515e-01 -2.86429639e-03 -4.43989098e+00] [ 2.52494839e-01 -8.58819542e-02 9.63779356e-01 2.35377833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.192414037 meters Centerline goodness : 0.784089 Centerline is valid? [False, False] Translation: X:-9.19, Y:-4.44, Z:0.02 [[ 9.12006990e-01 -3.17287509e-01 -2.59945931e-01 -9.19327866e+00] [ 3.26982772e-01 9.45009518e-01 -6.26723513e-03 -4.44320036e+00] [ 2.47639894e-01 -7.92820788e-02 9.65602835e-01 1.91585663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.222414037 meters Centerline goodness : 0.784372 Centerline is valid? [False, False] Translation: X:-9.19, Y:-4.44, Z:0.02 [[ 9.11947074e-01 -3.17508854e-01 -2.59885864e-01 -9.19369071e+00] [ 3.27122859e-01 9.44958801e-01 -6.59540289e-03 -4.44244837e+00] [ 2.47675533e-01 -7.89999485e-02 9.65616818e-01 1.94017371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.252414037 meters Centerline goodness : 0.784773 Centerline is valid? [False, False] Translation: X:-9.19, Y:-4.44, Z:0.02 [[ 9.12099486e-01 -3.17323906e-01 -2.59576705e-01 -9.19481496e+00] [ 3.26883014e-01 9.45041192e-01 -6.68138840e-03 -4.44148331e+00] [ 2.47430843e-01 -7.87571247e-02 9.65699380e-01 1.96434532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.282414037 meters Centerline goodness : 0.782051 Centerline is valid? [False, False] Translation: X:-9.20, Y:-4.44, Z:0.02 [[ 9.12082888e-01 -3.17443613e-01 -2.59488649e-01 -9.19500271e+00] [ 3.26957347e-01 9.45014297e-01 -6.84635538e-03 -4.44103722e+00] [ 2.47393815e-01 -7.85972765e-02 9.65721890e-01 1.96252375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.312414037 meters Centerline goodness : 0.781784 Centerline is valid? [False, False] Translation: X:-9.20, Y:-4.44, Z:0.02 [[ 9.12980104e-01 -3.17000610e-01 -2.56861721e-01 -9.19778986e+00] [ 3.26364367e-01 9.45221638e-01 -6.50802156e-03 -4.44238970e+00] [ 2.44854304e-01 -7.78888190e-02 9.66426253e-01 1.75910524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.342414037 meters Centerline goodness : 0.781390 Centerline is valid? [False, False] Translation: X:-9.20, Y:-4.44, Z:0.02 [[ 9.13312831e-01 -3.17452949e-01 -2.55114284e-01 -9.19863507e+00] [ 3.26640860e-01 9.45124837e-01 -6.69260344e-03 -4.44412826e+00] [ 2.43239433e-01 -7.72183084e-02 9.66887745e-01 1.62765447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.372414037 meters Centerline goodness : 0.781509 Centerline is valid? [False, False] Translation: X:-9.21, Y:-4.45, Z:0.01 [[ 0.91629869 -0.31450465 -0.24795873 -9.20786015] [ 0.32230681 0.94658674 -0.00958475 -4.44828079] [ 0.23772889 -0.07113629 0.96872318 0.0113228 ] [ 0. 0. 0. 1. ]] SLAMing on 233.40241403699997 meters Centerline goodness : 0.781157 Centerline is valid? [False, False] Translation: X:-9.21, Y:-4.45, Z:0.01 [[ 0.91631051 -0.3145426 -0.24786689 -9.2080467 ] [ 0.32235383 0.94657134 -0.0095245 -4.44870198] [ 0.23761955 -0.07117344 0.96874728 0.01139545] [ 0. 0. 0. 1. ]] SLAMing on 233.43241403699997 meters Centerline goodness : 0.779004 Centerline is valid? [False, False] Translation: X:-9.21, Y:-4.45, Z:0.01 [[ 0.91630101 -0.31456234 -0.24787696 -9.20793844] [ 0.32239322 0.94655866 -0.00945013 -4.44895223] [ 0.23760274 -0.07125469 0.96874543 0.01133138] [ 0. 0. 0. 1. ]] SLAMing on 233.46241403699997 meters Centerline goodness : 0.781054 Centerline is valid? [False, False] Translation: X:-9.22, Y:-4.45, Z:0.01 [[ 9.17643374e-01 -3.12334694e-01 -2.45718695e-01 -9.22316679e+00] [ 3.18844304e-01 9.47705155e-01 -1.39014111e-02 -4.45435003e+00] [ 2.37210767e-01 -6.55894686e-02 9.69241494e-01 9.15532964e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.49241403699997 meters Centerline goodness : 0.780789 Centerline is valid? [False, False] Translation: X:-9.22, Y:-4.46, Z:0.01 [[ 0.91765039 -0.3123574 -0.24566362 -9.22327284] [ 0.31890916 0.94768603 -0.01371641 -4.45557651] [ 0.2370964 -0.06575751 0.96925809 0.00936867] [ 0. 0. 0. 1. ]] SLAMing on 233.52241403699998 meters Centerline goodness : 0.780789 Centerline is valid? [False, False] Translation: X:-9.22, Y:-4.46, Z:0.01 [[ 0.91765039 -0.3123574 -0.24566362 -9.22327284] [ 0.31890916 0.94768603 -0.01371641 -4.45557651] [ 0.2370964 -0.06575751 0.96925809 0.00936867] [ 0. 0. 0. 1. ]] SLAMing on 233.55241403699998 meters Centerline goodness : 0.778676 Centerline is valid? [False, False] Translation: X:-9.23, Y:-4.46, Z:0.01 [[ 9.17893424e-01 -3.12615098e-01 -2.44424757e-01 -9.22522182e+00] [ 3.19131140e-01 9.47613808e-01 -1.35420348e-02 -4.45731677e+00] [ 2.35853719e-01 -6.55734066e-02 9.69573696e-01 9.15399113e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.58241403699998 meters Centerline goodness : 0.780181 Centerline is valid? [False, False] Translation: X:-9.23, Y:-4.46, Z:0.00 [[ 9.20747769e-01 -3.09837640e-01 -2.37116389e-01 -9.23469474e+00] [ 3.15417807e-01 9.48833844e-01 -1.50314237e-02 -4.46319877e+00] [ 2.29641356e-01 -6.09505815e-02 9.71364954e-01 4.94942908e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.61241403699998 meters Centerline goodness : 0.781514 Centerline is valid? [False, False] Translation: X:-9.24, Y:-4.46, Z:0.01 [[ 9.20726948e-01 -3.09901632e-01 -2.37113613e-01 -9.23502256e+00] [ 3.15483427e-01 9.48812018e-01 -1.50320329e-02 -4.46385477e+00] [ 2.29634698e-01 -6.09650175e-02 9.71365622e-01 5.42932285e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64241403699998 meters Centerline goodness : 0.780316 Centerline is valid? [False, False] Translation: X:-9.24, Y:-4.46, Z:0.01 [[ 9.20708321e-01 -3.09891701e-01 -2.37198907e-01 -9.23509987e+00] [ 3.15485717e-01 9.48811725e-01 -1.50024077e-02 -4.46435354e+00] [ 2.29706226e-01 -6.10200258e-02 9.71345256e-01 5.81820494e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.67241403699998 meters Centerline goodness : 0.778676 Centerline is valid? [False, False] Translation: X:-9.24, Y:-4.47, Z:0.01 [[ 9.20704888e-01 -3.09852990e-01 -2.37262797e-01 -9.23514116e+00] [ 3.15462802e-01 9.48820201e-01 -1.49481164e-02 -4.46501790e+00] [ 2.29751453e-01 -6.10847830e-02 9.71330489e-01 6.19532353e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.70241403699998 meters Centerline goodness : 0.778970 Centerline is valid? [False, False] Translation: X:-9.23, Y:-4.47, Z:0.01 [[ 9.20744447e-01 -3.09244008e-01 -2.37902934e-01 -9.23285117e+00] [ 3.15094070e-01 9.48956718e-01 -1.40311974e-02 -4.46676092e+00] [ 2.30098651e-01 -6.20426568e-02 9.71187582e-01 5.66440782e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.73241403699998 meters Centerline goodness : 0.780097 Centerline is valid? [False, False] Translation: X:-9.23, Y:-4.47, Z:0.00 [[ 9.20746475e-01 -3.08714036e-01 -2.38582425e-01 -9.23041222e+00] [ 3.14722585e-01 9.49087918e-01 -1.34840242e-02 -4.46743979e+00] [ 2.30598405e-01 -6.26719097e-02 9.71028634e-01 4.96735507e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.76241403699999 meters Centerline goodness : 0.777997 Centerline is valid? [False, False] Translation: X:-9.23, Y:-4.47, Z:0.00 [[ 9.20781508e-01 -3.08018791e-01 -2.39344603e-01 -9.22754238e+00] [ 3.14247885e-01 9.49256266e-01 -1.26809873e-02 -4.46808970e+00] [ 2.31105346e-01 -6.35371165e-02 9.70851870e-01 3.89213468e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.792414037 meters Centerline goodness : 0.778059 Centerline is valid? [False, False] Translation: X:-9.23, Y:-4.47, Z:0.00 [[ 9.21299159e-01 -3.04850223e-01 -2.41400500e-01 -9.22503125e+00] [ 3.12071431e-01 9.50018727e-01 -8.70865768e-03 -4.46974892e+00] [ 2.31989832e-01 -6.73109204e-02 9.70386499e-01 4.07900537e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.822414037 meters Centerline goodness : 0.777462 Centerline is valid? [False, False] Translation: X:-9.22, Y:-4.47, Z:0.00 [[ 9.21381505e-01 -3.04289856e-01 -2.41792896e-01 -9.22391230e+00] [ 3.11602392e-01 9.50175704e-01 -8.37140826e-03 -4.46970235e+00] [ 2.32293070e-01 -6.76299842e-02 9.70291768e-01 3.77775939e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.852414037 meters Centerline goodness : 0.777013 Centerline is valid? [False, False] Translation: X:-9.22, Y:-4.47, Z:0.00 [[ 9.22399891e-01 -2.99727806e-01 -2.43601485e-01 -9.22175708e+00] [ 3.08186079e-01 9.51319452e-01 -3.55534334e-03 -4.47265205e+00] [ 2.32808466e-01 -7.17951380e-02 9.69868896e-01 3.66034479e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.882414037 meters Centerline goodness : 0.775721 Centerline is valid? [False, False] Translation: X:-9.22, Y:-4.47, Z:0.00 [[ 9.23237253e-01 -2.96046187e-01 -2.44927807e-01 -9.22021546e+00] [ 3.05446228e-01 9.52209237e-01 4.14093480e-04 -4.47481289e+00] [ 2.33099929e-01 -7.51945812e-02 9.69541231e-01 3.38330678e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.912414037 meters Centerline goodness : 0.775890 Centerline is valid? [False, False] Translation: X:-9.22, Y:-4.48, Z:0.00 [[ 9.23573930e-01 -2.95247680e-01 -2.44622165e-01 -9.22028701e+00] [ 3.04611421e-01 9.52476594e-01 4.68731567e-04 -4.47513356e+00] [ 2.32858495e-01 -7.49476134e-02 9.69618367e-01 2.85475247e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.942414037 meters Centerline goodness : 0.776989 Centerline is valid? [False, False] Translation: X:-9.22, Y:-4.48, Z:0.00 [[ 9.24618067e-01 -2.90568111e-01 -2.46275462e-01 -9.21898263e+00] [ 3.01106832e-01 9.53575114e-01 5.40166580e-03 -4.47753813e+00] [ 2.33272600e-01 -7.91497022e-02 9.69184822e-01 2.95633538e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.972414037 meters Centerline goodness : 0.778429 Centerline is valid? [False, False] Translation: X:-9.22, Y:-4.48, Z:0.00 [[ 9.24851603e-01 -2.89836734e-01 -2.46260390e-01 -9.21887578e+00] [ 3.00410178e-01 9.53793397e-01 5.64634383e-03 -4.47747096e+00] [ 2.33245016e-01 -7.92011578e-02 9.69187257e-01 2.65053050e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.002414037 meters Centerline goodness : 0.776871 Centerline is valid? [False, False] Translation: X:-9.22, Y:-4.48, Z:0.00 [[ 9.25052934e-01 -2.89087773e-01 -2.46384513e-01 -9.21854556e+00] [ 2.99719127e-01 9.54008989e-01 5.94081267e-03 -4.47730695e+00] [ 2.33335624e-01 -7.93417176e-02 9.69153950e-01 2.38465168e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.032414037 meters Centerline goodness : 0.775448 Centerline is valid? [False, False] Translation: X:-9.22, Y:-4.48, Z:0.00 [[ 9.25193512e-01 -2.88980361e-01 -2.45982350e-01 -9.21900892e+00] [ 2.99487239e-01 9.54084000e-01 5.57809133e-03 -4.47709986e+00] [ 2.33075866e-01 -7.88293888e-02 9.69258257e-01 2.01004894e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.062414037 meters Centerline goodness : 0.775597 Centerline is valid? [False, False] Translation: X:-9.22, Y:-4.48, Z:0.00 [[ 9.25156086e-01 -2.88545743e-01 -2.46632460e-01 -9.21736770e+00] [ 2.99225890e-01 9.54162632e-01 6.12688094e-03 -4.47735093e+00] [ 2.33559592e-01 -7.94671385e-02 9.69089723e-01 1.79594955e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.092414037 meters Centerline goodness : 0.775520 Centerline is valid? [False, False] Translation: X:-9.21, Y:-4.48, Z:0.00 [[ 9.24982549e-01 -2.88581296e-01 -2.47241014e-01 -9.21493573e+00] [ 2.99397832e-01 9.54106405e-01 6.47346556e-03 -4.47764541e+00] [ 2.34026114e-01 -8.00112661e-02 9.68932389e-01 8.86714729e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.122414037 meters Centerline goodness : 0.774192 Centerline is valid? [False, False] Translation: X:-9.21, Y:-4.48, Z:0.00 [[ 9.24943792e-01 -2.88477321e-01 -2.47507205e-01 -9.21342615e+00] [ 2.99418752e-01 9.54096780e-01 6.90983100e-03 -4.47855414e+00] [ 2.34152498e-01 -8.04995037e-02 9.68861413e-01 2.91141377e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.15241403699997 meters Centerline goodness : 0.773739 Centerline is valid? [False, False] Translation: X:-9.21, Y:-4.48, Z:0.00 [[ 9.24753094e-01 -2.88873593e-01 -2.47757467e-01 -9.21220658e+00] [ 2.99867900e-01 9.53955141e-01 6.98795983e-03 -4.47910450e+00] [ 2.34330873e-01 -8.07566489e-02 9.68796886e-01 6.89008375e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18241403699997 meters Centerline goodness : 0.773524 Centerline is valid? [False, False] Translation: X:-9.21, Y:-4.48, Z:-0.00 [[ 9.24644715e-01 -2.90005953e-01 -2.46837393e-01 -9.21145209e+00] [ 3.00658880e-01 9.53714398e-01 5.75193311e-03 -4.48114685e+00] [ 2.33744281e-01 -7.95323488e-02 9.69039843e-01 -8.53680511e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.21241403699997 meters Centerline goodness : 0.777672 Centerline is valid? [False, False] Translation: X:-9.21, Y:-4.48, Z:-0.00 [[ 9.24560571e-01 -2.89598472e-01 -2.47629716e-01 -9.20975657e+00] [ 3.00569918e-01 9.53735226e-01 6.84421775e-03 -4.48228581e+00] [ 2.34191108e-01 -8.07579373e-02 9.68830574e-01 -6.77067626e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24241403699997 meters Centerline goodness : 0.776265 Centerline is valid? [False, False] Translation: X:-9.21, Y:-4.48, Z:-0.00 [[ 9.24417773e-01 -2.89504947e-01 -2.48271357e-01 -9.20843067e+00] [ 3.00690308e-01 9.53692256e-01 7.51129612e-03 -4.48311239e+00] [ 2.34599914e-01 -8.15963666e-02 9.68661403e-01 -4.02334814e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.27241403699998 meters Centerline goodness : 0.775654 Centerline is valid? [False, False] Translation: X:-9.21, Y:-4.48, Z:-0.00 [[ 9.24389049e-01 -2.89242858e-01 -2.48683443e-01 -9.20750657e+00] [ 3.00637042e-01 9.53702868e-01 8.25887789e-03 -4.48430196e+00] [ 2.34781292e-01 -8.23978711e-02 9.68549604e-01 -1.91849598e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.30241403699998 meters Centerline goodness : 0.777788 Centerline is valid? [False, False] Translation: X:-9.21, Y:-4.49, Z:0.00 [[ 9.24200536e-01 -2.89348141e-01 -2.49260953e-01 -9.20652798e+00] [ 3.01032558e-01 9.53569181e-01 9.23121524e-03 -4.48618740e+00] [ 2.35016528e-01 -8.35671563e-02 9.68392360e-01 4.99179048e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.33241403699998 meters Centerline goodness : 0.779065 Centerline is valid? [False, False] Translation: X:-9.21, Y:-4.49, Z:0.00 [[ 9.24079835e-01 -2.89240945e-01 -2.49832213e-01 -9.20523843e+00] [ 3.01145642e-01 9.53526331e-01 9.94170437e-03 -4.48738033e+00] [ 2.35346046e-01 -8.44228109e-02 9.68238105e-01 7.77337005e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.36241403699998 meters Centerline goodness : 0.775931 Centerline is valid? [False, False] Translation: X:-9.20, Y:-4.49, Z:0.00 [[ 9.24070227e-01 -2.88908035e-01 -2.50252597e-01 -9.20399501e+00] [ 3.01027082e-01 9.53555442e-01 1.07105179e-02 -4.48857722e+00] [ 2.35535371e-01 -8.52300796e-02 9.68121337e-01 7.37355414e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.39241403699998 meters Centerline goodness : 0.779175 Centerline is valid? [False, False] Translation: X:-9.20, Y:-4.49, Z:0.00 [[ 9.23888245e-01 -2.88969941e-01 -2.50852314e-01 -9.20261474e+00] [ 3.01373276e-01 9.53435130e-01 1.16448359e-02 -4.49034188e+00] [ 2.35806401e-01 -8.63587107e-02 9.67955327e-01 1.18094412e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.42241403699998 meters Centerline goodness : 0.776961 Centerline is valid? [False, False] Translation: X:-9.20, Y:-4.49, Z:0.00 [[ 9.23610657e-01 -2.89590492e-01 -2.51158717e-01 -9.20217403e+00] [ 3.02049910e-01 9.53220588e-01 1.16774618e-02 -4.49080790e+00] [ 2.36027978e-01 -8.66478959e-02 9.67875475e-01 1.75443456e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.45241403699998 meters Centerline goodness : 0.775170 Centerline is valid? [False, False] Translation: X:-9.20, Y:-4.49, Z:0.00 [[ 9.23287671e-01 -2.89658243e-01 -2.52265691e-01 -9.19928364e+00] [ 3.02464935e-01 9.53076325e-01 1.26681211e-02 -4.49197334e+00] [ 2.36759032e-01 -8.79978459e-02 9.67575082e-01 1.65695943e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.48241403699998 meters Centerline goodness : 0.776512 Centerline is valid? [False, False] Translation: X:-9.20, Y:-4.49, Z:0.00 [[ 9.23165599e-01 -2.89412745e-01 -2.52993162e-01 -9.19714353e+00] [ 3.02420398e-01 9.53082674e-01 1.32408114e-02 -4.49250610e+00] [ 2.37291339e-01 -8.87337542e-02 9.67377455e-01 1.33069254e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.51241403699999 meters Centerline goodness : 0.777535 Centerline is valid? [False, False] Translation: X:-9.20, Y:-4.49, Z:0.00 [[ 9.23111251e-01 -2.89522659e-01 -2.53065698e-01 -9.19621483e+00] [ 3.02550274e-01 9.53040914e-01 1.32796426e-02 -4.49296802e+00] [ 2.37337207e-01 -8.88236837e-02 9.67357950e-01 8.31114150e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.542414037 meters Centerline goodness : 0.776197 Centerline is valid? [False, False] Translation: X:-9.19, Y:-4.49, Z:0.00 [[ 9.23149023e-01 -2.89162929e-01 -2.53339064e-01 -9.19480222e+00] [ 3.02353573e-01 9.53094701e-01 1.38855418e-02 -4.49426069e+00] [ 2.37440935e-01 -8.94163954e-02 9.67277887e-01 3.33091403e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.572414037 meters Centerline goodness : 0.777462 Centerline is valid? [False, False] Translation: X:-9.19, Y:-4.50, Z:0.00 [[ 9.23243096e-01 -2.88699917e-01 -2.53524245e-01 -9.19436256e+00] [ 3.02037288e-01 9.53186253e-01 1.44721817e-02 -4.49514525e+00] [ 2.37477707e-01 -8.99351172e-02 9.67220768e-01 4.13716916e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.602414037 meters Centerline goodness : 0.777040 Centerline is valid? [False, False] Translation: X:-9.19, Y:-4.50, Z:0.00 [[ 9.23374948e-01 -2.88017041e-01 -2.53820586e-01 -9.19362390e+00] [ 3.01533019e-01 9.53334992e-01 1.51733647e-02 -4.49597849e+00] [ 2.37605859e-01 -9.05459926e-02 9.67132296e-01 3.74187372e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.632414037 meters Centerline goodness : 0.778363 Centerline is valid? [False, False] Translation: X:-9.19, Y:-4.50, Z:0.00 [[ 9.23488361e-01 -2.87770052e-01 -2.53688084e-01 -9.19390612e+00] [ 3.01344709e-01 9.53389325e-01 1.54971232e-02 -4.49663682e+00] [ 2.37403903e-01 -9.07589748e-02 9.67161928e-01 4.52333509e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.662414037 meters Centerline goodness : 0.774211 Centerline is valid? [False, False] Translation: X:-9.19, Y:-4.50, Z:0.00 [[ 9.23707390e-01 -2.87062705e-01 -2.53692060e-01 -9.19355050e+00] [ 3.00756359e-01 9.53565545e-01 1.60736863e-02 -4.49786810e+00] [ 2.37297852e-01 -9.11468830e-02 9.67151475e-01 2.89290237e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.692414037 meters Centerline goodness : 0.778337 Centerline is valid? [False, False] Translation: X:-9.19, Y:-4.50, Z:0.00 [[ 9.23768736e-01 -2.87028821e-01 -2.53506958e-01 -9.19366352e+00] [ 3.00702839e-01 9.53582461e-01 1.60714799e-02 -4.49838450e+00] [ 2.37126811e-01 -9.10765927e-02 9.67200046e-01 2.28906119e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.722414037 meters Centerline goodness : 0.778075 Centerline is valid? [False, False] Translation: X:-9.19, Y:-4.50, Z:0.00 [[ 9.23760647e-01 -2.86458696e-01 -2.54180414e-01 -9.19229470e+00] [ 3.00403139e-01 9.53661168e-01 1.69803171e-02 -4.49919841e+00] [ 2.37537830e-01 -9.20423430e-02 9.67007749e-01 3.80234123e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.752414037 meters Centerline goodness : 0.774490 Centerline is valid? [False, False] Translation: X:-9.19, Y:-4.50, Z:0.00 [[ 9.23873913e-01 -2.86252338e-01 -2.54001164e-01 -9.19209775e+00] [ 3.00211487e-01 9.53718676e-01 1.71391345e-02 -4.50013244e+00] [ 2.37339536e-01 -9.20884662e-02 9.67052046e-01 1.00509297e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.782414037 meters Centerline goodness : 0.777271 Centerline is valid? [False, False] Translation: X:-9.19, Y:-4.50, Z:0.00 [[ 9.24209862e-01 -2.83277359e-01 -2.56105580e-01 -9.18986947e+00] [ 2.98375308e-01 9.54210923e-01 2.13000124e-02 -4.50216611e+00] [ 2.38344930e-01 -9.61012627e-02 9.66414115e-01 1.05089725e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.812414037 meters Centerline goodness : 0.773709 Centerline is valid? [False, False] Translation: X:-9.19, Y:-4.50, Z:0.00 [[ 9.24157882e-01 -2.83533238e-01 -2.56009986e-01 -9.18983873e+00] [ 2.98562650e-01 9.54158352e-01 2.10281602e-02 -4.50220449e+00] [ 2.38311884e-01 -9.58683597e-02 9.66445396e-01 1.04946472e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.842414037 meters Centerline goodness : 0.773501 Centerline is valid? [False, False] Translation: X:-9.19, Y:-4.50, Z:0.00 [[ 9.24238307e-01 -2.83366409e-01 -2.55904339e-01 -9.18918528e+00] [ 2.98403236e-01 9.54206100e-01 2.11240889e-02 -4.50308681e+00] [ 2.38199624e-01 -9.58863751e-02 9.66471284e-01 6.03554028e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.872414037 meters Centerline goodness : 0.774380 Centerline is valid? [False, False] Translation: X:-9.19, Y:-4.50, Z:0.00 [[ 9.24307665e-01 -2.83142878e-01 -2.55901254e-01 -9.18866525e+00] [ 2.98238226e-01 9.54251713e-01 2.13922421e-02 -4.50369771e+00] [ 2.38137149e-01 -9.60925492e-02 9.66466202e-01 2.60623131e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90241403699997 meters Centerline goodness : 0.774044 Centerline is valid? [False, False] Translation: X:-9.19, Y:-4.51, Z:0.00 [[ 9.24260758e-01 -2.83218393e-01 -2.55987095e-01 -9.18811794e+00] [ 2.98413855e-01 9.54188653e-01 2.17528105e-02 -4.50505743e+00] [ 2.38099186e-01 -9.64953651e-02 9.66435421e-01 3.61522824e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.93241403699997 meters Centerline goodness : 0.770968 Centerline is valid? [False, False] Translation: X:-9.19, Y:-4.51, Z:0.00 [[ 9.24191289e-01 -2.83344582e-01 -2.56098240e-01 -9.18752651e+00] [ 2.98566978e-01 9.54139698e-01 2.17990040e-02 -4.50551066e+00] [ 2.38176868e-01 -9.66089273e-02 9.66404933e-01 3.11048614e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96241403699997 meters Centerline goodness : 0.770915 Centerline is valid? [False, False] Translation: X:-9.19, Y:-4.51, Z:0.00 [[ 9.24106131e-01 -2.83634306e-01 -2.56084828e-01 -9.18746127e+00] [ 2.98850913e-01 9.54052081e-01 2.17430322e-02 -4.50580423e+00] [ 2.38151193e-01 -9.66240538e-02 9.66409748e-01 4.58671105e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.99241403699997 meters Centerline goodness : 0.771396 Centerline is valid? [False, False] Translation: X:-9.19, Y:-4.51, Z:0.00 [[ 9.23969252e-01 -2.83627886e-01 -2.56585353e-01 -9.18665645e+00] [ 2.99006160e-01 9.53993163e-01 2.21892394e-02 -4.50594761e+00] [ 2.38487186e-01 -9.72227761e-02 9.66266834e-01 7.74157305e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02241403699998 meters Centerline goodness : 0.770677 Centerline is valid? [False, False] Translation: X:-9.19, Y:-4.51, Z:0.00 [[ 9.23913053e-01 -2.83446493e-01 -2.56987851e-01 -9.18589485e+00] [ 2.98921089e-01 9.54014109e-01 2.24335239e-02 -4.50558924e+00] [ 2.38811332e-01 -9.75457137e-02 9.66154223e-01 7.85232662e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.05241403699998 meters Centerline goodness : 0.769056 Centerline is valid? [False, False] Translation: X:-9.19, Y:-4.50, Z:0.00 [[ 9.23857609e-01 -2.83334770e-01 -2.57310176e-01 -9.18525542e+00] [ 2.98858382e-01 9.54031942e-01 2.25104563e-02 -4.50490424e+00] [ 2.39104132e-01 -9.76957592e-02 9.66066640e-01 7.77251558e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.08241403699998 meters Centerline goodness : 0.770889 Centerline is valid? [False, False] Translation: X:-9.19, Y:-4.50, Z:0.00 [[ 9.23878165e-01 -2.83189450e-01 -2.57396330e-01 -9.18524495e+00] [ 2.98742937e-01 9.54065651e-01 2.26139560e-02 -4.50462436e+00] [ 2.39168963e-01 -9.77878759e-02 9.66041272e-01 8.28569529e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.11241403699998 meters Centerline goodness : 0.772117 Centerline is valid? [False, False] Translation: X:-9.19, Y:-4.50, Z:0.00 [[ 9.23850478e-01 -2.82985026e-01 -2.57720332e-01 -9.18514113e+00] [ 2.98598174e-01 9.54107855e-01 2.27449224e-02 -4.50385291e+00] [ 2.39456521e-01 -9.79677280e-02 9.65951810e-01 1.26111897e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.14241403699998 meters Centerline goodness : 0.771192 Centerline is valid? [False, False] Translation: X:-9.18, Y:-4.50, Z:0.00 [[ 9.23826482e-01 -2.82926883e-01 -2.57870142e-01 -9.18465648e+00] [ 2.98557391e-01 9.54120274e-01 2.27593206e-02 -4.50324959e+00] [ 2.39599907e-01 -9.80147000e-02 9.65911488e-01 1.01979951e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.17241403699998 meters Centerline goodness : 0.771081 Centerline is valid? [False, False] Translation: X:-9.18, Y:-4.50, Z:0.00 [[ 9.23715665e-01 -2.82814789e-01 -2.58389563e-01 -9.18332039e+00] [ 2.98573131e-01 9.54107905e-01 2.30692475e-02 -4.50335122e+00] [ 2.40007200e-01 -9.84576061e-02 9.65765315e-01 8.88445921e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.20241403699998 meters Centerline goodness : 0.772531 Centerline is valid? [False, False] Translation: X:-9.18, Y:-4.50, Z:0.00 [[ 9.23630277e-01 -2.82839633e-01 -2.58667456e-01 -9.18238610e+00] [ 2.98665249e-01 9.54075449e-01 2.32186786e-02 -4.50336420e+00] [ 2.40221107e-01 -9.87004548e-02 9.65687341e-01 6.47950928e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.23241403699998 meters Centerline goodness : 0.769583 Centerline is valid? [False, False] Translation: X:-9.18, Y:-4.50, Z:0.00 [[ 9.23562183e-01 -2.82903767e-01 -2.58840402e-01 -9.18165030e+00] [ 2.98740990e-01 9.54052592e-01 2.31834315e-02 -4.50341058e+00] [ 2.40388676e-01 -9.87375786e-02 9.65641846e-01 4.89639792e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.26241403699999 meters Centerline goodness : 0.774726 Centerline is valid? [False, False] Translation: X:-9.18, Y:-4.50, Z:0.00 [[ 9.23487326e-01 -2.82809747e-01 -2.59209964e-01 -9.18040654e+00] [ 2.98731575e-01 9.54050778e-01 2.33785950e-02 -4.50339023e+00] [ 2.40687773e-01 -9.90240370e-02 9.65538003e-01 2.07311896e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.292414037 meters Centerline goodness : 0.773577 Centerline is valid? [False, False] Translation: X:-9.18, Y:-4.50, Z:-0.00 [[ 9.23366586e-01 -2.82877355e-01 -2.59566081e-01 -9.17911417e+00] [ 2.98882585e-01 9.53999204e-01 2.35524645e-02 -4.50307766e+00] [ 2.40963376e-01 -9.93273402e-02 9.65438103e-01 -2.41950022e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.322414037 meters Centerline goodness : 0.779878 Centerline is valid? [False, False] Translation: X:-9.18, Y:-4.50, Z:-0.00 [[ 9.23219360e-01 -2.83365676e-01 -2.59557135e-01 -9.17898588e+00] [ 2.99275045e-01 9.53887048e-01 2.31073104e-02 -4.50261879e+00] [ 2.41040371e-01 -9.90120897e-02 9.65451265e-01 -1.80737747e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.352414037 meters Centerline goodness : 0.773544 Centerline is valid? [False, False] Translation: X:-9.18, Y:-4.50, Z:-0.00 [[ 9.23154469e-01 -2.83144110e-01 -2.60029306e-01 -9.17786201e+00] [ 2.99203899e-01 9.53898835e-01 2.35380396e-02 -4.50277877e+00] [ 2.41376995e-01 -9.95310289e-02 9.65313794e-01 -2.10216729e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.382414037 meters Centerline goodness : 0.775192 Centerline is valid? [False, False] Translation: X:-9.18, Y:-4.50, Z:0.00 [[ 9.23093820e-01 -2.83482879e-01 -2.59875464e-01 -9.17795293e+00] [ 2.99517559e-01 9.53802365e-01 2.34580336e-02 -4.50371751e+00] [ 2.41219881e-01 -9.94912304e-02 9.65357169e-01 4.01419235e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.412414037 meters Centerline goodness : 0.775976 Centerline is valid? [False, False] Translation: X:-9.18, Y:-4.50, Z:0.00 [[ 9.22942205e-01 -2.83252071e-01 -2.60664440e-01 -9.17659327e+00] [ 2.99523444e-01 9.53784575e-01 2.40975424e-02 -4.50378301e+00] [ 2.41792043e-01 -1.00315750e-01 9.65128674e-01 4.00921055e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.442414037 meters Centerline goodness : 0.775976 Centerline is valid? [False, False] Translation: X:-9.18, Y:-4.50, Z:0.00 [[ 9.22942205e-01 -2.83252071e-01 -2.60664440e-01 -9.17659327e+00] [ 2.99523444e-01 9.53784575e-01 2.40975424e-02 -4.50378301e+00] [ 2.41792043e-01 -1.00315750e-01 9.65128674e-01 4.00921055e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.472414037 meters Centerline goodness : 0.774819 Centerline is valid? [False, False] Translation: X:-9.18, Y:-4.50, Z:0.00 [[ 9.22743051e-01 -2.83672174e-01 -2.60912552e-01 -9.17661967e+00] [ 2.99961326e-01 9.53649262e-01 2.40060087e-02 -4.50320116e+00] [ 2.42009226e-01 -1.00415053e-01 9.65063911e-01 9.38802076e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.502414037 meters Centerline goodness : 0.779312 Centerline is valid? [False, False] Translation: X:-9.18, Y:-4.50, Z:0.00 [[ 9.22505501e-01 -2.84323943e-01 -2.61043091e-01 -9.17684196e+00] [ 3.00534977e-01 9.53479968e-01 2.35516100e-02 -4.50260060e+00] [ 2.42203071e-01 -1.00179069e-01 9.65039806e-01 1.60496439e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.532414037 meters Centerline goodness : 0.777660 Centerline is valid? [False, False] Translation: X:-9.18, Y:-4.50, Z:0.00 [[ 9.22491040e-01 -2.84009417e-01 -2.61436286e-01 -9.17699254e+00] [ 3.00373941e-01 9.53518612e-01 2.40364637e-02 -4.50193104e+00] [ 2.42457783e-01 -1.00702070e-01 9.64921404e-01 2.15542007e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.562414037 meters Centerline goodness : 0.773660 Centerline is valid? [False, False] Translation: X:-9.18, Y:-4.50, Z:0.00 [[ 9.22385805e-01 -2.83954775e-01 -2.61866592e-01 -9.17650083e+00] [ 3.00349969e-01 9.53527558e-01 2.39810848e-02 -4.50060394e+00] [ 2.42887469e-01 -1.00771435e-01 9.64806092e-01 2.27136787e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.592414037 meters Centerline goodness : 0.773330 Centerline is valid? [False, False] Translation: X:-9.18, Y:-4.50, Z:0.00 [[ 9.22420123e-01 -2.83597031e-01 -2.62133250e-01 -9.17586309e+00] [ 2.99985786e-01 9.53644499e-01 2.38892878e-02 -4.49942768e+00] [ 2.43207001e-01 -1.00672209e-01 9.64735954e-01 1.87575230e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.622414037 meters Centerline goodness : 0.778286 Centerline is valid? [False, False] Translation: X:-9.18, Y:-4.50, Z:0.00 [[ 9.22319373e-01 -2.83970812e-01 -2.62083101e-01 -9.17590586e+00] [ 3.00132771e-01 9.53621049e-01 2.29611362e-02 -4.49733679e+00] [ 2.43407670e-01 -9.98372283e-02 9.64772115e-01 1.55101144e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.65241403699997 meters Centerline goodness : 0.778349 Centerline is valid? [False, False] Translation: X:-9.18, Y:-4.49, Z:0.00 [[ 9.22413615e-01 -2.84217062e-01 -2.61483811e-01 -9.17632507e+00] [ 2.99839345e-01 9.53757660e-01 2.10402841e-02 -4.49329969e+00] [ 2.43412180e-01 -9.78109791e-02 9.64978509e-01 6.46379421e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68241403699997 meters Centerline goodness : 0.777206 Centerline is valid? [False, False] Translation: X:-9.18, Y:-4.49, Z:-0.00 [[ 9.23082803e-01 -2.81210330e-01 -2.62371662e-01 -9.17546314e+00] [ 2.97306970e-01 9.54506032e-01 2.29521546e-02 -4.49104815e+00] [ 2.43980951e-01 -9.91916629e-02 9.64693894e-01 -1.03638320e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.71241403699997 meters Centerline goodness : 0.771598 Centerline is valid? [False, False] Translation: X:-9.18, Y:-4.49, Z:-0.00 [[ 9.23211239e-01 -2.81051695e-01 -2.62089590e-01 -9.17617535e+00] [ 2.96984469e-01 9.54618514e-01 2.24436528e-02 -4.48938662e+00] [ 2.43887748e-01 -9.85567701e-02 9.64782530e-01 -1.43042338e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74241403699997 meters Centerline goodness : 0.777990 Centerline is valid? [False, False] Translation: X:-9.18, Y:-4.49, Z:-0.00 [[ 9.23266188e-01 -2.81216273e-01 -2.61719227e-01 -9.17734844e+00] [ 2.96934556e-01 9.54650623e-01 2.17268941e-02 -4.48789443e+00] [ 2.43740467e-01 -9.77731892e-02 9.64899471e-01 -1.37845198e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.77241403699998 meters Centerline goodness : 0.775138 Centerline is valid? [False, False] Translation: X:-9.18, Y:-4.49, Z:-0.00 [[ 9.23361141e-01 -2.81271603e-01 -2.61324489e-01 -9.17883529e+00] [ 2.96809370e-01 9.54702113e-01 2.11677277e-02 -4.48667107e+00] [ 2.43533161e-01 -9.71090141e-02 9.65018880e-01 -1.06959065e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.80241403699998 meters Centerline goodness : 0.778851 Centerline is valid? [False, False] Translation: X:-9.18, Y:-4.48, Z:-0.01 [[ 9.25220966e-01 -2.86316924e-01 -2.48975466e-01 -9.17787690e+00] [ 3.00808986e-01 9.53444328e-01 2.13978260e-02 -4.48136734e+00] [ 2.31257686e-01 -9.46917747e-02 9.68273386e-01 -5.53160964e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.83241403699998 meters Centerline goodness : 0.777775 Centerline is valid? [False, False] Translation: X:-9.18, Y:-4.48, Z:-0.01 [[ 9.25125122e-01 -2.86638919e-01 -2.48961118e-01 -9.17825387e+00] [ 3.01094248e-01 9.53358502e-01 2.12089479e-02 -4.48076346e+00] [ 2.31269889e-01 -9.45816913e-02 9.68281231e-01 -5.25724480e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.86241403699998 meters Centerline goodness : 0.780120 Centerline is valid? [False, False] Translation: X:-9.18, Y:-4.48, Z:-0.01 [[ 9.25115173e-01 -2.86535411e-01 -2.49117193e-01 -9.17787184e+00] [ 3.01084359e-01 9.53354018e-01 2.15481834e-02 -4.48095829e+00] [ 2.31322559e-01 -9.49398416e-02 9.68233598e-01 -5.32678089e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.89241403699998 meters Centerline goodness : 0.778392 Centerline is valid? [False, False] Translation: X:-9.18, Y:-4.48, Z:-0.00 [[ 9.24803048e-01 -2.86860877e-01 -2.49900299e-01 -9.17670083e+00] [ 3.01567201e-01 9.53194926e-01 2.18324440e-02 -4.48046037e+00] [ 2.31940823e-01 -9.55524444e-02 9.68025405e-01 -4.85892945e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.92241403699998 meters Centerline goodness : 0.777660 Centerline is valid? [False, False] Translation: X:-9.18, Y:-4.48, Z:-0.00 [[ 9.24568060e-01 -2.87510316e-01 -2.50023440e-01 -9.17663412e+00] [ 3.02112055e-01 9.53035303e-01 2.12607072e-02 -4.47953551e+00] [ 2.32168492e-01 -9.51920660e-02 9.68006334e-01 -4.53866001e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.95241403699998 meters Centerline goodness : 0.776057 Centerline is valid? [False, False] Translation: X:-9.18, Y:-4.48, Z:-0.00 [[ 9.24192189e-01 -2.88635412e-01 -2.50116768e-01 -9.17630550e+00] [ 3.03073138e-01 9.52749068e-01 2.03933027e-02 -4.47772415e+00] [ 2.32412288e-01 -9.46510045e-02 9.68000886e-01 -4.70212682e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.98241403699998 meters Centerline goodness : 0.777968 Centerline is valid? [False, False] Translation: X:-9.17, Y:-4.48, Z:-0.01 [[ 9.23955641e-01 -2.89055689e-01 -2.50505055e-01 -9.17499943e+00] [ 3.03446902e-01 9.52638789e-01 1.99828910e-02 -4.47677524e+00] [ 2.32864664e-01 -9.44782878e-02 9.67909036e-01 -5.06231677e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.01241403699999 meters Centerline goodness : 0.779668 Centerline is valid? [False, False] Translation: X:-9.17, Y:-4.48, Z:-0.01 [[ 9.23671864e-01 -2.89414022e-01 -2.51137036e-01 -9.17314466e+00] [ 3.03796964e-01 9.52534378e-01 1.96382929e-02 -4.47502399e+00] [ 2.33533063e-01 -9.44340078e-02 9.67752306e-01 -5.75152391e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.042414037 meters Centerline goodness : 0.778930 Centerline is valid? [False, False] Translation: X:-9.17, Y:-4.47, Z:-0.01 [[ 9.23573436e-01 -2.89919644e-01 -2.50915738e-01 -9.17333072e+00] [ 3.04104715e-01 9.52452203e-01 1.88447058e-02 -4.47411275e+00] [ 2.33521797e-01 -9.37091288e-02 9.67825485e-01 -5.89616641e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.072414037 meters Centerline goodness : 0.779910 Centerline is valid? [False, False] Translation: X:-9.17, Y:-4.47, Z:-0.01 [[ 9.23496859e-01 -2.90127063e-01 -2.50957841e-01 -9.17324790e+00] [ 3.04223763e-01 9.52422217e-01 1.84342849e-02 -4.47307934e+00] [ 2.33669538e-01 -9.33713428e-02 9.67822473e-01 -6.01042806e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.102414037 meters Centerline goodness : 0.780054 Centerline is valid? [False, False] Translation: X:-9.17, Y:-4.47, Z:-0.01 [[ 9.23541524e-01 -2.89554674e-01 -2.51454059e-01 -9.17242825e+00] [ 3.03766817e-01 9.52561270e-01 1.87815655e-02 -4.47225755e+00] [ 2.34087108e-01 -9.37289549e-02 9.67686989e-01 -6.09418048e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.132414037 meters Centerline goodness : 0.780185 Centerline is valid? [False, False] Translation: X:-9.17, Y:-4.47, Z:-0.01 [[ 9.23769427e-01 -2.88991476e-01 -2.51264747e-01 -9.17369346e+00] [ 3.03013988e-01 9.52813280e-01 1.81487548e-02 -4.46901654e+00] [ 2.34163552e-01 -9.29019979e-02 9.67748237e-01 -6.30352106e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.162414037 meters Centerline goodness : 0.778550 Centerline is valid? [False, False] Translation: X:-9.17, Y:-4.47, Z:-0.01 [[ 9.24010178e-01 -2.88518022e-01 -2.50923380e-01 -9.17456865e+00] [ 3.02408862e-01 9.53011992e-01 1.78051637e-02 -4.46749170e+00] [ 2.33995880e-01 -9.23336063e-02 9.67843186e-01 -6.76154892e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.192414037 meters Centerline goodness : 0.775766 Centerline is valid? [False, False] Translation: X:-9.18, Y:-4.47, Z:-0.01 [[ 9.24203400e-01 -2.88223921e-01 -2.50549490e-01 -9.17546534e+00] [ 3.01942808e-01 9.53169357e-01 1.72834525e-02 -4.46593281e+00] [ 2.33834592e-01 -9.16250422e-02 9.67949500e-01 -7.13388086e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.222414037 meters Centerline goodness : 0.776867 Centerline is valid? [False, False] Translation: X:-9.18, Y:-4.46, Z:-0.01 [[ 9.24620012e-01 -2.87262693e-01 -2.50115931e-01 -9.17672716e+00] [ 3.00744438e-01 9.53560281e-01 1.66004280e-02 -4.46340392e+00] [ 2.33731934e-01 -9.05700631e-02 9.68073575e-01 -7.69094133e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.252414037 meters Centerline goodness : 0.777945 Centerline is valid? [False, False] Translation: X:-9.18, Y:-4.46, Z:-0.01 [[ 9.24829452e-01 -2.86922224e-01 -2.49732100e-01 -9.17740917e+00] [ 3.00292915e-01 9.53707112e-01 1.63373709e-02 -4.46245736e+00] [ 2.33483725e-01 -9.01020619e-02 9.68177137e-01 -8.18909097e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.282414037 meters Centerline goodness : 0.776765 Centerline is valid? [False, False] Translation: X:-9.18, Y:-4.46, Z:-0.01 [[ 9.24924620e-01 -2.86786627e-01 -2.49535325e-01 -9.17768682e+00] [ 3.00027743e-01 9.53798030e-01 1.58956507e-02 -4.46127677e+00] [ 2.33447641e-01 -8.95697990e-02 9.68235224e-01 -8.57735554e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.312414037 meters Centerline goodness : 0.778469 Centerline is valid? [False, False] Translation: X:-9.18, Y:-4.46, Z:-0.01 [[ 0.92501337 -0.28642546 -0.24962116 -9.17737978] [ 0.2995531 0.95395472 0.01543821 -4.45849191] [ 0.23370538 -0.08905534 0.9682205 -0.00942513] [ 0. 0. 0. 1. ]] SLAMing on 236.342414037 meters Centerline goodness : 0.777409 Centerline is valid? [False, False] Translation: X:-9.18, Y:-4.46, Z:-0.01 [[ 0.92483505 -0.28708583 -0.24952327 -9.17774711] [ 0.29998773 0.95383352 0.01445586 -4.45653173] [ 0.23385359 -0.0882232 0.9682609 -0.00946429] [ 0. 0. 0. 1. ]] SLAMing on 236.372414037 meters Centerline goodness : 0.777096 Centerline is valid? [False, False] Translation: X:-9.18, Y:-4.46, Z:-0.01 [[ 0.92471946 -0.2869823 -0.25007016 -9.1764986 ] [ 0.29995395 0.95384279 0.01454494 -4.45559317] [ 0.23435348 -0.08845952 0.96811846 -0.00971305] [ 0. 0. 0. 1. ]] SLAMing on 236.40241403699997 meters Centerline goodness : 0.775990 Centerline is valid? [False, False] Translation: X:-9.18, Y:-4.45, Z:-0.01 [[ 0.92438374 -0.28807223 -0.25005817 -9.17620735] [ 0.30083774 0.95357898 0.01355645 -4.45390562] [ 0.23454497 -0.0877583 0.96813591 -0.00998573] [ 0. 0. 0. 1. ]] SLAMing on 236.43241403699997 meters Centerline goodness : 0.776956 Centerline is valid? [False, False] Translation: X:-9.18, Y:-4.45, Z:-0.01 [[ 0.92425705 -0.28800464 -0.25060372 -9.17511933] [ 0.30091626 0.95354844 0.01395668 -4.45367872] [ 0.23494319 -0.08831029 0.96798915 -0.00998114] [ 0. 0. 0. 1. ]] SLAMing on 236.46241403699997 meters Centerline goodness : 0.776175 Centerline is valid? [False, False] Translation: X:-9.18, Y:-4.45, Z:-0.01 [[ 0.92388905 -0.2890152 -0.25079721 -9.1754077 ] [ 0.30184456 0.95326282 0.01341101 -4.45279712] [ 0.23519967 -0.08809206 0.96794675 -0.00917578] [ 0. 0. 0. 1. ]] SLAMing on 236.49241403699997 meters Centerline goodness : 0.776064 Centerline is valid? [False, False] Translation: X:-9.17, Y:-4.45, Z:-0.01 [[ 9.23552986e-01 -2.89461596e-01 -2.51519118e-01 -9.17473302e+00] [ 3.02447407e-01 9.53067385e-01 1.37158530e-02 -4.45176091e+00] [ 2.35744455e-01 -8.87386222e-02 9.67755139e-01 -8.57212781e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52241403699998 meters Centerline goodness : 0.774285 Centerline is valid? [False, False] Translation: X:-9.18, Y:-4.45, Z:-0.01 [[ 9.23346266e-01 -2.90203940e-01 -2.51422646e-01 -9.17533794e+00] [ 3.03094859e-01 9.52868045e-01 1.32662893e-02 -4.45107064e+00] [ 2.35722676e-01 -8.84542901e-02 9.67786474e-01 -8.05906589e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.55241403699998 meters Centerline goodness : 0.774751 Centerline is valid? [False, False] Translation: X:-9.18, Y:-4.45, Z:-0.01 [[ 9.23175675e-01 -2.90477526e-01 -2.51732953e-01 -9.17515269e+00] [ 3.03393835e-01 9.52773615e-01 1.32143445e-02 -4.45044750e+00] [ 2.36006045e-01 -8.85733874e-02 9.67706516e-01 -7.61787309e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.58241403699998 meters Centerline goodness : 0.774290 Centerline is valid? [False, False] Translation: X:-9.17, Y:-4.45, Z:-0.01 [[ 9.22930236e-01 -2.90852661e-01 -2.52199342e-01 -9.17450502e+00] [ 3.03825678e-01 9.52635964e-01 1.32165284e-02 -4.44982098e+00] [ 2.36410101e-01 -8.88225700e-02 9.67585043e-01 -7.31693330e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.61241403699998 meters Centerline goodness : 0.773614 Centerline is valid? [False, False] Translation: X:-9.18, Y:-4.45, Z:-0.01 [[ 9.22814451e-01 -2.91368544e-01 -2.52027500e-01 -9.17504303e+00] [ 3.04222501e-01 9.52515971e-01 1.27276903e-02 -4.44929320e+00] [ 2.36351770e-01 -8.84177329e-02 9.67636370e-01 -7.09961738e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64241403699998 meters Centerline goodness : 0.773830 Centerline is valid? [False, False] Translation: X:-9.18, Y:-4.45, Z:-0.01 [[ 9.22654660e-01 -2.92244299e-01 -2.51598188e-01 -9.17633735e+00] [ 3.04908375e-01 9.52306090e-01 1.19997180e-02 -4.44842427e+00] [ 2.36091638e-01 -8.77859906e-02 9.67757386e-01 -6.78998249e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.67241403699998 meters Centerline goodness : 0.772477 Centerline is valid? [False, False] Translation: X:-9.18, Y:-4.45, Z:-0.01 [[ 9.22534949e-01 -2.92724859e-01 -2.51478479e-01 -9.17686659e+00] [ 3.05279814e-01 9.52192827e-01 1.15349319e-02 -4.44771533e+00] [ 2.36079443e-01 -8.74126813e-02 9.67794152e-01 -6.55491901e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.70241403699998 meters Centerline goodness : 0.775693 Centerline is valid? [False, False] Translation: X:-9.18, Y:-4.45, Z:-0.01 [[ 9.22456738e-01 -2.93019325e-01 -2.51422437e-01 -9.17702618e+00] [ 3.05494257e-01 9.52128171e-01 1.11894612e-02 -4.44708476e+00] [ 2.36107657e-01 -8.71299045e-02 9.67812768e-01 -6.47104165e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.73241403699998 meters Centerline goodness : 0.774848 Centerline is valid? [False, False] Translation: X:-9.18, Y:-4.45, Z:-0.01 [[ 9.22361461e-01 -2.93326930e-01 -2.51413298e-01 -9.17716155e+00] [ 3.05709350e-01 9.52063932e-01 1.07732247e-02 -4.44641153e+00] [ 2.36201456e-01 -8.67962033e-02 9.67819865e-01 -6.29209930e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.76241403699999 meters Centerline goodness : 0.774326 Centerline is valid? [False, False] Translation: X:-9.18, Y:-4.44, Z:-0.01 [[ 9.22286538e-01 -2.93581550e-01 -2.51390960e-01 -9.17722314e+00] [ 3.05829765e-01 9.52031590e-01 1.01983191e-02 -4.44452541e+00] [ 2.36338097e-01 -8.62886106e-02 9.67831896e-01 -6.38269512e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.792414037 meters Centerline goodness : 0.775733 Centerline is valid? [False, False] Translation: X:-9.18, Y:-4.44, Z:-0.01 [[ 9.22234274e-01 -2.93609410e-01 -2.51550112e-01 -9.17720343e+00] [ 3.05773317e-01 9.52054010e-01 9.78976542e-03 -4.44311216e+00] [ 2.36614926e-01 -8.59457694e-02 9.67794762e-01 -6.09121416e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.822414037 meters Centerline goodness : 0.774165 Centerline is valid? [False, False] Translation: X:-9.18, Y:-4.44, Z:-0.01 [[ 9.22266036e-01 -2.93479228e-01 -2.51585574e-01 -9.17740792e+00] [ 3.05467236e-01 9.52159344e-01 9.07471602e-03 -4.44002227e+00] [ 2.36886315e-01 -8.52204524e-02 9.67792513e-01 -5.89893775e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.852414037 meters Centerline goodness : 0.774387 Centerline is valid? [False, False] Translation: X:-9.18, Y:-4.44, Z:-0.01 [[ 9.22255362e-01 -2.93421306e-01 -2.51692242e-01 -9.17721064e+00] [ 3.05320401e-01 9.52210120e-01 8.67980790e-03 -4.43852709e+00] [ 2.37117060e-01 -8.48517758e-02 9.67768400e-01 -5.86162036e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.882414037 meters Centerline goodness : 0.772604 Centerline is valid? [False, False] Translation: X:-9.18, Y:-4.44, Z:-0.01 [[ 9.22245020e-01 -2.93351870e-01 -2.51811049e-01 -9.17699073e+00] [ 3.05150452e-01 9.52268545e-01 8.23524833e-03 -4.43686721e+00] [ 2.37375915e-01 -8.44351721e-02 9.67741379e-01 -5.77754627e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.912414037 meters Centerline goodness : 0.773159 Centerline is valid? [False, False] Translation: X:-9.18, Y:-4.44, Z:-0.01 [[ 9.23562536e-01 -2.91626926e-01 -2.48969833e-01 -9.18071055e+00] [ 3.03219153e-01 9.52881503e-01 8.65946825e-03 -4.43524466e+00] [ 2.34713414e-01 -8.34899821e-02 9.68472527e-01 -7.66370865e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.942414037 meters Centerline goodness : 0.773178 Centerline is valid? [False, False] Translation: X:-9.18, Y:-4.43, Z:-0.01 [[ 9.23548143e-01 -2.91729103e-01 -2.48903511e-01 -9.18094999e+00] [ 3.03195085e-01 9.52893659e-01 8.14952276e-03 -4.43362969e+00] [ 2.34801125e-01 -8.29927978e-02 9.68494000e-01 -7.57024508e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.972414037 meters Centerline goodness : 0.775351 Centerline is valid? [False, False] Translation: X:-9.18, Y:-4.43, Z:-0.01 [[ 9.23495481e-01 -2.91852938e-01 -2.48953729e-01 -9.18108925e+00] [ 3.03210198e-01 9.52892857e-01 7.66675795e-03 -4.43228395e+00] [ 2.34988664e-01 -8.25655256e-02 9.68485034e-01 -7.31835447e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.002414037 meters Centerline goodness : 0.776330 Centerline is valid? [False, False] Translation: X:-9.18, Y:-4.43, Z:-0.01 [[ 9.23417975e-01 -2.92315900e-01 -2.48697926e-01 -9.18201653e+00] [ 3.03480231e-01 9.52812729e-01 6.90311076e-03 -4.43002057e+00] [ 2.34944660e-01 -8.18493604e-02 9.68556497e-01 -7.17306309e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.032414037 meters Centerline goodness : 0.776284 Centerline is valid? [False, False] Translation: X:-9.18, Y:-4.43, Z:-0.01 [[ 9.23311371e-01 -2.92840036e-01 -2.48477012e-01 -9.18280152e+00] [ 3.03874973e-01 9.52690557e-01 6.37998882e-03 -4.42926083e+00] [ 2.34853386e-01 -8.13966614e-02 9.68616782e-01 -6.87690997e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.062414037 meters Centerline goodness : 0.776406 Centerline is valid? [False, False] Translation: X:-9.18, Y:-4.43, Z:-0.01 [[ 9.23185383e-01 -2.93499111e-01 -2.48167322e-01 -9.18381111e+00] [ 3.04404751e-01 9.52524690e-01 5.87050206e-03 -4.42891156e+00] [ 2.34662514e-01 -8.09628735e-02 9.68699395e-01 -6.55413198e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.092414037 meters Centerline goodness : 0.781450 Centerline is valid? [False, False] Translation: X:-9.19, Y:-4.43, Z:-0.01 [[ 9.24846671e-01 -2.93916065e-01 -2.41395904e-01 -9.19193122e+00] [ 3.03722037e-01 9.52753922e-01 3.59008295e-03 -4.43068187e+00] [ 2.28935711e-01 -7.66375320e-02 9.70420079e-01 -1.07579134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.122414037 meters Centerline goodness : 0.783515 Centerline is valid? [False, False] Translation: X:-9.19, Y:-4.43, Z:-0.01 [[ 9.24700055e-01 -2.94615709e-01 -2.41104525e-01 -9.19291043e+00] [ 3.04306705e-01 9.52569019e-01 3.11329545e-03 -4.43045987e+00] [ 2.28751475e-01 -7.62485880e-02 9.70494161e-01 -1.04321379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.15241403699997 meters Centerline goodness : 0.782080 Centerline is valid? [False, False] Translation: X:-9.19, Y:-4.43, Z:-0.01 [[ 9.23418200e-01 -2.99480782e-01 -2.40021019e-01 -9.19287658e+00] [ 3.08184908e-01 9.51325540e-01 -1.33390070e-03 -4.42838765e+00] [ 2.28737604e-01 -7.27391076e-02 9.70766775e-01 -1.01525544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18241403699997 meters Centerline goodness : 0.777334 Centerline is valid? [False, False] Translation: X:-9.19, Y:-4.43, Z:-0.01 [[ 9.23286520e-01 -3.00042875e-01 -2.39825509e-01 -9.19322717e+00] [ 3.08706470e-01 9.51156151e-01 -1.51403114e-03 -4.42889279e+00] [ 2.28565783e-01 -7.26378019e-02 9.70814829e-01 -1.01553650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.21241403699997 meters Centerline goodness : 0.778490 Centerline is valid? [False, False] Translation: X:-9.19, Y:-4.43, Z:-0.01 [[ 9.23191133e-01 -3.00457795e-01 -2.39673208e-01 -9.19345143e+00] [ 3.09094644e-01 9.51029884e-01 -1.63100242e-03 -4.42944587e+00] [ 2.28426431e-01 -7.25759778e-02 9.70852251e-01 -1.01723641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24241403699997 meters Centerline goodness : 0.777793 Centerline is valid? [False, False] Translation: X:-9.19, Y:-4.43, Z:-0.01 [[ 9.22960921e-01 -3.01514738e-01 -2.39232109e-01 -9.19450503e+00] [ 3.10008792e-01 9.50731075e-01 -2.22976200e-03 -4.42955374e+00] [ 2.28117706e-01 -7.21060737e-02 9.70959848e-01 -1.00118815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.27241403699998 meters Centerline goodness : 0.780936 Centerline is valid? [False, False] Translation: X:-9.20, Y:-4.43, Z:-0.02 [[ 9.25715898e-01 -2.98818525e-01 -2.31856776e-01 -9.20306006e+00] [ 3.06219740e-01 9.51951314e-01 -4.26213946e-03 -4.43274306e+00] [ 2.21989969e-01 -6.70535915e-02 9.72740597e-01 -1.54348456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.30241403699998 meters Centerline goodness : 0.782130 Centerline is valid? [False, False] Translation: X:-9.20, Y:-4.43, Z:-0.02 [[ 9.25637367e-01 -2.99111870e-01 -2.31792047e-01 -9.20348925e+00] [ 3.06412907e-01 9.51887008e-01 -4.71744621e-03 -4.43163854e+00] [ 2.22050882e-01 -6.66574304e-02 9.72753922e-01 -1.51772391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.33241403699998 meters Centerline goodness : 0.782130 Centerline is valid? [False, False] Translation: X:-9.20, Y:-4.43, Z:-0.02 [[ 9.25637367e-01 -2.99111870e-01 -2.31792047e-01 -9.20348925e+00] [ 3.06412907e-01 9.51887008e-01 -4.71744621e-03 -4.43163854e+00] [ 2.22050882e-01 -6.66574304e-02 9.72753922e-01 -1.51772391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.36241403699998 meters Centerline goodness : 0.782305 Centerline is valid? [False, False] Translation: X:-9.22, Y:-4.44, Z:-0.02 [[ 9.27560013e-01 -2.96083573e-01 -2.27962586e-01 -9.21911563e+00] [ 3.02099455e-01 9.53235151e-01 -8.86941506e-03 -4.43546479e+00] [ 2.19928038e-01 -6.06404583e-02 9.73629495e-01 -1.76354784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.39241403699998 meters Centerline goodness : 0.782496 Centerline is valid? [False, False] Translation: X:-9.22, Y:-4.43, Z:-0.02 [[ 9.27530132e-01 -2.96144447e-01 -2.28005089e-01 -9.21935410e+00] [ 3.02098230e-01 9.53232755e-01 -9.16372509e-03 -4.43487983e+00] [ 2.20055705e-01 -6.03803027e-02 9.73616817e-01 -1.72230316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.42241403699998 meters Centerline goodness : 0.784942 Centerline is valid? [False, False] Translation: X:-9.23, Y:-4.44, Z:-0.02 [[ 0.93026811 -0.29286796 -0.22097421 -9.22834255] [ 0.29805631 0.9544931 -0.01026439 -4.43777743] [ 0.21392447 -0.05631413 0.97522564 -0.02179939] [ 0. 0. 0. 1. ]] SLAMing on 237.45241403699998 meters Centerline goodness : 0.784848 Centerline is valid? [False, False] Translation: X:-9.23, Y:-4.44, Z:-0.02 [[ 0.9302857 -0.2928918 -0.22086855 -9.22932583] [ 0.29795224 0.95451943 -0.01082186 -4.436404 ] [ 0.21399295 -0.05574086 0.97524355 -0.02085814] [ 0. 0. 0. 1. ]] SLAMing on 237.48241403699998 meters Centerline goodness : 0.785797 Centerline is valid? [False, False] Translation: X:-9.23, Y:-4.44, Z:-0.02 [[ 0.93028186 -0.29283611 -0.22095855 -9.22925798] [ 0.2978733 0.95454267 -0.01094521 -4.43592125] [ 0.21411952 -0.05563552 0.97522178 -0.02070348] [ 0. 0. 0. 1. ]] SLAMing on 237.51241403699999 meters Centerline goodness : 0.780778 Centerline is valid? [False, False] Translation: X:-9.23, Y:-4.44, Z:-0.02 [[ 0.93030162 -0.29268107 -0.22108074 -9.22907482] [ 0.29769125 0.95459788 -0.01108228 -4.43545936] [ 0.21428678 -0.05550394 0.97519254 -0.02045006] [ 0. 0. 0. 1. ]] SLAMing on 237.542414037 meters Centerline goodness : 0.782164 Centerline is valid? [False, False] Translation: X:-9.23, Y:-4.44, Z:-0.02 [[ 0.93027939 -0.2926063 -0.22127315 -9.22866162] [ 0.2976032 0.95462413 -0.0111849 -4.43536127] [ 0.21450546 -0.05544652 0.97514773 -0.0202897 ] [ 0. 0. 0. 1. ]] SLAMing on 237.572414037 meters Centerline goodness : 0.786346 Centerline is valid? [False, False] Translation: X:-9.23, Y:-4.44, Z:-0.02 [[ 0.93028033 -0.29252564 -0.22137581 -9.22833169] [ 0.29752955 0.95464726 -0.01117065 -4.43544769] [ 0.21460351 -0.05547401 0.97512459 -0.02028955] [ 0. 0. 0. 1. ]] SLAMing on 237.602414037 meters Centerline goodness : 0.782014 Centerline is valid? [False, False] Translation: X:-9.23, Y:-4.44, Z:-0.02 [[ 0.93030737 -0.29217507 -0.22172488 -9.2271612 ] [ 0.29722265 0.95474457 -0.01102329 -4.43568291] [ 0.21491136 -0.05564661 0.97504695 -0.02045537] [ 0. 0. 0. 1. ]] SLAMing on 237.632414037 meters Centerline goodness : 0.780820 Centerline is valid? [False, False] Translation: X:-9.23, Y:-4.44, Z:-0.02 [[ 0.9303124 -0.29201295 -0.22191729 -9.22655726] [ 0.29707755 0.95479025 -0.01097791 -4.43564939] [ 0.21509016 -0.05571376 0.97500369 -0.02051641] [ 0. 0. 0. 1. ]] SLAMing on 237.662414037 meters Centerline goodness : 0.780268 Centerline is valid? [False, False] Translation: X:-9.23, Y:-4.44, Z:-0.02 [[ 0.93033956 -0.29184227 -0.22202792 -9.2261588 ] [ 0.29691537 0.95484103 -0.01094848 -4.43541559] [ 0.2151966 -0.0557377 0.97497884 -0.02058708] [ 0. 0. 0. 1. ]] SLAMing on 237.692414037 meters Centerline goodness : 0.781160 Centerline is valid? [False, False] Translation: X:-9.23, Y:-4.44, Z:-0.02 [[ 0.93030895 -0.29189549 -0.22208621 -9.22621307] [ 0.29693814 0.9548321 -0.01110817 -4.43532903] [ 0.21529747 -0.05561183 0.97496376 -0.02027111] [ 0. 0. 0. 1. ]] SLAMing on 237.722414037 meters Centerline goodness : 0.781684 Centerline is valid? [False, False] Translation: X:-9.23, Y:-4.44, Z:-0.02 [[ 0.9303013 -0.29191472 -0.22209297 -9.2261921 ] [ 0.29692975 0.9548332 -0.01123732 -4.4352997 ] [ 0.21534208 -0.05549191 0.97496074 -0.0201179 ] [ 0. 0. 0. 1. ]] SLAMing on 237.752414037 meters Centerline goodness : 0.781681 Centerline is valid? [False, False] Translation: X:-9.23, Y:-4.44, Z:-0.02 [[ 0.93272837 -0.28899879 -0.21563277 -9.23359734] [ 0.29340781 0.95591205 -0.01200024 -4.43855914] [ 0.20959402 -0.05207538 0.97640079 -0.02437312] [ 0. 0. 0. 1. ]] SLAMing on 237.782414037 meters Centerline goodness : 0.785180 Centerline is valid? [False, False] Translation: X:-9.23, Y:-4.44, Z:-0.02 [[ 0.93272333 -0.28900086 -0.21565178 -9.23374984] [ 0.29336789 0.95592177 -0.01220089 -4.43844164] [ 0.2096723 -0.05188525 0.9763941 -0.02394309] [ 0. 0. 0. 1. ]] SLAMing on 237.812414037 meters Centerline goodness : 0.785398 Centerline is valid? [False, False] Translation: X:-9.23, Y:-4.44, Z:-0.02 [[ 0.93276785 -0.28885135 -0.21565953 -9.23427437] [ 0.29313238 0.95598902 -0.01258583 -4.43741036] [ 0.20980358 -0.05147713 0.97638751 -0.02312102] [ 0. 0. 0. 1. ]] SLAMing on 237.842414037 meters Centerline goodness : 0.785506 Centerline is valid? [False, False] Translation: X:-9.23, Y:-4.44, Z:-0.02 [[ 0.93274047 -0.28884753 -0.21578302 -9.2343452 ] [ 0.29306369 0.95600565 -0.0129181 -4.43650888] [ 0.21002114 -0.05118893 0.97635588 -0.02266749] [ 0. 0. 0. 1. ]] SLAMing on 237.872414037 meters Centerline goodness : 0.792015 Centerline is valid? [False, False] Translation: X:-9.23, Y:-4.44, Z:-0.02 [[ 0.93272571 -0.28879835 -0.21591262 -9.23445659] [ 0.29296016 0.95603357 -0.01319721 -4.43563912] [ 0.21023104 -0.05094441 0.9763235 -0.02224822] [ 0. 0. 0. 1. ]] SLAMing on 237.90241403699997 meters Centerline goodness : 0.787979 Centerline is valid? [False, False] Translation: X:-9.23, Y:-4.43, Z:-0.02 [[ 0.93271275 -0.28869281 -0.21610965 -9.2341967 ] [ 0.29282212 0.95607325 -0.01338467 -4.43494685] [ 0.21048071 -0.05079764 0.97627735 -0.02199286] [ 0. 0. 0. 1. ]] SLAMing on 237.93241403699997 meters Centerline goodness : 0.791369 Centerline is valid? [False, False] Translation: X:-9.23, Y:-4.43, Z:-0.02 [[ 0.9328034 -0.28818492 -0.2163961 -9.23314146] [ 0.29236405 0.95621647 -0.01316561 -4.43492747] [ 0.21071565 -0.05098552 0.97621688 -0.02226473] [ 0. 0. 0. 1. ]] SLAMing on 237.96241403699997 meters Centerline goodness : 0.791605 Centerline is valid? [False, False] Translation: X:-9.23, Y:-4.44, Z:-0.02 [[ 0.93283202 -0.28799017 -0.21653193 -9.23251149] [ 0.29219266 0.95627018 -0.01306849 -4.43523462] [ 0.21082663 -0.05107834 0.97618806 -0.02241691] [ 0. 0. 0. 1. ]] SLAMing on 237.99241403699997 meters Centerline goodness : 0.791835 Centerline is valid? [False, False] Translation: X:-9.23, Y:-4.44, Z:-0.02 [[ 0.93283778 -0.28789456 -0.21663426 -9.2320846 ] [ 0.29210333 0.95629768 -0.01305366 -4.43540535] [ 0.21092492 -0.05110264 0.97616556 -0.02245842] [ 0. 0. 0. 1. ]] SLAMing on 238.02241403699998 meters Centerline goodness : 0.791507 Centerline is valid? [False, False] Translation: X:-9.23, Y:-4.44, Z:-0.02 [[ 0.93290346 -0.28748298 -0.21689785 -9.23123163] [ 0.29172305 0.95641548 -0.01292651 -4.43505502] [ 0.21116062 -0.05121492 0.97610872 -0.02266111] [ 0. 0. 0. 1. ]] SLAMing on 238.05241403699998 meters Centerline goodness : 0.792933 Centerline is valid? [False, False] Translation: X:-9.23, Y:-4.43, Z:-0.02 [[ 0.9329078 -0.2873558 -0.21704765 -9.23085416] [ 0.29158997 0.95645539 -0.01297619 -4.4345992 ] [ 0.21132517 -0.05118333 0.97607476 -0.02268613] [ 0. 0. 0. 1. ]] SLAMing on 238.08241403699998 meters Centerline goodness : 0.798941 Centerline is valid? [False, False] Translation: X:-9.23, Y:-4.43, Z:-0.02 [[ 0.9329655 -0.28702413 -0.21723842 -9.23044842] [ 0.29126128 0.9565556 -0.01297105 -4.4340554 ] [ 0.21152363 -0.0511716 0.97603239 -0.02261697] [ 0. 0. 0. 1. ]] SLAMing on 238.11241403699998 meters Centerline goodness : 0.797501 Centerline is valid? [False, False] Translation: X:-9.23, Y:-4.43, Z:-0.02 [[ 0.93298318 -0.28691099 -0.21731192 -9.23028211] [ 0.29114251 0.95659134 -0.01300203 -4.43396438] [ 0.21160913 -0.05113806 0.97601561 -0.02250575] [ 0. 0. 0. 1. ]] SLAMing on 238.14241403699998 meters Centerline goodness : 0.797086 Centerline is valid? [False, False] Translation: X:-9.23, Y:-4.43, Z:-0.02 [[ 0.93296765 -0.28695872 -0.21731559 -9.2303043 ] [ 0.29116278 0.95658335 -0.01313519 -4.43385541] [ 0.21164973 -0.05101951 0.97601301 -0.02236611] [ 0. 0. 0. 1. ]] SLAMing on 238.17241403699998 meters Centerline goodness : 0.798477 Centerline is valid? [False, False] Translation: X:-9.23, Y:-4.43, Z:-0.02 [[ 0.93296793 -0.28700554 -0.21725255 -9.23070529] [ 0.29115811 0.95658162 -0.01336251 -4.43356494] [ 0.21165491 -0.05078804 0.97602396 -0.02196617] [ 0. 0. 0. 1. ]] SLAMing on 238.20241403699998 meters Centerline goodness : 0.797541 Centerline is valid? [False, False] Translation: X:-9.23, Y:-4.43, Z:-0.02 [[ 0.93293174 -0.28713528 -0.2172365 -9.23090755] [ 0.29124777 0.95655157 -0.01355854 -4.43307117] [ 0.21169105 -0.05062046 0.97602483 -0.02181083] [ 0. 0. 0. 1. ]] SLAMing on 238.23241403699998 meters Centerline goodness : 0.795601 Centerline is valid? [False, False] Translation: X:-9.23, Y:-4.43, Z:-0.02 [[ 0.93289976 -0.28726956 -0.21719632 -9.23110099] [ 0.29134359 0.95651977 -0.01374173 -4.43261774] [ 0.21170015 -0.0504591 0.97603121 -0.02172392] [ 0. 0. 0. 1. ]] SLAMing on 238.26241403699999 meters Centerline goodness : 0.800909 Centerline is valid? [False, False] Translation: X:-9.23, Y:-4.43, Z:-0.02 [[ 0.93286493 -0.28745182 -0.21710477 -9.2311802 ] [ 0.29148751 0.95647338 -0.0139174 -4.43249546] [ 0.21165552 -0.05030028 0.97604909 -0.0217206 ] [ 0. 0. 0. 1. ]] SLAMing on 238.292414037 meters Centerline goodness : 0.796400 Centerline is valid? [False, False] Translation: X:-9.24, Y:-4.43, Z:-0.02 [[ 0.93418435 -0.28624059 -0.21299279 -9.23540454] [ 0.29009317 0.95690131 -0.0136319 -4.43431708] [ 0.20771509 -0.04905305 0.97695867 -0.02499773] [ 0. 0. 0. 1. ]] SLAMing on 238.322414037 meters Centerline goodness : 0.797426 Centerline is valid? [False, False] Translation: X:-9.24, Y:-4.43, Z:-0.02 [[ 0.93413156 -0.2864818 -0.21289997 -9.23560654] [ 0.29027746 0.9568415 -0.01390484 -4.43389434] [ 0.20769501 -0.04881112 0.97697505 -0.02493808] [ 0. 0. 0. 1. ]] SLAMing on 238.352414037 meters Centerline goodness : 0.800071 Centerline is valid? [False, False] Translation: X:-9.24, Y:-4.43, Z:-0.02 [[ 0.93405998 -0.28694836 -0.21258551 -9.23673235] [ 0.29061131 0.95673121 -0.01450733 -4.43232352] [ 0.20755004 -0.04822904 0.97703477 -0.02458046] [ 0. 0. 0. 1. ]] SLAMing on 238.382414037 meters Centerline goodness : 0.797982 Centerline is valid? [False, False] Translation: X:-9.24, Y:-4.43, Z:-0.02 [[ 0.93396409 -0.28737698 -0.21242775 -9.23758915] [ 0.29091571 0.95662946 -0.01510379 -4.43111442] [ 0.20755513 -0.04769218 0.97706004 -0.02403964] [ 0. 0. 0. 1. ]] SLAMing on 238.412414037 meters Centerline goodness : 0.799990 Centerline is valid? [False, False] Translation: X:-9.24, Y:-4.43, Z:-0.02 [[ 0.93389259 -0.28772117 -0.21227614 -9.23839098] [ 0.29115332 0.95654906 -0.01560934 -4.42999186] [ 0.20754368 -0.04722746 0.97708505 -0.02360985] [ 0. 0. 0. 1. ]] SLAMing on 238.442414037 meters Centerline goodness : 0.796589 Centerline is valid? [False, False] Translation: X:-9.24, Y:-4.43, Z:-0.02 [[ 0.93376305 -0.28844706 -0.21186046 -9.2397362 ] [ 0.2917163 0.95636491 -0.01636331 -4.42839259] [ 0.20733586 -0.0465237 0.97716293 -0.02325517] [ 0. 0. 0. 1. ]] SLAMing on 238.472414037 meters Centerline goodness : 0.798559 Centerline is valid? [False, False] Translation: X:-9.24, Y:-4.43, Z:-0.02 [[ 0.93365797 -0.28892111 -0.21167754 -9.24032365] [ 0.29210228 0.95623968 -0.01679067 -4.42800823] [ 0.20726564 -0.04615475 0.97719532 -0.02300496] [ 0. 0. 0. 1. ]] SLAMing on 238.502414037 meters Centerline goodness : 0.795333 Centerline is valid? [False, False] Translation: X:-9.24, Y:-4.43, Z:-0.02 [[ 0.93343262 -0.29006678 -0.21110378 -9.24171976] [ 0.29311621 0.95591824 -0.01741273 -4.4277725 ] [ 0.2068488 -0.04562433 0.97730855 -0.0229531 ] [ 0. 0. 0. 1. ]] SLAMing on 238.532414037 meters Centerline goodness : 0.795473 Centerline is valid? [False, False] Translation: X:-9.24, Y:-4.43, Z:-0.02 [[ 0.93333664 -0.29070499 -0.21064978 -9.24260829] [ 0.29369441 0.95573609 -0.01766673 -4.4278051 ] [ 0.20646141 -0.04537766 0.97740194 -0.02312295] [ 0. 0. 0. 1. ]] SLAMing on 238.562414037 meters Centerline goodness : 0.794965 Centerline is valid? [False, False] Translation: X:-9.24, Y:-4.43, Z:-0.02 [[ 0.93321656 -0.29144637 -0.21015677 -9.24370561] [ 0.29435949 0.95552521 -0.01800182 -4.427933 ] [ 0.20605666 -0.04506204 0.97750195 -0.02310341] [ 0. 0. 0. 1. ]] SLAMing on 238.592414037 meters Centerline goodness : 0.797574 Centerline is valid? [False, False] Translation: X:-9.25, Y:-4.43, Z:-0.03 [[ 0.93523468 -0.29074511 -0.20199847 -9.25397799] [ 0.29273253 0.95597145 -0.02064577 -4.43083489] [ 0.19910743 -0.03982289 0.9791682 -0.02812263] [ 0. 0. 0. 1. ]] SLAMing on 238.622414037 meters Centerline goodness : 0.794668 Centerline is valid? [False, False] Translation: X:-9.25, Y:-4.43, Z:-0.03 [[ 0.93513622 -0.29122529 -0.20176246 -9.25457069] [ 0.29316686 0.95583336 -0.02087553 -4.4307413 ] [ 0.19893077 -0.0396286 0.97921199 -0.02810632] [ 0. 0. 0. 1. ]] SLAMing on 238.65241403699997 meters Centerline goodness : 0.796009 Centerline is valid? [False, False] Translation: X:-9.26, Y:-4.43, Z:-0.03 [[ 0.93503622 -0.2917602 -0.20145288 -9.25535171] [ 0.29363567 0.95568238 -0.02119651 -4.43057674] [ 0.19870926 -0.03933425 0.97926883 -0.02798923] [ 0. 0. 0. 1. ]] SLAMing on 238.68241403699997 meters Centerline goodness : 0.799301 Centerline is valid? [False, False] Translation: X:-9.26, Y:-4.43, Z:-0.03 [[ 0.93492181 -0.29233592 -0.20114901 -9.25623476] [ 0.29413609 0.95552014 -0.02156914 -4.43008616] [ 0.19850736 -0.03899972 0.97932316 -0.02782333] [ 0. 0. 0. 1. ]] SLAMing on 238.71241403699997 meters Centerline goodness : 0.793787 Centerline is valid? [False, False] Translation: X:-9.26, Y:-4.43, Z:-0.03 [[ 0.93485368 -0.29269505 -0.2009433 -9.25700699] [ 0.29442935 0.95542247 -0.0218921 -4.4296004 ] [ 0.19839345 -0.0386977 0.97935822 -0.02752535] [ 0. 0. 0. 1. ]] SLAMing on 238.74241403699997 meters Centerline goodness : 0.802860 Centerline is valid? [False, False] Translation: X:-9.26, Y:-4.43, Z:-0.03 [[ 0.93477001 -0.29308529 -0.20076362 -9.25774342] [ 0.29473212 0.95531896 -0.02233071 -4.42893007] [ 0.19833809 -0.03829741 0.97938517 -0.02712447] [ 0. 0. 0. 1. ]] SLAMing on 238.77241403699998 meters Centerline goodness : 0.798415 Centerline is valid? [False, False] Translation: X:-9.27, Y:-4.43, Z:-0.03 [[ 0.93717921 -0.28971861 -0.19431485 -9.27057169] [ 0.29028809 0.95658109 -0.02618112 -4.43161656] [ 0.19346307 -0.03187089 0.98058977 -0.03113047] [ 0. 0. 0. 1. ]] SLAMing on 238.80241403699998 meters Centerline goodness : 0.799693 Centerline is valid? [False, False] Translation: X:-9.27, Y:-4.43, Z:-0.03 [[ 0.9371554 -0.28982932 -0.19426456 -9.27053175] [ 0.2903708 0.956552 -0.02632624 -4.43088416] [ 0.19345427 -0.03173698 0.98059584 -0.03138092] [ 0. 0. 0. 1. ]] SLAMing on 238.83241403699998 meters Centerline goodness : 0.798076 Centerline is valid? [False, False] Translation: X:-9.29, Y:-4.43, Z:-0.03 [[ 0.93843634 -0.28726968 -0.19186812 -9.2862841 ] [ 0.28667165 0.9575114 -0.03148463 -4.43351416] [ 0.19276049 -0.02545683 0.98091556 -0.0334438 ] [ 0. 0. 0. 1. ]] SLAMing on 238.86241403699998 meters Centerline goodness : 0.798547 Centerline is valid? [False, False] Translation: X:-9.29, Y:-4.43, Z:-0.03 [[ 0.93840855 -0.28739367 -0.19181832 -9.28627509] [ 0.28669962 0.95748663 -0.03197934 -4.43145982] [ 0.19285414 -0.02498456 0.9809093 -0.03364886] [ 0. 0. 0. 1. ]] SLAMing on 238.89241403699998 meters Centerline goodness : 0.798468 Centerline is valid? [False, False] Translation: X:-9.29, Y:-4.43, Z:-0.03 [[ 0.9383582 -0.28754274 -0.19184123 -9.28639539] [ 0.2867566 0.95745319 -0.03246596 -4.42991796] [ 0.19301435 -0.02454703 0.98088883 -0.03347307] [ 0. 0. 0. 1. ]] SLAMing on 238.92241403699998 meters Centerline goodness : 0.796124 Centerline is valid? [False, False] Translation: X:-9.31, Y:-4.44, Z:-0.04 [[ 0.93976415 -0.28530717 -0.18826356 -9.31410168] [ 0.28491397 0.9580917 -0.02973755 -4.43550525] [ 0.18885809 -0.02569263 0.98166823 -0.04136596] [ 0. 0. 0. 1. ]] SLAMing on 238.95241403699998 meters Centerline goodness : 0.792276 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.43, Z:-0.04 [[ 0.94066382 -0.28218133 -0.18848151 -9.3166998 ] [ 0.28230621 0.95895117 -0.0267553 -4.43466019] [ 0.18829441 -0.02804176 0.98171222 -0.0410687 ] [ 0. 0. 0. 1. ]] SLAMing on 238.98241403699998 meters Centerline goodness : 0.791081 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.44, Z:-0.04 [[ 0.94240935 -0.27880573 -0.18474846 -9.33440271] [ 0.27808453 0.96007728 -0.03034169 -4.43779588] [ 0.18583223 -0.0227814 0.98231736 -0.04315889] [ 0. 0. 0. 1. ]] SLAMing on 239.01241403699999 meters Centerline goodness : 0.791359 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.44, Z:-0.04 [[ 0.94235799 -0.27904757 -0.18464527 -9.33484899] [ 0.27825548 0.96001547 -0.03072762 -4.43660708] [ 0.18583678 -0.02242214 0.98232476 -0.04303028] [ 0. 0. 0. 1. ]] SLAMing on 239.042414037 meters Centerline goodness : 0.793986 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.44, Z:-0.04 [[ 0.94232104 -0.27930216 -0.18444882 -9.33526246] [ 0.27845393 0.95994834 -0.03102567 -4.43568016] [ 0.18572688 -0.02212436 0.9823523 -0.04312092] [ 0. 0. 0. 1. ]] SLAMing on 239.072414037 meters Centerline goodness : 0.789453 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.44, Z:-0.05 [[ 0.94438352 -0.27645521 -0.17807944 -9.34941026] [ 0.27468511 0.96089623 -0.03502187 -4.43879886] [ 0.18079784 -0.0158417 0.98339269 -0.04692902] [ 0. 0. 0. 1. ]] SLAMing on 239.102414037 meters Centerline goodness : 0.788275 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.44, Z:-0.05 [[ 0.94432067 -0.27682182 -0.17784304 -9.35013104] [ 0.27502773 0.96079294 -0.03516629 -4.43882277] [ 0.18060513 -0.01570352 0.98343032 -0.04679669] [ 0. 0. 0. 1. ]] SLAMing on 239.132414037 meters Centerline goodness : 0.792760 Centerline is valid? [False, False] Translation: X:-9.36, Y:-4.44, Z:-0.05 [[ 0.94552844 -0.27632461 -0.1721066 -9.3573559 ] [ 0.27435806 0.96096864 -0.03559386 -4.44062556] [ 0.17522451 -0.01356383 0.98443506 -0.05057886] [ 0. 0. 0. 1. ]] SLAMing on 239.162414037 meters Centerline goodness : 0.793753 Centerline is valid? [False, False] Translation: X:-9.37, Y:-4.44, Z:-0.05 [[ 9.46987358e-01 -2.73486621e-01 -1.68582358e-01 -9.37450879e+00] [ 2.70808177e-01 9.61837436e-01 -3.91366569e-02 -4.44474839e+00] [ 1.72852175e-01 -8.59156172e-03 9.84910306e-01 -5.31008238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.192414037 meters Centerline goodness : 0.787171 Centerline is valid? [False, False] Translation: X:-9.37, Y:-4.44, Z:-0.05 [[ 9.46918490e-01 -2.73799305e-01 -1.68461612e-01 -9.37477624e+00] [ 2.71119929e-01 9.61748502e-01 -3.91638054e-02 -4.44493064e+00] [ 1.72740725e-01 -8.58836876e-03 9.84929887e-01 -5.32068955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.222414037 meters Centerline goodness : 0.793515 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.45, Z:-0.06 [[ 9.47798242e-01 -2.73302612e-01 -1.64268604e-01 -9.39878287e+00] [ 2.70743654e-01 9.61892684e-01 -3.82143829e-02 -4.45182140e+00] [ 1.68452859e-01 -8.25515705e-03 9.85675143e-01 -6.14971023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.252414037 meters Centerline goodness : 0.793515 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.45, Z:-0.06 [[ 9.47798242e-01 -2.73302612e-01 -1.64268604e-01 -9.39878287e+00] [ 2.70743654e-01 9.61892684e-01 -3.82143829e-02 -4.45182140e+00] [ 1.68452859e-01 -8.25515705e-03 9.85675143e-01 -6.14971023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.282414037 meters Centerline goodness : 0.791810 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.45, Z:-0.06 [[ 9.47758847e-01 -2.73584255e-01 -1.64026896e-01 -9.39911248e+00] [ 2.71034259e-01 9.61812429e-01 -3.81743487e-02 -4.45247408e+00] [ 1.68207008e-01 -8.27683152e-03 9.85716945e-01 -6.16865508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.312414037 meters Centerline goodness : 0.788798 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.45, Z:-0.06 [[ 9.47686471e-01 -2.73982916e-01 -1.63779469e-01 -9.39955875e+00] [ 2.71434272e-01 9.61699049e-01 -3.81886868e-02 -4.45296523e+00] [ 1.67969607e-01 -8.26445910e-03 9.85757531e-01 -6.18647153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.342414037 meters Centerline goodness : 0.788959 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.46, Z:-0.07 [[ 9.48518269e-01 -2.73475623e-01 -1.59762878e-01 -9.42621693e+00] [ 2.71252183e-01 9.61834998e-01 -3.59956880e-02 -4.45972855e+00] [ 1.63509471e-01 -9.19346187e-03 9.86498927e-01 -7.03656576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.372414037 meters Centerline goodness : 0.789849 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.46, Z:-0.07 [[ 9.48461727e-01 -2.73788157e-01 -1.59563147e-01 -9.42683109e+00] [ 2.71541965e-01 9.61747509e-01 -3.61481757e-02 -4.45986184e+00] [ 1.63356401e-01 -9.04292919e-03 9.86525677e-01 -7.01412600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40241403699997 meters Centerline goodness : 0.788605 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.46, Z:-0.07 [[ 9.48400592e-01 -2.74122297e-01 -1.59352699e-01 -9.42748220e+00] [ 2.71851748e-01 9.61653823e-01 -3.63118780e-02 -4.45981047e+00] [ 1.63196028e-01 -8.88210325e-03 9.86553681e-01 -6.99839854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.43241403699997 meters Centerline goodness : 0.791233 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.46, Z:-0.07 [[ 9.48360087e-01 -2.74343356e-01 -1.59213278e-01 -9.42797940e+00] [ 2.72062740e-01 9.61591435e-01 -3.63837588e-02 -4.46008427e+00] [ 1.63079767e-01 -8.81109615e-03 9.86573542e-01 -6.97756576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46241403699997 meters Centerline goodness : 0.790368 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.46, Z:-0.07 [[ 9.48368188e-01 -2.74277995e-01 -1.59277626e-01 -9.42778605e+00] [ 2.72007428e-01 9.61609455e-01 -3.63209953e-02 -4.46014453e+00] [ 1.63124921e-01 -8.87902070e-03 9.86565468e-01 -6.98096439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.49241403699997 meters Centerline goodness : 0.790163 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.46, Z:-0.07 [[ 9.48342163e-01 -2.74354144e-01 -1.59301427e-01 -9.42790482e+00] [ 2.72080454e-01 9.61587789e-01 -3.63476278e-02 -4.46007437e+00] [ 1.63154429e-01 -8.87281651e-03 9.86560645e-01 -6.97080764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52241403699998 meters Centerline goodness : 0.791307 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.46, Z:-0.07 [[ 9.48313264e-01 -2.74458109e-01 -1.59294380e-01 -9.42802370e+00] [ 2.72176068e-01 9.61558503e-01 -3.64065140e-02 -4.46023966e+00] [ 1.63162929e-01 -8.83133792e-03 9.86559611e-01 -6.95332839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.55241403699998 meters Centerline goodness : 0.793005 Centerline is valid? [False, False] Translation: X:-9.44, Y:-4.47, Z:-0.07 [[ 9.50154748e-01 -2.71527093e-01 -1.53228562e-01 -9.44231864e+00] [ 2.68517108e-01 9.62426875e-01 -4.04113066e-02 -4.46509839e+00] [ 1.58444051e-01 -2.74749546e-03 9.87364135e-01 -7.22381343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.58241403699998 meters Centerline goodness : 0.789725 Centerline is valid? [False, False] Translation: X:-9.44, Y:-4.47, Z:-0.07 [[ 9.50122416e-01 -2.71648842e-01 -1.53213255e-01 -9.44237136e+00] [ 2.68665529e-01 9.62392021e-01 -4.02545883e-02 -4.46631861e+00] [ 1.58386326e-01 -2.91633351e-03 9.87372912e-01 -7.21423850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.61241403699998 meters Centerline goodness : 0.788481 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.47, Z:-0.08 [[ 9.52257942e-01 -2.68089655e-01 -1.46057345e-01 -9.45461689e+00] [ 2.64609440e-01 9.63390934e-01 -4.31248532e-02 -4.47133399e+00] [ 1.52271649e-01 2.41783152e-03 9.88335722e-01 -7.61710641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.64241403699998 meters Centerline goodness : 0.788184 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.47, Z:-0.08 [[ 9.52182325e-01 -2.68435364e-01 -1.45915301e-01 -9.45492421e+00] [ 2.65006539e-01 9.63295402e-01 -4.28194230e-02 -4.47413344e+00] [ 1.52053786e-01 2.10338868e-03 9.88369982e-01 -7.59396242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.67241403699998 meters Centerline goodness : 0.788413 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.48, Z:-0.08 [[ 9.52173650e-01 -2.68463469e-01 -1.45920203e-01 -9.45488055e+00] [ 2.65066991e-01 9.63288003e-01 -4.26111998e-02 -4.47526479e+00] [ 1.52002731e-01 1.89463266e-03 9.88378258e-01 -7.58861101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.70241403699998 meters Centerline goodness : 0.792085 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.48, Z:-0.08 [[ 9.52192198e-01 -2.68335307e-01 -1.46034861e-01 -9.45465488e+00] [ 2.64978192e-01 9.63324206e-01 -4.23442042e-02 -4.47615744e+00] [ 1.52041361e-01 1.62376755e-03 9.88372798e-01 -7.58302242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.73241403699998 meters Centerline goodness : 0.791197 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.48, Z:-0.08 [[ 9.52223886e-01 -2.68160658e-01 -1.46149007e-01 -9.45439210e+00] [ 2.64831467e-01 9.63373145e-01 -4.21482739e-02 -4.47674450e+00] [ 1.52098538e-01 1.42973709e-03 9.88364301e-01 -7.57524122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.76241403699999 meters Centerline goodness : 0.795310 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.48, Z:-0.08 [[ 9.52337674e-01 -2.67534341e-01 -1.46554872e-01 -9.45338490e+00] [ 2.64291160e-01 9.63547972e-01 -4.15389963e-02 -4.47810565e+00] [ 1.52325758e-01 8.25993814e-04 9.88329996e-01 -7.57603391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.792414037 meters Centerline goodness : 0.793502 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.48, Z:-0.08 [[ 9.52415108e-01 -2.67155890e-01 -1.46741927e-01 -9.45277427e+00] [ 2.63973733e-01 9.63653233e-01 -4.11134469e-02 -4.47905947e+00] [ 1.52392032e-01 4.21053670e-04 9.88320035e-01 -7.59221984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.822414037 meters Centerline goodness : 0.794628 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.48, Z:-0.08 [[ 9.52442201e-01 -2.67001851e-01 -1.46846400e-01 -9.45253347e+00] [ 2.63845350e-01 9.63695985e-01 -4.09350583e-02 -4.47992810e+00] [ 1.52445023e-01 2.43537022e-04 9.88311922e-01 -7.58057005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.852414037 meters Centerline goodness : 0.792338 Centerline is valid? [False, False] Translation: X:-9.46, Y:-4.49, Z:-0.08 [[ 9.54446908e-01 -2.63674821e-01 -1.39666345e-01 -9.46148504e+00] [ 2.60307563e-01 9.64603709e-01 -4.21859774e-02 -4.48606007e+00] [ 1.45846055e-01 3.90806978e-03 9.89299578e-01 -7.99806062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.882414037 meters Centerline goodness : 0.791864 Centerline is valid? [False, False] Translation: X:-9.46, Y:-4.49, Z:-0.08 [[ 9.54468757e-01 -2.63667756e-01 -1.39530310e-01 -9.46167153e+00] [ 2.60360315e-01 9.64607016e-01 -4.17828998e-02 -4.48785853e+00] [ 1.45608719e-01 3.55231700e-03 9.89335879e-01 -7.99930990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.912414037 meters Centerline goodness : 0.791082 Centerline is valid? [False, False] Translation: X:-9.47, Y:-4.49, Z:-0.08 [[ 9.56340757e-01 -2.59688923e-01 -1.34067219e-01 -9.47490751e+00] [ 2.55869773e-01 9.65650425e-01 -4.52759950e-02 -4.49315635e+00] [ 1.41219741e-01 8.99553062e-03 9.89937405e-01 -8.26372610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.942414037 meters Centerline goodness : 0.791299 Centerline is valid? [False, False] Translation: X:-9.47, Y:-4.50, Z:-0.08 [[ 9.56472565e-01 -2.59043597e-01 -1.34375024e-01 -9.47342115e+00] [ 2.55361911e-01 9.65832421e-01 -4.42496154e-02 -4.49613767e+00] [ 1.41246334e-01 8.00928038e-03 9.89942081e-01 -8.33786055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.972414037 meters Centerline goodness : 0.788965 Centerline is valid? [False, False] Translation: X:-9.47, Y:-4.50, Z:-0.08 [[ 9.56553041e-01 -2.58564871e-01 -1.34723741e-01 -9.47214731e+00] [ 2.54950727e-01 9.65964961e-01 -4.37243803e-02 -4.49722104e+00] [ 1.41444002e-01 7.47677331e-03 9.89918023e-01 -8.38867222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.002414037 meters Centerline goodness : 0.787898 Centerline is valid? [False, False] Translation: X:-9.47, Y:-4.50, Z:-0.08 [[ 9.56643496e-01 -2.58021478e-01 -1.35122680e-01 -9.47093971e+00] [ 2.54461453e-01 9.66113622e-01 -4.32878561e-02 -4.49791022e+00] [ 1.41713059e-01 7.02753244e-03 9.89882833e-01 -8.42079561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.032414037 meters Centerline goodness : 0.790054 Centerline is valid? [False, False] Translation: X:-9.47, Y:-4.50, Z:-0.08 [[ 9.57415153e-01 -2.54956028e-01 -1.35475636e-01 -9.47109024e+00] [ 2.51765123e-01 9.66941484e-01 -4.04782466e-02 -4.50036857e+00] [ 1.41317186e-01 4.64644655e-03 9.89953465e-01 -8.41669191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.062414037 meters Centerline goodness : 0.789169 Centerline is valid? [False, False] Translation: X:-9.47, Y:-4.50, Z:-0.08 [[ 9.57509443e-01 -2.54416563e-01 -1.35822973e-01 -9.47027413e+00] [ 2.51263299e-01 9.67085025e-01 -4.01660062e-02 -4.50107319e+00] [ 1.41571261e-01 4.33200190e-03 9.89918589e-01 -8.40380691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.092414037 meters Centerline goodness : 0.787986 Centerline is valid? [False, False] Translation: X:-9.47, Y:-4.50, Z:-0.08 [[ 9.57580146e-01 -2.53972841e-01 -1.36154543e-01 -9.46956719e+00] [ 2.50851373e-01 9.67202847e-01 -3.99028939e-02 -4.50175388e+00] [ 1.41823313e-01 4.05566509e-03 9.89883680e-01 -8.38622997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.122414037 meters Centerline goodness : 0.792649 Centerline is valid? [False, False] Translation: X:-9.47, Y:-4.50, Z:-0.08 [[ 9.57742951e-01 -2.53157367e-01 -1.36527607e-01 -9.46863456e+00] [ 2.50108879e-01 9.67418716e-01 -3.93265413e-02 -4.50315472e+00] [ 1.42035166e-01 3.51795094e-03 9.89855361e-01 -8.37213508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.15241403699997 meters Centerline goodness : 0.789583 Centerline is valid? [False, False] Translation: X:-9.47, Y:-4.50, Z:-0.08 [[ 9.57818520e-01 -2.52765046e-01 -1.36724227e-01 -9.46799220e+00] [ 2.49759753e-01 9.67522398e-01 -3.89932837e-02 -4.50393805e+00] [ 1.42139891e-01 3.20028011e-03 9.89841406e-01 -8.38195451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18241403699997 meters Centerline goodness : 0.788888 Centerline is valid? [False, False] Translation: X:-9.47, Y:-4.50, Z:-0.08 [[ 9.57893358e-01 -2.52365820e-01 -1.36937240e-01 -9.46730500e+00] [ 2.49406430e-01 9.67627670e-01 -3.86409656e-02 -4.50486326e+00] [ 1.42255921e-01 2.86089610e-03 9.89825777e-01 -8.38845742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.21241403699997 meters Centerline goodness : 0.789626 Centerline is valid? [False, False] Translation: X:-9.47, Y:-4.51, Z:-0.08 [[ 9.58037717e-01 -2.51655046e-01 -1.37235093e-01 -9.46609407e+00] [ 2.48803216e-01 9.67814707e-01 -3.78371817e-02 -4.50713929e+00] [ 1.42340059e-01 2.10491480e-03 9.89815577e-01 -8.42398277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24241403699997 meters Centerline goodness : 0.789137 Centerline is valid? [False, False] Translation: X:-9.47, Y:-4.51, Z:-0.08 [[ 9.58118717e-01 -2.51178134e-01 -1.37542976e-01 -9.46523300e+00] [ 2.48390400e-01 9.67939515e-01 -3.73537775e-02 -4.50834341e+00] [ 1.42515733e-01 1.62499859e-03 9.89791203e-01 -8.43239294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.27241403699998 meters Centerline goodness : 0.787637 Centerline is valid? [False, False] Translation: X:-9.46, Y:-4.51, Z:-0.08 [[ 9.58207677e-01 -2.50686563e-01 -1.37819788e-01 -9.46432806e+00] [ 2.47960922e-01 9.68067600e-01 -3.68849874e-02 -4.50926363e+00] [ 1.42665443e-01 1.16955639e-03 9.89770278e-01 -8.45675442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.30241403699998 meters Centerline goodness : 0.788630 Centerline is valid? [False, False] Translation: X:-9.46, Y:-4.51, Z:-0.08 [[ 9.58274098e-01 -2.50279667e-01 -1.38097215e-01 -9.46364244e+00] [ 2.47598534e-01 9.68173230e-01 -3.65453559e-02 -4.51006832e+00] [ 1.42848587e-01 8.27799934e-04 9.89744207e-01 -8.45418612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.33241403699998 meters Centerline goodness : 0.788732 Centerline is valid? [False, False] Translation: X:-9.46, Y:-4.51, Z:-0.08 [[ 9.58377297e-01 -2.49617560e-01 -1.38578603e-01 -9.46267060e+00] [ 2.46989776e-01 9.68344421e-01 -3.61266319e-02 -4.51098509e+00] [ 1.43209659e-01 3.95445649e-04 9.89692294e-01 -8.42338136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.36241403699998 meters Centerline goodness : 0.789208 Centerline is valid? [False, False] Translation: X:-9.46, Y:-4.51, Z:-0.08 [[ 9.58410935e-01 -2.49412400e-01 -1.38715299e-01 -9.46249748e+00] [ 2.46806053e-01 9.68397336e-01 -3.59634693e-02 -4.51142561e+00] [ 1.43301262e-01 2.32006747e-04 9.89679087e-01 -8.40226014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.39241403699998 meters Centerline goodness : 0.788362 Centerline is valid? [False, False] Translation: X:-9.46, Y:-4.51, Z:-0.08 [[ 9.58462435e-01 -2.49129054e-01 -1.38868555e-01 -9.46227261e+00] [ 2.46556666e-01 9.68470296e-01 -3.57084865e-02 -4.51227313e+00] [ 1.43386092e-01 -1.37250113e-05 9.89666827e-01 -8.37286427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.42241403699998 meters Centerline goodness : 0.787863 Centerline is valid? [False, False] Translation: X:-9.46, Y:-4.51, Z:-0.08 [[ 9.58482884e-01 -2.48982256e-01 -1.38990636e-01 -9.46206806e+00] [ 2.46435290e-01 9.68508025e-01 -3.55225771e-02 -4.51307433e+00] [ 1.43458038e-01 -2.04415409e-04 9.89656380e-01 -8.35468128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.45241403699998 meters Centerline goodness : 0.787653 Centerline is valid? [False, False] Translation: X:-9.46, Y:-4.52, Z:-0.08 [[ 9.58559805e-01 -2.48533423e-01 -1.39263199e-01 -9.46112566e+00] [ 2.46048585e-01 9.68623099e-01 -3.50626056e-02 -4.51500726e+00] [ 1.43607781e-01 -6.55908719e-04 9.89634465e-01 -8.35395889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.48241403699998 meters Centerline goodness : 0.789459 Centerline is valid? [False, False] Translation: X:-9.46, Y:-4.52, Z:-0.08 [[ 9.58576960e-01 -2.48365472e-01 -1.39444628e-01 -9.46060460e+00] [ 2.45905253e-01 9.68666023e-01 -3.48818373e-02 -4.51552052e+00] [ 1.43738717e-01 -8.53241017e-04 9.89615306e-01 -8.36272442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.51241403699999 meters Centerline goodness : 0.788154 Centerline is valid? [False, False] Translation: X:-9.46, Y:-4.52, Z:-0.08 [[ 9.58594441e-01 -2.48172419e-01 -1.39667995e-01 -9.46001771e+00] [ 2.45734450e-01 9.68715316e-01 -3.47162263e-02 -4.51602594e+00] [ 1.43914136e-01 -1.04245654e-03 9.89589629e-01 -8.36744244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.542414037 meters Centerline goodness : 0.791551 Centerline is valid? [False, False] Translation: X:-9.46, Y:-4.52, Z:-0.08 [[ 9.58621602e-01 -2.48038970e-01 -1.39718623e-01 -9.45979187e+00] [ 2.45627480e-01 9.68749284e-01 -3.45248635e-02 -4.51645081e+00] [ 1.43915828e-01 -1.22245338e-03 9.89589177e-01 -8.37257063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.572414037 meters Centerline goodness : 0.792308 Centerline is valid? [False, False] Translation: X:-9.46, Y:-4.52, Z:-0.08 [[ 9.58605776e-01 -2.48065325e-01 -1.39780399e-01 -9.45987438e+00] [ 2.45652485e-01 9.68742526e-01 -3.45365864e-02 -4.51675018e+00] [ 1.43978547e-01 -1.23043126e-03 9.89580044e-01 -8.33880683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.602414037 meters Centerline goodness : 0.792442 Centerline is valid? [False, False] Translation: X:-9.46, Y:-4.52, Z:-0.08 [[ 9.58603144e-01 -2.48089608e-01 -1.39755353e-01 -9.45988542e+00] [ 2.45685467e-01 9.68736236e-01 -3.44783383e-02 -4.51719784e+00] [ 1.43939792e-01 -1.28481557e-03 9.89585613e-01 -8.33266648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.632414037 meters Centerline goodness : 0.792798 Centerline is valid? [False, False] Translation: X:-9.46, Y:-4.52, Z:-0.08 [[ 9.58592452e-01 -2.48217224e-01 -1.39602011e-01 -9.46009949e+00] [ 2.45854916e-01 9.68703174e-01 -3.41982603e-02 -4.51898449e+00] [ 1.43721508e-01 -1.53964638e-03 9.89616975e-01 -8.32934712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.662414037 meters Centerline goodness : 0.791717 Centerline is valid? [False, False] Translation: X:-9.46, Y:-4.52, Z:-0.08 [[ 9.58577915e-01 -2.48351454e-01 -1.39463030e-01 -9.46042070e+00] [ 2.46004640e-01 9.68668636e-01 -3.40997108e-02 -4.52001576e+00] [ 1.43562176e-01 -1.62132291e-03 9.89639971e-01 -8.31142452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.692414037 meters Centerline goodness : 0.792325 Centerline is valid? [False, False] Translation: X:-9.46, Y:-4.52, Z:-0.08 [[ 9.58469758e-01 -2.49024637e-01 -1.39005229e-01 -9.46171491e+00] [ 2.46689933e-01 9.68495751e-01 -3.40595982e-02 -4.52203180e+00] [ 1.43107653e-01 -1.64609600e-03 9.89705759e-01 -8.26370190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.722414037 meters Centerline goodness : 0.793026 Centerline is valid? [False, False] Translation: X:-9.46, Y:-4.52, Z:-0.08 [[ 9.58472855e-01 -2.49065994e-01 -1.38909740e-01 -9.46194588e+00] [ 2.46757299e-01 9.68484838e-01 -3.38814726e-02 -4.52290309e+00] [ 1.42970700e-01 -1.80252050e-03 9.89725280e-01 -8.25764385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.752414037 meters Centerline goodness : 0.794098 Centerline is valid? [False, False] Translation: X:-9.46, Y:-4.53, Z:-0.08 [[ 9.58128667e-01 -2.43134814e-01 -1.51244567e-01 -9.46308456e+00] [ 2.41239538e-01 9.69969053e-01 -3.10406355e-02 -4.52865020e+00] [ 1.54249608e-01 -6.74524667e-03 9.88008887e-01 -7.84150497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.782414037 meters Centerline goodness : 0.794682 Centerline is valid? [False, False] Translation: X:-9.46, Y:-4.53, Z:-0.08 [[ 9.58182629e-01 -2.42863162e-01 -1.51339138e-01 -9.46259623e+00] [ 2.41033814e-01 9.70034160e-01 -3.06011416e-02 -4.52976620e+00] [ 1.54236024e-01 -7.15636736e-03 9.88008115e-01 -7.86609315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.812414037 meters Centerline goodness : 0.792543 Centerline is valid? [False, False] Translation: X:-9.46, Y:-4.53, Z:-0.08 [[ 9.58117789e-01 -2.42590340e-01 -1.52184855e-01 -9.46063151e+00] [ 2.40861860e-01 9.70096372e-01 -2.99765469e-02 -4.53009807e+00] [ 1.54905997e-01 -7.93446445e-03 9.87897351e-01 -7.89652599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.842414037 meters Centerline goodness : 0.794611 Centerline is valid? [False, False] Translation: X:-9.46, Y:-4.53, Z:-0.08 [[ 9.58060073e-01 -2.42266701e-01 -1.53061235e-01 -9.45853012e+00] [ 2.40654174e-01 9.70169770e-01 -2.92606680e-02 -4.53068274e+00] [ 1.55584268e-01 -8.80134723e-03 9.87783413e-01 -7.92200628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.872414037 meters Centerline goodness : 0.793383 Centerline is valid? [False, False] Translation: X:-9.46, Y:-4.53, Z:-0.08 [[ 9.57961543e-01 -2.42245554e-01 -1.53710029e-01 -9.45686139e+00] [ 2.40706686e-01 9.70169623e-01 -2.88304541e-02 -4.53092402e+00] [ 1.56108850e-01 -9.38056529e-03 9.87695313e-01 -7.95168674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90241403699997 meters Centerline goodness : 0.798294 Centerline is valid? [False, False] Translation: X:-9.46, Y:-4.53, Z:-0.08 [[ 0.95785924 -0.24220088 -0.15441632 -9.45526137] [ 0.24072973 0.97017533 -0.02844339 -4.53118778] [ 0.15669992 -0.00992784 0.98759636 -0.07953838] [ 0. 0. 0. 1. ]] SLAMing on 240.93241403699997 meters Centerline goodness : 0.800881 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.53, Z:-0.08 [[ 0.95773833 -0.24218444 -0.15519015 -9.45262205] [ 0.24081769 0.97017109 -0.02783689 -4.53215106] [ 0.15730266 -0.01071208 0.98749234 -0.08041589] [ 0. 0. 0. 1. ]] SLAMing on 240.96241403699997 meters Centerline goodness : 0.794782 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.54, Z:-0.08 [[ 0.95720331 -0.23625924 -0.1671628 -9.45365075] [ 0.23540136 0.971571 -0.02521892 -4.53809148] [ 0.16836873 -0.01521072 0.98560672 -0.07701386] [ 0. 0. 0. 1. ]] SLAMing on 240.99241403699997 meters Centerline goodness : 0.796335 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.54, Z:-0.08 [[ 0.95706168 -0.23632564 -0.16787835 -9.45118967] [ 0.23559879 0.97154087 -0.02452639 -4.53946072] [ 0.16889689 -0.01607867 0.98550257 -0.07771061] [ 0. 0. 0. 1. ]] SLAMing on 241.02241403699998 meters Centerline goodness : 0.797792 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.54, Z:-0.08 [[ 0.95695687 -0.2363244 -0.16847649 -9.44957963] [ 0.23565064 0.9715346 -0.0242754 -4.53948694] [ 0.16941761 -0.01647108 0.98540671 -0.0780141 ] [ 0. 0. 0. 1. ]] SLAMing on 241.05241403699998 meters Centerline goodness : 0.799851 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.54, Z:-0.08 [[ 0.95691442 -0.23607771 -0.16906244 -9.44816374] [ 0.23547708 0.9715863 -0.02388737 -4.53947653] [ 0.16989802 -0.01695216 0.98531583 -0.07816861] [ 0. 0. 0. 1. ]] SLAMing on 241.08241403699998 meters Centerline goodness : 0.796330 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.54, Z:-0.08 [[ 0.95686048 -0.23604976 -0.16940641 -9.44739684] [ 0.23547984 0.97158919 -0.02374201 -4.53897916] [ 0.17019773 -0.017174 0.98526026 -0.07828885] [ 0. 0. 0. 1. ]] SLAMing on 241.11241403699998 meters Centerline goodness : 0.800340 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.54, Z:-0.08 [[ 0.95680582 -0.23636193 -0.16927984 -9.44804173] [ 0.23569621 0.97152264 -0.02431161 -4.5375491 ] [ 0.17020554 -0.01663713 0.98526813 -0.07782472] [ 0. 0. 0. 1. ]] SLAMing on 241.14241403699998 meters Centerline goodness : 0.800340 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.54, Z:-0.08 [[ 0.95680582 -0.23636193 -0.16927984 -9.44804173] [ 0.23569621 0.97152264 -0.02431161 -4.5375491 ] [ 0.17020554 -0.01663713 0.98526813 -0.07782472] [ 0. 0. 0. 1. ]] SLAMing on 241.17241403699998 meters Centerline goodness : 0.795539 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.54, Z:-0.08 [[ 0.95722829 -0.23333966 -0.17107485 -9.44606697] [ 0.23341295 0.97217255 -0.01997331 -4.53915085] [ 0.17097484 -0.02081207 0.98505556 -0.0775191 ] [ 0. 0. 0. 1. ]] SLAMing on 241.20241403699998 meters Centerline goodness : 0.797545 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.54, Z:-0.08 [[ 0.95721872 -0.23317888 -0.17134739 -9.44568507] [ 0.23327048 0.97220851 -0.01988715 -4.53836553] [ 0.17122266 -0.02093393 0.98500994 -0.07742591] [ 0. 0. 0. 1. ]] SLAMing on 241.23241403699998 meters Centerline goodness : 0.797664 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.54, Z:-0.08 [[ 0.95715452 -0.23356087 -0.17118571 -9.44648325] [ 0.23356517 0.97212704 -0.02040401 -4.53742046] [ 0.17117984 -0.02045324 0.98502748 -0.07691871] [ 0. 0. 0. 1. ]] SLAMing on 241.26241403699999 meters Centerline goodness : 0.797796 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.54, Z:-0.08 [[ 0.9570438 -0.23422849 -0.17089231 -9.44785208] [ 0.23406916 0.97198503 -0.021371 -4.53550007] [ 0.17111046 -0.01954763 0.98505792 -0.07606458] [ 0. 0. 0. 1. ]] SLAMing on 241.292414037 meters Centerline goodness : 0.798592 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.53, Z:-0.08 [[ 0.95699847 -0.23450625 -0.17076516 -9.4482158 ] [ 0.23429762 0.97192348 -0.02166523 -4.53478665] [ 0.1710513 -0.01927628 0.98507354 -0.07601465] [ 0. 0. 0. 1. ]] SLAMing on 241.322414037 meters Centerline goodness : 0.797587 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.53, Z:-0.08 [[ 0.95696888 -0.23468676 -0.170683 -9.44830497] [ 0.23444148 0.9718839 -0.02188319 -4.53408396] [ 0.17101975 -0.01907365 0.98508296 -0.07616902] [ 0. 0. 0. 1. ]] SLAMing on 241.352414037 meters Centerline goodness : 0.795954 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.53, Z:-0.08 [[ 0.95694569 -0.23476879 -0.1707002 -9.44783967] [ 0.23448162 0.97186855 -0.02213371 -4.53268073] [ 0.17109446 -0.0188453 0.98507438 -0.07673426] [ 0. 0. 0. 1. ]] SLAMing on 241.382414037 meters Centerline goodness : 0.797971 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.53, Z:-0.08 [[ 0.95693106 -0.23478858 -0.17075503 -9.44748012] [ 0.23446959 0.97186708 -0.0223247 -4.5316501 ] [ 0.17119277 -0.01867367 0.98506057 -0.07702362] [ 0. 0. 0. 1. ]] SLAMing on 241.412414037 meters Centerline goodness : 0.796119 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.53, Z:-0.08 [[ 0.95692557 -0.23477761 -0.17080086 -9.44719021] [ 0.23442238 0.97187356 -0.02253723 -4.53047522] [ 0.17128807 -0.01847309 0.98504779 -0.07727556] [ 0. 0. 0. 1. ]] SLAMing on 241.442414037 meters Centerline goodness : 0.792821 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.53, Z:-0.08 [[ 0.9569663 -0.2346094 -0.17080378 -9.44680007] [ 0.23419261 0.97192103 -0.02287641 -4.52803047] [ 0.17137481 -0.01810903 0.98503946 -0.07777996] [ 0. 0. 0. 1. ]] SLAMing on 241.472414037 meters Centerline goodness : 0.792754 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.53, Z:-0.08 [[ 0.95694401 -0.23477402 -0.17070243 -9.44713403] [ 0.23429695 0.97188757 -0.02322692 -4.5267824 ] [ 0.17135665 -0.0177682 0.98504883 -0.07773611] [ 0. 0. 0. 1. ]] SLAMing on 241.502414037 meters Centerline goodness : 0.792738 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.53, Z:-0.08 [[ 0.95689798 -0.23506497 -0.17056001 -9.44771964] [ 0.23451662 0.97182443 -0.02364802 -4.5256179 ] [ 0.17131321 -0.01737041 0.98506348 -0.07751481] [ 0. 0. 0. 1. ]] SLAMing on 241.532414037 meters Centerline goodness : 0.791001 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.52, Z:-0.08 [[ 0.95678745 -0.2359165 -0.17000347 -9.44991359] [ 0.23517407 0.97163719 -0.02478567 -4.52337384] [ 0.17102904 -0.01626579 0.98513171 -0.07638996] [ 0. 0. 0. 1. ]] SLAMing on 241.562414037 meters Centerline goodness : 0.792828 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.52, Z:-0.08 [[ 0.95672406 -0.23644111 -0.16963101 -9.4511355 ] [ 0.23560059 0.97151897 -0.02536257 -4.5224937 ] [ 0.1707965 -0.01570018 0.98518123 -0.07588643] [ 0. 0. 0. 1. ]] SLAMing on 241.592414037 meters Centerline goodness : 0.790627 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.52, Z:-0.08 [[ 0.95665863 -0.23692869 -0.16931939 -9.45207711] [ 0.23601725 0.97140667 -0.02578662 -4.52184096] [ 0.17058758 -0.0152933 0.98522383 -0.07562881] [ 0. 0. 0. 1. ]] SLAMing on 241.622414037 meters Centerline goodness : 0.788194 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.52, Z:-0.08 [[ 0.95652582 -0.23769797 -0.16899124 -9.4527338 ] [ 0.23669637 0.97122638 -0.02634661 -4.52076932] [ 0.17039129 -0.0147984 0.98526535 -0.07581931] [ 0. 0. 0. 1. ]] SLAMing on 241.65241403699997 meters Centerline goodness : 0.787515 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.52, Z:-0.08 [[ 0.95648406 -0.23790494 -0.16893631 -9.45252807] [ 0.23688375 0.97117725 -0.02647348 -4.52028268] [ 0.17036527 -0.0146968 0.98527137 -0.07625465] [ 0. 0. 0. 1. ]] SLAMing on 241.68241403699997 meters Centerline goodness : 0.787566 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.52, Z:-0.08 [[ 0.9564379 -0.23813128 -0.16887879 -9.45225868] [ 0.23709175 0.97112318 -0.02659463 -4.51971107] [ 0.17033512 -0.01460366 0.98527797 -0.07676334] [ 0. 0. 0. 1. ]] SLAMing on 241.71241403699997 meters Centerline goodness : 0.785304 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.52, Z:-0.08 [[ 0.95639288 -0.23842034 -0.16872584 -9.45190043] [ 0.23735444 0.97105447 -0.02675965 -4.51852165] [ 0.17022202 -0.01445509 0.98529971 -0.07773569] [ 0. 0. 0. 1. ]] SLAMing on 241.74241403699997 meters Centerline goodness : 0.784552 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.52, Z:-0.08 [[ 0.95639968 -0.23853385 -0.16852672 -9.45205518] [ 0.23744466 0.97102888 -0.02688751 -4.51754303] [ 0.17005789 -0.01430056 0.9853303 -0.07816753] [ 0. 0. 0. 1. ]] SLAMing on 241.77241403699998 meters Centerline goodness : 0.784240 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.52, Z:-0.08 [[ 0.95632957 -0.23887083 -0.16844725 -9.45243556] [ 0.23770498 0.97095214 -0.02735476 -4.51628032] [ 0.17008847 -0.01388059 0.98533103 -0.07800156] [ 0. 0. 0. 1. ]] SLAMing on 241.80241403699998 meters Centerline goodness : 0.784002 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.51, Z:-0.08 [[ 0.95625587 -0.23937252 -0.16815321 -9.45357672] [ 0.23805187 0.97084086 -0.02827256 -4.51375689] [ 0.17001768 -0.01299339 0.98535535 -0.07743285] [ 0. 0. 0. 1. ]] SLAMing on 241.83241403699998 meters Centerline goodness : 0.787137 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.51, Z:-0.08 [[ 0.95621845 -0.2395941 -0.16805044 -9.45414472] [ 0.23820483 0.97079133 -0.028682 -4.5127533 ] [ 0.17001395 -0.01260416 0.98536105 -0.07704327] [ 0. 0. 0. 1. ]] SLAMing on 241.86241403699998 meters Centerline goodness : 0.785125 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.51, Z:-0.08 [[ 0.95618104 -0.23979989 -0.16796976 -9.45463427] [ 0.23835203 0.97074474 -0.02903377 -4.51199608] [ 0.17001805 -0.01227439 0.9853645 -0.07667811] [ 0. 0. 0. 1. ]] SLAMing on 241.89241403699998 meters Centerline goodness : 0.786855 Centerline is valid? [False, False] Translation: X:-9.46, Y:-4.51, Z:-0.08 [[ 0.95613508 -0.24007246 -0.16784197 -9.45508822] [ 0.23856652 0.97068147 -0.02938522 -4.5114101 ] [ 0.16997567 -0.01194524 0.98537586 -0.076388 ] [ 0. 0. 0. 1. ]] SLAMing on 241.92241403699998 meters Centerline goodness : 0.783940 Centerline is valid? [False, False] Translation: X:-9.46, Y:-4.51, Z:-0.08 [[ 0.95608386 -0.24044137 -0.16760547 -9.45563947] [ 0.23889941 0.97059277 -0.02960994 -4.51126211] [ 0.16979611 -0.01173127 0.98540939 -0.0763467 ] [ 0. 0. 0. 1. ]] SLAMing on 241.95241403699998 meters Centerline goodness : 0.786310 Centerline is valid? [False, False] Translation: X:-9.46, Y:-4.51, Z:-0.08 [[ 0.95605308 -0.24056986 -0.16759669 -9.45555763] [ 0.239019 0.97056142 -0.02967226 -4.51130498] [ 0.16980114 -0.01169054 0.985409 -0.07642231] [ 0. 0. 0. 1. ]] SLAMing on 241.98241403699998 meters Centerline goodness : 0.783899 Centerline is valid? [False, False] Translation: X:-9.46, Y:-4.51, Z:-0.08 [[ 0.95602076 -0.24064886 -0.16766765 -9.45525582] [ 0.23909 0.97054215 -0.02973057 -4.51118165] [ 0.16988315 -0.01166462 0.98539518 -0.07655583] [ 0. 0. 0. 1. ]] SLAMing on 242.01241403699999 meters Centerline goodness : 0.780547 Centerline is valid? [False, False] Translation: X:-9.46, Y:-4.51, Z:-0.08 [[ 0.95598932 -0.24082344 -0.16759618 -9.45512222] [ 0.23926062 0.97049908 -0.02976396 -4.51060305] [ 0.1698198 -0.01164514 0.98540633 -0.07705035] [ 0. 0. 0. 1. ]] SLAMing on 242.042414037 meters Centerline goodness : 0.782113 Centerline is valid? [False, False] Translation: X:-9.46, Y:-4.51, Z:-0.08 [[ 0.95594603 -0.24099131 -0.16760187 -9.45524406] [ 0.23940858 0.97045857 -0.02989462 -4.51034756] [ 0.16985501 -0.01154768 0.9854014 -0.07695767] [ 0. 0. 0. 1. ]] SLAMing on 242.072414037 meters Centerline goodness : 0.779600 Centerline is valid? [False, False] Translation: X:-9.46, Y:-4.51, Z:-0.08 [[ 0.95591147 -0.24117048 -0.16754123 -9.45542098] [ 0.23955009 0.97041654 -0.03012473 -4.50997413] [ 0.16984998 -0.01133794 0.98540471 -0.07683149] [ 0. 0. 0. 1. ]] SLAMing on 242.102414037 meters Centerline goodness : 0.778101 Centerline is valid? [False, False] Translation: X:-9.46, Y:-4.51, Z:-0.08 [[ 0.95587888 -0.24129635 -0.16754593 -9.45554915] [ 0.23963703 0.97038768 -0.03036204 -4.50944063] [ 0.16991075 -0.01112777 0.98539663 -0.07661767] [ 0. 0. 0. 1. ]] SLAMing on 242.132414037 meters Centerline goodness : 0.778162 Centerline is valid? [False, False] Translation: X:-9.46, Y:-4.51, Z:-0.08 [[ 0.95584601 -0.2414008 -0.16758299 -9.45557072] [ 0.23968271 0.97036531 -0.03071434 -4.50806485] [ 0.17003118 -0.01080857 0.98537941 -0.0765474 ] [ 0. 0. 0. 1. ]] SLAMing on 242.162414037 meters Centerline goodness : 0.778913 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.51, Z:-0.08 [[ 0.95583537 -0.24123894 -0.16787647 -9.45491877] [ 0.23948925 0.97040712 -0.03090182 -4.50707999] [ 0.17036325 -0.01066756 0.98532358 -0.07650117] [ 0. 0. 0. 1. ]] SLAMing on 242.192414037 meters Centerline goodness : 0.778241 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.51, Z:-0.08 [[ 0.95586011 -0.24091908 -0.1681947 -9.45425923] [ 0.239112 0.9704898 -0.03122505 -4.50504149] [ 0.17075395 -0.01037059 0.98525912 -0.07641066] [ 0. 0. 0. 1. ]] SLAMing on 242.222414037 meters Centerline goodness : 0.778902 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.50, Z:-0.08 [[ 0.95586277 -0.24081143 -0.16833366 -9.45396113] [ 0.23897305 0.97051823 -0.03140453 -4.50413948] [ 0.17093346 -0.01020879 0.98522969 -0.07635435] [ 0. 0. 0. 1. ]] SLAMing on 242.252414037 meters Centerline goodness : 0.777780 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.50, Z:-0.08 [[ 0.95584649 -0.24089676 -0.16830401 -9.45402588] [ 0.23902277 0.97049914 -0.03161554 -4.50333518] [ 0.17095497 -0.01000888 0.985228 -0.07637602] [ 0. 0. 0. 1. ]] SLAMing on 242.282414037 meters Centerline goodness : 0.775975 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.50, Z:-0.08 [[ 9.55806937e-01 -2.41165232e-01 -1.68144074e-01 -9.45480848e+00] [ 2.39191090e-01 9.70438209e-01 -3.22072184e-02 -4.50220396e+00] [ 1.70940695e-01 -9.43468151e-03 9.85236147e-01 -7.57257192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.312414037 meters Centerline goodness : 0.777568 Centerline is valid? [False, False] Translation: X:-9.46, Y:-4.50, Z:-0.08 [[ 9.55751921e-01 -2.41469690e-01 -1.68019800e-01 -9.45548221e+00] [ 2.39420588e-01 9.70366503e-01 -3.26593155e-02 -4.50152434e+00] [ 1.70927021e-01 -9.01319592e-03 9.85242465e-01 -7.51817664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.342414037 meters Centerline goodness : 0.778288 Centerline is valid? [False, False] Translation: X:-9.46, Y:-4.50, Z:-0.07 [[ 9.55708634e-01 -2.41697285e-01 -1.67938767e-01 -9.45593908e+00] [ 2.39591435e-01 9.70312732e-01 -3.30022064e-02 -4.50096876e+00] [ 1.70929668e-01 -8.69619664e-03 9.85244855e-01 -7.47941523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.372414037 meters Centerline goodness : 0.776209 Centerline is valid? [False, False] Translation: X:-9.46, Y:-4.50, Z:-0.07 [[ 9.55726313e-01 -2.41592916e-01 -1.67988328e-01 -9.45558251e+00] [ 2.39459937e-01 9.70340091e-01 -3.31518833e-02 -4.50001426e+00] [ 1.71015070e-01 -8.54234729e-03 9.85231381e-01 -7.49845170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40241403699997 meters Centerline goodness : 0.775266 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.50, Z:-0.08 [[ 9.55713951e-01 -2.41510851e-01 -1.68176554e-01 -9.45497155e+00] [ 2.39372500e-01 9.70360528e-01 -3.31851207e-02 -4.49950885e+00] [ 1.71206457e-01 -8.54135942e-03 9.85198150e-01 -7.52197417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.43241403699997 meters Centerline goodness : 0.775235 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.50, Z:-0.08 [[ 9.55700323e-01 -2.41471456e-01 -1.68310513e-01 -9.45444195e+00] [ 2.39324597e-01 9.70370556e-01 -3.32373589e-02 -4.49905276e+00] [ 1.71349439e-01 -8.51589091e-03 9.85173512e-01 -7.54783459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46241403699997 meters Centerline goodness : 0.776558 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.50, Z:-0.08 [[ 9.55706002e-01 -2.41385034e-01 -1.68402208e-01 -9.45395089e+00] [ 2.39246997e-01 9.70391529e-01 -3.31836549e-02 -4.49876378e+00] [ 1.71426114e-01 -8.57590449e-03 9.85159653e-01 -7.58181631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.49241403699997 meters Centerline goodness : 0.774312 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.50, Z:-0.08 [[ 9.55677997e-01 -2.41538802e-01 -1.68340648e-01 -9.45421980e+00] [ 2.39378204e-01 9.70354368e-01 -3.33237948e-02 -4.49837002e+00] [ 1.71399073e-01 -8.45026464e-03 9.85165443e-01 -7.57267138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52241403699998 meters Centerline goodness : 0.775547 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.50, Z:-0.08 [[ 9.55636805e-01 -2.41750960e-01 -1.68269932e-01 -9.45454101e+00] [ 2.39554315e-01 9.70303242e-01 -3.35462176e-02 -4.49816949e+00] [ 1.71382691e-01 -8.25178809e-03 9.85169976e-01 -7.54684927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.55241403699998 meters Centerline goodness : 0.775422 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.50, Z:-0.08 [[ 9.55622954e-01 -2.41848598e-01 -1.68208279e-01 -9.45485580e+00] [ 2.39642299e-01 9.70279401e-01 -3.36073328e-02 -4.49829911e+00] [ 1.71336915e-01 -8.19388002e-03 9.85178421e-01 -7.52184325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.58241403699998 meters Centerline goodness : 0.775890 Centerline is valid? [False, False] Translation: X:-9.46, Y:-4.50, Z:-0.07 [[ 9.55592193e-01 -2.42008407e-01 -1.68153177e-01 -9.45520223e+00] [ 2.39784449e-01 9.70240361e-01 -3.37203079e-02 -4.49855467e+00] [ 1.71309597e-01 -8.09765386e-03 9.85183968e-01 -7.48986457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.61241403699998 meters Centerline goodness : 0.774589 Centerline is valid? [False, False] Translation: X:-9.46, Y:-4.50, Z:-0.07 [[ 9.55567226e-01 -2.42248942e-01 -1.67948585e-01 -9.45558725e+00] [ 2.40025939e-01 9.70180444e-01 -3.37261858e-02 -4.49947367e+00] [ 1.71110565e-01 -8.08437887e-03 9.85218665e-01 -7.47891293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.64241403699998 meters Centerline goodness : 0.776957 Centerline is valid? [False, False] Translation: X:-9.46, Y:-4.50, Z:-0.07 [[ 9.55570016e-01 -2.42205889e-01 -1.67994799e-01 -9.45536466e+00] [ 2.39998632e-01 9.70190400e-01 -3.36339683e-02 -4.49994395e+00] [ 1.71133286e-01 -8.17891034e-03 9.85213938e-01 -7.47925120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.67241403699998 meters Centerline goodness : 0.777661 Centerline is valid? [False, False] Translation: X:-9.46, Y:-4.50, Z:-0.07 [[ 9.55554622e-01 -2.42220763e-01 -1.68060903e-01 -9.45514071e+00] [ 2.40015909e-01 9.70186449e-01 -3.36246586e-02 -4.50022432e+00] [ 1.71195001e-01 -8.20709250e-03 9.85202982e-01 -7.47804654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.70241403699998 meters Centerline goodness : 0.776680 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.50, Z:-0.07 [[ 9.55572444e-01 -2.42143068e-01 -1.68071527e-01 -9.45498975e+00] [ 2.39960398e-01 9.70204815e-01 -3.34906640e-02 -4.50073866e+00] [ 1.71173337e-01 -8.32775474e-03 9.85205733e-01 -7.48051355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.73241403699998 meters Centerline goodness : 0.776302 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.50, Z:-0.07 [[ 9.55582879e-01 -2.42023461e-01 -1.68184438e-01 -9.45479325e+00] [ 2.39858129e-01 9.70233712e-01 -3.33859657e-02 -4.50109562e+00] [ 1.71258398e-01 -8.43734723e-03 9.85190018e-01 -7.46765879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.76241403699999 meters Centerline goodness : 0.777141 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.50, Z:-0.07 [[ 9.55610785e-01 -2.41861203e-01 -1.68259284e-01 -9.45447490e+00] [ 2.39717125e-01 9.70273120e-01 -3.32531666e-02 -4.50124474e+00] [ 1.71300111e-01 -8.55754708e-03 9.85181730e-01 -7.48109173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.792414037 meters Centerline goodness : 0.776119 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.50, Z:-0.08 [[ 9.55687850e-01 -2.41495627e-01 -1.68346654e-01 -9.45396642e+00] [ 2.39401578e-01 9.70361785e-01 -3.29376805e-02 -4.50173183e+00] [ 1.71311465e-01 -8.82431348e-03 9.85177402e-01 -7.50408822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.822414037 meters Centerline goodness : 0.777117 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.50, Z:-0.07 [[ 9.55688319e-01 -2.41454648e-01 -1.68402761e-01 -9.45380339e+00] [ 2.39372030e-01 9.70371326e-01 -3.28712794e-02 -4.50220014e+00] [ 1.71350134e-01 -8.89621309e-03 9.85170030e-01 -7.49860859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.852414037 meters Centerline goodness : 0.778344 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.50, Z:-0.08 [[ 9.55686126e-01 -2.41440282e-01 -1.68435802e-01 -9.45360787e+00] [ 2.39384150e-01 9.70373466e-01 -3.27194822e-02 -4.50293598e+00] [ 1.71345434e-01 -9.05130615e-03 9.85169435e-01 -7.50542840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.882414037 meters Centerline goodness : 0.779028 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.50, Z:-0.07 [[ 9.55646280e-01 -2.41704822e-01 -1.68282402e-01 -9.45406279e+00] [ 2.39620010e-01 9.70309159e-01 -3.28996464e-02 -4.50292634e+00] [ 1.71237959e-01 -8.88340609e-03 9.85189650e-01 -7.48808429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.912414037 meters Centerline goodness : 0.778591 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.50, Z:-0.07 [[ 9.55588098e-01 -2.41988696e-01 -1.68204807e-01 -9.45451140e+00] [ 2.39878900e-01 9.70239588e-01 -3.30643990e-02 -4.50294412e+00] [ 1.71200174e-01 -8.75283802e-03 9.85197385e-01 -7.45994610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.942414037 meters Centerline goodness : 0.779381 Centerline is valid? [False, False] Translation: X:-9.46, Y:-4.50, Z:-0.07 [[ 9.55516758e-01 -2.42320736e-01 -1.68132053e-01 -9.45505253e+00] [ 2.40173664e-01 9.70158453e-01 -3.33044725e-02 -4.50323677e+00] [ 1.71185096e-01 -8.55790953e-03 9.85201718e-01 -7.40801022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.972414037 meters Centerline goodness : 0.777744 Centerline is valid? [False, False] Translation: X:-9.47, Y:-4.51, Z:-0.08 [[ 9.57356382e-01 -2.40187949e-01 -1.60556868e-01 -9.46565836e+00] [ 2.37345471e-01 9.70722540e-01 -3.69442560e-02 -4.50677870e+00] [ 1.64729735e-01 -2.73862620e-03 9.86334940e-01 -7.77934658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.002414037 meters Centerline goodness : 0.778232 Centerline is valid? [False, False] Translation: X:-9.47, Y:-4.51, Z:-0.08 [[ 9.57316531e-01 -2.40377278e-01 -1.60511133e-01 -9.46572461e+00] [ 2.37534266e-01 9.70675664e-01 -3.69625101e-02 -4.50736870e+00] [ 1.64689198e-01 -2.74207213e-03 9.86341700e-01 -7.77299284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.032414037 meters Centerline goodness : 0.780172 Centerline is valid? [False, False] Translation: X:-9.47, Y:-4.51, Z:-0.08 [[ 9.57284952e-01 -2.40554419e-01 -1.60434072e-01 -9.46571394e+00] [ 2.37730008e-01 9.70631469e-01 -3.68645539e-02 -4.50812172e+00] [ 1.64590290e-01 -2.85011040e-03 9.86357903e-01 -7.78770972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.062414037 meters Centerline goodness : 0.780172 Centerline is valid? [False, False] Translation: X:-9.47, Y:-4.51, Z:-0.08 [[ 9.57284952e-01 -2.40554419e-01 -1.60434072e-01 -9.46571394e+00] [ 2.37730008e-01 9.70631469e-01 -3.68645539e-02 -4.50812172e+00] [ 1.64590290e-01 -2.85011040e-03 9.86357903e-01 -7.78770972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.092414037 meters Centerline goodness : 0.779456 Centerline is valid? [False, False] Translation: X:-9.47, Y:-4.51, Z:-0.08 [[ 9.57188125e-01 -2.41104511e-01 -1.60185854e-01 -9.46638754e+00] [ 2.38260166e-01 9.70495331e-01 -3.70257403e-02 -4.50887990e+00] [ 1.64386696e-01 -2.72530924e-03 9.86392207e-01 -7.76753501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.122414037 meters Centerline goodness : 0.778676 Centerline is valid? [False, False] Translation: X:-9.47, Y:-4.51, Z:-0.08 [[ 9.57146778e-01 -2.41318565e-01 -1.60110573e-01 -9.46686865e+00] [ 2.38437363e-01 9.70442709e-01 -3.72635468e-02 -4.50884533e+00] [ 1.64370524e-01 -2.50965905e-03 9.86395475e-01 -7.71981906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.15241403699997 meters Centerline goodness : 0.781747 Centerline is valid? [False, False] Translation: X:-9.47, Y:-4.51, Z:-0.08 [[ 9.57079337e-01 -2.41674398e-01 -1.59976963e-01 -9.46767687e+00] [ 2.38732581e-01 9.70355013e-01 -3.76550687e-02 -4.50853893e+00] [ 1.64334714e-01 -2.15282510e-03 9.86402285e-01 -7.65362346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18241403699997 meters Centerline goodness : 0.780624 Centerline is valid? [False, False] Translation: X:-9.47, Y:-4.51, Z:-0.08 [[ 9.57072758e-01 -2.41749714e-01 -1.59902506e-01 -9.46832794e+00] [ 2.38793244e-01 9.70336462e-01 -3.77483359e-02 -4.50906838e+00] [ 1.64284881e-01 -2.05573424e-03 9.86410793e-01 -7.58163922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.21241403699997 meters Centerline goodness : 0.783994 Centerline is valid? [False, False] Translation: X:-9.47, Y:-4.51, Z:-0.08 [[ 9.57060533e-01 -2.41782341e-01 -1.59926347e-01 -9.46841982e+00] [ 2.38822464e-01 9.70328357e-01 -3.77718090e-02 -4.50967910e+00] [ 1.64313626e-01 -2.04409653e-03 9.86406029e-01 -7.54963886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24241403699997 meters Centerline goodness : 0.781874 Centerline is valid? [False, False] Translation: X:-9.47, Y:-4.51, Z:-0.08 [[ 9.57060218e-01 -2.41724543e-01 -1.60015575e-01 -9.46821250e+00] [ 2.38788053e-01 9.70342422e-01 -3.76277863e-02 -4.51056070e+00] [ 1.64365460e-01 -2.19775026e-03 9.86397063e-01 -7.53599643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.27241403699998 meters Centerline goodness : 0.785305 Centerline is valid? [False, False] Translation: X:-9.47, Y:-4.51, Z:-0.08 [[ 9.57068379e-01 -2.41639789e-01 -1.60094752e-01 -9.46790071e+00] [ 2.38768430e-01 9.70362555e-01 -3.72310038e-02 -4.51229969e+00] [ 1.64346444e-01 -2.59295614e-03 9.86399271e-01 -7.53631161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.30241403699998 meters Centerline goodness : 0.782685 Centerline is valid? [False, False] Translation: X:-9.47, Y:-4.51, Z:-0.08 [[ 9.57077533e-01 -2.41562769e-01 -1.60156248e-01 -9.46752457e+00] [ 2.38742705e-01 9.70380854e-01 -3.69177411e-02 -4.51337999e+00] [ 1.64330509e-01 -2.90299542e-03 9.86401063e-01 -7.55852744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.33241403699998 meters Centerline goodness : 0.784059 Centerline is valid? [False, False] Translation: X:-9.47, Y:-4.52, Z:-0.08 [[ 9.57109784e-01 -2.41343072e-01 -1.60294673e-01 -9.46671685e+00] [ 2.38628556e-01 9.70433411e-01 -3.62685469e-02 -4.51555368e+00] [ 1.64308469e-01 -3.53790524e-03 9.86402661e-01 -7.60855760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.36241403699998 meters Centerline goodness : 0.784747 Centerline is valid? [False, False] Translation: X:-9.47, Y:-4.52, Z:-0.08 [[ 9.57133373e-01 -2.41164129e-01 -1.60423093e-01 -9.46613568e+00] [ 2.38503804e-01 9.70476626e-01 -3.59312310e-02 -4.51682554e+00] [ 1.64352186e-01 -3.87053755e-03 9.86394129e-01 -7.62359948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.39241403699998 meters Centerline goodness : 0.783801 Centerline is valid? [False, False] Translation: X:-9.47, Y:-4.52, Z:-0.08 [[ 9.57144072e-01 -2.41102929e-01 -1.60451245e-01 -9.46586135e+00] [ 2.38491436e-01 9.70490636e-01 -3.56336974e-02 -4.51797157e+00] [ 1.64307820e-01 -4.15966558e-03 9.86400343e-01 -7.64143188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.42241403699998 meters Centerline goodness : 0.786742 Centerline is valid? [False, False] Translation: X:-9.47, Y:-4.52, Z:-0.08 [[ 9.57143253e-01 -2.41129648e-01 -1.60415976e-01 -9.46588896e+00] [ 2.38547445e-01 9.70483265e-01 -3.54591311e-02 -4.51896198e+00] [ 1.64231268e-01 -4.32735299e-03 9.86412371e-01 -7.63721020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.45241403699998 meters Centerline goodness : 0.785197 Centerline is valid? [False, False] Translation: X:-9.47, Y:-4.52, Z:-0.08 [[ 9.57156878e-01 -2.41148844e-01 -1.60305786e-01 -9.46621058e+00] [ 2.38607318e-01 9.70477498e-01 -3.52132698e-02 -4.52054642e+00] [ 1.64064798e-01 -4.54551032e-03 9.86439091e-01 -7.61172004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.48241403699998 meters Centerline goodness : 0.784928 Centerline is valid? [False, False] Translation: X:-9.47, Y:-4.52, Z:-0.08 [[ 9.57158918e-01 -2.41132567e-01 -1.60318092e-01 -9.46635632e+00] [ 2.38605336e-01 9.70481136e-01 -3.51263082e-02 -4.52152739e+00] [ 1.64055781e-01 -4.63129312e-03 9.86440192e-01 -7.57353647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.51241403699999 meters Centerline goodness : 0.786830 Centerline is valid? [False, False] Translation: X:-9.47, Y:-4.52, Z:-0.08 [[ 9.57181355e-01 -2.41057629e-01 -1.60296826e-01 -9.46630571e+00] [ 2.38563060e-01 9.70498868e-01 -3.49229815e-02 -4.52251905e+00] [ 1.63986339e-01 -4.81327448e-03 9.86450867e-01 -7.57212519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.542414037 meters Centerline goodness : 0.788065 Centerline is valid? [False, False] Translation: X:-9.47, Y:-4.52, Z:-0.08 [[ 9.57231425e-01 -2.40697640e-01 -1.60538606e-01 -9.46569723e+00] [ 2.38268026e-01 9.70586124e-01 -3.45097524e-02 -4.52396966e+00] [ 1.64122960e-01 -5.21739730e-03 9.86426091e-01 -7.56148710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.572414037 meters Centerline goodness : 0.789585 Centerline is valid? [False, False] Translation: X:-9.47, Y:-4.52, Z:-0.08 [[ 9.57247505e-01 -2.40597284e-01 -1.60593153e-01 -9.46555170e+00] [ 2.38197076e-01 9.70610041e-01 -3.43263830e-02 -4.52468265e+00] [ 1.64132161e-01 -5.39397500e-03 9.86423610e-01 -7.55563749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.602414037 meters Centerline goodness : 0.787043 Centerline is valid? [False, False] Translation: X:-9.47, Y:-4.53, Z:-0.08 [[ 9.57238653e-01 -2.40602057e-01 -1.60638763e-01 -9.46561158e+00] [ 2.38226428e-01 9.70607982e-01 -3.41806158e-02 -4.52574398e+00] [ 1.64141192e-01 -5.54939211e-03 9.86421245e-01 -7.52822180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.632414037 meters Centerline goodness : 0.787274 Centerline is valid? [False, False] Translation: X:-9.47, Y:-4.53, Z:-0.07 [[ 9.57213160e-01 -2.40842713e-01 -1.60429907e-01 -9.46609116e+00] [ 2.38530742e-01 9.70546205e-01 -3.38104996e-02 -4.52869322e+00] [ 1.63847649e-01 -5.90360951e-03 9.86467990e-01 -7.49992062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.662414037 meters Centerline goodness : 0.787852 Centerline is valid? [False, False] Translation: X:-9.48, Y:-4.53, Z:-0.08 [[ 9.58971724e-01 -2.37301962e-01 -1.55116122e-01 -9.47992633e+00] [ 2.34324935e-01 9.71435849e-01 -3.74728721e-02 -4.53381684e+00] [ 1.59577748e-01 -4.12150352e-04 9.87185278e-01 -7.75426010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.692414037 meters Centerline goodness : 0.786583 Centerline is valid? [False, False] Translation: X:-9.48, Y:-4.54, Z:-0.08 [[ 9.58961310e-01 -2.37331848e-01 -1.55134781e-01 -9.47977309e+00] [ 2.34409048e-01 9.71428346e-01 -3.71398166e-02 -4.53550541e+00] [ 1.59516785e-01 -7.49349059e-04 9.87194932e-01 -7.75640768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.722414037 meters Centerline goodness : 0.790352 Centerline is valid? [False, False] Translation: X:-9.49, Y:-4.54, Z:-0.08 [[ 9.60778202e-01 -2.34408217e-01 -1.48182434e-01 -9.48972907e+00] [ 2.30877508e-01 9.72125252e-01 -4.08420181e-02 -4.54150954e+00] [ 1.53625590e-01 5.02812967e-03 9.88116337e-01 -8.17220034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.752414037 meters Centerline goodness : 0.790942 Centerline is valid? [False, False] Translation: X:-9.49, Y:-4.54, Z:-0.08 [[ 9.60799097e-01 -2.34266568e-01 -1.48270934e-01 -9.48934583e+00] [ 2.30805238e-01 9.72161623e-01 -4.03821746e-02 -4.54317529e+00] [ 1.53603505e-01 4.57744873e-03 9.88121961e-01 -8.18451857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.782414037 meters Centerline goodness : 0.789991 Centerline is valid? [False, False] Translation: X:-9.49, Y:-4.54, Z:-0.08 [[ 9.60815572e-01 -2.34155890e-01 -1.48338992e-01 -9.48912984e+00] [ 2.30745600e-01 9.72189793e-01 -4.00434206e-02 -4.54451400e+00] [ 1.53590057e-01 4.24577236e-03 9.88125532e-01 -8.18398764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.812414037 meters Centerline goodness : 0.792816 Centerline is valid? [False, False] Translation: X:-9.49, Y:-4.55, Z:-0.08 [[ 9.60838805e-01 -2.33657348e-01 -1.48973266e-01 -9.48760513e+00] [ 2.30484689e-01 9.72315470e-01 -3.84634154e-02 -4.54799010e+00] [ 1.53836271e-01 2.62108515e-03 9.88092876e-01 -8.17389675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.842414037 meters Centerline goodness : 0.791775 Centerline is valid? [False, False] Translation: X:-9.49, Y:-4.55, Z:-0.08 [[ 9.60808110e-01 -2.33361647e-01 -1.49633276e-01 -9.48608626e+00] [ 2.30347846e-01 9.72388891e-01 -3.74127686e-02 -4.54995515e+00] [ 1.54232440e-01 1.47878879e-03 9.88033485e-01 -8.16992560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.872414037 meters Centerline goodness : 0.790841 Centerline is valid? [False, False] Translation: X:-9.48, Y:-4.55, Z:-0.08 [[ 9.60813431e-01 -2.32977478e-01 -1.50196687e-01 -9.48455485e+00] [ 2.30119749e-01 9.72482052e-01 -3.63807645e-02 -4.55197081e+00] [ 1.54539481e-01 3.91903263e-04 9.87986536e-01 -8.19154869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90241403699997 meters Centerline goodness : 0.790307 Centerline is valid? [False, False] Translation: X:-9.48, Y:-4.55, Z:-0.08 [[ 9.60821765e-01 -2.32434284e-01 -1.50982910e-01 -9.48298247e+00] [ 2.29803481e-01 9.72611398e-01 -3.48916807e-02 -4.55422500e+00] [ 1.54957722e-01 -1.17171205e-03 9.87920407e-01 -8.17784780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.93241403699997 meters Centerline goodness : 0.787468 Centerline is valid? [False, False] Translation: X:-9.48, Y:-4.56, Z:-0.08 [[ 9.60859445e-01 -2.31969249e-01 -1.51457566e-01 -9.48170163e+00] [ 2.29583680e-01 9.72719155e-01 -3.32983325e-02 -4.55746370e+00] [ 1.55049865e-01 -2.77716821e-03 9.87902741e-01 -8.18238061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96241403699997 meters Centerline goodness : 0.790813 Centerline is valid? [False, False] Translation: X:-9.48, Y:-4.56, Z:-0.08 [[ 9.60905018e-01 -2.31403597e-01 -1.52032630e-01 -9.48018952e+00] [ 2.29183645e-01 9.72850059e-01 -3.22120906e-02 -4.55905869e+00] [ 1.55358947e-01 -3.89063291e-03 9.87850424e-01 -8.20808397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.99241403699997 meters Centerline goodness : 0.787799 Centerline is valid? [False, False] Translation: X:-9.48, Y:-4.56, Z:-0.08 [[ 9.60934978e-01 -2.30865701e-01 -1.52659738e-01 -9.47859516e+00] [ 2.28794717e-01 9.72973253e-01 -3.12414117e-02 -4.56042298e+00] [ 1.55746413e-01 -4.90677631e-03 9.87784885e-01 -8.23694264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02241403699998 meters Centerline goodness : 0.788231 Centerline is valid? [False, False] Translation: X:-9.48, Y:-4.56, Z:-0.08 [[ 9.60944567e-01 -2.30375802e-01 -1.53337958e-01 -9.47620606e+00] [ 2.28476459e-01 9.73082794e-01 -3.01394229e-02 -4.56290445e+00] [ 1.56153923e-01 -6.07179896e-03 9.87714071e-01 -8.31828836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.05241403699998 meters Centerline goodness : 0.791734 Centerline is valid? [False, False] Translation: X:-9.47, Y:-4.56, Z:-0.08 [[ 9.60943537e-01 -2.29883791e-01 -1.54081025e-01 -9.47399136e+00] [ 2.28132590e-01 9.73192223e-01 -2.91961964e-02 -4.56414001e+00] [ 1.56662187e-01 -7.09500700e-03 9.87626761e-01 -8.38552578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.08241403699998 meters Centerline goodness : 0.791674 Centerline is valid? [False, False] Translation: X:-9.47, Y:-4.57, Z:-0.08 [[ 9.60956520e-01 -2.29468179e-01 -1.54618632e-01 -9.47230865e+00] [ 2.27826578e-01 9.73284585e-01 -2.84985479e-02 -4.56519828e+00] [ 1.57027441e-01 -7.84036833e-03 9.87563118e-01 -8.44080047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.11241403699998 meters Centerline goodness : 0.793528 Centerline is valid? [False, False] Translation: X:-9.47, Y:-4.57, Z:-0.08 [[ 9.60894278e-01 -2.29202099e-01 -1.55398146e-01 -9.47059343e+00] [ 2.27680002e-01 9.73339988e-01 -2.77683947e-02 -4.56598684e+00] [ 1.57619803e-01 -8.69855850e-03 9.87461560e-01 -8.44874102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.14241403699998 meters Centerline goodness : 0.795288 Centerline is valid? [False, False] Translation: X:-9.47, Y:-4.57, Z:-0.08 [[ 0.96097345 -0.22853743 -0.15588669 -9.46953364] [ 0.22718852 0.97348583 -0.02665921 -4.56759738] [ 0.15784611 -0.00979688 0.98741512 -0.08447749] [ 0. 0. 0. 1. ]] SLAMing on 244.17241403699998 meters Centerline goodness : 0.794985 Centerline is valid? [False, False] Translation: X:-9.47, Y:-4.57, Z:-0.08 [[ 0.96096605 -0.22828877 -0.15629617 -9.46880378] [ 0.22702056 0.97353853 -0.02616099 -4.56796523] [ 0.1581326 -0.01034262 0.98736372 -0.08432134] [ 0. 0. 0. 1. ]] SLAMing on 244.20241403699998 meters Centerline goodness : 0.791803 Centerline is valid? [False, False] Translation: X:-9.47, Y:-4.57, Z:-0.08 [[ 0.96098233 -0.22779683 -0.15691263 -9.46775367] [ 0.22668334 0.97364249 -0.02519866 -4.56880793] [ 0.15851698 -0.01135401 0.98729097 -0.08412554] [ 0. 0. 0. 1. ]] SLAMing on 244.23241403699998 meters Centerline goodness : 0.786425 Centerline is valid? [False, False] Translation: X:-9.47, Y:-4.57, Z:-0.08 [[ 0.96102761 -0.22738075 -0.15723844 -9.46722069] [ 0.22636493 0.97373236 -0.02458083 -4.56964496] [ 0.15869736 -0.01197041 0.98725471 -0.08390262] [ 0. 0. 0. 1. ]] SLAMing on 244.26241403699999 meters Centerline goodness : 0.794064 Centerline is valid? [False, False] Translation: X:-9.47, Y:-4.57, Z:-0.08 [[ 0.96098362 -0.22708986 -0.15792617 -9.46567602] [ 0.22620768 0.97378876 -0.02378121 -4.5704454 ] [ 0.1591872 -0.01287075 0.98716451 -0.0840166 ] [ 0. 0. 0. 1. ]] SLAMing on 244.292414037 meters Centerline goodness : 0.786961 Centerline is valid? [False, False] Translation: X:-9.46, Y:-4.57, Z:-0.08 [[ 0.96086404 -0.22715107 -0.15856446 -9.46403152] [ 0.22634676 0.97376669 -0.02335757 -4.57078578] [ 0.15971049 -0.01344711 0.98707231 -0.0843194 ] [ 0. 0. 0. 1. ]] SLAMing on 244.322414037 meters Centerline goodness : 0.786576 Centerline is valid? [False, False] Translation: X:-9.46, Y:-4.57, Z:-0.08 [[ 0.96072157 -0.22726152 -0.15926788 -9.46207489] [ 0.22650434 0.97373532 -0.02313688 -4.57100118] [ 0.16034288 -0.01384676 0.98696425 -0.08474775] [ 0. 0. 0. 1. ]] SLAMing on 244.352414037 meters Centerline goodness : 0.783642 Centerline is valid? [False, False] Translation: X:-9.46, Y:-4.57, Z:-0.08 [[ 0.96065187 -0.22696888 -0.16010342 -9.46009921] [ 0.22640199 0.97378503 -0.02201952 -4.572051 ] [ 0.16090406 -0.01509464 0.98685462 -0.08498137] [ 0. 0. 0. 1. ]] SLAMing on 244.382414037 meters Centerline goodness : 0.785403 Centerline is valid? [False, False] Translation: X:-9.46, Y:-4.57, Z:-0.09 [[ 0.96059328 -0.2268366 -0.16064156 -9.45876396] [ 0.22636287 0.97380595 -0.02148997 -4.57229588] [ 0.16130842 -0.01572016 0.98677883 -0.08521647] [ 0. 0. 0. 1. ]] SLAMing on 244.412414037 meters Centerline goodness : 0.784351 Centerline is valid? [False, False] Translation: X:-9.46, Y:-4.57, Z:-0.09 [[ 0.96052535 -0.22672263 -0.16120766 -9.45755819] [ 0.22633954 0.97382242 -0.02098353 -4.57270677] [ 0.16174508 -0.01633245 0.98669741 -0.08517743] [ 0. 0. 0. 1. ]] SLAMing on 244.442414037 meters Centerline goodness : 0.787669 Centerline is valid? [False, False] Translation: X:-9.46, Y:-4.57, Z:-0.08 [[ 0.96045271 -0.22667665 -0.16170432 -9.45684431] [ 0.22638853 0.97382232 -0.02045279 -4.57335363] [ 0.16210745 -0.01696407 0.98662728 -0.08473517] [ 0. 0. 0. 1. ]] SLAMing on 244.472414037 meters Centerline goodness : 0.786879 Centerline is valid? [False, False] Translation: X:-9.46, Y:-4.57, Z:-0.08 [[ 0.96042207 -0.22644747 -0.16220661 -9.45598308] [ 0.22623567 0.97386677 -0.02002344 -4.57369415] [ 0.16250189 -0.01746597 0.98655364 -0.0844844 ] [ 0. 0. 0. 1. ]] SLAMing on 244.502414037 meters Centerline goodness : 0.785211 Centerline is valid? [False, False] Translation: X:-9.46, Y:-4.57, Z:-0.08 [[ 0.96038856 -0.22619301 -0.16275915 -9.45516394] [ 0.22608901 0.97391326 -0.01940949 -4.57404864] [ 0.16290358 -0.01815741 0.9864749 -0.08420108] [ 0. 0. 0. 1. ]] SLAMing on 244.532414037 meters Centerline goodness : 0.786726 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.57, Z:-0.08 [[ 0.96038068 -0.2259859 -0.16309301 -9.45476856] [ 0.22596863 0.97395111 -0.01890521 -4.57434656] [ 0.16311693 -0.0186977 0.98642955 -0.08387553] [ 0. 0. 0. 1. ]] SLAMing on 244.562414037 meters Centerline goodness : 0.787445 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.57, Z:-0.08 [[ 0.96024935 -0.22602675 -0.16380812 -9.45391994] [ 0.2261181 0.97392727 -0.01833768 -4.57442044] [ 0.16368201 -0.01943123 0.98632177 -0.08320232] [ 0. 0. 0. 1. ]] SLAMing on 244.592414037 meters Centerline goodness : 0.790200 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.57, Z:-0.08 [[ 0.96014158 -0.22593513 -0.16456445 -9.45208963] [ 0.22610561 0.97393747 -0.01794609 -4.57438762] [ 0.16433014 -0.01997815 0.98620306 -0.08342144] [ 0. 0. 0. 1. ]] SLAMing on 244.622414037 meters Centerline goodness : 0.786468 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.57, Z:-0.08 [[ 0.95995384 -0.22616891 -0.16533676 -9.44973571] [ 0.2264014 0.97387342 -0.01769114 -4.57444244] [ 0.16501826 -0.0204498 0.98607849 -0.08407013] [ 0. 0. 0. 1. ]] SLAMing on 244.65241403699997 meters Centerline goodness : 0.787758 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.58, Z:-0.08 [[ 0.95989039 -0.22595378 -0.16599796 -9.44803229] [ 0.22629593 0.97390844 -0.01710268 -4.57510523] [ 0.16553123 -0.02114796 0.98597778 -0.08429453] [ 0. 0. 0. 1. ]] SLAMing on 244.68241403699997 meters Centerline goodness : 0.786335 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.58, Z:-0.08 [[ 0.95980108 -0.22594568 -0.16652456 -9.4466024 ] [ 0.22635618 0.97390032 -0.0167643 -4.57526231] [ 0.16596614 -0.02160347 0.98589479 -0.08459457] [ 0. 0. 0. 1. ]] SLAMing on 244.71241403699997 meters Centerline goodness : 0.787626 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.58, Z:-0.08 [[ 0.9596723 -0.2259668 -0.16723661 -9.44513762] [ 0.22649452 0.97387827 -0.0161666 -4.57576725] [ 0.16652122 -0.02236354 0.98578423 -0.08448224] [ 0. 0. 0. 1. ]] SLAMing on 244.74241403699997 meters Centerline goodness : 0.787303 Centerline is valid? [False, False] Translation: X:-9.44, Y:-4.58, Z:-0.08 [[ 0.95962664 -0.22576874 -0.16776531 -9.44418336] [ 0.22640837 0.97390817 -0.0155605 -4.57614199] [ 0.16690108 -0.0230512 0.98570415 -0.08431438] [ 0. 0. 0. 1. ]] SLAMing on 244.77241403699998 meters Centerline goodness : 0.793673 Centerline is valid? [False, False] Translation: X:-9.44, Y:-4.58, Z:-0.08 [[ 0.95961204 -0.22553102 -0.16816804 -9.44336606] [ 0.22626411 0.97394979 -0.01504527 -4.57662854] [ 0.1671804 -0.02361277 0.98564352 -0.08422627] [ 0. 0. 0. 1. ]] SLAMing on 244.80241403699998 meters Centerline goodness : 0.785727 Centerline is valid? [False, False] Translation: X:-9.44, Y:-4.58, Z:-0.08 [[ 0.95959797 -0.22529226 -0.16856791 -9.44240411] [ 0.22611793 0.97399146 -0.01453677 -4.57701096] [ 0.16745872 -0.02416677 0.98558284 -0.08435024] [ 0. 0. 0. 1. ]] SLAMing on 244.83241403699998 meters Centerline goodness : 0.784913 Centerline is valid? [False, False] Translation: X:-9.44, Y:-4.58, Z:-0.08 [[ 0.95961266 -0.22490025 -0.16900715 -9.44109813] [ 0.2258605 0.97406224 -0.01377604 -4.57825662] [ 0.16772172 -0.02495237 0.98551855 -0.08463745] [ 0. 0. 0. 1. ]] SLAMing on 244.86241403699998 meters Centerline goodness : 0.787106 Centerline is valid? [False, False] Translation: X:-9.44, Y:-4.58, Z:-0.08 [[ 0.9595796 -0.22472554 -0.16942672 -9.44012826] [ 0.22576287 0.97409051 -0.01337197 -4.57871785] [ 0.16804198 -0.02541879 0.98545207 -0.08467822] [ 0. 0. 0. 1. ]] SLAMing on 244.89241403699998 meters Centerline goodness : 0.786482 Centerline is valid? [False, False] Translation: X:-9.44, Y:-4.58, Z:-0.08 [[ 0.95959924 -0.2243173 -0.16985597 -9.43981813] [ 0.22556859 0.97415153 -0.01214909 -4.57990935] [ 0.16819071 -0.02665591 0.98539401 -0.08408781] [ 0. 0. 0. 1. ]] SLAMing on 244.92241403699998 meters Centerline goodness : 0.787697 Centerline is valid? [False, False] Translation: X:-9.44, Y:-4.58, Z:-0.08 [[ 0.95956053 -0.22409287 -0.17037012 -9.43897505] [ 0.2254537 0.97418516 -0.01157171 -4.58050556] [ 0.16856518 -0.02730682 0.98531219 -0.08375304] [ 0. 0. 0. 1. ]] SLAMing on 244.95241403699998 meters Centerline goodness : 0.787697 Centerline is valid? [False, False] Translation: X:-9.44, Y:-4.58, Z:-0.08 [[ 0.95956053 -0.22409287 -0.17037012 -9.43897505] [ 0.2254537 0.97418516 -0.01157171 -4.58050556] [ 0.16856518 -0.02730682 0.98531219 -0.08375304] [ 0. 0. 0. 1. ]] SLAMing on 244.98241403699998 meters Centerline goodness : 0.786212 Centerline is valid? [False, False] Translation: X:-9.44, Y:-4.58, Z:-0.08 [[ 0.95950652 -0.2238317 -0.17101639 -9.43791439] [ 0.22528714 0.97422914 -0.01110354 -4.5806605 ] [ 0.16909447 -0.02787388 0.98520562 -0.08338211] [ 0. 0. 0. 1. ]] SLAMing on 245.01241403699999 meters Centerline goodness : 0.788758 Centerline is valid? [False, False] Translation: X:-9.44, Y:-4.58, Z:-0.08 [[ 0.95946101 -0.22359406 -0.17158169 -9.43699754] [ 0.22513656 0.97426878 -0.01067107 -4.58085406] [ 0.16955267 -0.02839084 0.9851121 -0.08310122] [ 0. 0. 0. 1. ]] SLAMing on 245.042414037 meters Centerline goodness : 0.793696 Centerline is valid? [False, False] Translation: X:-9.44, Y:-4.58, Z:-0.08 [[ 0.9595143 -0.22306597 -0.17197061 -9.43575856] [ 0.22469491 0.9743759 -0.01018852 -4.58124465] [ 0.16983673 -0.02886489 0.98504939 -0.08354222] [ 0. 0. 0. 1. ]] SLAMing on 245.072414037 meters Centerline goodness : 0.793115 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.58, Z:-0.08 [[ 9.59996518e-01 -2.19697666e-01 -1.73607666e-01 -9.43359250e+00] [ 2.22086533e-01 9.75009772e-01 -5.78933603e-03 -4.58345298e+00] [ 1.70541074e-01 -3.29981821e-02 9.84797879e-01 -8.36116615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.102414037 meters Centerline goodness : 0.793142 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.58, Z:-0.08 [[ 9.60073858e-01 -2.19155705e-01 -1.73864788e-01 -9.43243305e+00] [ 2.21583898e-01 9.75125437e-01 -5.56406465e-03 -4.58310304e+00] [ 1.70759374e-01 -3.31837244e-02 9.84753815e-01 -8.44136673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.132414037 meters Centerline goodness : 0.786901 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.58, Z:-0.08 [[ 9.60637560e-01 -2.15548042e-01 -1.75255584e-01 -9.43047549e+00] [ 2.18689511e-01 9.75793461e-01 -1.42084423e-03 -4.58474248e+00] [ 1.71319513e-01 -3.69616417e-02 9.84521946e-01 -8.49079253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.162414037 meters Centerline goodness : 0.787957 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.59, Z:-0.09 [[ 9.61395141e-01 -2.11688832e-01 -1.75804496e-01 -9.42951403e+00] [ 2.15398815e-01 9.76523968e-01 2.07137360e-03 -4.58560620e+00] [ 1.71238817e-01 -3.98594887e-02 9.84422922e-01 -8.62810016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.192414037 meters Centerline goodness : 0.785206 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.59, Z:-0.09 [[ 9.61965110e-01 -2.08212856e-01 -1.76834762e-01 -9.42845068e+00] [ 2.12597135e-01 9.77121490e-01 6.00430536e-03 -4.58703465e+00] [ 1.71538873e-01 -4.33704961e-02 9.84222239e-01 -8.65325584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.222414037 meters Centerline goodness : 0.785640 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.59, Z:-0.09 [[ 9.62041113e-01 -2.07687897e-01 -1.77038511e-01 -9.42802879e+00] [ 2.12100722e-01 9.77228377e-01 6.16311118e-03 -4.58663102e+00] [ 1.71727053e-01 -4.34791624e-02 9.84184628e-01 -8.66328309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.252414037 meters Centerline goodness : 0.784005 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.59, Z:-0.09 [[ 0.96268444 -0.20414296 -0.1776635 -9.42849365] [ 0.20920388 0.9778206 0.01003091 -4.58785631] [ 0.17167529 -0.04682449 0.98404017 -0.08618195] [ 0. 0. 0. 1. ]] SLAMing on 245.282414037 meters Centerline goodness : 0.781980 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.59, Z:-0.09 [[ 0.96307101 -0.20121626 -0.17890289 -9.4275434 ] [ 0.20697659 0.97824657 0.01394077 -4.58925043] [ 0.17220603 -0.05045467 0.98376797 -0.08569309] [ 0. 0. 0. 1. ]] SLAMing on 245.312414037 meters Centerline goodness : 0.788242 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.59, Z:-0.09 [[ 0.9631003 -0.20085282 -0.17915345 -9.42712732] [ 0.20665029 0.97831311 0.0141109 -4.58866261] [ 0.17243396 -0.05061232 0.98371994 -0.08570293] [ 0. 0. 0. 1. ]] SLAMing on 245.342414037 meters Centerline goodness : 0.789112 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.59, Z:-0.09 [[ 0.96312665 -0.20071748 -0.17916347 -9.42716179] [ 0.20645963 0.97835773 0.01380455 -4.5873496 ] [ 0.17251515 -0.05028556 0.98372246 -0.08585614] [ 0. 0. 0. 1. ]] SLAMing on 245.372414037 meters Centerline goodness : 0.783311 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.59, Z:-0.09 [[ 0.96305679 -0.2006738 -0.17958745 -9.42618253] [ 0.20646675 0.97835385 0.01397215 -4.58714488] [ 0.17289623 -0.05053481 0.98364278 -0.08594234] [ 0. 0. 0. 1. ]] SLAMing on 245.40241403699997 meters Centerline goodness : 0.784489 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.59, Z:-0.09 [[ 0.96299129 -0.20052115 -0.18010842 -9.4251097 ] [ 0.2064067 0.97836095 0.01435686 -4.58713667] [ 0.17333219 -0.05100112 0.98354199 -0.08595875] [ 0. 0. 0. 1. ]] SLAMing on 245.43241403699997 meters Centerline goodness : 0.790617 Centerline is valid? [False, False] Translation: X:-9.42, Y:-4.59, Z:-0.09 [[ 0.96288664 -0.20051946 -0.18066892 -9.4236128 ] [ 0.2064359 0.97835468 0.01436449 -4.58590193] [ 0.17387793 -0.05112793 0.98343907 -0.08655036] [ 0. 0. 0. 1. ]] SLAMing on 245.46241403699997 meters Centerline goodness : 0.791483 Centerline is valid? [False, False] Translation: X:-9.42, Y:-4.58, Z:-0.09 [[ 0.96276739 -0.20105205 -0.18071254 -9.42334676] [ 0.20686117 0.97827443 0.01369642 -4.58492243] [ 0.17403276 -0.05056887 0.98344059 -0.08666681] [ 0. 0. 0. 1. ]] SLAMing on 245.49241403699997 meters Centerline goodness : 0.790444 Centerline is valid? [False, False] Translation: X:-9.42, Y:-4.58, Z:-0.09 [[ 0.962718 -0.20088438 -0.18116158 -9.42225739] [ 0.2067491 0.97829536 0.0138927 -4.58444624] [ 0.17443871 -0.05082975 0.98335521 -0.08693031] [ 0. 0. 0. 1. ]] SLAMing on 245.52241403699998 meters Centerline goodness : 0.782034 Centerline is valid? [False, False] Translation: X:-9.42, Y:-4.58, Z:-0.09 [[ 0.96268892 -0.20073851 -0.18147751 -9.4211311 ] [ 0.20663589 0.9783178 0.01399635 -4.58373378] [ 0.17473308 -0.05097389 0.98329549 -0.08751711] [ 0. 0. 0. 1. ]] SLAMing on 245.55241403699998 meters Centerline goodness : 0.780391 Centerline is valid? [False, False] Translation: X:-9.42, Y:-4.58, Z:-0.09 [[ 0.96268092 -0.20071914 -0.18154136 -9.42068073] [ 0.20662979 0.97831826 0.01405385 -4.58336646] [ 0.17478435 -0.05104122 0.98328288 -0.0879606 ] [ 0. 0. 0. 1. ]] SLAMing on 245.58241403699998 meters Centerline goodness : 0.788882 Centerline is valid? [False, False] Translation: X:-9.42, Y:-4.58, Z:-0.09 [[ 0.9626749 -0.20051893 -0.18179437 -9.41990045] [ 0.20652454 0.97833352 0.01453075 -4.5835983 ] [ 0.17494183 -0.05153339 0.9832292 -0.08823074] [ 0. 0. 0. 1. ]] SLAMing on 245.61241403699998 meters Centerline goodness : 0.787231 Centerline is valid? [False, False] Translation: X:-9.42, Y:-4.58, Z:-0.09 [[ 0.96255171 -0.2010516 -0.18185834 -9.41980669] [ 0.2070531 0.97822314 0.01443977 -4.58324559] [ 0.17499489 -0.05155336 0.98321871 -0.08811607] [ 0. 0. 0. 1. ]] SLAMing on 245.64241403699998 meters Centerline goodness : 0.785510 Centerline is valid? [False, False] Translation: X:-9.42, Y:-4.58, Z:-0.09 [[ 0.96244417 -0.20119789 -0.18226529 -9.41889572] [ 0.20725662 0.97817728 0.01462551 -4.58318338] [ 0.17534514 -0.05185193 0.98314061 -0.08808547] [ 0. 0. 0. 1. ]] SLAMing on 245.67241403699998 meters Centerline goodness : 0.787267 Centerline is valid? [False, False] Translation: X:-9.42, Y:-4.58, Z:-0.09 [[ 0.96238637 -0.20098062 -0.18280936 -9.41792002] [ 0.20715679 0.97819062 0.01513879 -4.58348168] [ 0.1757798 -0.05243957 0.98303182 -0.08786981] [ 0. 0. 0. 1. ]] SLAMing on 245.70241403699998 meters Centerline goodness : 0.786059 Centerline is valid? [False, False] Translation: X:-9.42, Y:-4.58, Z:-0.09 [[ 0.96226975 -0.20130664 -0.18306435 -9.41779809] [ 0.20754071 0.97810586 0.01535497 -4.58360725] [ 0.17596526 -0.05276893 0.98298101 -0.08734945] [ 0. 0. 0. 1. ]] SLAMing on 245.73241403699998 meters Centerline goodness : 0.786893 Centerline is valid? [False, False] Translation: X:-9.42, Y:-4.58, Z:-0.09 [[ 0.96221002 -0.20123814 -0.18345325 -9.4171239 ] [ 0.20756085 0.97809552 0.01573699 -4.58365222] [ 0.17626792 -0.05322 0.98290246 -0.08721974] [ 0. 0. 0. 1. ]] SLAMing on 245.76241403699999 meters Centerline goodness : 0.786188 Centerline is valid? [False, False] Translation: X:-9.42, Y:-4.58, Z:-0.09 [[ 0.96214846 -0.20115975 -0.18386162 -9.41605358] [ 0.20756415 0.97808934 0.0160736 -4.58368931] [ 0.17659972 -0.05362827 0.98282071 -0.08742335] [ 0. 0. 0. 1. ]] SLAMing on 245.792414037 meters Centerline goodness : 0.779359 Centerline is valid? [False, False] Translation: X:-9.42, Y:-4.58, Z:-0.09 [[ 0.96210916 -0.20134467 -0.18386484 -9.41602586] [ 0.20771925 0.97805942 0.01588962 -4.5837298 ] [ 0.17663145 -0.05347981 0.9828231 -0.08730341] [ 0. 0. 0. 1. ]] SLAMing on 245.822414037 meters Centerline goodness : 0.784825 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.58, Z:-0.09 [[ 0.96195176 -0.20186225 -0.18412072 -9.4148914 ] [ 0.20824036 0.97795034 0.01578271 -4.58358278] [ 0.17687498 -0.05352357 0.98277692 -0.08783198] [ 0. 0. 0. 1. ]] SLAMing on 245.852414037 meters Centerline goodness : 0.782318 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.58, Z:-0.09 [[ 0.96186125 -0.20177185 -0.1846918 -9.41338004] [ 0.20823257 0.97794726 0.01607337 -4.5836227 ] [ 0.17737568 -0.0539192 0.98266504 -0.08810467] [ 0. 0. 0. 1. ]] SLAMing on 245.882414037 meters Centerline goodness : 0.777068 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.58, Z:-0.09 [[ 0.96184136 -0.20190754 -0.18464708 -9.41323309] [ 0.20834813 0.97792446 0.01596303 -4.5837739 ] [ 0.17734784 -0.05382477 0.98267525 -0.0882112 ] [ 0. 0. 0. 1. ]] SLAMing on 245.912414037 meters Centerline goodness : 0.784245 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.58, Z:-0.09 [[ 0.96182821 -0.20140937 -0.18525861 -9.41198505] [ 0.20802916 0.97797815 0.01681084 -4.58430185] [ 0.17779301 -0.05470833 0.982546 -0.08824118] [ 0. 0. 0. 1. ]] SLAMing on 245.942414037 meters Centerline goodness : 0.773882 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.58, Z:-0.09 [[ 0.96172495 -0.20191526 -0.18524401 -9.41235798] [ 0.20851964 0.97787588 0.01668329 -4.58459124] [ 0.17777704 -0.05467175 0.98255093 -0.08769581] [ 0. 0. 0. 1. ]] SLAMing on 245.972414037 meters Centerline goodness : 0.782377 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.59, Z:-0.09 [[ 0.96166677 -0.201515 -0.18598047 -9.41098587] [ 0.20837129 0.97788638 0.01787806 -4.58577426] [ 0.17826507 -0.05594573 0.98239078 -0.08739884] [ 0. 0. 0. 1. ]] SLAMing on 246.002414037 meters Centerline goodness : 0.774050 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.59, Z:-0.09 [[ 0.9615307 -0.20203381 -0.1861211 -9.41021977] [ 0.20896631 0.97775338 0.01820472 -4.58742863] [ 0.17830256 -0.05639744 0.98235815 -0.08749532] [ 0. 0. 0. 1. ]] SLAMing on 246.032414037 meters Centerline goodness : 0.780874 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.59, Z:-0.09 [[ 0.96148311 -0.20194488 -0.18646315 -9.40890254] [ 0.20900178 0.97773477 0.01878739 -4.5885793 ] [ 0.17851748 -0.05703489 0.98228231 -0.08789543] [ 0. 0. 0. 1. ]] SLAMing on 246.062414037 meters Centerline goodness : 0.773780 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.59, Z:-0.09 [[ 0.96138202 -0.20230436 -0.18659463 -9.4083988 ] [ 0.20939194 0.97764951 0.01887992 -4.58928226] [ 0.17860466 -0.05722223 0.98225556 -0.08787131] [ 0. 0. 0. 1. ]] SLAMing on 246.092414037 meters Centerline goodness : 0.774425 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.59, Z:-0.09 [[ 0.96121144 -0.20265558 -0.18709166 -9.40695373] [ 0.20987204 0.97753652 0.01939249 -4.59007175] [ 0.17895893 -0.05790559 0.98215103 -0.08809718] [ 0. 0. 0. 1. ]] SLAMing on 246.122414037 meters Centerline goodness : 0.774711 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.59, Z:-0.09 [[ 0.96113194 -0.20250372 -0.18766365 -9.40569628] [ 0.20986615 0.97752519 0.02001758 -4.5905626 ] [ 0.17939231 -0.05862378 0.98202935 -0.08810563] [ 0. 0. 0. 1. ]] SLAMing on 246.15241403699997 meters Centerline goodness : 0.773200 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.59, Z:-0.09 [[ 0.96109899 -0.20254448 -0.18778835 -9.40533052] [ 0.20992549 0.97751129 0.02007395 -4.59103656] [ 0.17949936 -0.05871462 0.98200436 -0.08800095] [ 0. 0. 0. 1. ]] SLAMing on 246.18241403699997 meters Centerline goodness : 0.783556 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.59, Z:-0.09 [[ 0.96118103 -0.20180031 -0.18816925 -9.40466101] [ 0.20945492 0.97758166 0.02151152 -4.59356387] [ 0.17960978 -0.06008944 0.98190101 -0.08765889] [ 0. 0. 0. 1. ]] SLAMing on 246.21241403699997 meters Centerline goodness : 0.779290 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.59, Z:-0.09 [[ 0.96119456 -0.20142845 -0.18849824 -9.40397017] [ 0.2092387 0.97761065 0.02228405 -4.5946843 ] [ 0.17978925 -0.06086044 0.98182067 -0.08753329] [ 0. 0. 0. 1. ]] SLAMing on 246.24241403699997 meters Centerline goodness : 0.771945 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.60, Z:-0.09 [[ 0.96126479 -0.20090548 -0.18869816 -9.40326887] [ 0.20886153 0.97767332 0.02305958 -4.59601161] [ 0.17985236 -0.06157815 0.98176436 -0.08761174] [ 0. 0. 0. 1. ]] SLAMing on 246.27241403699998 meters Centerline goodness : 0.773037 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.60, Z:-0.09 [[ 0.9612873 -0.20085836 -0.18863364 -9.40347441] [ 0.20883673 0.97767509 0.02320841 -4.59674568] [ 0.17976081 -0.06170358 0.98177325 -0.08734575] [ 0. 0. 0. 1. ]] SLAMing on 246.30241403699998 meters Centerline goodness : 0.779308 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.60, Z:-0.09 [[ 0.96133043 -0.20031176 -0.18899474 -9.4024207 ] [ 0.20840294 0.97775469 0.0237484 -4.59719438] [ 0.18003341 -0.06221712 0.98169089 -0.08764801] [ 0. 0. 0. 1. ]] SLAMing on 246.33241403699998 meters Centerline goodness : 0.778109 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.60, Z:-0.09 [[ 0.96138006 -0.20000039 -0.18907201 -9.40174592] [ 0.20810114 0.97781765 0.02380241 -4.59738918] [ 0.18011746 -0.06222927 0.9816747 -0.08807938] [ 0. 0. 0. 1. ]] SLAMing on 246.36241403699998 meters Centerline goodness : 0.769843 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.60, Z:-0.09 [[ 0.96176933 -0.19691604 -0.19032558 -9.40018471] [ 0.20578575 0.97820155 0.02781994 -4.59939182] [ 0.18069858 -0.06592266 0.98132677 -0.08801409] [ 0. 0. 0. 1. ]] SLAMing on 246.39241403699998 meters Centerline goodness : 0.778144 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.60, Z:-0.09 [[ 0.96199709 -0.19594904 -0.19017247 -9.39945262] [ 0.20477929 0.97841467 0.02775199 -4.59906727] [ 0.18062955 -0.06564072 0.98135837 -0.0893214 ] [ 0. 0. 0. 1. ]] SLAMing on 246.42241403699998 meters Centerline goodness : 0.770033 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.60, Z:-0.09 [[ 0.9620786 -0.19582592 -0.18988676 -9.39964637] [ 0.20452134 0.97848591 0.02713565 -4.59809609] [ 0.18048765 -0.06494253 0.98143093 -0.08981586] [ 0. 0. 0. 1. ]] SLAMing on 246.45241403699998 meters Centerline goodness : 0.771781 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.60, Z:-0.09 [[ 0.96220041 -0.19552501 -0.18957936 -9.3999053 ] [ 0.20412194 0.9785802 0.02673981 -4.59721376] [ 0.18029031 -0.06442636 0.98150122 -0.09040401] [ 0. 0. 0. 1. ]] SLAMing on 246.48241403699998 meters Centerline goodness : 0.768522 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.60, Z:-0.09 [[ 0.96290842 -0.19128725 -0.19030648 -9.39935331] [ 0.20061193 0.97918589 0.03081943 -4.59840701] [ 0.18045005 -0.06785404 0.98124085 -0.09090198] [ 0. 0. 0. 1. ]] SLAMing on 246.51241403699999 meters Centerline goodness : 0.770687 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.60, Z:-0.09 [[ 0.96304801 -0.19110164 -0.18978589 -9.40008598] [ 0.20025461 0.97928142 0.03009982 -4.59729693] [ 0.18010167 -0.06699308 0.98136401 -0.09146158] [ 0. 0. 0. 1. ]] SLAMing on 246.542414037 meters Centerline goodness : 0.769505 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.59, Z:-0.10 [[ 0.96393647 -0.19561019 -0.18045257 -9.3952244 ] [ 0.20446487 0.97836169 0.03166275 -4.59347129] [ 0.17035432 -0.06741709 0.98307392 -0.09652162] [ 0. 0. 0. 1. ]] SLAMing on 246.572414037 meters Centerline goodness : 0.771160 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.59, Z:-0.10 [[ 0.96412892 -0.19504489 -0.1800359 -9.39621002] [ 0.20378933 0.97851616 0.03124163 -4.59247147] [ 0.17007452 -0.06681036 0.98316379 -0.09663515] [ 0. 0. 0. 1. ]] SLAMing on 246.602414037 meters Centerline goodness : 0.769393 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.59, Z:-0.10 [[ 0.96419942 -0.19510322 -0.17959458 -9.3969146 ] [ 0.20373414 0.97854306 0.03075501 -4.59186632] [ 0.16974063 -0.06624351 0.98325984 -0.09695463] [ 0. 0. 0. 1. ]] SLAMing on 246.632414037 meters Centerline goodness : 0.767898 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.59, Z:-0.10 [[ 0.96421913 -0.19501568 -0.17958382 -9.39687461] [ 0.20362831 0.97856805 0.03066091 -4.59134967] [ 0.16975563 -0.06613218 0.98326475 -0.0970705 ] [ 0. 0. 0. 1. ]] SLAMing on 246.662414037 meters Centerline goodness : 0.767601 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.59, Z:-0.10 [[ 0.96426886 -0.19507392 -0.17925327 -9.39737285] [ 0.20355515 0.978603 0.03002438 -4.5903733 ] [ 0.16956082 -0.0654395 0.9833447 -0.09735109] [ 0. 0. 0. 1. ]] SLAMing on 246.692414037 meters Centerline goodness : 0.768020 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.59, Z:-0.10 [[ 0.96429505 -0.19521656 -0.17895684 -9.39793499] [ 0.20360717 0.97860505 0.02960198 -4.58989137] [ 0.16934927 -0.06498194 0.9834115 -0.09742138] [ 0. 0. 0. 1. ]] SLAMing on 246.722414037 meters Centerline goodness : 0.769323 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.59, Z:-0.10 [[ 0.96430276 -0.19522503 -0.17890606 -9.39761156] [ 0.20357574 0.978618 0.02938928 -4.58947365] [ 0.16934317 -0.0647611 0.98342712 -0.09784095] [ 0. 0. 0. 1. ]] SLAMing on 246.752414037 meters Centerline goodness : 0.767299 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.59, Z:-0.10 [[ 0.96426627 -0.19543073 -0.17887816 -9.3974499 ] [ 0.20374197 0.97859047 0.02915314 -4.58893714] [ 0.16935104 -0.06455638 0.98343922 -0.09808283] [ 0. 0. 0. 1. ]] SLAMing on 246.782414037 meters Centerline goodness : 0.766421 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.59, Z:-0.10 [[ 0.96414382 -0.19591979 -0.17900314 -9.39737922] [ 0.20419671 0.97850427 0.02886349 -4.58864506] [ 0.16950041 -0.06438041 0.98342502 -0.09775539] [ 0. 0. 0. 1. ]] SLAMing on 246.812414037 meters Centerline goodness : 0.768546 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.59, Z:-0.10 [[ 0.96413357 -0.19578158 -0.17920949 -9.39651221] [ 0.2041408 0.97850377 0.02927292 -4.58908775] [ 0.16962607 -0.06480697 0.98337534 -0.09815615] [ 0. 0. 0. 1. ]] SLAMing on 246.842414037 meters Centerline goodness : 0.768296 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.59, Z:-0.10 [[ 0.96409716 -0.19564678 -0.17955224 -9.3956095 ] [ 0.20414626 0.97848173 0.02996359 -4.58965963] [ 0.16982631 -0.06554274 0.98329201 -0.09826398] [ 0. 0. 0. 1. ]] SLAMing on 246.872414037 meters Centerline goodness : 0.768296 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.59, Z:-0.10 [[ 0.96409716 -0.19564678 -0.17955224 -9.3956095 ] [ 0.20414626 0.97848173 0.02996359 -4.58965963] [ 0.16982631 -0.06554274 0.98329201 -0.09826398] [ 0. 0. 0. 1. ]] SLAMing on 246.90241403699997 meters Centerline goodness : 0.768049 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.59, Z:-0.10 [[ 0.96384868 -0.1965752 -0.17987193 -9.39466564] [ 0.20505129 0.97830284 0.02962296 -4.5896502 ] [ 0.17014608 -0.06543502 0.9832439 -0.09819718] [ 0. 0. 0. 1. ]] SLAMing on 246.93241403699997 meters Centerline goodness : 0.767349 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.59, Z:-0.10 [[ 0.96374579 -0.19712856 -0.17981764 -9.39441611] [ 0.20557327 0.97819957 0.02941477 -4.58976644] [ 0.17009905 -0.06531406 0.98326008 -0.09838777] [ 0. 0. 0. 1. ]] SLAMing on 246.96241403699997 meters Centerline goodness : 0.766113 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.59, Z:-0.10 [[ 0.96332044 -0.20040274 -0.1784726 -9.39561003] [ 0.20806696 0.977792 0.0251185 -4.58779693] [ 0.16947527 -0.06133142 0.98362421 -0.09880305] [ 0. 0. 0. 1. ]] SLAMing on 246.99241403699997 meters Centerline goodness : 0.764979 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.59, Z:-0.10 [[ 0.96326066 -0.2003241 -0.1788831 -9.39455069] [ 0.20807835 0.9777798 0.02549616 -4.58806808] [ 0.16980079 -0.06178115 0.98353992 -0.09891322] [ 0. 0. 0. 1. ]] SLAMing on 247.02241403699998 meters Centerline goodness : 0.765579 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.59, Z:-0.10 [[ 0.96319142 -0.20038123 -0.17919166 -9.3938763 ] [ 0.20823446 0.97773464 0.02594974 -4.58859105] [ 0.17000205 -0.06230845 0.98347189 -0.09882677] [ 0. 0. 0. 1. ]] SLAMing on 247.05241403699998 meters Centerline goodness : 0.775830 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.59, Z:-0.10 [[ 0.96312797 -0.20045699 -0.17944779 -9.39342482] [ 0.20837456 0.97769759 0.02621962 -4.5889497 ] [ 0.17018977 -0.0626452 0.98341803 -0.09856515] [ 0. 0. 0. 1. ]] SLAMing on 247.08241403699998 meters Centerline goodness : 0.768263 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.59, Z:-0.10 [[ 0.96297732 -0.20096297 -0.17969021 -9.39331583] [ 0.20889291 0.97758867 0.02615619 -4.5885886 ] [ 0.17040669 -0.06272383 0.98337545 -0.0980518 ] [ 0. 0. 0. 1. ]] SLAMing on 247.11241403699998 meters Centerline goodness : 0.769040 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.59, Z:-0.10 [[ 0.96280194 -0.20121185 -0.18035026 -9.39199205] [ 0.20919047 0.97752472 0.02616816 -4.58793294] [ 0.17103149 -0.06292231 0.9832543 -0.09797807] [ 0. 0. 0. 1. ]] SLAMing on 247.14241403699998 meters Centerline goodness : 0.769584 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.59, Z:-0.10 [[ 0.9626774 -0.20171586 -0.18045201 -9.39159576] [ 0.20964026 0.97743882 0.02577435 -4.58725662] [ 0.17118171 -0.06264239 0.98324603 -0.09812939] [ 0. 0. 0. 1. ]] SLAMing on 247.17241403699998 meters Centerline goodness : 0.771167 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.59, Z:-0.10 [[ 0.96261951 -0.20177157 -0.1806984 -9.39090657] [ 0.20972515 0.97741873 0.02584534 -4.58685811] [ 0.17140315 -0.06277622 0.98319892 -0.09837726] [ 0. 0. 0. 1. ]] SLAMing on 247.20241403699998 meters Centerline goodness : 0.775852 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.59, Z:-0.10 [[ 0.96256892 -0.20169734 -0.18105043 -9.38980323] [ 0.20963413 0.97744406 0.02562508 -4.5854596 ] [ 0.17179815 -0.06262025 0.98313992 -0.09894506] [ 0. 0. 0. 1. ]] SLAMing on 247.23241403699998 meters Centerline goodness : 0.772303 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.58, Z:-0.10 [[ 0.9625881 -0.20195756 -0.18065793 -9.39044792] [ 0.20974421 0.97743952 0.02488672 -4.58442674] [ 0.17155614 -0.06184762 0.98323108 -0.09916552] [ 0. 0. 0. 1. ]] SLAMing on 247.26241403699999 meters Centerline goodness : 0.770931 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.58, Z:-0.10 [[ 0.96255865 -0.20175912 -0.1810362 -9.38963087] [ 0.20957103 0.97747606 0.02491047 -4.58354419] [ 0.17193264 -0.06191773 0.9831609 -0.09927178] [ 0. 0. 0. 1. ]] SLAMing on 247.292414037 meters Centerline goodness : 0.775210 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.58, Z:-0.10 [[ 0.96265227 -0.20139216 -0.18094698 -9.39026321] [ 0.20916125 0.97756839 0.02473066 -4.58217633] [ 0.17190748 -0.06165413 0.98318187 -0.09915973] [ 0. 0. 0. 1. ]] SLAMing on 247.322414037 meters Centerline goodness : 0.776671 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.58, Z:-0.10 [[ 0.963015 -0.19854329 -0.18216111 -9.38914572] [ 0.20701187 0.97792259 0.02852182 -4.5832777 ] [ 0.17247665 -0.06517645 0.98285494 -0.09881817] [ 0. 0. 0. 1. ]] SLAMing on 247.352414037 meters Centerline goodness : 0.770815 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.58, Z:-0.10 [[ 0.9630518 -0.19846196 -0.18205517 -9.38942564] [ 0.20690418 0.97794836 0.02841937 -4.58284479] [ 0.17240039 -0.06503731 0.98287754 -0.09884443] [ 0. 0. 0. 1. ]] SLAMing on 247.382414037 meters Centerline goodness : 0.777662 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.58, Z:-0.10 [[ 0.96294836 -0.19890716 -0.18211644 -9.38948438] [ 0.20727108 0.97788532 0.02791047 -4.58199766] [ 0.1725374 -0.06462381 0.98288077 -0.09858751] [ 0. 0. 0. 1. ]] SLAMing on 247.412414037 meters Centerline goodness : 0.768373 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.58, Z:-0.10 [[ 0.96277327 -0.19938636 -0.1825177 -9.38855291] [ 0.20777245 0.97778088 0.02784163 -4.58126686] [ 0.17291108 -0.06472733 0.98280829 -0.09868452] [ 0. 0. 0. 1. ]] SLAMing on 247.442414037 meters Centerline goodness : 0.778079 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.58, Z:-0.10 [[ 0.96270095 -0.19962761 -0.18263543 -9.3878371 ] [ 0.20798094 0.9777437 0.02758948 -4.58043372] [ 0.17306302 -0.06454511 0.98279353 -0.09920979] [ 0. 0. 0. 1. ]] SLAMing on 247.472414037 meters Centerline goodness : 0.776291 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.58, Z:-0.10 [[ 0.96256866 -0.19995703 -0.18297202 -9.38705908] [ 0.20828247 0.97768834 0.02727479 -4.57922686] [ 0.17343583 -0.06436372 0.9827397 -0.09934738] [ 0. 0. 0. 1. ]] SLAMing on 247.502414037 meters Centerline goodness : 0.779700 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.58, Z:-0.10 [[ 0.96249742 -0.20010033 -0.18318997 -9.38681675] [ 0.20833858 0.97769262 0.02668669 -4.57608525] [ 0.17376347 -0.06385141 0.98271525 -0.09977416] [ 0. 0. 0. 1. ]] SLAMing on 247.532414037 meters Centerline goodness : 0.779739 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.57, Z:-0.10 [[ 0.96247799 -0.2000673 -0.18332808 -9.38648132] [ 0.20824451 0.97772332 0.02629323 -4.57459608] [ 0.17398372 -0.06348372 0.9827001 -0.10004429] [ 0. 0. 0. 1. ]] SLAMing on 247.562414037 meters Centerline goodness : 0.781069 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.57, Z:-0.10 [[ 0.96251992 -0.19991264 -0.18327669 -9.38643336] [ 0.20804368 0.97777217 0.02606533 -4.57338509] [ 0.17399206 -0.06321796 0.98271575 -0.10045893] [ 0. 0. 0. 1. ]] SLAMing on 247.592414037 meters Centerline goodness : 0.779524 Centerline is valid? [False, False] Translation: X:-9.38, Y:-4.57, Z:-0.10 [[ 0.96288237 -0.19665378 -0.18489142 -9.38467011] [ 0.2055042 0.97820253 0.02979663 -4.57281291] [ 0.17500163 -0.06668661 0.98230714 -0.10044081] [ 0. 0. 0. 1. ]] SLAMing on 247.622414037 meters Centerline goodness : 0.780286 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.57, Z:-0.10 [[ 0.96287988 -0.1970182 -0.18451601 -9.38566226] [ 0.20568581 0.9781918 0.02888172 -4.57115903] [ 0.17480182 -0.06576195 0.98240505 -0.10043707] [ 0. 0. 0. 1. ]] SLAMing on 247.65241403699997 meters Centerline goodness : 0.778790 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.57, Z:-0.10 [[ 0.96281005 -0.19752222 -0.18434146 -9.38653308] [ 0.20603266 0.97814388 0.02801956 -4.56942214] [ 0.17477799 -0.06495787 0.98246279 -0.10010447] [ 0. 0. 0. 1. ]] SLAMing on 247.68241403699997 meters Centerline goodness : 0.780892 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.57, Z:-0.10 [[ 0.96291725 -0.19733449 -0.18398226 -9.38811691] [ 0.2056546 0.97824933 0.02710055 -4.56651277] [ 0.17463264 -0.06393239 0.9825559 -0.09968128] [ 0. 0. 0. 1. ]] SLAMing on 247.71241403699997 meters Centerline goodness : 0.779502 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.56, Z:-0.10 [[ 0.96292803 -0.19751891 -0.18372776 -9.38911282] [ 0.20569354 0.97826139 0.02635941 -4.56435837] [ 0.1745273 -0.06317383 0.98262368 -0.09956894] [ 0. 0. 0. 1. ]] SLAMing on 247.74241403699997 meters Centerline goodness : 0.780415 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.56, Z:-0.10 [[ 0.96294849 -0.1975104 -0.18362966 -9.38958723] [ 0.2055823 0.97829922 0.02581771 -4.562699 ] [ 0.17454548 -0.06261213 0.9826564 -0.09951468] [ 0. 0. 0. 1. ]] SLAMing on 247.77241403699998 meters Centerline goodness : 0.780940 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.56, Z:-0.10 [[ 0.96285877 -0.19811658 -0.18344701 -9.39052431] [ 0.20601234 0.97823413 0.02483763 -4.56065209] [ 0.17453338 -0.06170747 0.98271577 -0.09907864] [ 0. 0. 0. 1. ]] SLAMing on 247.80241403699998 meters Centerline goodness : 0.780586 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.56, Z:-0.10 [[ 0.96278256 -0.198108 -0.1838558 -9.39015216] [ 0.20595389 0.97825715 0.02441178 -4.55795741] [ 0.17502209 -0.06136905 0.98265004 -0.09903643] [ 0. 0. 0. 1. ]] SLAMing on 247.83241403699998 meters Centerline goodness : 0.780243 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.56, Z:-0.10 [[ 0.96270238 -0.19854746 -0.18380161 -9.3902915 ] [ 0.20629833 0.97819824 0.02385787 -4.55656521] [ 0.17505749 -0.06088599 0.98267379 -0.09912904] [ 0. 0. 0. 1. ]] SLAMing on 247.86241403699998 meters Centerline goodness : 0.779667 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.55, Z:-0.10 [[ 0.96260853 -0.19897444 -0.18383139 -9.39018091] [ 0.20660966 0.97814931 0.02315984 -4.55421979] [ 0.17520634 -0.0602752 0.98268491 -0.09938872] [ 0. 0. 0. 1. ]] SLAMing on 247.89241403699998 meters Centerline goodness : 0.779320 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.55, Z:-0.10 [[ 0.96255526 -0.19930304 -0.1837544 -9.39029343] [ 0.20686253 0.9781059 0.02273216 -4.55324176] [ 0.17520067 -0.05989286 0.9827093 -0.09946303] [ 0. 0. 0. 1. ]] SLAMing on 247.92241403699998 meters Centerline goodness : 0.779672 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.55, Z:-0.10 [[ 0.96251664 -0.19954022 -0.18369928 -9.39032444] [ 0.20705252 0.97807186 0.02246509 -4.55263089] [ 0.17518841 -0.05965842 0.98272575 -0.09955888] [ 0. 0. 0. 1. ]] SLAMing on 247.95241403699998 meters Centerline goodness : 0.781349 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.55, Z:-0.10 [[ 0.96242611 -0.20023262 -0.18341997 -9.39102594] [ 0.20761839 0.97796721 0.02178837 -4.55118856] [ 0.17501598 -0.05905106 0.98279315 -0.09957897] [ 0. 0. 0. 1. ]] SLAMing on 247.98241403699998 meters Centerline goodness : 0.781608 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.55, Z:-0.10 [[ 0.96234919 -0.20073181 -0.18327786 -9.39156964] [ 0.20802782 0.97789123 0.02128754 -4.55046966] [ 0.17495273 -0.05861294 0.98283064 -0.09934925] [ 0. 0. 0. 1. ]] SLAMing on 248.01241403699999 meters Centerline goodness : 0.781377 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.55, Z:-0.10 [[ 0.9622739 -0.20115145 -0.18321311 -9.39189726] [ 0.20837767 0.97782555 0.02087936 -4.54990195] [ 0.17495055 -0.05826918 0.98285147 -0.09913318] [ 0. 0. 0. 1. ]] SLAMing on 248.042414037 meters Centerline goodness : 0.780851 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.55, Z:-0.10 [[ 0.96213781 -0.20220809 -0.18276413 -9.39347289] [ 0.20928295 0.97764886 0.02008344 -4.549013 ] [ 0.17461811 -0.05757245 0.98295164 -0.09867228] [ 0. 0. 0. 1. ]] SLAMing on 248.072414037 meters Centerline goodness : 0.782502 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.55, Z:-0.10 [[ 0.96204569 -0.2028736 -0.18251135 -9.39450904] [ 0.20983987 0.97754138 0.01949579 -4.54840638] [ 0.17445721 -0.057054 0.98301044 -0.09817156] [ 0. 0. 0. 1. ]] SLAMing on 248.102414037 meters Centerline goodness : 0.779776 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.55, Z:-0.10 [[ 0.96197844 -0.20352957 -0.18213508 -9.39563042] [ 0.21038826 0.97743415 0.01895417 -4.54791017] [ 0.17416731 -0.05655258 0.98309082 -0.09783851] [ 0. 0. 0. 1. ]] SLAMing on 248.132414037 meters Centerline goodness : 0.779861 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.55, Z:-0.10 [[ 0.9618187 -0.20467542 -0.18169412 -9.39716979] [ 0.21137787 0.97723659 0.01811217 -4.54724609] [ 0.17385103 -0.05582674 0.98318828 -0.09729355] [ 0. 0. 0. 1. ]] SLAMing on 248.162414037 meters Centerline goodness : 0.777479 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.55, Z:-0.10 [[ 0.96174192 -0.20521416 -0.18149279 -9.39773203] [ 0.21183009 0.97714731 0.01763937 -4.54691116] [ 0.17372534 -0.05541015 0.98323406 -0.09705423] [ 0. 0. 0. 1. ]] SLAMing on 248.192414037 meters Centerline goodness : 0.780070 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.55, Z:-0.10 [[ 0.9616709 -0.20571544 -0.18130154 -9.39804169] [ 0.21226218 0.97706025 0.01726397 -4.54646657] [ 0.17359106 -0.05508572 0.98327601 -0.09717977] [ 0. 0. 0. 1. ]] SLAMing on 248.222414037 meters Centerline goodness : 0.779137 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.55, Z:-0.10 [[ 0.96155807 -0.20650342 -0.18100393 -9.39878477] [ 0.21294714 0.97692092 0.01670422 -4.54584737] [ 0.17337705 -0.05460635 0.9833405 -0.09717391] [ 0. 0. 0. 1. ]] SLAMing on 248.252414037 meters Centerline goodness : 0.780092 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.55, Z:-0.10 [[ 0.96150806 -0.20682395 -0.18090356 -9.39908318] [ 0.21321132 0.97686866 0.01638753 -4.54530379] [ 0.17332969 -0.05432743 0.9833643 -0.09707236] [ 0. 0. 0. 1. ]] SLAMing on 248.282414037 meters Centerline goodness : 0.780972 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.54, Z:-0.10 [[ 0.96144885 -0.20723761 -0.18074477 -9.39967232] [ 0.21353092 0.97680745 0.01586663 -4.54422651] [ 0.17326468 -0.05384955 0.98340204 -0.09683924] [ 0. 0. 0. 1. ]] SLAMing on 248.312414037 meters Centerline goodness : 0.776364 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.54, Z:-0.10 [[ 0.96139699 -0.20750974 -0.18070844 -9.3999846 ] [ 0.21373837 0.97676818 0.01548636 -4.54330933] [ 0.17329669 -0.05351287 0.98341478 -0.09662183] [ 0. 0. 0. 1. ]] SLAMing on 248.342414037 meters Centerline goodness : 0.780290 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.54, Z:-0.10 [[ 0.96136298 -0.20774698 -0.18061677 -9.40028375] [ 0.21391983 0.97673331 0.01517692 -4.54263275] [ 0.17326146 -0.05322804 0.98343645 -0.09649648] [ 0. 0. 0. 1. ]] SLAMing on 248.372414037 meters Centerline goodness : 0.782205 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.54, Z:-0.10 [[ 0.96133675 -0.20781148 -0.18068217 -9.4001972 ] [ 0.21390604 0.97674353 0.01470662 -4.54112069] [ 0.17342393 -0.05278702 0.98343158 -0.0963634 ] [ 0. 0. 0. 1. ]] SLAMing on 248.40241403699997 meters Centerline goodness : 0.780021 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.54, Z:-0.10 [[ 0.96131823 -0.20784021 -0.18074765 -9.40000599] [ 0.21388972 0.97675125 0.01442842 -4.54013054] [ 0.17354669 -0.05253037 0.98342367 -0.09638105] [ 0. 0. 0. 1. ]] SLAMing on 248.43241403699997 meters Centerline goodness : 0.780772 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.54, Z:-0.10 [[ 0.9612848 -0.20796903 -0.18077724 -9.40001678] [ 0.21395825 0.97674153 0.01406607 -4.53897004] [ 0.17364733 -0.05220028 0.98342348 -0.09630191] [ 0. 0. 0. 1. ]] SLAMing on 248.46241403699997 meters Centerline goodness : 0.781940 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.54, Z:-0.10 [[ 0.96122738 -0.20813295 -0.18089389 -9.40019361] [ 0.21399407 0.97674454 0.01329082 -4.53646923] [ 0.17392086 -0.05148572 0.98341281 -0.09583405] [ 0. 0. 0. 1. ]] SLAMing on 248.49241403699997 meters Centerline goodness : 0.782804 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.54, Z:-0.10 [[ 0.96119306 -0.2082419 -0.18095084 -9.40021998] [ 0.21403432 0.97674128 0.01287557 -4.53510986] [ 0.17406093 -0.0511056 0.98340786 -0.09565528] [ 0. 0. 0. 1. ]] SLAMing on 248.52241403699998 meters Centerline goodness : 0.781606 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.53, Z:-0.10 [[ 0.96115933 -0.20834369 -0.18101285 -9.40032177] [ 0.21407617 0.97673687 0.0125093 -4.53410775] [ 0.17419569 -0.05077397 0.98340117 -0.09534292] [ 0. 0. 0. 1. ]] SLAMing on 248.55241403699998 meters Centerline goodness : 0.782872 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.53, Z:-0.09 [[ 0.96110693 -0.20869311 -0.1808885 -9.40109372] [ 0.21430394 0.97669542 0.01182718 -4.53221318] [ 0.17420472 -0.0501323 0.98343249 -0.0948853 ] [ 0. 0. 0. 1. ]] SLAMing on 248.58241403699998 meters Centerline goodness : 0.784363 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.53, Z:-0.09 [[ 0.96107031 -0.20879422 -0.18096638 -9.40103664] [ 0.21437281 0.97668287 0.01161323 -4.53168039] [ 0.17432199 -0.04995541 0.98342071 -0.09472003] [ 0. 0. 0. 1. ]] SLAMing on 248.61241403699998 meters Centerline goodness : 0.781708 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.53, Z:-0.09 [[ 0.96105498 -0.20882585 -0.18101131 -9.40088466] [ 0.2143886 0.97668065 0.01150792 -4.53158735] [ 0.1743871 -0.04986651 0.98341368 -0.09466353] [ 0. 0. 0. 1. ]] SLAMing on 248.64241403699998 meters Centerline goodness : 0.780132 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.53, Z:-0.09 [[ 0.96102723 -0.20907807 -0.18086741 -9.4010094 ] [ 0.21462735 0.97662889 0.01145062 -4.53173135] [ 0.17424626 -0.04982345 0.98344083 -0.09487622] [ 0. 0. 0. 1. ]] SLAMing on 248.67241403699998 meters Centerline goodness : 0.782632 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.53, Z:-0.09 [[ 0.96097612 -0.20932559 -0.18085267 -9.40125116] [ 0.21483147 0.97658706 0.01118729 -4.53171078] [ 0.17427659 -0.04960356 0.98344657 -0.09453429] [ 0. 0. 0. 1. ]] SLAMing on 248.70241403699998 meters Centerline goodness : 0.782528 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.53, Z:-0.09 [[ 0.96095032 -0.20947184 -0.18082046 -9.40130878] [ 0.21495706 0.9765608 0.01106664 -4.53160565] [ 0.17426402 -0.04950313 0.98345386 -0.09448872] [ 0. 0. 0. 1. ]] SLAMing on 248.73241403699998 meters Centerline goodness : 0.781772 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.53, Z:-0.09 [[ 0.96092596 -0.20965587 -0.18073659 -9.40170534] [ 0.21510709 0.97652984 0.01088194 -4.53123236] [ 0.17421321 -0.04933446 0.98347133 -0.0942616 ] [ 0. 0. 0. 1. ]] SLAMing on 248.76241403699999 meters Centerline goodness : 0.781772 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.53, Z:-0.09 [[ 0.96092596 -0.20965587 -0.18073659 -9.40170534] [ 0.21510709 0.97652984 0.01088194 -4.53123236] [ 0.17421321 -0.04933446 0.98347133 -0.0942616 ] [ 0. 0. 0. 1. ]] SLAMing on 248.792414037 meters Centerline goodness : 0.782629 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.53, Z:-0.09 [[ 0.96087663 -0.20991929 -0.18069311 -9.40199998] [ 0.21532225 0.97648554 0.01059792 -4.53096655] [ 0.1742195 -0.04909054 0.98348243 -0.09399066] [ 0. 0. 0. 1. ]] SLAMing on 248.822414037 meters Centerline goodness : 0.783658 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.53, Z:-0.09 [[ 0.96084018 -0.21015192 -0.1806165 -9.40242274] [ 0.21550005 0.97644962 0.01028892 -4.53075075] [ 0.17420067 -0.04880887 0.98349978 -0.09359764] [ 0. 0. 0. 1. ]] SLAMing on 248.852414037 meters Centerline goodness : 0.782475 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.53, Z:-0.09 [[ 0.96080654 -0.2104055 -0.18050019 -9.40293311] [ 0.21569957 0.97640864 0.00999341 -4.53050436] [ 0.17413928 -0.04853554 0.98352418 -0.09323963] [ 0. 0. 0. 1. ]] SLAMing on 248.882414037 meters Centerline goodness : 0.782747 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.53, Z:-0.09 [[ 0.96075857 -0.21071326 -0.18039649 -9.40383622] [ 0.21594408 0.97635817 0.00963715 -4.53052716] [ 0.17410091 -0.04821452 0.98354676 -0.09242268] [ 0. 0. 0. 1. ]] SLAMing on 248.912414037 meters Centerline goodness : 0.782514 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.53, Z:-0.09 [[ 0.96075657 -0.21076156 -0.18035072 -9.40401144] [ 0.21598197 0.97635029 0.00958683 -4.5306585 ] [ 0.17406494 -0.04816311 0.98355565 -0.09226811] [ 0. 0. 0. 1. ]] SLAMing on 248.942414037 meters Centerline goodness : 0.783903 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.53, Z:-0.09 [[ 0.96075647 -0.21055104 -0.18059696 -9.40355926] [ 0.21578337 0.97639403 0.0096042 -4.53061737] [ 0.17431162 -0.04819712 0.98351029 -0.09205774] [ 0. 0. 0. 1. ]] SLAMing on 248.972414037 meters Centerline goodness : 0.783531 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.53, Z:-0.09 [[ 0.96078935 -0.21035623 -0.18064906 -9.40314792] [ 0.21562006 0.97642831 0.00978516 -4.53099102] [ 0.17433249 -0.04835304 0.98349894 -0.09223793] [ 0. 0. 0. 1. ]] SLAMing on 249.002414037 meters Centerline goodness : 0.783992 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.53, Z:-0.09 [[ 0.96079318 -0.21022436 -0.18078214 -9.40268124] [ 0.21550802 0.97645217 0.00987157 -4.53142399] [ 0.17444987 -0.04844454 0.98347362 -0.09223997] [ 0. 0. 0. 1. ]] SLAMing on 249.032414037 meters Centerline goodness : 0.782940 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.53, Z:-0.09 [[ 0.96081447 -0.20996862 -0.18096613 -9.40203219] [ 0.21528461 0.97649989 0.01002531 -4.53175486] [ 0.17460841 -0.04859168 0.98343823 -0.09234161] [ 0. 0. 0. 1. ]] SLAMing on 249.062414037 meters Centerline goodness : 0.781822 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.53, Z:-0.09 [[ 0.96088527 -0.20954776 -0.18107799 -9.40160935] [ 0.21493077 0.97657381 0.0104096 -4.53276054] [ 0.17465472 -0.04892166 0.98341365 -0.09232535] [ 0. 0. 0. 1. ]] SLAMing on 249.092414037 meters Centerline goodness : 0.781357 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.53, Z:-0.09 [[ 0.96088974 -0.20942044 -0.1812015 -9.4013496 ] [ 0.2148264 0.97659564 0.0105153 -4.53320745] [ 0.17475848 -0.04903091 0.98338977 -0.09218563] [ 0. 0. 0. 1. ]] SLAMing on 249.122414037 meters Centerline goodness : 0.783495 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.53, Z:-0.09 [[ 0.96087101 -0.20947781 -0.18123451 -9.40157906] [ 0.21487252 0.97658633 0.01043739 -4.53360856] [ 0.17480474 -0.0489713 0.98338452 -0.0917386 ] [ 0. 0. 0. 1. ]] SLAMing on 249.15241403699997 meters Centerline goodness : 0.782930 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.53, Z:-0.09 [[ 0.96087969 -0.20939014 -0.18128978 -9.40159941] [ 0.21480617 0.97659972 0.01054959 -4.53430623] [ 0.17483857 -0.04907905 0.98337313 -0.09144246] [ 0. 0. 0. 1. ]] SLAMing on 249.18241403699997 meters Centerline goodness : 0.782939 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.54, Z:-0.09 [[ 0.96093302 -0.20908419 -0.18136022 -9.40153197] [ 0.21456205 0.97664948 0.01090533 -4.53578016] [ 0.17484523 -0.04939232 0.98335627 -0.09110135] [ 0. 0. 0. 1. ]] SLAMing on 249.21241403699997 meters Centerline goodness : 0.785011 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.54, Z:-0.09 [[ 0.96095818 -0.20884924 -0.18149759 -9.40126583] [ 0.21437865 0.97668668 0.01117724 -4.53689957] [ 0.17493192 -0.04965007 0.98332787 -0.09083669] [ 0. 0. 0. 1. ]] SLAMing on 249.24241403699997 meters Centerline goodness : 0.784191 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.54, Z:-0.09 [[ 0.96096889 -0.20878641 -0.18151317 -9.40130232] [ 0.21433591 0.97669474 0.01129146 -4.53776385] [ 0.17492546 -0.04975554 0.98332369 -0.09059191] [ 0. 0. 0. 1. ]] SLAMing on 249.27241403699998 meters Centerline goodness : 0.785079 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.54, Z:-0.09 [[ 0.96101588 -0.20843662 -0.18166635 -9.40118072] [ 0.21405218 0.97675275 0.01165047 -4.53961022] [ 0.17501472 -0.05008236 0.98329121 -0.08995351] [ 0. 0. 0. 1. ]] SLAMing on 249.30241403699998 meters Centerline goodness : 0.783833 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.54, Z:-0.09 [[ 0.96102589 -0.20834243 -0.18172139 -9.40125455] [ 0.21398491 0.97676576 0.01179435 -4.54057979] [ 0.17504197 -0.05022031 0.98327932 -0.08953808] [ 0. 0. 0. 1. ]] SLAMing on 249.33241403699998 meters Centerline goodness : 0.784264 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.54, Z:-0.09 [[ 0.96103647 -0.20829006 -0.18172547 -9.40134425] [ 0.21396504 0.97676785 0.01198058 -4.54168948] [ 0.17500816 -0.05039667 0.98327632 -0.08927795] [ 0. 0. 0. 1. ]] SLAMing on 249.36241403699998 meters Centerline goodness : 0.787256 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.54, Z:-0.09 [[ 0.96102896 -0.20833765 -0.18171063 -9.40141758] [ 0.21407588 0.97673914 0.01233603 -4.54429256] [ 0.17491382 -0.05075514 0.98327467 -0.08886095] [ 0. 0. 0. 1. ]] SLAMing on 249.39241403699998 meters Centerline goodness : 0.786376 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.55, Z:-0.09 [[ 0.96102611 -0.20841066 -0.18164198 -9.40137572] [ 0.21417787 0.97671453 0.01251257 -4.54577789] [ 0.17480461 -0.0509286 0.98328512 -0.08879023] [ 0. 0. 0. 1. ]] SLAMing on 249.42241403699998 meters Centerline goodness : 0.785278 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.55, Z:-0.09 [[ 9.60545597e-01 -2.11357732e-01 -1.80776284e-01 -9.39991454e+00] [ 2.16534731e-01 9.76231868e-01 9.16784412e-03 -4.54645318e+00] [ 1.74541874e-01 -4.79504762e-02 9.83481513e-01 -9.03398174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.45241403699998 meters Centerline goodness : 0.785667 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.55, Z:-0.09 [[ 0.96044349 -0.21088455 -0.18186811 -9.39738205] [ 0.21641777 0.97623996 0.01090414 -4.5476943 ] [ 0.1752474 -0.0498323 0.98326247 -0.09046826] [ 0. 0. 0. 1. ]] SLAMing on 249.48241403699998 meters Centerline goodness : 0.784267 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.55, Z:-0.09 [[ 0.96032683 -0.21131166 -0.18198836 -9.39699849] [ 0.21681996 0.97615308 0.01069022 -4.54784007] [ 0.17538953 -0.04972482 0.98324257 -0.09038292] [ 0. 0. 0. 1. ]] SLAMing on 249.51241403699999 meters Centerline goodness : 0.784370 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.55, Z:-0.09 [[ 0.96077774 -0.20788309 -0.18355042 -9.39491087] [ 0.21429699 0.97664391 0.01560345 -4.55080545] [ 0.1760197 -0.05432575 0.98288645 -0.0903836 ] [ 0. 0. 0. 1. ]] SLAMing on 249.542414037 meters Centerline goodness : 0.783560 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.55, Z:-0.09 [[ 0.96080745 -0.20784281 -0.18344047 -9.39542953] [ 0.21427957 0.97664507 0.01576941 -4.55114334] [ 0.17587867 -0.05445891 0.98290433 -0.09000919] [ 0. 0. 0. 1. ]] SLAMing on 249.572414037 meters Centerline goodness : 0.782635 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.55, Z:-0.09 [[ 0.96085775 -0.20790441 -0.18310692 -9.39632288] [ 0.21428204 0.97664824 0.0155378 -4.55132934] [ 0.17560068 -0.05416613 0.98297021 -0.0896182 ] [ 0. 0. 0. 1. ]] SLAMing on 249.602414037 meters Centerline goodness : 0.784930 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.55, Z:-0.09 [[ 0.96148035 -0.21016839 -0.17715749 -9.38891489] [ 0.21746775 0.97580534 0.0226213 -4.55059434] [ 0.16811694 -0.06027598 0.98392251 -0.09461112] [ 0. 0. 0. 1. ]] SLAMing on 249.632414037 meters Centerline goodness : 0.785125 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.55, Z:-0.09 [[ 0.96173938 -0.20939146 -0.17667081 -9.38991056] [ 0.21669268 0.97597178 0.02287718 -4.55147368] [ 0.16763544 -0.06028516 0.98400409 -0.09467646] [ 0. 0. 0. 1. ]] SLAMing on 249.662414037 meters Centerline goodness : 0.783195 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.55, Z:-0.10 [[ 0.96181158 -0.20896549 -0.1767821 -9.38936231] [ 0.21627767 0.97606241 0.0229379 -4.55123307] [ 0.16775713 -0.06029596 0.98398269 -0.09502567] [ 0. 0. 0. 1. ]] SLAMing on 249.692414037 meters Centerline goodness : 0.784856 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.55, Z:-0.10 [[ 0.96192893 -0.20816334 -0.17708969 -9.38840536] [ 0.21556576 0.97620834 0.023424 -4.55130072] [ 0.16800041 -0.06070669 0.98391593 -0.09556528] [ 0. 0. 0. 1. ]] SLAMing on 249.722414037 meters Centerline goodness : 0.783532 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.55, Z:-0.10 [[ 0.96199677 -0.2082102 -0.17666555 -9.38882597] [ 0.21544894 0.9762532 0.02261508 -4.55030299] [ 0.16776162 -0.05981804 0.9840111 -0.09606206] [ 0. 0. 0. 1. ]] SLAMing on 249.752414037 meters Centerline goodness : 0.784593 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.55, Z:-0.10 [[ 0.96243835 -0.204884 -0.17814313 -9.38664766] [ 0.21286085 0.97671841 0.02667222 -4.55172733] [ 0.16853096 -0.06359007 0.98364303 -0.096331 ] [ 0. 0. 0. 1. ]] SLAMing on 249.782414037 meters Centerline goodness : 0.786073 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.55, Z:-0.10 [[ 0.96252577 -0.20474512 -0.17783021 -9.38689163] [ 0.21254406 0.97681176 0.02576447 -4.54987077] [ 0.16843149 -0.06259572 0.98372385 -0.09708643] [ 0. 0. 0. 1. ]] SLAMing on 249.812414037 meters Centerline goodness : 0.782729 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.55, Z:-0.10 [[ 0.96253641 -0.20465825 -0.17787262 -9.38651573] [ 0.21242847 0.97684153 0.0255883 -4.54925571] [ 0.1685165 -0.06241488 0.98372078 -0.09745498] [ 0. 0. 0. 1. ]] SLAMing on 249.842414037 meters Centerline goodness : 0.789180 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.54, Z:-0.10 [[ 0.96212294 -0.20629004 -0.1782242 -9.33444896] [ 0.21659176 0.97543402 0.04020543 -4.54238544] [ 0.16555197 -0.07728446 0.98316817 -0.09665861] [ 0. 0. 0. 1. ]] SLAMing on 249.872414037 meters Centerline goodness : 0.782964 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.55, Z:-0.10 [[ 0.96170396 -0.20651816 -0.18021028 -9.39364176] [ 0.21496911 0.97620548 0.02848049 -4.5461152 ] [ 0.17004053 -0.06612944 0.9832157 -0.09722277] [ 0. 0. 0. 1. ]] SLAMing on 249.90241403699997 meters Centerline goodness : 0.782802 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.54, Z:-0.10 [[ 0.96164848 -0.20692083 -0.18004435 -9.39410696] [ 0.21523286 0.97616962 0.02770718 -4.54494903] [ 0.17002063 -0.06539603 0.9832682 -0.09712764] [ 0. 0. 0. 1. ]] SLAMing on 249.93241403699997 meters Centerline goodness : 0.784079 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.54, Z:-0.10 [[ 0.96162053 -0.20716483 -0.17991299 -9.39441295] [ 0.21535728 0.97616074 0.02704535 -4.54348552] [ 0.17002115 -0.06475294 0.98331067 -0.09717005] [ 0. 0. 0. 1. ]] SLAMing on 249.96241403699997 meters Centerline goodness : 0.782919 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.54, Z:-0.10 [[ 0.96159429 -0.20682318 -0.18044554 -9.39357964] [ 0.21512244 0.97620022 0.02748573 -4.54275545] [ 0.17046629 -0.065248 0.98320087 -0.09706912] [ 0. 0. 0. 1. ]] SLAMing on 249.99241403699997 meters Centerline goodness : 0.784842 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.54, Z:-0.10 [[ 0.96147003 -0.20748898 -0.18034329 -9.39431954] [ 0.21565717 0.97610374 0.02671097 -4.54131277] [ 0.17049152 -0.06457412 0.98324098 -0.09650995] [ 0. 0. 0. 1. ]] SLAMing on 250.02241403699998 meters Centerline goodness : 0.784542 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.54, Z:-0.10 [[ 0.9612895 -0.20881103 -0.17977891 -9.39665287] [ 0.21672401 0.97590407 0.0253366 -4.53884308] [ 0.17015641 -0.06331821 0.9833807 -0.09558811] [ 0. 0. 0. 1. ]] SLAMing on 250.05241403699998 meters Centerline goodness : 0.785097 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.54, Z:-0.09 [[ 0.96116873 -0.20956663 -0.17954526 -9.39777644] [ 0.21734743 0.97578442 0.02459378 -4.53790757] [ 0.17004343 -0.06266247 0.98344224 -0.09491063] [ 0. 0. 0. 1. ]] SLAMing on 250.08241403699998 meters Centerline goodness : 0.784809 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.54, Z:-0.09 [[ 0.96105228 -0.21029043 -0.17932217 -9.39883898] [ 0.21794275 0.97566961 0.02386985 -4.5369413 ] [ 0.16993959 -0.06202214 0.98350078 -0.09432415] [ 0. 0. 0. 1. ]] SLAMing on 250.11241403699998 meters Centerline goodness : 0.785495 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.54, Z:-0.09 [[ 0.96081822 -0.21179784 -0.17880165 -9.40083934] [ 0.21922954 0.97541036 0.02265042 -4.53529211] [ 0.16960767 -0.06096154 0.98362438 -0.09366248] [ 0. 0. 0. 1. ]] SLAMing on 250.14241403699998 meters Centerline goodness : 0.783768 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.53, Z:-0.09 [[ 0.96071069 -0.21252576 -0.17851544 -9.40165739] [ 0.21983976 0.97528773 0.0220073 -4.53440508] [ 0.1694268 -0.06038744 0.98369097 -0.09345195] [ 0. 0. 0. 1. ]] SLAMing on 250.17241403699998 meters Centerline goodness : 0.787079 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.53, Z:-0.09 [[ 0.96058648 -0.21328464 -0.17827865 -9.40240807] [ 0.22049052 0.97515438 0.02139775 -4.53365079] [ 0.16928539 -0.05986314 0.98374736 -0.09326238] [ 0. 0. 0. 1. ]] SLAMing on 250.20241403699998 meters Centerline goodness : 0.785104 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.53, Z:-0.09 [[ 0.96047422 -0.21405506 -0.17795983 -9.40303533] [ 0.22116578 0.97501245 0.02089057 -4.53335171] [ 0.16904132 -0.05942348 0.98381598 -0.09334637] [ 0. 0. 0. 1. ]] SLAMing on 250.23241403699998 meters Centerline goodness : 0.785775 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.53, Z:-0.09 [[ 0.96036529 -0.21475941 -0.17769893 -9.40349195] [ 0.22179857 0.97487689 0.02050468 -4.53315292] [ 0.16883101 -0.05910535 0.98387126 -0.09353935] [ 0. 0. 0. 1. ]] SLAMing on 250.26241403699999 meters Centerline goodness : 0.786134 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.53, Z:-0.09 [[ 0.95948115 -0.21931945 -0.17690364 -9.40307651] [ 0.22564007 0.97407625 0.01618688 -4.53086309] [ 0.16876754 -0.05544755 0.98409506 -0.09386428] [ 0. 0. 0. 1. ]] SLAMing on 250.292414037 meters Centerline goodness : 0.785584 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.53, Z:-0.09 [[ 0.95935769 -0.2201475 -0.17654434 -9.40416908] [ 0.22635147 0.97392153 0.01555213 -4.53037347] [ 0.16851657 -0.05488112 0.98416982 -0.09352312] [ 0. 0. 0. 1. ]] SLAMing on 250.322414037 meters Centerline goodness : 0.787177 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.53, Z:-0.09 [[ 0.9591453 -0.22156601 -0.17592269 -9.40638201] [ 0.22760503 0.97364309 0.014666 -4.53010937] [ 0.16803642 -0.05410772 0.98429473 -0.09271751] [ 0. 0. 0. 1. ]] SLAMing on 250.352414037 meters Centerline goodness : 0.788122 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.53, Z:-0.09 [[ 0.95903904 -0.22235061 -0.17551161 -9.40776492] [ 0.22827758 0.97349437 0.0140734 -4.52959816] [ 0.16773033 -0.0535623 0.98437676 -0.09223264] [ 0. 0. 0. 1. ]] SLAMing on 250.382414037 meters Centerline goodness : 0.786306 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.53, Z:-0.09 [[ 0.95896077 -0.22286226 -0.1752902 -9.40867289] [ 0.22871479 0.9733976 0.01366258 -4.52922376] [ 0.16758218 -0.05319334 0.984422 -0.09177339] [ 0. 0. 0. 1. ]] SLAMing on 250.412414037 meters Centerline goodness : 0.788340 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.53, Z:-0.09 [[ 0.95890508 -0.22318855 -0.17517967 -9.40917793] [ 0.22898478 0.97333861 0.01333854 -4.52884739] [ 0.16753213 -0.05290388 0.98444612 -0.09143409] [ 0. 0. 0. 1. ]] SLAMing on 250.442414037 meters Centerline goodness : 0.786034 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.53, Z:-0.09 [[ 0.9588368 -0.2236011 -0.17502725 -9.40988195] [ 0.22930432 0.97327056 0.01280403 -4.52768688] [ 0.16748587 -0.05241147 0.98448033 -0.09108161] [ 0. 0. 0. 1. ]] SLAMing on 250.472414037 meters Centerline goodness : 0.787295 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.53, Z:-0.09 [[ 0.95879267 -0.22380311 -0.17501081 -9.41007791] [ 0.22943549 0.9732452 0.01237501 -4.5266406 ] [ 0.16755887 -0.05201876 0.98448874 -0.09084107] [ 0. 0. 0. 1. ]] SLAMing on 250.502414037 meters Centerline goodness : 0.786672 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.53, Z:-0.09 [[ 0.95878175 -0.22379593 -0.1750798 -9.40997438] [ 0.22938649 0.9732601 0.01210838 -4.5255841 ] [ 0.16768838 -0.05177024 0.98447979 -0.09078162] [ 0. 0. 0. 1. ]] SLAMing on 250.532414037 meters Centerline goodness : 0.787828 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.52, Z:-0.09 [[ 0.95877597 -0.22377114 -0.17514313 -9.40987318] [ 0.22932013 0.97327896 0.01184685 -4.52445803] [ 0.16781214 -0.05152232 0.9844717 -0.09075668] [ 0. 0. 0. 1. ]] SLAMing on 250.562414037 meters Centerline goodness : 0.785850 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.52, Z:-0.09 [[ 0.95897328 -0.22282763 -0.17526578 -9.40906225] [ 0.22837159 0.97350177 0.01186293 -4.52240695] [ 0.16797816 -0.05140196 0.98444968 -0.09117664] [ 0. 0. 0. 1. ]] SLAMing on 250.592414037 meters Centerline goodness : 0.785811 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.52, Z:-0.09 [[ 0.95901077 -0.22244079 -0.17555182 -9.40829351] [ 0.2279493 0.97360389 0.01160125 -4.52082355] [ 0.16833734 -0.05114264 0.98440183 -0.09117936] [ 0. 0. 0. 1. ]] SLAMing on 250.622414037 meters Centerline goodness : 0.784996 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.52, Z:-0.09 [[ 0.95905913 -0.22210228 -0.17571612 -9.40782565] [ 0.22756682 0.97369662 0.01132389 -4.51911677] [ 0.16857913 -0.05084744 0.98437575 -0.09118302] [ 0. 0. 0. 1. ]] SLAMing on 250.65241403699997 meters Centerline goodness : 0.785844 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.52, Z:-0.09 [[ 0.959876 -0.21813776 -0.17622141 -9.40920132] [ 0.22409147 0.97446211 0.01437419 -4.51748668] [ 0.16858553 -0.05328716 0.9842456 -0.09066875] [ 0. 0. 0. 1. ]] SLAMing on 250.68241403699997 meters Centerline goodness : 0.785844 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.52, Z:-0.09 [[ 0.959876 -0.21813776 -0.17622141 -9.40920132] [ 0.22409147 0.97446211 0.01437419 -4.51748668] [ 0.16858553 -0.05328716 0.9842456 -0.09066875] [ 0. 0. 0. 1. ]] SLAMing on 250.71241403699997 meters Centerline goodness : 0.784807 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.52, Z:-0.09 [[ 0.95992434 -0.21778518 -0.1763941 -9.40890732] [ 0.22368289 0.97456108 0.01402366 -4.5156799 ] [ 0.16885268 -0.05291799 0.98421972 -0.09044618] [ 0. 0. 0. 1. ]] SLAMing on 250.74241403699997 meters Centerline goodness : 0.786675 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.51, Z:-0.09 [[ 0.95994294 -0.21762185 -0.17649442 -9.4088691 ] [ 0.223453 0.97461956 0.01361865 -4.51388878] [ 0.1690512 -0.05251134 0.98420742 -0.090213 ] [ 0. 0. 0. 1. ]] SLAMing on 250.77241403699998 meters Centerline goodness : 0.785316 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.51, Z:-0.09 [[ 0.95996858 -0.21734922 -0.17669081 -9.40856518] [ 0.22313722 0.97469589 0.01333026 -4.51240444] [ 0.16932249 -0.05222293 0.98417613 -0.08997816] [ 0. 0. 0. 1. ]] SLAMing on 250.80241403699998 meters Centerline goodness : 0.783777 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.51, Z:-0.09 [[ 0.96004176 -0.21687596 -0.17687465 -9.40818886] [ 0.22258804 0.97482758 0.01287437 -4.50983261] [ 0.16963015 -0.05173011 0.98414918 -0.08980205] [ 0. 0. 0. 1. ]] SLAMing on 250.83241403699998 meters Centerline goodness : 0.787340 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.51, Z:-0.09 [[ 0.96005536 -0.21678799 -0.17690864 -9.40810341] [ 0.22246236 0.97485917 0.01265301 -4.50880347] [ 0.16971799 -0.0515031 0.98414594 -0.08978087] [ 0. 0. 0. 1. ]] SLAMing on 250.86241403699998 meters Centerline goodness : 0.786273 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.51, Z:-0.09 [[ 0.96005172 -0.21673017 -0.17699925 -9.40785247] [ 0.22237684 0.97488104 0.0124697 -4.50795512] [ 0.16985065 -0.05133209 0.98413199 -0.08977622] [ 0. 0. 0. 1. ]] SLAMing on 250.89241403699998 meters Centerline goodness : 0.786335 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.51, Z:-0.09 [[ 0.96004112 -0.21678029 -0.17699535 -9.40796946] [ 0.22238933 0.974881 0.01224842 -4.50699441] [ 0.16989419 -0.05112086 0.98413547 -0.08972534] [ 0. 0. 0. 1. ]] SLAMing on 250.92241403699998 meters Centerline goodness : 0.786671 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.51, Z:-0.09 [[ 0.95998554 -0.21710412 -0.17689988 -9.40842169] [ 0.22266211 0.9748224 0.01195278 -4.50699518] [ 0.16985096 -0.05086339 0.98415627 -0.08933053] [ 0. 0. 0. 1. ]] SLAMing on 250.95241403699998 meters Centerline goodness : 0.789567 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.51, Z:-0.09 [[ 0.95994873 -0.21740071 -0.17673529 -9.40895438] [ 0.22292186 0.97476535 0.01176266 -4.50723047] [ 0.16971823 -0.05068971 0.98418813 -0.08905812] [ 0. 0. 0. 1. ]] SLAMing on 250.98241403699998 meters Centerline goodness : 0.786275 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.51, Z:-0.09 [[ 0.95991705 -0.21769962 -0.17653934 -9.40949019] [ 0.22318893 0.97470606 0.01161055 -4.50757954] [ 0.16954635 -0.05054679 0.98422511 -0.08885304] [ 0. 0. 0. 1. ]] SLAMing on 251.01241403699999 meters Centerline goodness : 0.787325 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.51, Z:-0.09 [[ 0.95984905 -0.21824325 -0.17623758 -9.4103857 ] [ 0.22367327 0.97459858 0.01130865 -4.50795745] [ 0.16929286 -0.05027423 0.9842827 -0.08848625] [ 0. 0. 0. 1. ]] SLAMing on 251.042414037 meters Centerline goodness : 0.788637 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.51, Z:-0.09 [[ 0.95979866 -0.21856841 -0.17610899 -9.41072554] [ 0.22396325 0.97453422 0.01111376 -4.50795738] [ 0.16919512 -0.05010892 0.98430793 -0.08840735] [ 0. 0. 0. 1. ]] SLAMing on 251.072414037 meters Centerline goodness : 0.785367 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.51, Z:-0.09 [[ 0.95976186 -0.21884914 -0.17596085 -9.41101338] [ 0.22421817 0.97447708 0.01098301 -4.50816812] [ 0.16906619 -0.0499947 0.98433589 -0.08837515] [ 0. 0. 0. 1. ]] SLAMing on 251.102414037 meters Centerline goodness : 0.786054 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.51, Z:-0.09 [[ 0.9596683 -0.21962459 -0.17550438 -9.41256779] [ 0.22490501 0.97432375 0.01053393 -4.50826135] [ 0.16868458 -0.04958089 0.98442229 -0.08783962] [ 0. 0. 0. 1. ]] SLAMing on 251.132414037 meters Centerline goodness : 0.788951 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.51, Z:-0.09 [[ 0.95962052 -0.21993425 -0.1753778 -9.41301334] [ 0.22516642 0.97426627 0.01026241 -4.50841732] [ 0.16860762 -0.04933721 0.98444772 -0.08744884] [ 0. 0. 0. 1. ]] SLAMing on 251.162414037 meters Centerline goodness : 0.788048 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.51, Z:-0.09 [[ 0.95955108 -0.22039782 -0.1751757 -9.41372293] [ 0.22556407 0.97417808 0.00989593 -4.50834747] [ 0.16847129 -0.04900899 0.98448745 -0.08706752] [ 0. 0. 0. 1. ]] SLAMing on 251.192414037 meters Centerline goodness : 0.788962 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.51, Z:-0.09 [[ 0.95948774 -0.22079373 -0.17502403 -9.41442087] [ 0.22588482 0.97410802 0.00946597 -4.50809572] [ 0.16840229 -0.04861775 0.98451866 -0.0865579 ] [ 0. 0. 0. 1. ]] SLAMing on 251.222414037 meters Centerline goodness : 0.787000 Centerline is valid? [False, False] Translation: X:-9.42, Y:-4.51, Z:-0.09 [[ 9.59399980e-01 -2.21319558e-01 -1.74840876e-01 -9.41534214e+00] [ 2.26317470e-01 9.74012679e-01 8.92766352e-03 -4.50742276e+00] [ 1.68321363e-01 -4.81347448e-02 9.84556227e-01 -8.59859154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.252414037 meters Centerline goodness : 0.786750 Centerline is valid? [False, False] Translation: X:-9.42, Y:-4.51, Z:-0.09 [[ 9.59380287e-01 -2.21519527e-01 -1.74695631e-01 -9.41565336e+00] [ 2.26480934e-01 9.73976400e-01 8.73834894e-03 -4.50720681e+00] [ 1.68213707e-01 -4.79486292e-02 9.84583708e-01 -8.59409496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.282414037 meters Centerline goodness : 0.787839 Centerline is valid? [False, False] Translation: X:-9.42, Y:-4.51, Z:-0.09 [[ 9.59389035e-01 -2.21495930e-01 -1.74677509e-01 -9.41536983e+00] [ 2.26441616e-01 9.73986298e-01 8.65367737e-03 -4.50677627e+00] [ 1.68216746e-01 -4.78565007e-02 9.84587671e-01 -8.61860699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.312414037 meters Centerline goodness : 0.786699 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.51, Z:-0.09 [[ 9.59399474e-01 -2.21348408e-01 -1.74807125e-01 -9.41487038e+00] [ 2.26290232e-01 9.74021896e-01 8.60681953e-03 -4.50645963e+00] [ 1.68360862e-01 -4.78145231e-02 9.84565077e-01 -8.62854156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.342414037 meters Centerline goodness : 0.787811 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.51, Z:-0.09 [[ 9.59412353e-01 -2.21225770e-01 -1.74891666e-01 -9.41442863e+00] [ 2.26153815e-01 9.74054405e-01 8.51285785e-03 -4.50576379e+00] [ 1.68470734e-01 -4.77197584e-02 9.84550881e-01 -8.65059873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.372414037 meters Centerline goodness : 0.787260 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.50, Z:-0.09 [[ 9.59500148e-01 -2.20698303e-01 -1.75076337e-01 -9.41381653e+00] [ 2.25609001e-01 9.74181669e-01 8.40563782e-03 -4.50411300e+00] [ 1.68701049e-01 -4.75640083e-02 9.84518980e-01 -8.66465630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40241403699997 meters Centerline goodness : 0.789634 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.50, Z:-0.09 [[ 9.59508434e-01 -2.20478777e-01 -1.75307369e-01 -9.41334661e+00] [ 2.25374061e-01 9.74237215e-01 8.26937732e-03 -4.50322538e+00] [ 1.68967740e-01 -4.74442708e-02 9.84479022e-01 -8.65457722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.43241403699997 meters Centerline goodness : 0.789879 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.50, Z:-0.09 [[ 9.59487956e-01 -2.20533178e-01 -1.75351017e-01 -9.41343954e+00] [ 2.25374471e-01 9.74239879e-01 7.93764184e-03 -4.50229385e+00] [ 1.69083440e-01 -4.71357143e-02 9.84473979e-01 -8.62226259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46241403699997 meters Centerline goodness : 0.786957 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.50, Z:-0.09 [[ 9.59458648e-01 -2.20677372e-01 -1.75329978e-01 -9.41405936e+00] [ 2.25435350e-01 9.74229678e-01 7.44567894e-03 -4.50113485e+00] [ 1.69168575e-01 -4.66693959e-02 9.84481570e-01 -8.55148209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.49241403699997 meters Centerline goodness : 0.784964 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.50, Z:-0.09 [[ 9.59437329e-01 -2.20804172e-01 -1.75286992e-01 -9.41425185e+00] [ 2.25518622e-01 9.74212303e-01 7.19302152e-03 -4.50080895e+00] [ 1.69178495e-01 -4.64317342e-02 9.84491103e-01 -8.52539172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52241403699998 meters Centerline goodness : 0.786070 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.50, Z:-0.09 [[ 9.59437648e-01 -2.20742273e-01 -1.75363192e-01 -9.41391929e+00] [ 2.25456363e-01 9.74226844e-01 7.17524668e-03 -4.50072120e+00] [ 1.69259649e-01 -4.64209493e-02 9.84477662e-01 -8.53369891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.55241403699998 meters Centerline goodness : 0.786202 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.50, Z:-0.09 [[ 9.59415242e-01 -2.20867128e-01 -1.75328561e-01 -9.41359529e+00] [ 2.25560380e-01 9.74203663e-01 7.05248239e-03 -4.50039424e+00] [ 1.69248065e-01 -4.63134359e-02 9.84484717e-01 -8.57216502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.58241403699998 meters Centerline goodness : 0.785646 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.50, Z:-0.09 [[ 9.59388792e-01 -2.21040106e-01 -1.75255289e-01 -9.41359038e+00] [ 2.25701877e-01 9.74172166e-01 6.87415800e-03 -4.50006924e+00] [ 1.69209360e-01 -4.61504379e-02 9.84499025e-01 -8.58284214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.61241403699998 meters Centerline goodness : 0.787775 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.50, Z:-0.09 [[ 9.59333212e-01 -2.21407783e-01 -1.75095351e-01 -9.41403850e+00] [ 2.26021451e-01 9.74099929e-01 6.60542140e-03 -4.49972604e+00] [ 1.69097877e-01 -4.59121053e-02 9.84529322e-01 -8.57675415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.64241403699998 meters Centerline goodness : 0.786352 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.50, Z:-0.09 [[ 9.59283190e-01 -2.21720583e-01 -1.74973551e-01 -9.41434638e+00] [ 2.26277624e-01 9.74042599e-01 6.28111242e-03 -4.49937249e+00] [ 1.69039041e-01 -4.56179650e-02 9.84553099e-01 -8.56044827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.67241403699998 meters Centerline goodness : 0.785378 Centerline is valid? [False, False] Translation: X:-9.42, Y:-4.50, Z:-0.09 [[ 9.59233926e-01 -2.22127785e-01 -1.74726996e-01 -9.41502509e+00] [ 2.26621977e-01 9.73964644e-01 5.94572785e-03 -4.49918870e+00] [ 1.68857206e-01 -4.53003212e-02 9.84598967e-01 -8.53490106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.70241403699998 meters Centerline goodness : 0.790269 Centerline is valid? [False, False] Translation: X:-9.42, Y:-4.50, Z:-0.08 [[ 9.59054735e-01 -2.23304699e-01 -1.74209720e-01 -9.41703446e+00] [ 2.27651780e-01 9.73729139e-01 5.12155966e-03 -4.49910196e+00] [ 1.68489412e-01 -4.45710089e-02 9.84695254e-01 -8.43938341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.73241403699998 meters Centerline goodness : 0.785892 Centerline is valid? [False, False] Translation: X:-9.42, Y:-4.50, Z:-0.08 [[ 9.58973157e-01 -2.23939000e-01 -1.73844206e-01 -9.41818401e+00] [ 2.28209883e-01 9.73600534e-01 4.71699470e-03 -4.49912447e+00] [ 1.68198492e-01 -4.41964371e-02 9.84761871e-01 -8.39742929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.76241403699999 meters Centerline goodness : 0.786807 Centerline is valid? [False, False] Translation: X:-9.42, Y:-4.50, Z:-0.08 [[ 9.58885453e-01 -2.24515662e-01 -1.73584004e-01 -9.41904372e+00] [ 2.28714350e-01 9.73484029e-01 4.31175417e-03 -4.49908233e+00] [ 1.68013199e-01 -4.38356310e-02 9.84809627e-01 -8.35968855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.792414037 meters Centerline goodness : 0.785779 Centerline is valid? [False, False] Translation: X:-9.42, Y:-4.50, Z:-0.08 [[ 9.58705798e-01 -2.25645353e-01 -1.73110854e-01 -9.42066642e+00] [ 2.29720183e-01 9.73250026e-01 3.60881851e-03 -4.49895440e+00] [ 1.67665830e-01 -4.32268522e-02 9.84895735e-01 -8.30344777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.822414037 meters Centerline goodness : 0.789162 Centerline is valid? [False, False] Translation: X:-9.42, Y:-4.50, Z:-0.08 [[ 9.58640003e-01 -2.26120935e-01 -1.72854471e-01 -9.42125133e+00] [ 2.30148308e-01 9.73149785e-01 3.35447193e-03 -4.49908137e+00] [ 1.67454775e-01 -4.29978949e-02 9.84941663e-01 -8.29542224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.852414037 meters Centerline goodness : 0.786901 Centerline is valid? [False, False] Translation: X:-9.42, Y:-4.50, Z:-0.08 [[ 9.58572645e-01 -2.26582309e-01 -1.72623697e-01 -9.42180130e+00] [ 2.30565700e-01 9.73051775e-01 3.11460685e-03 -4.49911139e+00] [ 1.67266080e-01 -4.27866804e-02 9.84982923e-01 -8.28901378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.882414037 meters Centerline goodness : 0.790817 Centerline is valid? [False, False] Translation: X:-9.42, Y:-4.50, Z:-0.08 [[ 9.58474515e-01 -2.27133186e-01 -1.72444541e-01 -9.42220441e+00] [ 2.31063638e-01 9.72934610e-01 2.80014673e-03 -4.49893669e+00] [ 1.67141256e-01 -4.25295322e-02 9.85015248e-01 -8.29362354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.912414037 meters Centerline goodness : 0.786809 Centerline is valid? [False, False] Translation: X:-9.42, Y:-4.50, Z:-0.08 [[ 9.58448110e-01 -2.27287850e-01 -1.72387509e-01 -9.42214194e+00] [ 2.31193012e-01 9.72904290e-01 2.65205554e-03 -4.49878099e+00] [ 1.67113767e-01 -4.23966451e-02 9.85025641e-01 -8.30616241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.942414037 meters Centerline goodness : 0.788977 Centerline is valid? [False, False] Translation: X:-9.42, Y:-4.50, Z:-0.08 [[ 9.58406732e-01 -2.27548408e-01 -1.72273787e-01 -9.42230600e+00] [ 2.31410169e-01 9.72853310e-01 2.40222929e-03 -4.49855449e+00] [ 1.67050500e-01 -4.21682187e-02 9.85046177e-01 -8.30458729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.972414037 meters Centerline goodness : 0.789588 Centerline is valid? [False, False] Translation: X:-9.42, Y:-4.50, Z:-0.08 [[ 9.58369798e-01 -2.27799437e-01 -1.72147456e-01 -9.42261312e+00] [ 2.31616009e-01 9.72804924e-01 2.14568050e-03 -4.49819408e+00] [ 1.66977108e-01 -4.19284619e-02 9.85068855e-01 -8.29632079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.002414037 meters Centerline goodness : 0.783040 Centerline is valid? [False, False] Translation: X:-9.42, Y:-4.50, Z:-0.08 [[ 9.58323108e-01 -2.28066426e-01 -1.72053847e-01 -9.42312637e+00] [ 2.31828256e-01 9.72755024e-01 1.82275544e-03 -4.49778625e+00] [ 1.66950535e-01 -4.16337320e-02 9.85085860e-01 -8.25710421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.032414037 meters Centerline goodness : 0.784914 Centerline is valid? [False, False] Translation: X:-9.42, Y:-4.50, Z:-0.08 [[ 9.58294303e-01 -2.28310384e-01 -1.71890653e-01 -9.42374920e+00] [ 2.32028203e-01 9.72707771e-01 1.58251918e-03 -4.49758713e+00] [ 1.66838069e-01 -4.13999985e-02 9.85114764e-01 -8.22138858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.062414037 meters Centerline goodness : 0.784983 Centerline is valid? [False, False] Translation: X:-9.42, Y:-4.50, Z:-0.08 [[ 9.58241927e-01 -2.28636999e-01 -1.71748459e-01 -9.42471662e+00] [ 2.32286957e-01 9.72646574e-01 1.18841173e-03 -4.49756722e+00] [ 1.66778835e-01 -4.10337128e-02 9.85140119e-01 -8.12953515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.092414037 meters Centerline goodness : 0.784224 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.50, Z:-0.08 [[ 9.58200698e-01 -2.28858044e-01 -1.71684066e-01 -9.42528242e+00] [ 2.32462146e-01 9.72605015e-01 9.13939276e-04 -4.49753538e+00] [ 1.66771621e-01 -4.07857836e-02 9.85151636e-01 -8.06916124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.122414037 meters Centerline goodness : 0.785904 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.50, Z:-0.08 [[ 9.58174546e-01 -2.29013819e-01 -1.71622291e-01 -9.42560004e+00] [ 2.32595051e-01 9.72573356e-01 7.80306000e-04 -4.49750572e+00] [ 1.66736566e-01 -4.06661647e-02 9.85162515e-01 -8.04384224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.15241403699997 meters Centerline goodness : 0.789944 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.50, Z:-0.08 [[ 9.58149653e-01 -2.29169182e-01 -1.71553862e-01 -9.42584341e+00] [ 2.32741310e-01 9.72538406e-01 7.29651423e-04 -4.49784146e+00] [ 1.66675506e-01 -4.06267859e-02 9.85174472e-01 -8.02792527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18241403699997 meters Centerline goodness : 0.786009 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.50, Z:-0.08 [[ 9.58113904e-01 -2.29298888e-01 -1.71580206e-01 -9.42550356e+00] [ 2.32908716e-01 9.72498152e-01 9.34461238e-04 -4.49949440e+00] [ 1.66647163e-01 -4.08578459e-02 9.85169711e-01 -8.03608930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.21241403699997 meters Centerline goodness : 0.787951 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.50, Z:-0.08 [[ 9.58077208e-01 -2.29474590e-01 -1.71550215e-01 -9.42539919e+00] [ 2.33091575e-01 9.72454307e-01 9.68643772e-04 -4.50055539e+00] [ 1.66602467e-01 -4.09149453e-02 9.85174901e-01 -8.03264383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24241403699997 meters Centerline goodness : 0.786087 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.50, Z:-0.08 [[ 9.58071203e-01 -2.29655758e-01 -1.71341186e-01 -9.42546563e+00] [ 2.33293624e-01 9.72405683e-01 1.12838703e-03 -4.50175821e+00] [ 1.66354003e-01 -4.10538815e-02 9.85211107e-01 -8.05848577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.27241403699998 meters Centerline goodness : 0.791952 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.50, Z:-0.08 [[ 9.57954926e-01 -2.30151581e-01 -1.71326031e-01 -9.42544613e+00] [ 2.33803479e-01 9.72283169e-01 1.17136758e-03 -4.50410260e+00] [ 1.66307824e-01 -4.11787394e-02 9.85213692e-01 -8.03276864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.30241403699998 meters Centerline goodness : 0.789537 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.51, Z:-0.08 [[ 9.57894651e-01 -2.30556909e-01 -1.71117941e-01 -9.42582101e+00] [ 2.34204165e-01 9.72186743e-01 1.16028876e-03 -4.50516817e+00] [ 1.66091081e-01 -4.11879687e-02 9.85249869e-01 -8.03074665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.33241403699998 meters Centerline goodness : 0.790590 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.51, Z:-0.08 [[ 9.57838006e-01 -2.30853091e-01 -1.71035684e-01 -9.42603062e+00] [ 2.34507630e-01 9.72113541e-01 1.19802554e-03 -4.50638503e+00] [ 1.65989537e-01 -4.12566875e-02 9.85264106e-01 -8.01351972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.36241403699998 meters Centerline goodness : 0.785972 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.51, Z:-0.08 [[ 9.57774811e-01 -2.31291602e-01 -1.70796974e-01 -9.42672569e+00] [ 2.34927443e-01 9.72012278e-01 1.10839366e-03 -4.50749692e+00] [ 1.65760393e-01 -4.11864878e-02 9.85305620e-01 -7.97864801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.39241403699998 meters Centerline goodness : 0.788565 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.51, Z:-0.08 [[ 9.57675387e-01 -2.31948824e-01 -1.70462888e-01 -9.42779105e+00] [ 2.35571021e-01 9.71856566e-01 1.05349159e-03 -4.50966990e+00] [ 1.65421121e-01 -4.11650196e-02 9.85363534e-01 -7.91616288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.42241403699998 meters Centerline goodness : 0.787803 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.51, Z:-0.08 [[ 9.57643597e-01 -2.32156846e-01 -1.70358268e-01 -9.42813049e+00] [ 2.35773129e-01 9.71807583e-01 1.02633553e-03 -4.51060200e+00] [ 1.65317186e-01 -4.11487656e-02 9.85381656e-01 -7.88288383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.45241403699998 meters Centerline goodness : 0.791034 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.51, Z:-0.08 [[ 9.57605007e-01 -2.32366663e-01 -1.70289119e-01 -9.42857047e+00] [ 2.35973949e-01 9.71758896e-01 9.71660583e-04 -4.51158275e+00] [ 1.65254185e-01 -4.11142631e-02 9.85393663e-01 -7.83085885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.48241403699998 meters Centerline goodness : 0.790324 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.51, Z:-0.08 [[ 9.57558354e-01 -2.32613979e-01 -1.70213793e-01 -9.42891402e+00] [ 2.36214141e-01 9.71700582e-01 9.26394532e-04 -4.51255060e+00] [ 1.65181349e-01 -4.10939817e-02 9.85406721e-01 -7.79427283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.51241403699999 meters Centerline goodness : 0.785909 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.51, Z:-0.08 [[ 9.57504540e-01 -2.32938266e-01 -1.70072983e-01 -9.42959596e+00] [ 2.36540329e-01 9.71621212e-01 9.44765272e-04 -4.51473246e+00] [ 1.65026446e-01 -4.11337364e-02 9.85431016e-01 -7.71273870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.542414037 meters Centerline goodness : 0.786687 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.52, Z:-0.08 [[ 9.57493524e-01 -2.32991504e-01 -1.70062078e-01 -9.42969858e+00] [ 2.36606770e-01 9.71604957e-01 1.02168704e-03 -4.51586525e+00] [ 1.64995114e-01 -4.12160978e-02 9.85432822e-01 -7.67626360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.572414037 meters Centerline goodness : 0.786687 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.52, Z:-0.08 [[ 9.57493524e-01 -2.32991504e-01 -1.70062078e-01 -9.42969858e+00] [ 2.36606770e-01 9.71604957e-01 1.02168704e-03 -4.51586525e+00] [ 1.64995114e-01 -4.12160978e-02 9.85432822e-01 -7.67626360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.602414037 meters Centerline goodness : 0.788376 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.52, Z:-0.08 [[ 9.57453406e-01 -2.33194070e-01 -1.70010297e-01 -9.42986275e+00] [ 2.36861011e-01 9.71542641e-01 1.32579892e-03 -4.51916934e+00] [ 1.64863085e-01 -4.15382016e-02 9.85441394e-01 -7.61632867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.632414037 meters Centerline goodness : 0.787753 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.52, Z:-0.08 [[ 9.57464423e-01 -2.33121856e-01 -1.70047286e-01 -9.42950854e+00] [ 2.36839345e-01 9.71547469e-01 1.62482958e-03 -4.52086354e+00] [ 1.64830227e-01 -4.18296043e-02 9.85434564e-01 -7.61381373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.662414037 meters Centerline goodness : 0.787987 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.52, Z:-0.08 [[ 9.57496268e-01 -2.32974836e-01 -1.70069461e-01 -9.42916295e+00] [ 2.36760554e-01 9.71565890e-01 2.04000575e-03 -4.52268308e+00] [ 1.64758417e-01 -4.22190377e-02 9.85429965e-01 -7.61897748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.692414037 meters Centerline goodness : 0.788572 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.52, Z:-0.08 [[ 9.57548945e-01 -2.32611362e-01 -1.70270294e-01 -9.42845857e+00] [ 2.36474808e-01 9.71634444e-01 2.48423545e-03 -4.52443380e+00] [ 1.64862621e-01 -4.26434121e-02 9.85394264e-01 -7.61160077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.722414037 meters Centerline goodness : 0.791755 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.53, Z:-0.08 [[ 9.57671239e-01 -2.31956814e-01 -1.70475322e-01 -9.42758803e+00] [ 2.35974123e-01 9.71753366e-01 3.40704216e-03 -4.52753377e+00] [ 1.64869682e-01 -4.34905911e-02 9.85356056e-01 -7.61610869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.752414037 meters Centerline goodness : 0.789023 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.53, Z:-0.08 [[ 9.57728544e-01 -2.31528623e-01 -1.70735273e-01 -9.42690061e+00] [ 2.35617097e-01 9.71838538e-01 3.79992238e-03 -4.52890865e+00] [ 1.65047328e-01 -4.38674437e-02 9.85309610e-01 -7.59571105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.782414037 meters Centerline goodness : 0.788753 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.53, Z:-0.08 [[ 9.57782294e-01 -2.31199010e-01 -1.70880352e-01 -9.42657801e+00] [ 2.35348742e-01 9.71902106e-01 4.15526976e-03 -4.53018655e+00] [ 1.65118279e-01 -4.41963197e-02 9.85283025e-01 -7.57189606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.812414037 meters Centerline goodness : 0.788407 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.53, Z:-0.08 [[ 9.57835256e-01 -2.30806936e-01 -1.71113358e-01 -9.42599567e+00] [ 2.35017628e-01 9.71980738e-01 4.48985292e-03 -4.53126117e+00] [ 1.65282598e-01 -4.45151949e-02 9.85241118e-01 -7.55614542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.842414037 meters Centerline goodness : 0.789297 Centerline is valid? [False, False] Translation: X:-9.42, Y:-4.53, Z:-0.08 [[ 9.58026129e-01 -2.29550109e-01 -1.71734340e-01 -9.42454131e+00] [ 2.33917104e-01 9.72241770e-01 5.35998189e-03 -4.53331158e+00] [ 1.65736914e-01 -4.53066020e-02 9.85128716e-01 -7.51784176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.872414037 meters Centerline goodness : 0.788056 Centerline is valid? [False, False] Translation: X:-9.42, Y:-4.53, Z:-0.08 [[ 9.58100622e-01 -2.28982988e-01 -1.72075535e-01 -9.42364694e+00] [ 2.33410836e-01 9.72361640e-01 5.67653741e-03 -4.53405120e+00] [ 1.66019818e-01 -4.56029883e-02 9.85067402e-01 -7.50510669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90241403699997 meters Centerline goodness : 0.787224 Centerline is valid? [False, False] Translation: X:-9.42, Y:-4.53, Z:-0.07 [[ 9.58162860e-01 -2.28496887e-01 -1.72374902e-01 -9.42288490e+00] [ 2.32974200e-01 9.72464841e-01 5.92915036e-03 -4.53475761e+00] [ 1.66273739e-01 -4.58399964e-02 9.85013573e-01 -7.48925806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.93241403699997 meters Centerline goodness : 0.789211 Centerline is valid? [False, False] Translation: X:-9.42, Y:-4.54, Z:-0.07 [[ 9.58320097e-01 -2.27391213e-01 -1.72961923e-01 -9.42140933e+00] [ 2.32002334e-01 9.72692474e-01 6.65335666e-03 -4.53621981e+00] [ 1.66725846e-01 -4.65036153e-02 9.84906039e-01 -7.47372002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96241403699997 meters Centerline goodness : 0.787198 Centerline is valid? [False, False] Translation: X:-9.42, Y:-4.54, Z:-0.07 [[ 9.58389997e-01 -2.26897988e-01 -1.73222161e-01 -9.42062144e+00] [ 2.31554635e-01 9.72797487e-01 6.89203411e-03 -4.53666746e+00] [ 1.66946294e-01 -4.67156509e-02 9.84858661e-01 -7.47116214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.99241403699997 meters Centerline goodness : 0.787397 Centerline is valid? [False, False] Translation: X:-9.42, Y:-4.54, Z:-0.07 [[ 9.58433878e-01 -2.26473300e-01 -1.73534857e-01 -9.41985283e+00] [ 2.31176489e-01 9.72885814e-01 7.11510137e-03 -4.53711949e+00] [ 1.67218220e-01 -4.69365331e-02 9.84802025e-01 -7.46217748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02241403699998 meters Centerline goodness : 0.788285 Centerline is valid? [False, False] Translation: X:-9.42, Y:-4.54, Z:-0.08 [[ 9.58830015e-01 -2.25119759e-01 -1.73107182e-01 -9.42013617e+00] [ 2.29890599e-01 9.73185568e-01 7.75649805e-03 -4.53882050e+00] [ 1.66719270e-01 -4.72328768e-02 9.84872449e-01 -7.50720516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.05241403699998 meters Centerline goodness : 0.786867 Centerline is valid? [False, False] Translation: X:-9.42, Y:-4.54, Z:-0.08 [[ 9.58954817e-01 -2.24285083e-01 -1.73498876e-01 -9.41892224e+00] [ 2.29203008e-01 9.73340781e-01 8.58512782e-03 -4.53969974e+00] [ 1.66948016e-01 -4.79992139e-02 9.84796647e-01 -7.54930455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.08241403699998 meters Centerline goodness : 0.789508 Centerline is valid? [False, False] Translation: X:-9.42, Y:-4.54, Z:-0.08 [[ 0.95924648 -0.22318042 -0.17331097 -9.41899235] [ 0.22826622 0.97355014 0.00972952 -4.54242427] [ 0.16655548 -0.04889405 0.98481909 -0.07554409] [ 0. 0. 0. 1. ]] SLAMing on 253.11241403699998 meters Centerline goodness : 0.790518 Centerline is valid? [False, False] Translation: X:-9.42, Y:-4.54, Z:-0.08 [[ 0.95933586 -0.22246753 -0.17373228 -9.41786189] [ 0.22773603 0.97366362 0.01074531 -4.54394683] [ 0.16676632 -0.04987346 0.9847343 -0.07566961] [ 0. 0. 0. 1. ]] SLAMing on 253.14241403699998 meters Centerline goodness : 0.788919 Centerline is valid? [False, False] Translation: X:-9.42, Y:-4.55, Z:-0.08 [[ 0.95940684 -0.22184493 -0.17413598 -9.4167489 ] [ 0.22730338 0.97375253 0.01179744 -4.5458506 ] [ 0.16694815 -0.05090024 0.98465094 -0.07568654] [ 0. 0. 0. 1. ]] SLAMing on 253.17241403699998 meters Centerline goodness : 0.790223 Centerline is valid? [False, False] Translation: X:-9.42, Y:-4.55, Z:-0.08 [[ 0.95945232 -0.22153036 -0.1742858 -9.41590528] [ 0.22713449 0.9737814 0.01263768 -4.54782366] [ 0.16691664 -0.05171157 0.98461401 -0.0758833 ] [ 0. 0. 0. 1. ]] SLAMing on 253.20241403699998 meters Centerline goodness : 0.790248 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.55, Z:-0.08 [[ 0.95947967 -0.22136927 -0.1743399 -9.41487505] [ 0.22717134 0.97375698 0.01380302 -4.55147859] [ 0.16670913 -0.05284875 0.98458879 -0.0760987 ] [ 0. 0. 0. 1. ]] SLAMing on 253.23241403699998 meters Centerline goodness : 0.790440 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.55, Z:-0.08 [[ 0.95930272 -0.22206604 -0.17442751 -9.4143505 ] [ 0.22795653 0.97356724 0.01423571 -4.5543135 ] [ 0.16665564 -0.05341825 0.98456711 -0.07558103] [ 0. 0. 0. 1. ]] SLAMing on 253.26241403699999 meters Centerline goodness : 0.789307 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.56, Z:-0.08 [[ 0.95929348 -0.22160994 -0.17505731 -9.41281098] [ 0.22770366 0.97361077 0.01526823 -4.55593605] [ 0.16705409 -0.05450791 0.98443985 -0.07553893] [ 0. 0. 0. 1. ]] SLAMing on 253.292414037 meters Centerline goodness : 0.788012 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.56, Z:-0.08 [[ 0.95923313 -0.22148726 -0.17554259 -9.41154506] [ 0.2277135 0.97359839 0.01589754 -4.55719565] [ 0.16738689 -0.05522286 0.98434347 -0.07551554] [ 0. 0. 0. 1. ]] SLAMing on 253.322414037 meters Centerline goodness : 0.782086 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.56, Z:-0.08 [[ 0.95916858 -0.2212114 -0.17624175 -9.40986223] [ 0.22771892 0.97357256 0.01733688 -4.56042076] [ 0.16774901 -0.05676257 0.98419423 -0.0751593 ] [ 0. 0. 0. 1. ]] SLAMing on 253.352414037 meters Centerline goodness : 0.781124 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.56, Z:-0.08 [[ 0.959173 -0.22082626 -0.17670009 -9.40851586] [ 0.22749623 0.97360953 0.01816459 -4.56211251] [ 0.16802568 -0.05762159 0.98409711 -0.07522887] [ 0. 0. 0. 1. ]] SLAMing on 253.382414037 meters Centerline goodness : 0.779114 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.56, Z:-0.08 [[ 0.95915681 -0.22096666 -0.1766124 -9.40827552] [ 0.22763798 0.97357591 0.01819067 -4.56307722] [ 0.16792605 -0.0576514 0.98411237 -0.07527306] [ 0. 0. 0. 1. ]] SLAMing on 253.412414037 meters Centerline goodness : 0.781030 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.56, Z:-0.08 [[ 0.95911595 -0.22055934 -0.17734196 -9.40675465] [ 0.22746127 0.97359546 0.01931948 -4.56445115] [ 0.16839823 -0.05886805 0.98395965 -0.07512725] [ 0. 0. 0. 1. ]] SLAMing on 253.442414037 meters Centerline goodness : 0.781504 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.57, Z:-0.08 [[ 0.95911638 -0.22023643 -0.1777405 -9.4054841 ] [ 0.22725775 0.97363124 0.01990297 -4.56536526] [ 0.16867035 -0.05948217 0.9838761 -0.07541518] [ 0. 0. 0. 1. ]] SLAMing on 253.472414037 meters Centerline goodness : 0.780459 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.57, Z:-0.08 [[ 0.95931692 -0.21939644 -0.17769704 -9.40449198] [ 0.2265764 0.97376873 0.02091864 -4.56745957] [ 0.16844635 -0.06032956 0.98386288 -0.07637085] [ 0. 0. 0. 1. ]] SLAMing on 253.502414037 meters Centerline goodness : 0.781084 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.57, Z:-0.08 [[ 0.95939529 -0.218725 -0.17810123 -9.40280674] [ 0.22608854 0.97386052 0.02190122 -4.56890783] [ 0.16865541 -0.06127858 0.98376841 -0.07709462] [ 0. 0. 0. 1. ]] SLAMing on 253.532414037 meters Centerline goodness : 0.782920 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.57, Z:-0.08 [[ 0.95932521 -0.21904324 -0.17808762 -9.40250668] [ 0.22639962 0.9737897 0.0218365 -4.5698674 ] [ 0.16863675 -0.06126727 0.98377231 -0.07700829] [ 0. 0. 0. 1. ]] SLAMing on 253.562414037 meters Centerline goodness : 0.780573 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.57, Z:-0.08 [[ 0.95933114 -0.21850054 -0.17872123 -9.40097989] [ 0.22616548 0.97380668 0.02344604 -4.57263921] [ 0.16891695 -0.06291309 0.98362036 -0.07689457] [ 0. 0. 0. 1. ]] SLAMing on 253.592414037 meters Centerline goodness : 0.782469 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.57, Z:-0.08 [[ 0.95935198 -0.21816399 -0.17902024 -9.40045978] [ 0.22597698 0.97383141 0.0242236 -4.57376371] [ 0.16905082 -0.06369342 0.98354714 -0.07661407] [ 0. 0. 0. 1. ]] SLAMing on 253.622414037 meters Centerline goodness : 0.782224 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.57, Z:-0.08 [[ 0.95930964 -0.21827747 -0.17910882 -9.40058142] [ 0.22613196 0.9737905 0.02442113 -4.5743501 ] [ 0.16908388 -0.06392966 0.98352613 -0.07605832] [ 0. 0. 0. 1. ]] SLAMing on 253.65241403699997 meters Centerline goodness : 0.780748 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.58, Z:-0.08 [[ 0.9592589 -0.21844727 -0.17917354 -9.40101681] [ 0.2263576 0.97373089 0.02470614 -4.57528858] [ 0.16906982 -0.06425688 0.98350722 -0.07514817] [ 0. 0. 0. 1. ]] SLAMing on 253.68241403699997 meters Centerline goodness : 0.782526 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.58, Z:-0.08 [[ 0.95932334 -0.21796556 -0.17941499 -9.39972282] [ 0.22596426 0.9738104 0.02516878 -4.57621807] [ 0.16923026 -0.06468637 0.98345147 -0.07578482] [ 0. 0. 0. 1. ]] SLAMing on 253.71241403699997 meters Centerline goodness : 0.781849 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.58, Z:-0.08 [[ 0.95940196 -0.21744243 -0.17962924 -9.39836035] [ 0.22553415 0.97389697 0.02567168 -4.57720518] [ 0.16935826 -0.06514199 0.98339936 -0.07657038] [ 0. 0. 0. 1. ]] SLAMing on 253.74241403699997 meters Centerline goodness : 0.779464 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.58, Z:-0.08 [[ 0.95944542 -0.21729023 -0.17958131 -9.39766671] [ 0.22536749 0.97393692 0.02561977 -4.57775701] [ 0.16933394 -0.06505256 0.98340947 -0.07723618] [ 0. 0. 0. 1. ]] SLAMing on 253.77241403699998 meters Centerline goodness : 0.782869 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.58, Z:-0.08 [[ 0.95953628 -0.21677612 -0.17971713 -9.39695907] [ 0.22489327 0.97404062 0.02584342 -4.57783079] [ 0.16944955 -0.06521487 0.9833788 -0.07771265] [ 0. 0. 0. 1. ]] SLAMing on 253.80241403699998 meters Centerline goodness : 0.780342 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.58, Z:-0.08 [[ 0.95973527 -0.21585163 -0.17976732 -9.39665218] [ 0.2240141 0.97423453 0.02616785 -4.57743381] [ 0.16948716 -0.06538462 0.98336105 -0.07830643] [ 0. 0. 0. 1. ]] SLAMing on 253.83241403699998 meters Centerline goodness : 0.781871 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.58, Z:-0.08 [[ 0.95984271 -0.21529632 -0.17985959 -9.39629467] [ 0.2235135 0.97434059 0.02649762 -4.5774563 ] [ 0.16953966 -0.0656346 0.98333535 -0.07860987] [ 0. 0. 0. 1. ]] SLAMing on 253.86241403699998 meters Centerline goodness : 0.779556 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.58, Z:-0.08 [[ 0.95997057 -0.21509013 -0.17942336 -9.39706202] [ 0.22322534 0.97441441 0.0262108 -4.57748023] [ 0.16919502 -0.06521344 0.98342272 -0.07873779] [ 0. 0. 0. 1. ]] SLAMing on 253.89241403699998 meters Centerline goodness : 0.780977 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.58, Z:-0.08 [[ 0.96013034 -0.21456627 -0.17919556 -9.39736725] [ 0.22268682 0.97453628 0.02626044 -4.57786335] [ 0.16899797 -0.06511794 0.98346293 -0.07886809] [ 0. 0. 0. 1. ]] SLAMing on 253.92241403699998 meters Centerline goodness : 0.780448 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.58, Z:-0.08 [[ 0.96039949 -0.21366884 -0.1788252 -9.39812465] [ 0.22187685 0.97470098 0.0269939 -4.57929454] [ 0.16853334 -0.0656021 0.98351049 -0.07877217] [ 0. 0. 0. 1. ]] SLAMing on 253.95241403699998 meters Centerline goodness : 0.779384 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.58, Z:-0.08 [[ 0.96049726 -0.21328397 -0.17875952 -9.39808349] [ 0.22151471 0.974778 0.02718596 -4.57984951] [ 0.16845252 -0.06570991 0.98351714 -0.07883022] [ 0. 0. 0. 1. ]] SLAMing on 253.98241403699998 meters Centerline goodness : 0.778597 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.58, Z:-0.08 [[ 0.96049893 -0.21305699 -0.17902099 -9.39748071] [ 0.22137802 0.97479661 0.02762868 -4.58027073] [ 0.16862257 -0.06616863 0.98345724 -0.07882165] [ 0. 0. 0. 1. ]] SLAMing on 254.01241403699999 meters Centerline goodness : 0.778558 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.58, Z:-0.08 [[ 0.96040879 -0.2130077 -0.17956247 -9.3961997 ] [ 0.22144663 0.97476745 0.0281034 -4.58042982] [ 0.16904541 -0.06675426 0.98334507 -0.07889586] [ 0. 0. 0. 1. ]] SLAMing on 254.042414037 meters Centerline goodness : 0.777502 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.58, Z:-0.08 [[ 0.9600193 -0.21588867 -0.17819938 -9.39742257] [ 0.22358465 0.97438767 0.02405354 -4.57896884] [ 0.16844239 -0.06293451 0.98370037 -0.07933903] [ 0. 0. 0. 1. ]] SLAMing on 254.072414037 meters Centerline goodness : 0.776857 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.58, Z:-0.08 [[ 0.96000579 -0.21558579 -0.17863835 -9.39624754] [ 0.22341075 0.97441226 0.02466532 -4.57939011] [ 0.1687499 -0.06358857 0.98360559 -0.07955034] [ 0. 0. 0. 1. ]] SLAMing on 254.102414037 meters Centerline goodness : 0.776853 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.58, Z:-0.08 [[ 0.95993042 -0.21583147 -0.17874668 -9.39573808] [ 0.22364437 0.97436203 0.0245322 -4.57959593] [ 0.16886916 -0.0635249 0.98358924 -0.07961403] [ 0. 0. 0. 1. ]] SLAMing on 254.132414037 meters Centerline goodness : 0.774770 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.58, Z:-0.08 [[ 0.95988682 -0.21598617 -0.17879391 -9.39537336] [ 0.22381979 0.97431951 0.02462121 -4.57960736] [ 0.16888455 -0.06365119 0.98357843 -0.07989027] [ 0. 0. 0. 1. ]] SLAMing on 254.162414037 meters Centerline goodness : 0.776160 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.58, Z:-0.08 [[ 0.95988627 -0.215641 -0.17921301 -9.39439288] [ 0.22359806 0.97435539 0.02520877 -4.57969278] [ 0.16918112 -0.06426923 0.98348727 -0.08007178] [ 0. 0. 0. 1. ]] SLAMing on 254.192414037 meters Centerline goodness : 0.775724 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.58, Z:-0.08 [[ 0.95972298 -0.21615122 -0.17947271 -9.3942273 ] [ 0.22416711 0.97421952 0.02540548 -4.5799702 ] [ 0.16935439 -0.0646141 0.98343485 -0.07932746] [ 0. 0. 0. 1. ]] SLAMing on 254.222414037 meters Centerline goodness : 0.776138 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.58, Z:-0.08 [[ 0.95959727 -0.21673391 -0.17944216 -9.3944693 ] [ 0.22471586 0.97409923 0.02516907 -4.57998126] [ 0.16933948 -0.06447567 0.98344651 -0.07889235] [ 0. 0. 0. 1. ]] SLAMing on 254.252414037 meters Centerline goodness : 0.776048 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.58, Z:-0.08 [[ 0.95949926 -0.21688955 -0.1797779 -9.39384266] [ 0.22496521 0.97403125 0.02556906 -4.58065885] [ 0.16956363 -0.06497727 0.98337487 -0.07859218] [ 0. 0. 0. 1. ]] SLAMing on 254.282414037 meters Centerline goodness : 0.774450 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.58, Z:-0.08 [[ 0.95926232 -0.21782342 -0.17991322 -9.39365868] [ 0.22591435 0.97381276 0.02552287 -4.58135751] [ 0.16964231 -0.06512811 0.98335132 -0.07793337] [ 0. 0. 0. 1. ]] SLAMing on 254.312414037 meters Centerline goodness : 0.774730 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.58, Z:-0.08 [[ 0.95917116 -0.21827602 -0.17985069 -9.39375606] [ 0.22632993 0.97372226 0.02529275 -4.58158082] [ 0.16960382 -0.06496567 0.9833687 -0.07770829] [ 0. 0. 0. 1. ]] SLAMing on 254.342414037 meters Centerline goodness : 0.773798 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.58, Z:-0.08 [[ 0.95907615 -0.21820091 -0.1804475 -9.39255926] [ 0.22640566 0.97368764 0.0259396 -4.582208 ] [ 0.17003946 -0.06573238 0.98324251 -0.07746604] [ 0. 0. 0. 1. ]] SLAMing on 254.372414037 meters Centerline goodness : 0.775118 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.58, Z:-0.08 [[ 0.95878714 -0.21927058 -0.18068657 -9.3919281 ] [ 0.2274562 0.97345067 0.02564101 -4.58210269] [ 0.17026715 -0.06568255 0.98320644 -0.077198 ] [ 0. 0. 0. 1. ]] SLAMing on 254.40241403699997 meters Centerline goodness : 0.777186 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.58, Z:-0.08 [[ 0.95868685 -0.21924764 -0.18124569 -9.39068103] [ 0.2275615 0.97341218 0.02616281 -4.58253348] [ 0.17069063 -0.06632648 0.98308978 -0.07717937] [ 0. 0. 0. 1. ]] SLAMing on 254.43241403699997 meters Centerline goodness : 0.777074 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.58, Z:-0.08 [[ 0.95865288 -0.2194524 -0.18117755 -9.38995086] [ 0.22773166 0.97337749 0.0259722 -4.58260279] [ 0.17065449 -0.06615819 0.98310739 -0.07793418] [ 0. 0. 0. 1. ]] SLAMing on 254.46241403699997 meters Centerline goodness : 0.774071 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.58, Z:-0.08 [[ 0.95851747 -0.21982465 -0.1814425 -9.38914836] [ 0.22812984 0.97328393 0.02598418 -4.58286937] [ 0.1708831 -0.06629874 0.98305821 -0.07795034] [ 0. 0. 0. 1. ]] SLAMing on 254.49241403699997 meters Centerline goodness : 0.774071 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.58, Z:-0.08 [[ 0.95851747 -0.21982465 -0.1814425 -9.38914836] [ 0.22812984 0.97328393 0.02598418 -4.58286937] [ 0.1708831 -0.06629874 0.98305821 -0.07795034] [ 0. 0. 0. 1. ]] SLAMing on 254.52241403699998 meters Centerline goodness : 0.774823 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.58, Z:-0.08 [[ 0.95834839 -0.2200193 -0.18209851 -9.38739253] [ 0.22848518 0.9731831 0.02663034 -4.58391903] [ 0.171356 -0.06712796 0.98291961 -0.07811318] [ 0. 0. 0. 1. ]] SLAMing on 254.55241403699998 meters Centerline goodness : 0.775624 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.58, Z:-0.08 [[ 0.9582662 -0.22043499 -0.18202829 -9.38732988] [ 0.22888217 0.97309299 0.02651403 -4.58435712] [ 0.17128583 -0.06707053 0.98293576 -0.07802456] [ 0. 0. 0. 1. ]] SLAMing on 254.58241403699998 meters Centerline goodness : 0.775558 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.58, Z:-0.08 [[ 0.95813093 -0.22093434 -0.18213495 -9.38727122] [ 0.2293654 0.97298407 0.0263348 -4.58429465] [ 0.17139614 -0.06700764 0.98292082 -0.07764741] [ 0. 0. 0. 1. ]] SLAMing on 254.61241403699998 meters Centerline goodness : 0.774310 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.58, Z:-0.08 [[ 0.9579307 -0.22147374 -0.18253261 -9.38691504] [ 0.2299323 0.97285156 0.02628648 -4.58361883] [ 0.17175536 -0.06715077 0.98284834 -0.07709578] [ 0. 0. 0. 1. ]] SLAMing on 254.64241403699998 meters Centerline goodness : 0.775247 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.58, Z:-0.08 [[ 0.95798576 -0.22108338 -0.18271676 -9.38650941] [ 0.2296207 0.97291394 0.02669848 -4.58361085] [ 0.17186509 -0.06753232 0.98280302 -0.07722857] [ 0. 0. 0. 1. ]] SLAMing on 254.67241403699998 meters Centerline goodness : 0.772030 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.58, Z:-0.08 [[ 0.95791023 -0.22102972 -0.18317711 -9.38570715] [ 0.22963458 0.97290497 0.02690512 -4.58304884] [ 0.17226709 -0.06783649 0.98271169 -0.07718922] [ 0. 0. 0. 1. ]] SLAMing on 254.70241403699998 meters Centerline goodness : 0.773271 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.58, Z:-0.08 [[ 0.95787265 -0.22146741 -0.18284468 -9.38674066] [ 0.22988478 0.97287241 0.02592809 -4.5813607 ] [ 0.17214232 -0.06686902 0.98279986 -0.07693049] [ 0. 0. 0. 1. ]] SLAMing on 254.73241403699998 meters Centerline goodness : 0.772353 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.58, Z:-0.08 [[ 0.95829259 -0.21843215 -0.18428974 -9.38527449] [ 0.22762624 0.97328515 0.0300384 -4.58269359] [ 0.17280511 -0.07073475 0.98241284 -0.07661203] [ 0. 0. 0. 1. ]] SLAMing on 254.76241403699999 meters Centerline goodness : 0.771719 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.58, Z:-0.08 [[ 0.95830193 -0.21833849 -0.18435216 -9.38520127] [ 0.22748332 0.9733277 0.02974092 -4.58170267] [ 0.17294148 -0.07043782 0.98241018 -0.07672205] [ 0. 0. 0. 1. ]] SLAMing on 254.792414037 meters Centerline goodness : 0.774101 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.58, Z:-0.08 [[ 0.95843653 -0.21824581 -0.1837612 -9.38707844] [ 0.22713321 0.97344577 0.02852785 -4.57892152] [ 0.17265548 -0.0690804 0.98255686 -0.07654522] [ 0. 0. 0. 1. ]] SLAMing on 254.822414037 meters Centerline goodness : 0.771980 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.58, Z:-0.08 [[ 0.95849518 -0.21783437 -0.18394342 -9.38678678] [ 0.22669387 0.9735539 0.02833194 -4.57743112] [ 0.17290716 -0.06885487 0.98252843 -0.07678112] [ 0. 0. 0. 1. ]] SLAMing on 254.852414037 meters Centerline goodness : 0.773635 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.58, Z:-0.08 [[ 0.95856683 -0.21780124 -0.18360899 -9.38726877] [ 0.22648093 0.9736288 0.02744718 -4.57544478] [ 0.17278897 -0.06789389 0.9826161 -0.07735348] [ 0. 0. 0. 1. ]] SLAMing on 254.882414037 meters Centerline goodness : 0.771378 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.57, Z:-0.08 [[ 0.95885418 -0.21557814 -0.1847288 -9.38648422] [ 0.22459547 0.97401718 0.02911019 -4.57244308] [ 0.17365351 -0.06940167 0.98235832 -0.07759534] [ 0. 0. 0. 1. ]] SLAMing on 254.912414037 meters Centerline goodness : 0.771529 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.57, Z:-0.08 [[ 0.95885788 -0.21510586 -0.1852594 -9.38518539] [ 0.22409753 0.97414129 0.02879302 -4.56983985] [ 0.17427528 -0.06912458 0.98226774 -0.07841237] [ 0. 0. 0. 1. ]] SLAMing on 254.942414037 meters Centerline goodness : 0.769818 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.57, Z:-0.08 [[ 0.95887608 -0.21533682 -0.18489651 -9.38611189] [ 0.22406641 0.97418752 0.02743956 -4.56690323] [ 0.17421513 -0.06774023 0.98237485 -0.07878391] [ 0. 0. 0. 1. ]] SLAMing on 254.972414037 meters Centerline goodness : 0.771014 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.56, Z:-0.08 [[ 0.95898369 -0.21479145 -0.18497275 -9.38637053] [ 0.22345877 0.97433636 0.02710774 -4.56470805] [ 0.17440317 -0.06732966 0.98236971 -0.07901757] [ 0. 0. 0. 1. ]] SLAMing on 255.002414037 meters Centerline goodness : 0.770893 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.56, Z:-0.08 [[ 0.95953057 -0.21191677 -0.18545179 -9.38779189] [ 0.22091022 0.97486253 0.02901235 -4.56158587] [ 0.1746418 -0.06880643 0.98222498 -0.078519 ] [ 0. 0. 0. 1. ]] SLAMing on 255.032414037 meters Centerline goodness : 0.775336 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.56, Z:-0.08 [[ 0.95954429 -0.21180744 -0.1855057 -9.38814959] [ 0.22070015 0.97492714 0.02843446 -4.55958803] [ 0.17483191 -0.06822526 0.9822317 -0.07843311] [ 0. 0. 0. 1. ]] SLAMing on 255.062414037 meters Centerline goodness : 0.774931 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.56, Z:-0.08 [[ 0.95947653 -0.21222783 -0.18537566 -9.38896889] [ 0.22093672 0.97490275 0.02741515 -4.55723449] [ 0.17490498 -0.06726048 0.98228523 -0.07815667] [ 0. 0. 0. 1. ]] SLAMing on 255.092414037 meters Centerline goodness : 0.772953 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.55, Z:-0.08 [[ 0.95921657 -0.21249002 -0.18641769 -9.38879488] [ 0.22134162 0.9748005 0.02778265 -4.55393312] [ 0.17581652 -0.06791158 0.98207768 -0.07695426] [ 0. 0. 0. 1. ]] SLAMing on 255.122414037 meters Centerline goodness : 0.772604 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.55, Z:-0.08 [[ 0.95896279 -0.21338841 -0.18669696 -9.38918142] [ 0.22212454 0.97464584 0.02694766 -4.55178388] [ 0.1762131 -0.06731178 0.98204789 -0.0760923 ] [ 0. 0. 0. 1. ]] SLAMing on 255.15241403699997 meters Centerline goodness : 0.774725 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.55, Z:-0.08 [[ 0.9586992 -0.21433282 -0.18696869 -9.38941361] [ 0.22300596 0.97445938 0.02640552 -4.55032908] [ 0.17653383 -0.06701008 0.98201092 -0.07526056] [ 0. 0. 0. 1. ]] SLAMing on 255.18241403699997 meters Centerline goodness : 0.773141 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.55, Z:-0.07 [[ 0.9581288 -0.21644423 -0.18745959 -9.38921093] [ 0.2249707 0.97403936 0.02520922 -4.5479647 ] [ 0.17713663 -0.0663266 0.98194878 -0.07425572] [ 0. 0. 0. 1. ]] SLAMing on 255.21241403699997 meters Centerline goodness : 0.774490 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.55, Z:-0.07 [[ 0.95788336 -0.21705482 -0.18800712 -9.3878976 ] [ 0.22563658 0.97388426 0.02525038 -4.54751895] [ 0.17761646 -0.06660821 0.98184303 -0.07434872] [ 0. 0. 0. 1. ]] SLAMing on 255.24241403699997 meters Centerline goodness : 0.775776 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.54, Z:-0.07 [[ 0.95682701 -0.22192341 -0.18770208 -9.38747161] [ 0.22977166 0.97302097 0.02086072 -4.54409896] [ 0.17800858 -0.06308872 0.98200446 -0.07412683] [ 0. 0. 0. 1. ]] SLAMing on 255.27241403699998 meters Centerline goodness : 0.775480 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.54, Z:-0.07 [[ 0.9564999 -0.22282448 -0.18830079 -9.38622435] [ 0.23069019 0.97280796 0.02065696 -4.54353785] [ 0.17857763 -0.06319752 0.98189414 -0.0738922 ] [ 0. 0. 0. 1. ]] SLAMing on 255.30241403699998 meters Centerline goodness : 0.775330 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.54, Z:-0.07 [[ 0.95613034 -0.22398945 -0.18879488 -9.38562543] [ 0.23183079 0.97254562 0.02023621 -4.54243219] [ 0.17907894 -0.06311692 0.98180802 -0.07334009] [ 0. 0. 0. 1. ]] SLAMing on 255.33241403699998 meters Centerline goodness : 0.775751 Centerline is valid? [False, False] Translation: X:-9.38, Y:-4.54, Z:-0.07 [[ 0.95559622 -0.22555183 -0.18963713 -9.38481795] [ 0.23337626 0.97218703 0.01969501 -4.54041622] [ 0.17992051 -0.06307728 0.98165669 -0.07239463] [ 0. 0. 0. 1. ]] SLAMing on 255.36241403699998 meters Centerline goodness : 0.774150 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.54, Z:-0.07 [[ 0.95535919 -0.2264695 -0.18973766 -9.38516166] [ 0.23419141 0.97200457 0.01901326 -4.53907901] [ 0.18011994 -0.06259942 0.98165071 -0.07179042] [ 0. 0. 0. 1. ]] SLAMing on 255.39241403699998 meters Centerline goodness : 0.773636 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.54, Z:-0.07 [[ 0.955231 -0.2272608 -0.18943669 -9.3863781 ] [ 0.23481913 0.97186958 0.01815201 -4.53746994] [ 0.17998252 -0.06182272 0.98172514 -0.07130146] [ 0. 0. 0. 1. ]] SLAMing on 255.42241403699998 meters Centerline goodness : 0.775403 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.54, Z:-0.07 [[ 0.95547702 -0.22483765 -0.19108034 -9.38511085] [ 0.23312863 0.97220201 0.02177845 -4.53805031] [ 0.18087207 -0.0653551 0.98133277 -0.07049505] [ 0. 0. 0. 1. ]] SLAMing on 255.45241403699998 meters Centerline goodness : 0.774643 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.53, Z:-0.07 [[ 0.95544843 -0.22485715 -0.19120031 -9.38617923] [ 0.23305604 0.97223147 0.02123336 -4.53474562] [ 0.18111649 -0.06484777 0.98132135 -0.06988018] [ 0. 0. 0. 1. ]] SLAMing on 255.48241403699998 meters Centerline goodness : 0.772605 Centerline is valid? [False, False] Translation: X:-9.38, Y:-4.54, Z:-0.07 [[ 0.95586596 -0.22163993 -0.19286266 -9.38490491] [ 0.23064818 0.97270847 0.02529111 -4.53527963] [ 0.18199363 -0.06865833 0.98089977 -0.06923262] [ 0. 0. 0. 1. ]] SLAMing on 255.51241403699999 meters Centerline goodness : 0.776654 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.53, Z:-0.07 [[ 0.95580662 -0.221998 -0.19274491 -9.38548411] [ 0.23086847 0.97267496 0.02455947 -4.53307924] [ 0.182026 -0.06797283 0.9809415 -0.0690406 ] [ 0. 0. 0. 1. ]] SLAMing on 255.542414037 meters Centerline goodness : 0.776587 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.53, Z:-0.07 [[ 0.95575665 -0.22220723 -0.1927516 -9.38563025] [ 0.23095426 0.97267171 0.02387208 -4.53096816] [ 0.18217948 -0.06733271 0.98095716 -0.06890619] [ 0. 0. 0. 1. ]] SLAMing on 255.572414037 meters Centerline goodness : 0.777096 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.53, Z:-0.07 [[ 0.95580648 -0.22196042 -0.19278885 -9.38521343] [ 0.23058486 0.97277508 0.02322201 -4.52770897] [ 0.18238583 -0.06664994 0.98096544 -0.0693263 ] [ 0. 0. 0. 1. ]] SLAMing on 255.602414037 meters Centerline goodness : 0.770820 Centerline is valid? [False, False] Translation: X:-9.38, Y:-4.53, Z:-0.07 [[ 0.95578123 -0.22200789 -0.19285938 -9.38487652] [ 0.23056282 0.97278988 0.02281758 -4.52607504] [ 0.18254597 -0.06627482 0.98096107 -0.06957487] [ 0. 0. 0. 1. ]] SLAMing on 255.632414037 meters Centerline goodness : 0.776867 Centerline is valid? [False, False] Translation: X:-9.38, Y:-4.52, Z:-0.07 [[ 0.95582058 -0.22189023 -0.19279974 -9.38464298] [ 0.2303534 0.97285016 0.02235777 -4.52344161] [ 0.18260429 -0.06578209 0.98098338 -0.07009208] [ 0. 0. 0. 1. ]] SLAMing on 255.662414037 meters Centerline goodness : 0.776245 Centerline is valid? [False, False] Translation: X:-9.38, Y:-4.52, Z:-0.07 [[ 0.95578796 -0.22196324 -0.19287742 -9.3845329 ] [ 0.23037054 0.97285376 0.02202234 -4.52231737] [ 0.18275338 -0.06548196 0.9809757 -0.07005012] [ 0. 0. 0. 1. ]] SLAMing on 255.692414037 meters Centerline goodness : 0.776973 Centerline is valid? [False, False] Translation: X:-9.38, Y:-4.52, Z:-0.07 [[ 0.95575249 -0.22216193 -0.19282443 -9.38485877] [ 0.23050499 0.97282965 0.0216778 -4.52141985] [ 0.18276934 -0.0651656 0.98099379 -0.06986358] [ 0. 0. 0. 1. ]] SLAMing on 255.722414037 meters Centerline goodness : 0.778797 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.52, Z:-0.07 [[ 0.95566042 -0.22277768 -0.19257018 -9.38629703] [ 0.2309807 0.97273257 0.02095863 -4.520003 ] [ 0.18265017 -0.06450933 0.98105936 -0.06903751] [ 0. 0. 0. 1. ]] SLAMing on 255.752414037 meters Centerline goodness : 0.777865 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.52, Z:-0.07 [[ 0.95556093 -0.22335425 -0.19239589 -9.38725442] [ 0.23146665 0.97262727 0.02047888 -4.51957715] [ 0.18255545 -0.06410205 0.98110368 -0.06846912] [ 0. 0. 0. 1. ]] SLAMing on 255.782414037 meters Centerline goodness : 0.778805 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.52, Z:-0.07 [[ 0.95537553 -0.22448913 -0.1919954 -9.38878313] [ 0.23248574 0.97239641 0.01988991 -4.52009231] [ 0.18223057 -0.06363852 0.98119425 -0.06778044] [ 0. 0. 0. 1. ]] SLAMing on 255.812414037 meters Centerline goodness : 0.779118 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.52, Z:-0.07 [[ 0.95527694 -0.22505892 -0.19181878 -9.38938626] [ 0.23299576 0.9722807 0.01957591 -4.52061269] [ 0.18209597 -0.06339338 0.98123511 -0.06741787] [ 0. 0. 0. 1. ]] SLAMing on 255.842414037 meters Centerline goodness : 0.780546 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.52, Z:-0.07 [[ 0.95515299 -0.22574212 -0.19163314 -9.39015346] [ 0.23360362 0.97214292 0.01916992 -4.52091039] [ 0.18196734 -0.0630764 0.9812794 -0.06697114] [ 0. 0. 0. 1. ]] SLAMing on 255.872414037 meters Centerline goodness : 0.773348 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.52, Z:-0.07 [[ 0.95503094 -0.2263363 -0.19154055 -9.39058108] [ 0.23413371 0.97202262 0.01879985 -4.52131366] [ 0.18192666 -0.06280054 0.98130463 -0.06658802] [ 0. 0. 0. 1. ]] SLAMing on 255.90241403699997 meters Centerline goodness : 0.780830 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.52, Z:-0.07 [[ 0.95485835 -0.22723482 -0.19133707 -9.391228 ] [ 0.23495087 0.9718341 0.0183459 -4.52145359] [ 0.18177906 -0.06247255 0.98135292 -0.06639744] [ 0. 0. 0. 1. ]] SLAMing on 255.93241403699997 meters Centerline goodness : 0.773904 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.52, Z:-0.07 [[ 0.95479717 -0.22752248 -0.19130052 -9.39139281] [ 0.23519371 0.97178017 0.0180891 -4.5211389 ] [ 0.18178637 -0.0622641 0.98136481 -0.06629726] [ 0. 0. 0. 1. ]] SLAMing on 255.96241403699997 meters Centerline goodness : 0.780972 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.52, Z:-0.07 [[ 0.95472393 -0.22778685 -0.19135142 -9.39156526] [ 0.23540735 0.97173429 0.01777221 -4.52059387] [ 0.18189446 -0.06201309 0.98136068 -0.0660256 ] [ 0. 0. 0. 1. ]] SLAMing on 255.99241403699997 meters Centerline goodness : 0.781509 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.52, Z:-0.07 [[ 0.95464346 -0.22822314 -0.191233 -9.39226986] [ 0.2357501 0.97166031 0.01726648 -4.51998532] [ 0.1818729 -0.06156653 0.98139279 -0.06546842] [ 0. 0. 0. 1. ]] SLAMing on 256.022414037 meters Centerline goodness : 0.781366 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.52, Z:-0.06 [[ 0.95457892 -0.22852253 -0.19119766 -9.39279067] [ 0.23597937 0.97161159 0.01687151 -4.51980691] [ 0.18191434 -0.06122389 0.98140655 -0.064844 ] [ 0. 0. 0. 1. ]] SLAMing on 256.052414037 meters Centerline goodness : 0.782520 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.52, Z:-0.06 [[ 0.95452761 -0.22878728 -0.19113716 -9.3934044 ] [ 0.23619369 0.97156428 0.01659463 -4.51986538] [ 0.1819054 -0.06098542 0.98142305 -0.0642248 ] [ 0. 0. 0. 1. ]] SLAMing on 256.082414037 meters Centerline goodness : 0.782902 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.52, Z:-0.06 [[ 0.95446894 -0.22921885 -0.19091298 -9.39442293] [ 0.236551 0.97148353 0.01622858 -4.51998182] [ 0.18174892 -0.06065033 0.98147281 -0.06355915] [ 0. 0. 0. 1. ]] SLAMing on 256.112414037 meters Centerline goodness : 0.783996 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.52, Z:-0.06 [[ 0.95445141 -0.22931872 -0.19088069 -9.39501949] [ 0.23659859 0.9714766 0.01594755 -4.52008441] [ 0.18177905 -0.06038326 0.98148369 -0.06276085] [ 0. 0. 0. 1. ]] SLAMing on 256.142414037 meters Centerline goodness : 0.783301 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.52, Z:-0.06 [[ 0.95442181 -0.22943908 -0.19088403 -9.39522044] [ 0.23668078 0.97146014 0.0157288 -4.51994747] [ 0.18182742 -0.06019049 0.98148657 -0.06239717] [ 0. 0. 0. 1. ]] SLAMing on 256.172414037 meters Centerline goodness : 0.783002 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.52, Z:-0.06 [[ 0.95439113 -0.22940466 -0.19107872 -9.3947268 ] [ 0.23665808 0.97146566 0.01572976 -4.52006561] [ 0.18201794 -0.06023267 0.98144867 -0.06237798] [ 0. 0. 0. 1. ]] SLAMing on 256.202414037 meters Centerline goodness : 0.782501 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.52, Z:-0.06 [[ 0.95441246 -0.22913829 -0.19129167 -9.39375646] [ 0.23645823 0.97150922 0.0160421 -4.52102434] [ 0.18216576 -0.06054327 0.98140213 -0.06268855] [ 0. 0. 0. 1. ]] SLAMing on 256.232414037 meters Centerline goodness : 0.781226 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.52, Z:-0.06 [[ 0.95442944 -0.22903334 -0.19133264 -9.39349399] [ 0.23637206 0.97152857 0.01613954 -4.5215312 ] [ 0.18218864 -0.06062974 0.98139255 -0.06268733] [ 0. 0. 0. 1. ]] SLAMing on 256.262414037 meters Centerline goodness : 0.780923 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.52, Z:-0.06 [[ 0.95444253 -0.22890826 -0.19141699 -9.39314177] [ 0.23628891 0.9715453 0.01634882 -4.52245642] [ 0.1822279 -0.06083372 0.98137264 -0.06268221] [ 0. 0. 0. 1. ]] SLAMing on 256.29241403699996 meters Centerline goodness : 0.782967 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.52, Z:-0.06 [[ 0.95444129 -0.22886496 -0.19147494 -9.39300653] [ 0.23624633 0.97155585 0.01633715 -4.5227754 ] [ 0.18228959 -0.0608281 0.98136153 -0.06249644] [ 0. 0. 0. 1. ]] SLAMing on 256.322414037 meters Centerline goodness : 0.782487 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.52, Z:-0.06 [[ 0.95443792 -0.22886816 -0.19148794 -9.3929427 ] [ 0.23625719 0.97155259 0.01637374 -4.5231418 ] [ 0.18229317 -0.06086812 0.98135838 -0.06242086] [ 0. 0. 0. 1. ]] SLAMing on 256.35241403699996 meters Centerline goodness : 0.782993 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.52, Z:-0.06 [[ 0.95443001 -0.228876 -0.19151798 -9.39297629] [ 0.23626521 0.97155081 0.01636371 -4.52356101] [ 0.18232418 -0.06086705 0.98135269 -0.06216037] [ 0. 0. 0. 1. ]] SLAMing on 256.382414037 meters Centerline goodness : 0.782993 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.52, Z:-0.06 [[ 0.95443001 -0.228876 -0.19151798 -9.39297629] [ 0.23626521 0.97155081 0.01636371 -4.52356101] [ 0.18232418 -0.06086705 0.98135269 -0.06216037] [ 0. 0. 0. 1. ]] SLAMing on 256.41241403699996 meters Centerline goodness : 0.783389 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.52, Z:-0.06 [[ 0.95444698 -0.22872994 -0.19160788 -9.39287126] [ 0.23614384 0.97157835 0.01648011 -4.52410762] [ 0.18239257 -0.06097641 0.98133319 -0.06189993] [ 0. 0. 0. 1. ]] SLAMing on 256.442414037 meters Centerline goodness : 0.783548 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.52, Z:-0.06 [[ 0.95442572 -0.22882517 -0.19160006 -9.39286205] [ 0.23623063 0.97155813 0.01642818 -4.52423778] [ 0.18239141 -0.06094128 0.98133559 -0.0618583 ] [ 0. 0. 0. 1. ]] SLAMing on 256.47241403699996 meters Centerline goodness : 0.785009 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.52, Z:-0.06 [[ 0.95441711 -0.22895473 -0.19148813 -9.39320853] [ 0.23634334 0.97153182 0.01636301 -4.5245133 ] [ 0.18229042 -0.06087408 0.98135852 -0.06166891] [ 0. 0. 0. 1. ]] SLAMing on 256.502414037 meters Centerline goodness : 0.784430 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.53, Z:-0.06 [[ 0.95438865 -0.22906349 -0.19149992 -9.39325036] [ 0.23647307 0.97149859 0.01646137 -4.52582659] [ 0.1822712 -0.06099512 0.98135458 -0.06132042] [ 0. 0. 0. 1. ]] SLAMing on 256.53241403699997 meters Centerline goodness : 0.785394 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.53, Z:-0.06 [[ 0.95434117 -0.22928313 -0.19147372 -9.39340363] [ 0.23667243 0.97145209 0.01633991 -4.52655411] [ 0.18226108 -0.0609104 0.98136172 -0.06096391] [ 0. 0. 0. 1. ]] SLAMing on 256.562414037 meters Centerline goodness : 0.787274 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.53, Z:-0.06 [[ 0.95425109 -0.22978369 -0.19132253 -9.39407031] [ 0.23714181 0.97134038 0.01617505 -4.52775991] [ 0.18212254 -0.06080563 0.98139394 -0.06037031] [ 0. 0. 0. 1. ]] SLAMing on 256.59241403699997 meters Centerline goodness : 0.786869 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.53, Z:-0.06 [[ 0.9542112 -0.22992525 -0.19135141 -9.39396057] [ 0.23728494 0.97130567 0.01616002 -4.52832378] [ 0.18214511 -0.06082488 0.98138855 -0.06029253] [ 0. 0. 0. 1. ]] SLAMing on 256.622414037 meters Centerline goodness : 0.788198 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.53, Z:-0.06 [[ 0.95416482 -0.23021129 -0.19123872 -9.39427243] [ 0.23754917 0.97124286 0.01605318 -4.52881358] [ 0.18204362 -0.06074598 0.98141227 -0.06011616] [ 0. 0. 0. 1. ]] SLAMing on 256.65241403699997 meters Centerline goodness : 0.780995 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.53, Z:-0.06 [[ 0.95413178 -0.23041125 -0.19116279 -9.39438218] [ 0.23774724 0.97119445 0.01604953 -4.52942507] [ 0.18195825 -0.06076179 0.98142712 -0.06008138] [ 0. 0. 0. 1. ]] SLAMing on 256.682414037 meters Centerline goodness : 0.785486 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.53, Z:-0.06 [[ 0.95390693 -0.23078057 -0.19183821 -9.39208177] [ 0.23828878 0.97105057 0.0167105 -4.53135281] [ 0.18242815 -0.06165316 0.98128429 -0.06044067] [ 0. 0. 0. 1. ]] SLAMing on 256.712414037 meters Centerline goodness : 0.784271 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.53, Z:-0.06 [[ 0.95379502 -0.23123244 -0.1918505 -9.39185066] [ 0.23875702 0.97093486 0.01675064 -4.5322166 ] [ 0.18240105 -0.06178233 0.9812812 -0.06027232] [ 0. 0. 0. 1. ]] SLAMing on 256.742414037 meters Centerline goodness : 0.783131 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.53, Z:-0.06 [[ 0.95356219 -0.23242822 -0.19156273 -9.39322557] [ 0.2398932 0.97066052 0.01641334 -4.53431631] [ 0.18212746 -0.06160573 0.98134312 -0.05934231] [ 0. 0. 0. 1. ]] SLAMing on 256.772414037 meters Centerline goodness : 0.785834 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.54, Z:-0.06 [[ 0.95348329 -0.23293192 -0.19134353 -9.39407724] [ 0.24037784 0.9705419 0.01633743 -4.53573344] [ 0.1819014 -0.06157221 0.98138715 -0.05874285] [ 0. 0. 0. 1. ]] SLAMing on 256.802414037 meters Centerline goodness : 0.784703 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.54, Z:-0.06 [[ 0.95337802 -0.23352002 -0.19115115 -9.39494052] [ 0.24093998 0.97040469 0.01620685 -4.53699807] [ 0.18170934 -0.06150721 0.98142681 -0.0581431 ] [ 0. 0. 0. 1. ]] SLAMing on 256.832414037 meters Centerline goodness : 0.785999 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.54, Z:-0.06 [[ 0.95327843 -0.23352213 -0.1916446 -9.39367118] [ 0.2411621 0.97033201 0.01722267 -4.53916911] [ 0.18193702 -0.06263542 0.98131327 -0.05797657] [ 0. 0. 0. 1. ]] SLAMing on 256.862414037 meters Centerline goodness : 0.786530 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.54, Z:-0.06 [[ 0.95239678 -0.23750405 -0.19113397 -9.39272945] [ 0.24455251 0.96953753 0.01382239 -4.54056664] [ 0.18202868 -0.05990669 0.98146663 -0.05748642] [ 0. 0. 0. 1. ]] SLAMing on 256.892414037 meters Centerline goodness : 0.784979 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.54, Z:-0.06 [[ 0.95227497 -0.23733498 -0.19194921 -9.39082776] [ 0.24462147 0.96950501 0.0148448 -4.54258009] [ 0.18257253 -0.06109122 0.98129258 -0.0572857 ] [ 0. 0. 0. 1. ]] SLAMing on 256.922414037 meters Centerline goodness : 0.785287 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.54, Z:-0.06 [[ 0.95228181 -0.23684814 -0.19251573 -9.38959998] [ 0.24436744 0.96955156 0.01594773 -4.54463457] [ 0.18287674 -0.06223131 0.98116429 -0.05702346] [ 0. 0. 0. 1. ]] SLAMing on 256.952414037 meters Centerline goodness : 0.787585 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.55, Z:-0.06 [[ 0.95229201 -0.23659629 -0.19277478 -9.38864824] [ 0.24425089 0.96956985 0.01660768 -4.54607263] [ 0.1829793 -0.06290077 0.98110248 -0.05713147] [ 0. 0. 0. 1. ]] SLAMing on 256.982414037 meters Centerline goodness : 0.785883 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.55, Z:-0.06 [[ 0.95224676 -0.23623275 -0.193443 -9.38721307] [ 0.24413921 0.96957762 0.01775603 -4.54815728] [ 0.18336345 -0.06413515 0.98095083 -0.05687603] [ 0. 0. 0. 1. ]] SLAMing on 257.012414037 meters Centerline goodness : 0.789203 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.55, Z:-0.06 [[ 0.95227236 -0.23584367 -0.19379141 -9.38625905] [ 0.24386299 0.96963753 0.01827282 -4.54895994] [ 0.18359789 -0.06465926 0.98087257 -0.05695621] [ 0. 0. 0. 1. ]] SLAMing on 257.04241403699996 meters Centerline goodness : 0.786615 Centerline is valid? [False, False] Translation: X:-9.38, Y:-4.55, Z:-0.06 [[ 0.95275566 -0.23224083 -0.19575713 -9.3842381 ] [ 0.24132027 0.97015994 0.02354196 -4.55231522] [ 0.18444832 -0.0696699 0.98036979 -0.05610223] [ 0. 0. 0. 1. ]] SLAMing on 257.072414037 meters Centerline goodness : 0.788031 Centerline is valid? [False, False] Translation: X:-9.38, Y:-4.55, Z:-0.06 [[ 0.9527877 -0.23200566 -0.19588 -9.38409998] [ 0.24113799 0.970199 0.02379853 -4.55346436] [ 0.18452119 -0.06990906 0.98033905 -0.05569872] [ 0. 0. 0. 1. ]] SLAMing on 257.10241403699996 meters Centerline goodness : 0.789736 Centerline is valid? [False, False] Translation: X:-9.38, Y:-4.55, Z:-0.06 [[ 0.95281189 -0.23172659 -0.19609254 -9.38351068] [ 0.24091526 0.97024831 0.0240427 -4.5542084 ] [ 0.18468712 -0.07014986 0.9802906 -0.05562631] [ 0. 0. 0. 1. ]] SLAMing on 257.132414037 meters Centerline goodness : 0.782642 Centerline is valid? [False, False] Translation: X:-9.38, Y:-4.56, Z:-0.06 [[ 0.95292235 -0.23098423 -0.19643139 -9.38205794] [ 0.24034634 0.9703677 0.0249032 -4.55586397] [ 0.18485843 -0.07094238 0.98020128 -0.05616458] [ 0. 0. 0. 1. ]] SLAMing on 257.16241403699996 meters Centerline goodness : 0.787671 Centerline is valid? [False, False] Translation: X:-9.38, Y:-4.56, Z:-0.06 [[ 0.95299136 -0.23036663 -0.19682146 -9.38072444] [ 0.23985046 0.97047607 0.02545511 -4.5566821 ] [ 0.18514651 -0.07146622 0.98010885 -0.05659214] [ 0. 0. 0. 1. ]] SLAMing on 257.192414037 meters Centerline goodness : 0.788888 Centerline is valid? [False, False] Translation: X:-9.38, Y:-4.56, Z:-0.06 [[ 0.95309784 -0.22987018 -0.19688628 -9.37986456] [ 0.23939834 0.97058091 0.02571246 -4.55693848] [ 0.18518354 -0.07164073 0.98008911 -0.0573033 ] [ 0. 0. 0. 1. ]] SLAMing on 257.22241403699996 meters Centerline goodness : 0.788869 Centerline is valid? [False, False] Translation: X:-9.38, Y:-4.56, Z:-0.06 [[ 0.95317211 -0.22911466 -0.1974067 -9.37826154] [ 0.23875388 0.97072748 0.02616754 -4.55698706] [ 0.18563274 -0.07207378 0.97997238 -0.05782031] [ 0. 0. 0. 1. ]] SLAMing on 257.252414037 meters Centerline goodness : 0.788450 Centerline is valid? [False, False] Translation: X:-9.38, Y:-4.56, Z:-0.06 [[ 0.95326703 -0.22864587 -0.19749185 -9.37765857] [ 0.23832784 0.97082574 0.02640507 -4.55711139] [ 0.18569276 -0.07223889 0.97994885 -0.0583295 ] [ 0. 0. 0. 1. ]] SLAMing on 257.28241403699997 meters Centerline goodness : 0.785498 Centerline is valid? [False, False] Translation: X:-9.38, Y:-4.56, Z:-0.06 [[ 0.95353793 -0.2279635 -0.19697223 -9.37837223] [ 0.23758687 0.97100836 0.02636732 -4.55751951] [ 0.1852509 -0.07194026 0.98005444 -0.05856923] [ 0. 0. 0. 1. ]] SLAMing on 257.312414037 meters Centerline goodness : 0.791155 Centerline is valid? [False, False] Translation: X:-9.38, Y:-4.56, Z:-0.06 [[ 0.95361727 -0.22742189 -0.19721406 -9.37792543] [ 0.23713877 0.97110554 0.02681841 -4.55791633] [ 0.18541657 -0.07234159 0.97999357 -0.05846444] [ 0. 0. 0. 1. ]] SLAMing on 257.34241403699997 meters Centerline goodness : 0.789407 Centerline is valid? [False, False] Translation: X:-9.38, Y:-4.56, Z:-0.06 [[ 0.95408248 -0.22414555 -0.19870933 -9.37657767] [ 0.23474493 0.97155678 0.03118068 -4.56064832] [ 0.18606839 -0.07639494 0.97956233 -0.05775821] [ 0. 0. 0. 1. ]] SLAMing on 257.372414037 meters Centerline goodness : 0.789957 Centerline is valid? [False, False] Translation: X:-9.38, Y:-4.56, Z:-0.06 [[ 0.95404481 -0.22434127 -0.19866933 -9.37698001] [ 0.23489211 0.97152945 0.03092297 -4.56061163] [ 0.18607581 -0.07616775 0.97957862 -0.05731777] [ 0. 0. 0. 1. ]] SLAMing on 257.40241403699997 meters Centerline goodness : 0.791476 Centerline is valid? [False, False] Translation: X:-9.38, Y:-4.56, Z:-0.06 [[ 0.95408389 -0.22373804 -0.19916127 -9.37685393] [ 0.23457323 0.97156267 0.03227039 -4.56218732] [ 0.18627754 -0.07750656 0.97943525 -0.05629966] [ 0. 0. 0. 1. ]] SLAMing on 257.432414037 meters Centerline goodness : 0.792184 Centerline is valid? [False, False] Translation: X:-9.38, Y:-4.56, Z:-0.06 [[ 0.95408716 -0.22364476 -0.19925038 -9.37660026] [ 0.23457444 0.97154672 0.03273834 -4.56332757] [ 0.18625929 -0.07797427 0.9794016 -0.05608132] [ 0. 0. 0. 1. ]] SLAMing on 257.462414037 meters Centerline goodness : 0.791895 Centerline is valid? [False, False] Translation: X:-9.38, Y:-4.56, Z:-0.06 [[ 0.95395884 -0.22374966 -0.1997464 -9.37566671] [ 0.23483749 0.97146248 0.03334681 -4.56452798] [ 0.1865848 -0.07871942 0.97928002 -0.05572497] [ 0. 0. 0. 1. ]] SLAMing on 257.492414037 meters Centerline goodness : 0.791458 Centerline is valid? [False, False] Translation: X:-9.37, Y:-4.57, Z:-0.06 [[ 0.95315656 -0.22760785 -0.19921654 -9.37493275] [ 0.23814623 0.97075613 0.03031337 -4.56522219] [ 0.18649112 -0.07633605 0.97948653 -0.05555425] [ 0. 0. 0. 1. ]] SLAMing on 257.522414037 meters Centerline goodness : 0.793616 Centerline is valid? [False, False] Translation: X:-9.37, Y:-4.57, Z:-0.06 [[ 0.95297259 -0.22784164 -0.19982852 -9.37318186] [ 0.23856243 0.97063253 0.03099128 -4.56710136] [ 0.18689896 -0.07720542 0.97934065 -0.05543485] [ 0. 0. 0. 1. ]] SLAMing on 257.552414037 meters Centerline goodness : 0.787401 Centerline is valid? [False, False] Translation: X:-9.37, Y:-4.57, Z:-0.06 [[ 0.95216573 -0.23143594 -0.19954405 -9.37097791] [ 0.24164864 0.96995695 0.02809729 -4.56786925] [ 0.18704641 -0.07497283 0.97948594 -0.05620091] [ 0. 0. 0. 1. ]] SLAMing on 257.582414037 meters Centerline goodness : 0.785935 Centerline is valid? [False, False] Translation: X:-9.37, Y:-4.57, Z:-0.06 [[ 0.95205803 -0.23148635 -0.19999895 -9.36954596] [ 0.24187159 0.96988051 0.02880863 -4.56965327] [ 0.18730627 -0.07580155 0.9793725 -0.05623708] [ 0. 0. 0. 1. ]] SLAMing on 257.612414037 meters Centerline goodness : 0.784846 Centerline is valid? [False, False] Translation: X:-9.37, Y:-4.57, Z:-0.06 [[ 0.95194984 -0.23157065 -0.20041589 -9.36819757] [ 0.24210042 0.96980618 0.02938296 -4.57118269] [ 0.18756034 -0.07649188 0.97927019 -0.05626411] [ 0. 0. 0. 1. ]] SLAMing on 257.642414037 meters Centerline goodness : 0.785406 Centerline is valid? [False, False] Translation: X:-9.37, Y:-4.57, Z:-0.06 [[ 0.9518008 -0.23196541 -0.20066708 -9.36772165] [ 0.24258821 0.96967385 0.02972517 -4.57274815] [ 0.18768641 -0.07697191 0.97920842 -0.05572062] [ 0. 0. 0. 1. ]] SLAMing on 257.672414037 meters Centerline goodness : 0.783217 Centerline is valid? [False, False] Translation: X:-9.37, Y:-4.58, Z:-0.05 [[ 0.95161691 -0.23260766 -0.20079575 -9.36773303] [ 0.24340204 0.96944571 0.03050364 -4.57624385] [ 0.1875652 -0.07790188 0.97915811 -0.05449433] [ 0. 0. 0. 1. ]] SLAMing on 257.702414037 meters Centerline goodness : 0.783377 Centerline is valid? [False, False] Translation: X:-9.37, Y:-4.58, Z:-0.05 [[ 0.95165352 -0.23200122 -0.20132315 -9.36665601] [ 0.24308821 0.96948068 0.03186445 -4.57809992] [ 0.18778631 -0.0792632 0.97900646 -0.05425089] [ 0. 0. 0. 1. ]] SLAMing on 257.732414037 meters Centerline goodness : 0.786794 Centerline is valid? [False, False] Translation: X:-9.37, Y:-4.58, Z:-0.05 [[ 0.95174154 -0.23155058 -0.20142586 -9.36616445] [ 0.24277616 0.96953486 0.03258664 -4.57961726] [ 0.18774394 -0.07991546 0.97896156 -0.05427717] [ 0. 0. 0. 1. ]] SLAMing on 257.762414037 meters Centerline goodness : 0.785300 Centerline is valid? [False, False] Translation: X:-9.37, Y:-4.58, Z:-0.05 [[ 0.95214874 -0.23006234 -0.2012066 -9.3665749 ] [ 0.24149549 0.96980926 0.03391061 -4.5819656 ] [ 0.18733047 -0.08087844 0.97896168 -0.05414522] [ 0. 0. 0. 1. ]] SLAMing on 257.79241403699996 meters Centerline goodness : 0.784931 Centerline is valid? [False, False] Translation: X:-9.37, Y:-4.58, Z:-0.05 [[ 0.95274777 -0.22620416 -0.20273964 -9.36507602] [ 0.23864376 0.97033012 0.03884094 -4.58489771] [ 0.18793839 -0.08538817 0.97846207 -0.05365618] [ 0. 0. 0. 1. ]] SLAMing on 257.822414037 meters Centerline goodness : 0.785069 Centerline is valid? [False, False] Translation: X:-9.37, Y:-4.59, Z:-0.05 [[ 0.95278512 -0.22620976 -0.20255779 -9.36568661] [ 0.23861186 0.97034243 0.03872924 -4.5850401 ] [ 0.18778948 -0.08523333 0.97850416 -0.05325316] [ 0. 0. 0. 1. ]] SLAMing on 257.85241403699996 meters Centerline goodness : 0.785780 Centerline is valid? [False, False] Translation: X:-9.37, Y:-4.59, Z:-0.05 [[ 0.95274603 -0.22630079 -0.20263998 -9.36557341] [ 0.23869945 0.97032347 0.03866455 -4.58527206] [ 0.18787651 -0.08520755 0.9784897 -0.05296158] [ 0. 0. 0. 1. ]] SLAMing on 257.882414037 meters Centerline goodness : 0.785411 Centerline is valid? [False, False] Translation: X:-9.36, Y:-4.59, Z:-0.05 [[ 0.95279117 -0.22529922 -0.20354176 -9.36300846] [ 0.238135 0.97038255 0.04061326 -4.58813976] [ 0.18836324 -0.08716637 0.97822355 -0.05323885] [ 0. 0. 0. 1. ]] SLAMing on 257.91241403699996 meters Centerline goodness : 0.785806 Centerline is valid? [False, False] Translation: X:-9.36, Y:-4.59, Z:-0.05 [[ 0.95292649 -0.22490547 -0.20334364 -9.36168284] [ 0.2377574 0.97046611 0.04082833 -4.5904943 ] [ 0.18815559 -0.08725285 0.9782558 -0.05434028] [ 0. 0. 0. 1. ]] SLAMing on 257.942414037 meters Centerline goodness : 0.790536 Centerline is valid? [False, False] Translation: X:-9.36, Y:-4.59, Z:-0.05 [[ 0.95298644 -0.22480326 -0.20317565 -9.36130246] [ 0.23764308 0.970493 0.04085454 -4.59166247] [ 0.18799631 -0.08721711 0.97828961 -0.05473851] [ 0. 0. 0. 1. ]] SLAMing on 257.97241403699996 meters Centerline goodness : 0.785710 Centerline is valid? [False, False] Translation: X:-9.36, Y:-4.59, Z:-0.05 [[ 0.95304616 -0.22471924 -0.20298839 -9.36130606] [ 0.23754964 0.97051388 0.04090202 -4.59267734] [ 0.18781158 -0.08720133 0.9783265 -0.05481128] [ 0. 0. 0. 1. ]] SLAMing on 258.002414037 meters Centerline goodness : 0.785642 Centerline is valid? [False, False] Translation: X:-9.36, Y:-4.59, Z:-0.05 [[ 0.95319457 -0.22420469 -0.20286044 -9.36126327] [ 0.23710733 0.97060143 0.04138819 -4.59396433] [ 0.1876172 -0.0875507 0.97833259 -0.05493954] [ 0. 0. 0. 1. ]] SLAMing on 258.03241403699997 meters Centerline goodness : 0.786307 Centerline is valid? [False, False] Translation: X:-9.36, Y:-4.60, Z:-0.06 [[ 0.95365621 -0.22228642 -0.20280184 -9.36141833] [ 0.23542396 0.97094885 0.04282398 -4.59565864] [ 0.18739102 -0.08858376 0.97828295 -0.05500734] [ 0. 0. 0. 1. ]] SLAMing on 258.062414037 meters Centerline goodness : 0.786710 Centerline is valid? [False, False] Translation: X:-9.36, Y:-4.60, Z:-0.06 [[ 0.95391963 -0.22165191 -0.2022567 -9.36257668] [ 0.23471247 0.97112462 0.04274372 -4.59576907] [ 0.18694224 -0.08824624 0.9783993 -0.05508233] [ 0. 0. 0. 1. ]] SLAMing on 258.09241403699997 meters Centerline goodness : 0.788111 Centerline is valid? [False, False] Translation: X:-9.36, Y:-4.60, Z:-0.06 [[ 0.95464674 -0.21935791 -0.20132489 -9.36450036] [ 0.23232941 0.97168884 0.04293993 -4.59617149] [ 0.18620594 -0.08776616 0.97858288 -0.0554462 ] [ 0. 0. 0. 1. ]] SLAMing on 258.122414037 meters Centerline goodness : 0.787583 Centerline is valid? [False, False] Translation: X:-9.37, Y:-4.60, Z:-0.06 [[ 0.95484536 -0.2188143 -0.20097426 -9.36525938] [ 0.23169771 0.97185043 0.04269558 -4.59594991] [ 0.18597451 -0.08733295 0.97866564 -0.0555456 ] [ 0. 0. 0. 1. ]] SLAMing on 258.15241403699997 meters Centerline goodness : 0.788390 Centerline is valid? [False, False] Translation: X:-9.37, Y:-4.60, Z:-0.06 [[ 0.95509677 -0.21773954 -0.20094688 -9.36536502] [ 0.2307083 0.9720609 0.04325848 -4.5960767 ] [ 0.18591353 -0.08767615 0.97864654 -0.05573047] [ 0. 0. 0. 1. ]] SLAMing on 258.182414037 meters Centerline goodness : 0.788547 Centerline is valid? [False, False] Translation: X:-9.37, Y:-4.60, Z:-0.06 [[ 0.95524844 -0.21738777 -0.20060652 -9.36594923] [ 0.23024788 0.97218673 0.04288207 -4.5958636 ] [ 0.18570496 -0.08715226 0.97873293 -0.05588116] [ 0. 0. 0. 1. ]] SLAMing on 258.212414037 meters Centerline goodness : 0.789090 Centerline is valid? [False, False] Translation: X:-9.37, Y:-4.60, Z:-0.06 [[ 0.95556836 -0.21645207 -0.20009403 -9.36660785] [ 0.22924261 0.97242581 0.04284691 -4.5962909 ] [ 0.1853023 -0.08681323 0.97883937 -0.05630813] [ 0. 0. 0. 1. ]] SLAMing on 258.242414037 meters Centerline goodness : 0.790301 Centerline is valid? [False, False] Translation: X:-9.37, Y:-4.60, Z:-0.06 [[ 0.95563601 -0.21640199 -0.19982492 -9.36675204] [ 0.22911535 0.9724679 0.04257171 -4.59668612] [ 0.18511072 -0.08646602 0.97890635 -0.0565453 ] [ 0. 0. 0. 1. ]] SLAMing on 258.272414037 meters Centerline goodness : 0.791472 Centerline is valid? [False, False] Translation: X:-9.37, Y:-4.60, Z:-0.06 [[ 0.95567863 -0.21633859 -0.19968969 -9.36666588] [ 0.22899229 0.97250759 0.04232626 -4.59699898] [ 0.18504293 -0.0861777 0.97894459 -0.05675309] [ 0. 0. 0. 1. ]] SLAMing on 258.302414037 meters Centerline goodness : 0.791472 Centerline is valid? [False, False] Translation: X:-9.37, Y:-4.60, Z:-0.06 [[ 0.95567863 -0.21633859 -0.19968969 -9.36666588] [ 0.22899229 0.97250759 0.04232626 -4.59699898] [ 0.18504293 -0.0861777 0.97894459 -0.05675309] [ 0. 0. 0. 1. ]] SLAMing on 258.332414037 meters Centerline goodness : 0.790734 Centerline is valid? [False, False] Translation: X:-9.37, Y:-4.60, Z:-0.06 [[ 0.95578853 -0.21605571 -0.19946983 -9.3666145 ] [ 0.22868741 0.97257872 0.04234035 -4.59755291] [ 0.18485224 -0.08608466 0.97898881 -0.05715575] [ 0. 0. 0. 1. ]] SLAMing on 258.362414037 meters Centerline goodness : 0.793282 Centerline is valid? [False, False] Translation: X:-9.37, Y:-4.60, Z:-0.06 [[ 0.95595028 -0.21565081 -0.19913261 -9.36698622] [ 0.22821447 0.9726969 0.04217697 -4.59792993] [ 0.18460017 -0.08576403 0.97906451 -0.05732744] [ 0. 0. 0. 1. ]] SLAMing on 258.392414037 meters Centerline goodness : 0.792323 Centerline is valid? [False, False] Translation: X:-9.36, Y:-4.59, Z:-0.06 [[ 0.95703885 -0.22133861 -0.1873122 -9.3649231 ] [ 0.23274071 0.97167584 0.04096113 -4.59408286] [ 0.17294046 -0.08279657 0.98144604 -0.0622256 ] [ 0. 0. 0. 1. ]] SLAMing on 258.422414037 meters Centerline goodness : 0.792431 Centerline is valid? [False, False] Translation: X:-9.37, Y:-4.59, Z:-0.06 [[ 0.95704191 -0.22127408 -0.18737278 -9.3650239 ] [ 0.23265988 0.9717001 0.04084486 -4.59393353] [ 0.17303224 -0.08268438 0.98143932 -0.06195109] [ 0. 0. 0. 1. ]] SLAMing on 258.452414037 meters Centerline goodness : 0.793398 Centerline is valid? [False, False] Translation: X:-9.37, Y:-4.59, Z:-0.06 [[ 0.95722244 -0.22069391 -0.18713473 -9.36558456] [ 0.23205012 0.97184598 0.04084274 -4.5937782 ] [ 0.17285239 -0.08252022 0.98148483 -0.06186718] [ 0. 0. 0. 1. ]] SLAMing on 258.482414037 meters Centerline goodness : 0.792552 Centerline is valid? [False, False] Translation: X:-9.37, Y:-4.59, Z:-0.06 [[ 0.95734897 -0.22022551 -0.18703921 -9.36561549] [ 0.23156621 0.97196145 0.04084154 -4.5935836 ] [ 0.17280055 -0.08241157 0.98150308 -0.06223847] [ 0. 0. 0. 1. ]] SLAMing on 258.512414037 meters Centerline goodness : 0.790894 Centerline is valid? [False, False] Translation: X:-9.37, Y:-4.59, Z:-0.06 [[ 0.95753971 -0.21973282 -0.18664189 -9.36624426] [ 0.23092916 0.97213746 0.04025532 -4.59280899] [ 0.17259616 -0.08164713 0.98160293 -0.06258801] [ 0. 0. 0. 1. ]] SLAMing on 258.54241403699996 meters Centerline goodness : 0.792633 Centerline is valid? [False, False] Translation: X:-9.37, Y:-4.59, Z:-0.06 [[ 0.95751627 -0.21982841 -0.18664958 -9.36649546] [ 0.23097842 0.97213711 0.03997997 -4.59241778] [ 0.17266025 -0.0813935 0.98161272 -0.06232327] [ 0. 0. 0. 1. ]] SLAMing on 258.572414037 meters Centerline goodness : 0.794724 Centerline is valid? [False, False] Translation: X:-9.37, Y:-4.59, Z:-0.06 [[ 0.95747372 -0.22007683 -0.18657507 -9.36702039] [ 0.23115461 0.97211147 0.03958327 -4.59177908] [ 0.17266041 -0.08102763 0.98164296 -0.06190524] [ 0. 0. 0. 1. ]] SLAMing on 258.60241403699996 meters Centerline goodness : 0.795678 Centerline is valid? [False, False] Translation: X:-9.37, Y:-4.59, Z:-0.06 [[ 0.95743873 -0.22030886 -0.18648081 -9.36762392] [ 0.23132336 0.97208492 0.03924816 -4.59123022] [ 0.17262846 -0.08071508 0.98167433 -0.06147152] [ 0. 0. 0. 1. ]] SLAMing on 258.632414037 meters Centerline goodness : 0.794535 Centerline is valid? [False, False] Translation: X:-9.37, Y:-4.59, Z:-0.06 [[ 0.9572866 -0.22092099 -0.18653762 -9.36776944] [ 0.23185665 0.97197905 0.03871973 -4.59049719] [ 0.17275666 -0.08031586 0.98168452 -0.06103365] [ 0. 0. 0. 1. ]] SLAMing on 258.66241403699996 meters Centerline goodness : 0.795096 Centerline is valid? [False, False] Translation: X:-9.37, Y:-4.59, Z:-0.06 [[ 0.95709934 -0.22118101 -0.18718926 -9.36611631] [ 0.23218899 0.97189653 0.03879962 -4.59014042] [ 0.17334685 -0.08059837 0.98155732 -0.06120092] [ 0. 0. 0. 1. ]] SLAMing on 258.692414037 meters Centerline goodness : 0.796142 Centerline is valid? [False, False] Translation: X:-9.37, Y:-4.59, Z:-0.06 [[ 0.95685977 -0.22199815 -0.18744651 -9.36548255] [ 0.23296503 0.97172769 0.03837427 -4.58994392] [ 0.17362795 -0.08038728 0.98152495 -0.06094689] [ 0. 0. 0. 1. ]] SLAMing on 258.72241403699996 meters Centerline goodness : 0.795167 Centerline is valid? [False, False] Translation: X:-9.36, Y:-4.59, Z:-0.06 [[ 0.9565097 -0.22307784 -0.18795074 -9.36448502] [ 0.23404115 0.97148291 0.03802232 -4.58959917] [ 0.17410899 -0.08035693 0.98144222 -0.06050641] [ 0. 0. 0. 1. ]] SLAMing on 258.752414037 meters Centerline goodness : 0.795849 Centerline is valid? [False, False] Translation: X:-9.36, Y:-4.59, Z:-0.06 [[ 0.95624314 -0.22398231 -0.18823118 -9.36390364] [ 0.23493972 0.97127553 0.03777782 -4.58940076] [ 0.17436278 -0.08034776 0.98139791 -0.06009827] [ 0. 0. 0. 1. ]] SLAMing on 258.78241403699997 meters Centerline goodness : 0.796659 Centerline is valid? [False, False] Translation: X:-9.36, Y:-4.59, Z:-0.06 [[ 0.95561303 -0.22712535 -0.18766409 -9.36418723] [ 0.23757221 0.97074325 0.03488522 -4.58820988] [ 0.17425033 -0.07792054 0.98161358 -0.05972308] [ 0. 0. 0. 1. ]] SLAMing on 258.812414037 meters Centerline goodness : 0.797263 Centerline is valid? [False, False] Translation: X:-9.36, Y:-4.59, Z:-0.06 [[ 0.95533759 -0.22778918 -0.18826092 -9.36320802] [ 0.23833018 0.97055028 0.0350839 -4.58822983] [ 0.17472496 -0.07838523 0.9814922 -0.05916183] [ 0. 0. 0. 1. ]] SLAMing on 258.84241403699997 meters Centerline goodness : 0.797168 Centerline is valid? [False, False] Translation: X:-9.36, Y:-4.59, Z:-0.06 [[ 0.95500923 -0.228752 -0.18875884 -9.36253878] [ 0.23933323 0.97030658 0.03499641 -4.58802254] [ 0.17514844 -0.07859816 0.98139969 -0.05837728] [ 0. 0. 0. 1. ]] SLAMing on 258.872414037 meters Centerline goodness : 0.798529 Centerline is valid? [False, False] Translation: X:-9.36, Y:-4.59, Z:-0.06 [[ 0.95469118 -0.22981862 -0.18907185 -9.36248019] [ 0.24039625 0.97005306 0.03473774 -4.58749657] [ 0.17542634 -0.07861598 0.98134863 -0.05743748] [ 0. 0. 0. 1. ]] SLAMing on 258.90241403699997 meters Centerline goodness : 0.800795 Centerline is valid? [False, False] Translation: X:-9.36, Y:-4.59, Z:-0.06 [[ 0.95428422 -0.2307553 -0.18998319 -9.36161171] [ 0.24143391 0.96979303 0.03480145 -4.58634117] [ 0.17621375 -0.07907886 0.98117035 -0.05615169] [ 0. 0. 0. 1. ]] SLAMing on 258.932414037 meters Centerline goodness : 0.809958 Centerline is valid? [False, False] Translation: X:-9.36, Y:-4.59, Z:-0.06 [[ 0.95404663 -0.23159245 -0.19015773 -9.36180334] [ 0.24219228 0.96962504 0.03420787 -4.58544934] [ 0.17645941 -0.07869064 0.98115741 -0.05545913] [ 0. 0. 0. 1. ]] SLAMing on 258.962414037 meters Centerline goodness : 0.801668 Centerline is valid? [False, False] Translation: X:-9.36, Y:-4.58, Z:-0.05 [[ 0.9536589 -0.23279628 -0.19063209 -9.36126697] [ 0.24337094 0.96934614 0.03374399 -4.58461842] [ 0.176933 -0.07857456 0.98108142 -0.05466483] [ 0. 0. 0. 1. ]] SLAMing on 258.992414037 meters Centerline goodness : 0.800292 Centerline is valid? [False, False] Translation: X:-9.36, Y:-4.58, Z:-0.05 [[ 0.95349759 -0.23293253 -0.19127151 -9.36011147] [ 0.24362811 0.96926866 0.03411178 -4.58437361] [ 0.17744773 -0.07912462 0.98094424 -0.05441977] [ 0. 0. 0. 1. ]] SLAMing on 259.022414037 meters Centerline goodness : 0.800663 Centerline is valid? [False, False] Translation: X:-9.36, Y:-4.58, Z:-0.05 [[ 0.9533629 -0.2331059 -0.19173114 -9.3593097 ] [ 0.24381777 0.96922567 0.03397776 -4.58342525] [ 0.17791033 -0.07914059 0.98085915 -0.05436697] [ 0. 0. 0. 1. ]] SLAMing on 259.052414037 meters Centerline goodness : 0.803269 Centerline is valid? [False, False] Translation: X:-9.36, Y:-4.58, Z:-0.05 [[ 0.95325338 -0.23354825 -0.19173734 -9.35964826] [ 0.24417015 0.96915572 0.03343845 -4.58232957] [ 0.17801384 -0.07869185 0.98087648 -0.05402732] [ 0. 0. 0. 1. ]] SLAMing on 259.082414037 meters Centerline goodness : 0.801140 Centerline is valid? [False, False] Translation: X:-9.36, Y:-4.58, Z:-0.05 [[ 0.95310404 -0.23374574 -0.19223842 -9.35852557] [ 0.24432864 0.96913144 0.03298127 -4.58051624] [ 0.17859507 -0.07840393 0.98079388 -0.05429508] [ 0. 0. 0. 1. ]] SLAMing on 259.112414037 meters Centerline goodness : 0.803519 Centerline is valid? [False, False] Translation: X:-9.36, Y:-4.58, Z:-0.05 [[ 0.95303232 -0.23406518 -0.19220532 -9.35911195] [ 0.24446612 0.96913074 0.03196767 -4.57785844] [ 0.17878956 -0.07745391 0.98083392 -0.05409921] [ 0. 0. 0. 1. ]] SLAMing on 259.142414037 meters Centerline goodness : 0.802816 Centerline is valid? [False, False] Translation: X:-9.36, Y:-4.58, Z:-0.05 [[ 0.95308385 -0.23370378 -0.19238949 -9.35865713] [ 0.24408272 0.9692329 0.03179957 -4.57681673] [ 0.17903854 -0.07726661 0.98080328 -0.05444927] [ 0. 0. 0. 1. ]] SLAMing on 259.172414037 meters Centerline goodness : 0.804170 Centerline is valid? [False, False] Translation: X:-9.36, Y:-4.57, Z:-0.06 [[ 0.95317426 -0.23364522 -0.19201233 -9.35909659] [ 0.24380679 0.96933531 0.03077823 -4.57492851] [ 0.17893315 -0.07615093 0.98090976 -0.05504605] [ 0. 0. 0. 1. ]] SLAMing on 259.202414037 meters Centerline goodness : 0.802280 Centerline is valid? [False, False] Translation: X:-9.36, Y:-4.57, Z:-0.06 [[ 0.95316779 -0.23333177 -0.19242517 -9.35816934] [ 0.24350135 0.96941543 0.03067282 -4.57386108] [ 0.17938299 -0.07609213 0.98083216 -0.05537828] [ 0. 0. 0. 1. ]] SLAMing on 259.232414037 meters Centerline goodness : 0.802828 Centerline is valid? [False, False] Translation: X:-9.36, Y:-4.57, Z:-0.06 [[ 0.95316902 -0.23325748 -0.19250915 -9.35789503] [ 0.24337198 0.96945831 0.03034258 -4.5727158 ] [ 0.17955196 -0.07577294 0.98082596 -0.05568168] [ 0. 0. 0. 1. ]] SLAMing on 259.262414037 meters Centerline goodness : 0.805278 Centerline is valid? [False, False] Translation: X:-9.36, Y:-4.57, Z:-0.06 [[ 0.95311286 -0.23322712 -0.19282374 -9.35771107] [ 0.24328258 0.96949484 0.02988879 -4.57052455] [ 0.17997074 -0.07539805 0.98077809 -0.05554311] [ 0. 0. 0. 1. ]] SLAMing on 259.29241403699996 meters Centerline goodness : 0.804301 Centerline is valid? [False, False] Translation: X:-9.36, Y:-4.57, Z:-0.06 [[ 0.9530952 -0.23320199 -0.19294138 -9.35759502] [ 0.24322139 0.96951769 0.02964469 -4.56946883] [ 0.18014688 -0.07518168 0.98076237 -0.05558914] [ 0. 0. 0. 1. ]] SLAMing on 259.322414037 meters Centerline goodness : 0.804161 Centerline is valid? [False, False] Translation: X:-9.36, Y:-4.57, Z:-0.06 [[ 0.95300212 -0.23331832 -0.19326026 -9.35704561] [ 0.24333253 0.96949511 0.02947037 -4.5684906 ] [ 0.1804889 -0.07511183 0.98070483 -0.05557275] [ 0. 0. 0. 1. ]] SLAMing on 259.35241403699996 meters Centerline goodness : 0.803873 Centerline is valid? [False, False] Translation: X:-9.36, Y:-4.57, Z:-0.06 [[ 0.95292298 -0.23329876 -0.19367365 -9.35600618] [ 0.24332677 0.96949954 0.02937224 -4.56778287] [ 0.18091401 -0.07511547 0.98062622 -0.05576684] [ 0. 0. 0. 1. ]] SLAMing on 259.382414037 meters Centerline goodness : 0.805520 Centerline is valid? [False, False] Translation: X:-9.36, Y:-4.57, Z:-0.06 [[ 0.95270827 -0.23424579 -0.19358682 -9.35603503] [ 0.24409513 0.96933678 0.02835105 -4.56620643] [ 0.18100971 -0.07426388 0.98067342 -0.05585821] [ 0. 0. 0. 1. ]] SLAMing on 259.41241403699996 meters Centerline goodness : 0.801996 Centerline is valid? [False, False] Translation: X:-9.36, Y:-4.57, Z:-0.06 [[ 0.95262531 -0.2343592 -0.19385765 -9.35548001] [ 0.24421099 0.96931082 0.02824063 -4.56553467] [ 0.18128986 -0.0742449 0.98062311 -0.05587972] [ 0. 0. 0. 1. ]] SLAMing on 259.442414037 meters Centerline goodness : 0.805734 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.57, Z:-0.06 [[ 0.95257712 -0.23427115 -0.19420054 -9.35494911] [ 0.24416934 0.96931792 0.02835677 -4.56508018] [ 0.18159889 -0.07442983 0.98055191 -0.05575102] [ 0. 0. 0. 1. ]] SLAMing on 259.47241403699996 meters Centerline goodness : 0.802180 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.56, Z:-0.06 [[ 0.95242923 -0.23469426 -0.19441495 -9.3547968 ] [ 0.24455197 0.96923157 0.02800897 -4.56400847] [ 0.18185956 -0.07422112 0.98051942 -0.05550853] [ 0. 0. 0. 1. ]] SLAMing on 259.502414037 meters Centerline goodness : 0.804366 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.56, Z:-0.06 [[ 0.95236248 -0.23466539 -0.19477642 -9.35413986] [ 0.24457574 0.96922163 0.02814502 -4.56351018] [ 0.18217686 -0.07444184 0.98044378 -0.05551666] [ 0. 0. 0. 1. ]] SLAMing on 259.53241403699997 meters Centerline goodness : 0.802274 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.56, Z:-0.06 [[ 0.95227707 -0.2347132 -0.19513612 -9.35337773] [ 0.24464598 0.96920487 0.02811155 -4.56261192] [ 0.18252872 -0.07450925 0.98037321 -0.05571661] [ 0. 0. 0. 1. ]] SLAMing on 259.562414037 meters Centerline goodness : 0.804373 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.56, Z:-0.06 [[ 0.95208087 -0.23532579 -0.19535556 -9.35321191] [ 0.24521019 0.96907406 0.02770239 -4.56180415] [ 0.18279492 -0.07427809 0.98034116 -0.0553093 ] [ 0. 0. 0. 1. ]] SLAMing on 259.59241403699997 meters Centerline goodness : 0.806041 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.56, Z:-0.06 [[ 0.95203495 -0.23522394 -0.19570172 -9.3524913 ] [ 0.2451873 0.96907154 0.02799185 -4.56159887] [ 0.18306461 -0.0746328 0.98026389 -0.0553385 ] [ 0. 0. 0. 1. ]] SLAMing on 259.622414037 meters Centerline goodness : 0.813467 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.56, Z:-0.05 [[ 0.95180705 -0.23621037 -0.19562207 -9.35298909] [ 0.24606543 0.96886726 0.0273503 -4.56056182] [ 0.18307139 -0.07416804 0.9802979 -0.05482022] [ 0. 0. 0. 1. ]] SLAMing on 259.65241403699997 meters Centerline goodness : 0.802469 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.56, Z:-0.05 [[ 0.95176932 -0.23609966 -0.19593906 -9.35224253] [ 0.24602795 0.96886907 0.02762184 -4.56047464] [ 0.18331779 -0.0744961 0.98022697 -0.05494148] [ 0. 0. 0. 1. ]] SLAMing on 259.682414037 meters Centerline goodness : 0.811517 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.56, Z:-0.06 [[ 0.95173653 -0.23638578 -0.19575328 -9.35245263] [ 0.24621668 0.96883446 0.02715009 -4.55990879] [ 0.18323463 -0.07403746 0.98027727 -0.05511558] [ 0. 0. 0. 1. ]] SLAMing on 259.712414037 meters Centerline goodness : 0.800509 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.56, Z:-0.06 [[ 0.95165022 -0.23641706 -0.19613474 -9.35166529] [ 0.24626066 0.96882586 0.02705821 -4.55889271] [ 0.18362338 -0.07405022 0.98020356 -0.05527873] [ 0. 0. 0. 1. ]] SLAMing on 259.742414037 meters Centerline goodness : 0.801595 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.56, Z:-0.06 [[ 0.95158149 -0.23678891 -0.19601961 -9.35181016] [ 0.24651107 0.96877975 0.02642119 -4.55779325] [ 0.18364358 -0.07346292 0.98024397 -0.05540715] [ 0. 0. 0. 1. ]] SLAMing on 259.772414037 meters Centerline goodness : 0.801280 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.56, Z:-0.06 [[ 0.95153041 -0.23690044 -0.19613276 -9.35108833] [ 0.24656778 0.96877478 0.02607201 -4.5567068 ] [ 0.183832 -0.07316833 0.98023068 -0.05605845] [ 0. 0. 0. 1. ]] SLAMing on 259.802414037 meters Centerline goodness : 0.798359 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.55, Z:-0.06 [[ 0.95148861 -0.23720571 -0.19596651 -9.35081858] [ 0.24669217 0.96876762 0.02514499 -4.55457795] [ 0.18388147 -0.07226858 0.98028815 -0.05701083] [ 0. 0. 0. 1. ]] SLAMing on 259.832414037 meters Centerline goodness : 0.808355 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.55, Z:-0.06 [[ 0.95149673 -0.23716047 -0.19598186 -9.3507424 ] [ 0.24660391 0.96879606 0.02491397 -4.55382676] [ 0.18395784 -0.07203546 0.98029098 -0.05715075] [ 0. 0. 0. 1. ]] SLAMing on 259.862414037 meters Centerline goodness : 0.798304 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.55, Z:-0.06 [[ 0.9514831 -0.23711338 -0.19610494 -9.350356 ] [ 0.24652154 0.96882297 0.0246816 -4.55276767] [ 0.18413863 -0.07182822 0.98027224 -0.0574415 ] [ 0. 0. 0. 1. ]] SLAMing on 259.892414037 meters Centerline goodness : 0.793874 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.55, Z:-0.06 [[ 0.95147882 -0.23715319 -0.19607757 -9.35047417] [ 0.24643685 0.96886099 0.02402607 -4.55047423] [ 0.18427405 -0.07118104 0.980294 -0.05781913] [ 0. 0. 0. 1. ]] SLAMing on 259.922414037 meters Centerline goodness : 0.804110 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.55, Z:-0.06 [[ 0.95141305 -0.23711271 -0.19644535 -9.34996968] [ 0.24640107 0.96887296 0.02391047 -4.54929245] [ 0.18466111 -0.07115308 0.9802232 -0.05779068] [ 0. 0. 0. 1. ]] SLAMing on 259.952414037 meters Centerline goodness : 0.803923 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.55, Z:-0.06 [[ 0.95137784 -0.23702354 -0.19672328 -9.34928797] [ 0.24629892 0.96890308 0.02374146 -4.54809579] [ 0.18497851 -0.07103983 0.98017156 -0.05807123] [ 0. 0. 0. 1. ]] SLAMing on 259.982414037 meters Centerline goodness : 0.792002 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.55, Z:-0.06 [[ 0.95127985 -0.23729244 -0.19687292 -9.34900849] [ 0.24650688 0.96886009 0.02333409 -4.54693178] [ 0.18520532 -0.07072778 0.9801513 -0.05815894] [ 0. 0. 0. 1. ]] SLAMing on 260.012414037 meters Centerline goodness : 0.800165 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.54, Z:-0.06 [[ 0.95110886 -0.23780478 -0.19708076 -9.34802959] [ 0.24686714 0.96879042 0.02239963 -4.54456636] [ 0.18560321 -0.06995725 0.98013133 -0.05893799] [ 0. 0. 0. 1. ]] SLAMing on 260.04241403699996 meters Centerline goodness : 0.800311 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.54, Z:-0.06 [[ 0.95095495 -0.23806466 -0.19750927 -9.34697015] [ 0.24710212 0.96873788 0.02207864 -4.5431603 ] [ 0.18607857 -0.06980075 0.98005236 -0.05926719] [ 0. 0. 0. 1. ]] SLAMing on 260.072414037 meters Centerline goodness : 0.798666 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.54, Z:-0.06 [[ 0.95088155 -0.23851839 -0.1973151 -9.34732386] [ 0.24743799 0.96866545 0.02148691 -4.54204482] [ 0.18600729 -0.06925476 0.98010462 -0.05942557] [ 0. 0. 0. 1. ]] SLAMing on 260.10241403699996 meters Centerline goodness : 0.797160 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.54, Z:-0.06 [[ 0.95080096 -0.23849235 -0.19773448 -9.34625802] [ 0.24742253 0.96867162 0.02138631 -4.5410665 ] [ 0.18643931 -0.06925809 0.9800223 -0.0597326 ] [ 0. 0. 0. 1. ]] SLAMing on 260.132414037 meters Centerline goodness : 0.795136 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.54, Z:-0.06 [[ 0.95075763 -0.23881122 -0.1975579 -9.34666193] [ 0.24761646 0.9686356 0.02076449 -4.53909758] [ 0.18640282 -0.06866058 0.98007128 -0.06004756] [ 0. 0. 0. 1. ]] SLAMing on 260.16241403699996 meters Centerline goodness : 0.795497 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.54, Z:-0.06 [[ 0.95063075 -0.23894482 -0.19800642 -9.34584394] [ 0.24780115 0.96858651 0.02085119 -4.53853995] [ 0.18680407 -0.068888 0.97997892 -0.05996497] [ 0. 0. 0. 1. ]] SLAMing on 260.192414037 meters Centerline goodness : 0.795497 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.54, Z:-0.06 [[ 0.95063075 -0.23894482 -0.19800642 -9.34584394] [ 0.24780115 0.96858651 0.02085119 -4.53853995] [ 0.18680407 -0.068888 0.97997892 -0.05996497] [ 0. 0. 0. 1. ]] SLAMing on 260.22241403699996 meters Centerline goodness : 0.795166 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.54, Z:-0.06 [[ 0.95045731 -0.23922107 -0.19850487 -9.3447909 ] [ 0.2481558 0.96849147 0.02104695 -4.53815783] [ 0.1872154 -0.06926436 0.97987389 -0.06000412] [ 0. 0. 0. 1. ]] SLAMing on 260.252414037 meters Centerline goodness : 0.791421 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.54, Z:-0.06 [[ 0.9500649 -0.240492 -0.19884741 -9.34396242] [ 0.24941451 0.96817497 0.02072763 -4.53796556] [ 0.18753425 -0.06928803 0.97981124 -0.05980132] [ 0. 0. 0. 1. ]] SLAMing on 260.28241403699997 meters Centerline goodness : 0.783966 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.54, Z:-0.06 [[ 0.94982741 -0.24089507 -0.19949302 -9.34277775] [ 0.24995478 0.96802628 0.02115937 -4.53852007] [ 0.1880173 -0.06996198 0.97967077 -0.05941445] [ 0. 0. 0. 1. ]] SLAMing on 260.312414037 meters Centerline goodness : 0.790355 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.54, Z:-0.06 [[ 0.94960203 -0.2413732 -0.19998742 -9.34174321] [ 0.25049553 0.96788452 0.02124973 -4.5385458 ] [ 0.18843561 -0.07027474 0.97956801 -0.05920426] [ 0. 0. 0. 1. ]] SLAMing on 260.34241403699997 meters Centerline goodness : 0.789694 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.54, Z:-0.06 [[ 0.94948644 -0.24203863 -0.19973184 -9.34257328] [ 0.25106757 0.96774618 0.02079435 -4.53833863] [ 0.18825669 -0.06989014 0.97962992 -0.05890152] [ 0. 0. 0. 1. ]] SLAMing on 260.372414037 meters Centerline goodness : 0.792110 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.54, Z:-0.06 [[ 0.94895829 -0.24295562 -0.20112367 -9.34112898] [ 0.25217261 0.96745113 0.02114917 -4.53749281] [ 0.18943901 -0.07078756 0.97933752 -0.05744321] [ 0. 0. 0. 1. ]] SLAMing on 260.40241403699997 meters Centerline goodness : 0.789774 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.54, Z:-0.06 [[ 0.94877873 -0.24327813 -0.20158043 -9.34020789] [ 0.25251645 0.96736354 0.02105282 -4.53672795] [ 0.18987987 -0.07087684 0.97924568 -0.05745538] [ 0. 0. 0. 1. ]] SLAMing on 260.432414037 meters Centerline goodness : 0.791768 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.54, Z:-0.06 [[ 0.94858517 -0.2433002 -0.20246282 -9.33854357] [ 0.25268845 0.96730912 0.02148548 -4.53618264] [ 0.19061671 -0.07154082 0.97905423 -0.0574085 ] [ 0. 0. 0. 1. ]] SLAMing on 260.462414037 meters Centerline goodness : 0.790906 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.54, Z:-0.06 [[ 0.94853304 -0.24347667 -0.20249489 -9.33841969] [ 0.25280907 0.96728458 0.02116857 -4.53538657] [ 0.19071613 -0.07127163 0.9790545 -0.05745918] [ 0. 0. 0. 1. ]] SLAMing on 260.492414037 meters Centerline goodness : 0.789184 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.53, Z:-0.06 [[ 0.94853311 -0.24352138 -0.20244079 -9.33830689] [ 0.25278246 0.96729914 0.02081847 -4.53380923] [ 0.19075106 -0.07092049 0.97907319 -0.05776706] [ 0. 0. 0. 1. ]] SLAMing on 260.522414037 meters Centerline goodness : 0.789006 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.53, Z:-0.06 [[ 0.94884736 -0.2409432 -0.20404673 -9.33688463] [ 0.25096966 0.96768796 0.02437704 -4.53485167] [ 0.19158008 -0.07433963 0.9786576 -0.05716862] [ 0. 0. 0. 1. ]] SLAMing on 260.552414037 meters Centerline goodness : 0.790473 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.53, Z:-0.06 [[ 0.94881269 -0.24116705 -0.20394346 -9.33748667] [ 0.25106205 0.96768024 0.02372358 -4.53295208] [ 0.1916307 -0.0737117 0.97869518 -0.05681704] [ 0. 0. 0. 1. ]] SLAMing on 260.582414037 meters Centerline goodness : 0.792989 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.53, Z:-0.06 [[ 0.94874915 -0.24149367 -0.20385255 -9.33816447] [ 0.25130417 0.96762781 0.02329442 -4.53213979] [ 0.19162794 -0.07332956 0.97872443 -0.05637241] [ 0. 0. 0. 1. ]] SLAMing on 260.612414037 meters Centerline goodness : 0.790922 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.53, Z:-0.06 [[ 0.94871724 -0.24171486 -0.20373884 -9.33876088] [ 0.2514595 0.96759498 0.02297982 -4.5314945 ] [ 0.19158212 -0.07303342 0.97875554 -0.05601433] [ 0. 0. 0. 1. ]] SLAMing on 260.642414037 meters Centerline goodness : 0.791141 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.53, Z:-0.06 [[ 0.94867324 -0.24179702 -0.20384624 -9.33886894] [ 0.25149545 0.96759239 0.0226938 -4.53091791] [ 0.19175278 -0.0727954 0.97873985 -0.05561388] [ 0. 0. 0. 1. ]] SLAMing on 260.672414037 meters Centerline goodness : 0.798215 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.53, Z:-0.06 [[ 0.94864862 -0.24195529 -0.203773 -9.33908225] [ 0.25160072 0.96757105 0.02243546 -4.53052585] [ 0.19173648 -0.07255281 0.97876106 -0.05549432] [ 0. 0. 0. 1. ]] SLAMing on 260.702414037 meters Centerline goodness : 0.798053 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.53, Z:-0.06 [[ 0.94867197 -0.24170836 -0.20395725 -9.33833803] [ 0.25135322 0.9676365 0.0223867 -4.53002998] [ 0.19194542 -0.07250295 0.9787238 -0.05566251] [ 0. 0. 0. 1. ]] SLAMing on 260.732414037 meters Centerline goodness : 0.799132 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.53, Z:-0.06 [[ 0.94865563 -0.24166424 -0.2040855 -9.33786019] [ 0.25130145 0.96765188 0.02230278 -4.52969984] [ 0.19209394 -0.07244464 0.97869898 -0.05579488] [ 0. 0. 0. 1. ]] SLAMing on 260.762414037 meters Centerline goodness : 0.795738 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.53, Z:-0.06 [[ 0.94862303 -0.24162399 -0.20428462 -9.3373177 ] [ 0.25124559 0.96766988 0.02215093 -4.52936015] [ 0.19232788 -0.07233849 0.97866089 -0.0557612 ] [ 0. 0. 0. 1. ]] SLAMing on 260.79241403699996 meters Centerline goodness : 0.796566 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.53, Z:-0.06 [[ 0.94862643 -0.24147233 -0.20444804 -9.33676364] [ 0.25109903 0.9677084 0.02212971 -4.52883616] [ 0.19250237 -0.07232953 0.97862724 -0.05591204] [ 0. 0. 0. 1. ]] SLAMing on 260.822414037 meters Centerline goodness : 0.793276 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.53, Z:-0.06 [[ 0.94861112 -0.24146951 -0.20452242 -9.33660107] [ 0.25107555 0.96771753 0.02199653 -4.52866836] [ 0.19260844 -0.07221673 0.9786147 -0.05578076] [ 0. 0. 0. 1. ]] SLAMing on 260.85241403699996 meters Centerline goodness : 0.794970 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.53, Z:-0.06 [[ 0.94859021 -0.24153171 -0.20454596 -9.33654831] [ 0.25111382 0.9677107 0.0218596 -4.52865444] [ 0.19266153 -0.07210012 0.97861285 -0.05563294] [ 0. 0. 0. 1. ]] SLAMing on 260.882414037 meters Centerline goodness : 0.791159 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.53, Z:-0.06 [[ 0.9486246 -0.24131579 -0.20464129 -9.33607332] [ 0.25092779 0.96775584 0.02199709 -4.52857223] [ 0.19273456 -0.07221717 0.97858984 -0.05585325] [ 0. 0. 0. 1. ]] SLAMing on 260.91241403699996 meters Centerline goodness : 0.798326 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.53, Z:-0.06 [[ 0.94912773 -0.2379749 -0.20621469 -9.33430481] [ 0.24847747 0.96828234 0.02623464 -4.53040853] [ 0.19343086 -0.07613973 0.97815502 -0.05564587] [ 0. 0. 0. 1. ]] SLAMing on 260.942414037 meters Centerline goodness : 0.796736 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.53, Z:-0.06 [[ 0.94910617 -0.2382535 -0.20599212 -9.33483303] [ 0.24864174 0.96825406 0.02571694 -4.5295789 ] [ 0.19332555 -0.07562634 0.97821567 -0.05558063] [ 0. 0. 0. 1. ]] SLAMing on 260.97241403699996 meters Centerline goodness : 0.798008 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.53, Z:-0.06 [[ 0.94917532 -0.23767566 -0.20634071 -9.33417691] [ 0.24818729 0.96835606 0.02626038 -4.52996991] [ 0.19356982 -0.07613685 0.97812775 -0.05550078] [ 0. 0. 0. 1. ]] SLAMing on 261.002414037 meters Centerline goodness : 0.789374 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.53, Z:-0.06 [[ 0.94919325 -0.23766778 -0.20626729 -9.33450303] [ 0.2481387 0.96837326 0.02608489 -4.53004092] [ 0.19354419 -0.0759425 0.97814793 -0.05507217] [ 0. 0. 0. 1. ]] SLAMing on 261.03241403699997 meters Centerline goodness : 0.788253 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.53, Z:-0.06 [[ 0.94920871 -0.23734874 -0.20656331 -9.33385157] [ 0.24790223 0.96842485 0.02641578 -4.53005301] [ 0.19377129 -0.07628159 0.97807658 -0.05512041] [ 0. 0. 0. 1. ]] SLAMing on 261.062414037 meters Centerline goodness : 0.788509 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.53, Z:-0.06 [[ 0.94923602 -0.23700526 -0.20683201 -9.33302581] [ 0.24761882 0.96849105 0.02664597 -4.5300345 ] [ 0.19399972 -0.07650881 0.97801355 -0.05537419] [ 0. 0. 0. 1. ]] SLAMing on 261.09241403699997 meters Centerline goodness : 0.786596 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.53, Z:-0.06 [[ 0.94928331 -0.23667099 -0.20699769 -9.33227465] [ 0.24732796 0.96856023 0.02683217 -4.52979394] [ 0.19413933 -0.07666765 0.97797341 -0.05572161] [ 0. 0. 0. 1. ]] SLAMing on 261.122414037 meters Centerline goodness : 0.787428 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.53, Z:-0.06 [[ 0.94925597 -0.23641737 -0.20741244 -9.33072394] [ 0.24714756 0.96859996 0.02705934 -4.5296977 ] [ 0.19450238 -0.07694772 0.97787927 -0.05636123] [ 0. 0. 0. 1. ]] SLAMing on 261.15241403699997 meters Centerline goodness : 0.786276 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.53, Z:-0.06 [[ 0.94923336 -0.23629425 -0.20765612 -9.32944652] [ 0.24707437 0.968614 0.02722442 -4.529924 ] [ 0.19470565 -0.07714883 0.97782297 -0.05699725] [ 0. 0. 0. 1. ]] SLAMing on 261.182414037 meters Centerline goodness : 0.785555 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.53, Z:-0.06 [[ 0.94929375 -0.2359767 -0.20774112 -9.32878685] [ 0.24683307 0.96866474 0.02760542 -4.53113904] [ 0.19471727 -0.07748303 0.97779424 -0.05718054] [ 0. 0. 0. 1. ]] SLAMing on 261.212414037 meters Centerline goodness : 0.783849 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.53, Z:-0.06 [[ 0.94930675 -0.23584652 -0.20782955 -9.32844128] [ 0.24672288 0.96869059 0.02768322 -4.53152363] [ 0.19479354 -0.07755617 0.97777324 -0.05715987] [ 0. 0. 0. 1. ]] SLAMing on 261.242414037 meters Centerline goodness : 0.783860 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.53, Z:-0.06 [[ 0.94931883 -0.23582853 -0.20779477 -9.3285251 ] [ 0.24669837 0.96869731 0.02766649 -4.53156291] [ 0.19476569 -0.07752695 0.97778111 -0.05708252] [ 0. 0. 0. 1. ]] SLAMing on 261.272414037 meters Centerline goodness : 0.783427 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.53, Z:-0.06 [[ 0.94931421 -0.23584421 -0.20779807 -9.32855288] [ 0.24669058 0.96870274 0.02754567 -4.53125328] [ 0.19479807 -0.07741132 0.97778382 -0.0570117 ] [ 0. 0. 0. 1. ]] SLAMing on 261.302414037 meters Centerline goodness : 0.782244 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.53, Z:-0.06 [[ 0.94939047 -0.23541575 -0.20793546 -9.32821461] [ 0.24627374 0.96880747 0.0275922 -4.53064192] [ 0.19495379 -0.07740482 0.9777533 -0.05694633] [ 0. 0. 0. 1. ]] SLAMing on 261.332414037 meters Centerline goodness : 0.783597 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.53, Z:-0.06 [[ 0.94937875 -0.23544279 -0.20795838 -9.32826417] [ 0.24626094 0.96881673 0.0273804 -4.53014283] [ 0.19502704 -0.07720639 0.97775438 -0.05678802] [ 0. 0. 0. 1. ]] SLAMing on 261.362414037 meters Centerline goodness : 0.782263 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.53, Z:-0.06 [[ 0.94934834 -0.23549946 -0.20803302 -9.32830239] [ 0.24628426 0.96881652 0.02717736 -4.52979038] [ 0.19514558 -0.07703604 0.97774417 -0.05652639] [ 0. 0. 0. 1. ]] SLAMing on 261.392414037 meters Centerline goodness : 0.782145 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.53, Z:-0.06 [[ 0.9493929 -0.2351639 -0.2082092 -9.32763633] [ 0.24595638 0.96889976 0.02717937 -4.52955577] [ 0.19534223 -0.07701428 0.97770661 -0.05660022] [ 0. 0. 0. 1. ]] SLAMing on 261.422414037 meters Centerline goodness : 0.780373 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.53, Z:-0.06 [[ 0.94936575 -0.23516872 -0.20832751 -9.3274761 ] [ 0.24592756 0.96891312 0.02696304 -4.52891884] [ 0.19551039 -0.07683126 0.9776874 -0.05649995] [ 0. 0. 0. 1. ]] SLAMing on 261.452414037 meters Centerline goodness : 0.782088 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.53, Z:-0.06 [[ 0.94934238 -0.23521501 -0.20838173 -9.32725887] [ 0.24592442 0.96892149 0.02668945 -4.52801628] [ 0.19562778 -0.07658359 0.97768335 -0.05658131] [ 0. 0. 0. 1. ]] SLAMing on 261.482414037 meters Centerline goodness : 0.781287 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.53, Z:-0.06 [[ 0.94935086 -0.23503611 -0.20854489 -9.32675881] [ 0.24573892 0.96897074 0.0266098 -4.52728231] [ 0.19581963 -0.07650963 0.97765073 -0.05669357] [ 0. 0. 0. 1. ]] SLAMing on 261.512414037 meters Centerline goodness : 0.781374 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.53, Z:-0.06 [[ 0.9494029 -0.23472664 -0.20865652 -9.32614589] [ 0.24541918 0.96905353 0.02654602 -4.52627185] [ 0.19596828 -0.07641118 0.97762864 -0.05707674] [ 0. 0. 0. 1. ]] SLAMing on 261.54241403699996 meters Centerline goodness : 0.779383 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.53, Z:-0.06 [[ 0.94940046 -0.23465143 -0.20875218 -9.32580805] [ 0.24533782 0.96907579 0.02648509 -4.52604324] [ 0.19608192 -0.07635976 0.97760988 -0.05713575] [ 0. 0. 0. 1. ]] SLAMing on 261.572414037 meters Centerline goodness : 0.779740 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.53, Z:-0.06 [[ 0.94939629 -0.23466066 -0.20876079 -9.32579904] [ 0.2453166 0.96908542 0.02632895 -4.52582126] [ 0.19612867 -0.0762091 0.97761225 -0.05701233] [ 0. 0. 0. 1. ]] SLAMing on 261.60241403699996 meters Centerline goodness : 0.781650 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.53, Z:-0.06 [[ 0.94951953 -0.23426475 -0.20864487 -9.32572846] [ 0.24491206 0.96918655 0.02637275 -4.52559725] [ 0.1960376 -0.07614109 0.97763582 -0.05747853] [ 0. 0. 0. 1. ]] SLAMing on 261.632414037 meters Centerline goodness : 0.779641 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.52, Z:-0.06 [[ 0.94980115 -0.23306638 -0.20870515 -9.32604681] [ 0.24380581 0.96945005 0.02693189 -4.52492325] [ 0.1960523 -0.07646347 0.97760771 -0.05754447] [ 0. 0. 0. 1. ]] SLAMing on 261.66241403699996 meters Centerline goodness : 0.783541 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.52, Z:-0.06 [[ 0.94992281 -0.23280032 -0.20844823 -9.32673036] [ 0.24345147 0.96954768 0.02662095 -4.52410382] [ 0.19590313 -0.07603488 0.97767104 -0.05761254] [ 0. 0. 0. 1. ]] SLAMing on 261.692414037 meters Centerline goodness : 0.777566 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.52, Z:-0.06 [[ 0.95006843 -0.23232678 -0.20831286 -9.32688978] [ 0.24292743 0.96968322 0.02647124 -4.52325048] [ 0.1958475 -0.07575439 0.97770396 -0.05802934] [ 0. 0. 0. 1. ]] SLAMing on 261.72241403699996 meters Centerline goodness : 0.779652 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.52, Z:-0.06 [[ 0.95039677 -0.23115243 -0.20812142 -9.32633088] [ 0.24167265 0.97000228 0.02626604 -4.52175486] [ 0.1958068 -0.07526041 0.97775026 -0.05953029] [ 0. 0. 0. 1. ]] SLAMing on 261.752414037 meters Centerline goodness : 0.777501 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.52, Z:-0.06 [[ 0.95052995 -0.2304971 -0.20823998 -9.32554525] [ 0.24103885 0.97015648 0.02639448 -4.52127796] [ 0.19594152 -0.07528267 0.97772156 -0.06024975] [ 0. 0. 0. 1. ]] SLAMing on 261.78241403699997 meters Centerline goodness : 0.776157 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.52, Z:-0.06 [[ 0.95064783 -0.2303551 -0.20785868 -9.3261222 ] [ 0.240745 0.97024544 0.02579988 -4.52063006] [ 0.1957308 -0.07456754 0.97781856 -0.06054491] [ 0. 0. 0. 1. ]] SLAMing on 261.812414037 meters Centerline goodness : 0.776097 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.52, Z:-0.06 [[ 0.95153831 -0.22592911 -0.20864058 -9.32543423] [ 0.23707137 0.97103813 0.02970043 -4.52136426] [ 0.19588776 -0.07772381 0.9775413 -0.06141799] [ 0. 0. 0. 1. ]] SLAMing on 261.84241403699997 meters Centerline goodness : 0.777503 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.52, Z:-0.06 [[ 0.95170794 -0.22551968 -0.20830955 -9.32617242] [ 0.2365042 0.97119496 0.02908817 -4.52002573] [ 0.19574923 -0.07694952 0.9776303 -0.06168199] [ 0. 0. 0. 1. ]] SLAMing on 261.872414037 meters Centerline goodness : 0.777652 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.52, Z:-0.06 [[ 0.95200811 -0.22432871 -0.20822387 -9.32618143] [ 0.2352618 0.97149967 0.02898743 -4.51866325] [ 0.19578671 -0.07658339 0.97765155 -0.06242434] [ 0. 0. 0. 1. ]] SLAMing on 261.90241403699997 meters Centerline goodness : 0.778021 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.52, Z:-0.06 [[ 0.95304085 -0.21966554 -0.20847107 -9.32645988] [ 0.23097506 0.97245793 0.03124254 -4.51713215] [ 0.19586644 -0.07792703 0.97752939 -0.06369617] [ 0. 0. 0. 1. ]] SLAMing on 261.932414037 meters Centerline goodness : 0.777856 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.51, Z:-0.07 [[ 0.95470547 -0.22476486 -0.19498264 -9.32703325] [ 0.23429808 0.97179025 0.02698374 -4.51099266] [ 0.18341723 -0.07144558 0.98043544 -0.0691921 ] [ 0. 0. 0. 1. ]] SLAMing on 261.962414037 meters Centerline goodness : 0.778547 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.51, Z:-0.07 [[ 0.95561212 -0.22007331 -0.19589083 -9.32570085] [ 0.23028155 0.97264067 0.03066803 -4.51152162] [ 0.18378217 -0.07441679 0.98014604 -0.07033783] [ 0. 0. 0. 1. ]] SLAMing on 261.992414037 meters Centerline goodness : 0.776878 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.51, Z:-0.08 [[ 0.95752063 -0.22317504 -0.18261202 -9.32598402] [ 0.23227283 0.97219498 0.02977003 -4.50680288] [ 0.17089056 -0.07092123 0.98273424 -0.07650604] [ 0. 0. 0. 1. ]] SLAMing on 262.022414037 meters Centerline goodness : 0.778102 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.51, Z:-0.08 [[ 0.95916497 -0.21672411 -0.18175042 -9.32835476] [ 0.22605917 0.97358555 0.0320691 -4.50598518] [ 0.16999944 -0.07184591 0.98282163 -0.07839042] [ 0. 0. 0. 1. ]] SLAMing on 262.052414037 meters Centerline goodness : 0.777408 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.50, Z:-0.08 [[ 0.9609252 -0.22019799 -0.16773669 -9.32988574] [ 0.22832026 0.973107 0.03053885 -4.50090239] [ 0.15650116 -0.06764324 0.98535871 -0.08425416] [ 0. 0. 0. 1. ]] SLAMing on 262.082414037 meters Centerline goodness : 0.775616 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.50, Z:-0.09 [[ 0.96242882 -0.21422734 -0.16684548 -9.33307787] [ 0.22262251 0.97434161 0.03313069 -4.50065317] [ 0.15546699 -0.06902949 0.98542627 -0.08505253] [ 0. 0. 0. 1. ]] SLAMing on 262.112414037 meters Centerline goodness : 0.775616 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.50, Z:-0.09 [[ 0.96242882 -0.21422734 -0.16684548 -9.33307787] [ 0.22262251 0.97434161 0.03313069 -4.50065317] [ 0.15546699 -0.06902949 0.98542627 -0.08505253] [ 0. 0. 0. 1. ]] SLAMing on 262.142414037 meters Centerline goodness : 0.777342 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.50, Z:-0.09 [[ 0.96285084 -0.21287082 -0.16614534 -9.33489861] [ 0.22113264 0.97469524 0.03270378 -4.49993505] [ 0.15497939 -0.06822902 0.98555882 -0.08511761] [ 0. 0. 0. 1. ]] SLAMing on 262.172414037 meters Centerline goodness : 0.776798 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.50, Z:-0.09 [[ 0.96317733 -0.2118365 -0.16557394 -9.33624704] [ 0.22000178 0.97496047 0.03242365 -4.49955346] [ 0.15455953 -0.06765629 0.98566423 -0.08525741] [ 0. 0. 0. 1. ]] SLAMing on 262.202414037 meters Centerline goodness : 0.777971 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.50, Z:-0.09 [[ 0.96423289 -0.21686011 -0.15240284 -9.3362853 ] [ 0.22403023 0.97407764 0.03135596 -4.49545409] [ 0.14165234 -0.06437729 0.98782092 -0.09085083] [ 0. 0. 0. 1. ]] SLAMing on 262.232414037 meters Centerline goodness : 0.778145 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.50, Z:-0.09 [[ 0.96429271 -0.21674884 -0.15218248 -9.33667847] [ 0.22385089 0.97413059 0.03098977 -4.49535158] [ 0.14152861 -0.0639494 0.98786645 -0.09083146] [ 0. 0. 0. 1. ]] SLAMing on 262.262414037 meters Centerline goodness : 0.777075 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.50, Z:-0.09 [[ 0.96413033 -0.21742573 -0.15224573 -9.33626787] [ 0.22448736 0.97399547 0.03063073 -4.49569364] [ 0.14162675 -0.06370926 0.9878679 -0.09073648] [ 0. 0. 0. 1. ]] SLAMing on 262.29241403699996 meters Centerline goodness : 0.778284 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.50, Z:-0.09 [[ 0.96386783 -0.21833045 -0.15261264 -9.33539603] [ 0.22541141 0.97378507 0.03053403 -4.49608953] [ 0.1419454 -0.0638314 0.98781428 -0.09039348] [ 0. 0. 0. 1. ]] SLAMing on 262.322414037 meters Centerline goodness : 0.778189 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.50, Z:-0.09 [[ 0.96335041 -0.22126094 -0.15165615 -9.33586566] [ 0.22783533 0.9733192 0.02721776 -4.49571221] [ 0.14158762 -0.06077287 0.9880585 -0.09050388] [ 0. 0. 0. 1. ]] SLAMing on 262.35241403699996 meters Centerline goodness : 0.778654 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.50, Z:-0.09 [[ 0.962462 -0.22531676 -0.15132503 -9.33435046] [ 0.23150598 0.97252802 0.02437697 -4.49719263] [ 0.14167529 -0.05849456 0.98818343 -0.09053845] [ 0. 0. 0. 1. ]] SLAMing on 262.382414037 meters Centerline goodness : 0.778805 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.50, Z:-0.09 [[ 0.96178686 -0.22837579 -0.15103158 -9.33319192] [ 0.23421103 0.97194122 0.02180501 -4.49738091] [ 0.14181408 -0.05634503 0.98828842 -0.09072367] [ 0. 0. 0. 1. ]] SLAMing on 262.41241403699996 meters Centerline goodness : 0.779288 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.50, Z:-0.09 [[ 0.96134621 -0.22981223 -0.15165685 -9.33146169] [ 0.23574167 0.97156438 0.02210247 -4.4989374 ] [ 0.14226498 -0.05699996 0.98818606 -0.09023118] [ 0. 0. 0. 1. ]] SLAMing on 262.442414037 meters Centerline goodness : 0.778265 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.50, Z:-0.09 [[ 0.96028405 -0.23464014 -0.15099185 -9.33086547] [ 0.24015131 0.97054753 0.01910079 -4.50083026] [ 0.14206296 -0.05460307 0.98835045 -0.08957325] [ 0. 0. 0. 1. ]] SLAMing on 262.47241403699996 meters Centerline goodness : 0.778658 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.50, Z:-0.09 [[ 0.9599216 -0.23558423 -0.15182424 -9.32853164] [ 0.24125602 0.97025909 0.01981979 -4.50224848] [ 0.14263962 -0.05565396 0.98820877 -0.08954486] [ 0. 0. 0. 1. ]] SLAMing on 262.502414037 meters Centerline goodness : 0.778090 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.50, Z:-0.09 [[ 0.95945593 -0.23717451 -0.1522911 -9.32797706] [ 0.24293857 0.96983228 0.02015454 -4.50385138] [ 0.14291668 -0.05633477 0.98813016 -0.08811954] [ 0. 0. 0. 1. ]] SLAMing on 262.53241403699997 meters Centerline goodness : 0.776736 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.51, Z:-0.09 [[ 0.95838494 -0.24126276 -0.15261252 -9.326142 ] [ 0.24681724 0.96888972 0.01827449 -4.50530935] [ 0.14345575 -0.05518139 0.98811713 -0.08705292] [ 0. 0. 0. 1. ]] SLAMing on 262.562414037 meters Centerline goodness : 0.778820 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.51, Z:-0.09 [[ 0.95796673 -0.24220241 -0.1537457 -9.32397083] [ 0.24799235 0.96856822 0.0193753 -4.50706702] [ 0.14422045 -0.05668865 0.98792047 -0.08614359] [ 0. 0. 0. 1. ]] SLAMing on 262.59241403699997 meters Centerline goodness : 0.777807 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.51, Z:-0.09 [[ 0.95672962 -0.24678775 -0.15415655 -9.32195791] [ 0.25233085 0.96748853 0.01717788 -4.50784503] [ 0.14490541 -0.05533304 0.9878971 -0.08502455] [ 0. 0. 0. 1. ]] SLAMing on 262.622414037 meters Centerline goodness : 0.777916 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.51, Z:-0.08 [[ 0.95628066 -0.24822419 -0.15463525 -9.32092243] [ 0.25385271 0.96708522 0.01746361 -4.50937474] [ 0.14521057 -0.05595468 0.98781727 -0.0841384 ] [ 0. 0. 0. 1. ]] SLAMing on 262.65241403699997 meters Centerline goodness : 0.779729 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.51, Z:-0.08 [[ 0.95581417 -0.24925921 -0.15584967 -9.31829206] [ 0.2550871 0.96674567 0.01825866 -4.51073257] [ 0.14611586 -0.05720713 0.98761202 -0.08357481] [ 0. 0. 0. 1. ]] SLAMing on 262.682414037 meters Centerline goodness : 0.778200 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.51, Z:-0.08 [[ 0.9550137 -0.25223425 -0.15597021 -9.31805919] [ 0.25790889 0.96602062 0.01694581 -4.51102622] [ 0.14639613 -0.05640958 0.98761639 -0.08226665] [ 0. 0. 0. 1. ]] SLAMing on 262.712414037 meters Centerline goodness : 0.773559 Centerline is valid? [False, False] Translation: X:-9.31, Y:-4.51, Z:-0.08 [[ 0.9542906 -0.25410422 -0.15735467 -9.3148885 ] [ 0.2599597 0.96546139 0.01747188 -4.51225615] [ 0.14748018 -0.05757912 0.98738758 -0.08171328] [ 0. 0. 0. 1. ]] SLAMing on 262.742414037 meters Centerline goodness : 0.780320 Centerline is valid? [False, False] Translation: X:-9.31, Y:-4.51, Z:-0.08 [[ 0.95396283 -0.2549889 -0.15791005 -9.31378919] [ 0.260885 0.96521208 0.01745443 -4.5125574 ] [ 0.147966 -0.05784724 0.98729923 -0.0812 ] [ 0. 0. 0. 1. ]] SLAMing on 262.772414037 meters Centerline goodness : 0.782867 Centerline is valid? [False, False] Translation: X:-9.31, Y:-4.51, Z:-0.08 [[ 0.95373692 -0.25536071 -0.15867199 -9.31212143] [ 0.26136112 0.96507664 0.0178172 -4.51282488] [ 0.14858082 -0.05846361 0.98717058 -0.08109083] [ 0. 0. 0. 1. ]] SLAMing on 262.802414037 meters Centerline goodness : 0.781073 Centerline is valid? [False, False] Translation: X:-9.31, Y:-4.51, Z:-0.08 [[ 0.95350248 -0.25567848 -0.15956675 -9.31017092] [ 0.26178951 0.96495398 0.01816785 -4.51286399] [ 0.14932944 -0.05909599 0.98701995 -0.08108349] [ 0. 0. 0. 1. ]] SLAMing on 262.832414037 meters Centerline goodness : 0.776033 Centerline is valid? [False, False] Translation: X:-9.31, Y:-4.51, Z:-0.08 [[ 0.95323917 -0.25604575 -0.160548 -9.30848079] [ 0.26229802 0.96480619 0.01867496 -4.5127823 ] [ 0.15011606 -0.05991313 0.98685135 -0.08065033] [ 0. 0. 0. 1. ]] SLAMing on 262.862414037 meters Centerline goodness : 0.776583 Centerline is valid? [False, False] Translation: X:-9.31, Y:-4.51, Z:-0.08 [[ 0.95315359 -0.25628314 -0.16067727 -9.30838593] [ 0.26253987 0.96474122 0.01863307 -4.51292639] [ 0.15023665 -0.05994436 0.9868311 -0.08032136] [ 0. 0. 0. 1. ]] SLAMing on 262.892414037 meters Centerline goodness : 0.774658 Centerline is valid? [False, False] Translation: X:-9.31, Y:-4.51, Z:-0.08 [[ 0.9531319 -0.25612365 -0.16105979 -9.30772729] [ 0.26246501 0.96475352 0.01904623 -4.51312881] [ 0.15050481 -0.06042613 0.98676086 -0.08019896] [ 0. 0. 0. 1. ]] SLAMing on 262.922414037 meters Centerline goodness : 0.781174 Centerline is valid? [False, False] Translation: X:-9.31, Y:-4.51, Z:-0.08 [[ 0.95294931 -0.25631414 -0.16183533 -9.30631596] [ 0.2627756 0.9646599 0.01950043 -4.51299351] [ 0.15111782 -0.0611093 0.98662508 -0.08006067] [ 0. 0. 0. 1. ]] SLAMing on 262.952414037 meters Centerline goodness : 0.775587 Centerline is valid? [False, False] Translation: X:-9.31, Y:-4.51, Z:-0.08 [[ 0.95283031 -0.25633036 -0.16250889 -9.30503658] [ 0.26286728 0.96463056 0.01971475 -4.51263258] [ 0.15170756 -0.06150308 0.98651011 -0.08000625] [ 0. 0. 0. 1. ]] SLAMing on 262.982414037 meters Centerline goodness : 0.780306 Centerline is valid? [False, False] Translation: X:-9.30, Y:-4.51, Z:-0.08 [[ 0.95266648 -0.25643534 -0.16330183 -9.30361694] [ 0.26305924 0.96457351 0.01994456 -4.51182314] [ 0.15240212 -0.06195857 0.98637454 -0.07998096] [ 0. 0. 0. 1. ]] SLAMing on 263.012414037 meters Centerline goodness : 0.780623 Centerline is valid? [False, False] Translation: X:-9.30, Y:-4.51, Z:-0.08 [[ 0.9523982 -0.25687851 -0.1641679 -9.30223774] [ 0.26353534 0.96444723 0.0197652 -4.51008221] [ 0.15325402 -0.06208838 0.98623437 -0.07982624] [ 0. 0. 0. 1. ]] SLAMing on 263.04241403699996 meters Centerline goodness : 0.781046 Centerline is valid? [False, False] Translation: X:-9.30, Y:-4.51, Z:-0.08 [[ 0.95228283 -0.25699684 -0.16465124 -9.30147848] [ 0.26369767 0.96440133 0.0198399 -4.50940861] [ 0.15369108 -0.06231134 0.98615229 -0.0797288 ] [ 0. 0. 0. 1. ]] SLAMing on 263.072414037 meters Centerline goodness : 0.780092 Centerline is valid? [False, False] Translation: X:-9.30, Y:-4.51, Z:-0.08 [[ 0.95218951 -0.25702362 -0.16514838 -9.30034453] [ 0.26376523 0.96438172 0.01989485 -4.50875415] [ 0.15415263 -0.06250407 0.98606805 -0.07995706] [ 0. 0. 0. 1. ]] SLAMing on 263.10241403699996 meters Centerline goodness : 0.780776 Centerline is valid? [False, False] Translation: X:-9.30, Y:-4.51, Z:-0.08 [[ 0.95205767 -0.25723018 -0.16558634 -9.29968209] [ 0.26397716 0.96432706 0.01973265 -4.50787755] [ 0.15460356 -0.06249763 0.98599786 -0.07978103] [ 0. 0. 0. 1. ]] SLAMing on 263.132414037 meters Centerline goodness : 0.781548 Centerline is valid? [False, False] Translation: X:-9.30, Y:-4.51, Z:-0.08 [[ 0.95186217 -0.25758132 -0.16616342 -9.29936376] [ 0.26432274 0.96423849 0.01943264 -4.50587574] [ 0.15521568 -0.06241796 0.98590673 -0.07925355] [ 0. 0. 0. 1. ]] SLAMing on 263.16241403699996 meters Centerline goodness : 0.782175 Centerline is valid? [False, False] Translation: X:-9.30, Y:-4.50, Z:-0.08 [[ 0.95178402 -0.25777928 -0.166304 -9.2994316 ] [ 0.26445907 0.96421036 0.01896808 -4.50429421] [ 0.15546246 -0.06203411 0.98589208 -0.07914403] [ 0. 0. 0. 1. ]] SLAMing on 263.192414037 meters Centerline goodness : 0.780243 Centerline is valid? [False, False] Translation: X:-9.30, Y:-4.50, Z:-0.08 [[ 0.95221584 -0.2550028 -0.16810285 -9.29753944] [ 0.26235355 0.96470495 0.0226929 -4.50457099] [ 0.1563829 -0.06571092 0.98550823 -0.07891242] [ 0. 0. 0. 1. ]] SLAMing on 263.22241403699996 meters Centerline goodness : 0.779622 Centerline is valid? [False, False] Translation: X:-9.30, Y:-4.50, Z:-0.08 [[ 0.9522125 -0.25484016 -0.16836817 -9.2973254 ] [ 0.26218675 0.96475324 0.0225674 -4.50302239] [ 0.15668266 -0.06563286 0.98546581 -0.07896737] [ 0. 0. 0. 1. ]] SLAMing on 263.252414037 meters Centerline goodness : 0.781358 Centerline is valid? [False, False] Translation: X:-9.30, Y:-4.50, Z:-0.08 [[ 0.95256628 -0.25247289 -0.16992621 -9.29642244] [ 0.26029639 0.96520294 0.02508137 -4.50134146] [ 0.15768091 -0.06812285 0.98513756 -0.07838696] [ 0. 0. 0. 1. ]] SLAMing on 263.28241403699997 meters Centerline goodness : 0.779727 Centerline is valid? [False, False] Translation: X:-9.30, Y:-4.50, Z:-0.08 [[ 0.95251141 -0.25238584 -0.17036259 -9.29558462] [ 0.26020351 0.96523367 0.02486167 -4.50007251] [ 0.15816497 -0.06800996 0.98506776 -0.07855705] [ 0. 0. 0. 1. ]] SLAMing on 263.312414037 meters Centerline goodness : 0.780851 Centerline is valid? [False, False] Translation: X:-9.29, Y:-4.50, Z:-0.08 [[ 0.9522629 -0.25291269 -0.17096944 -9.29480379] [ 0.26064917 0.96513397 0.02405052 -4.49764117] [ 0.15892573 -0.06746546 0.98498275 -0.07841039] [ 0. 0. 0. 1. ]] SLAMing on 263.34241403699997 meters Centerline goodness : 0.780197 Centerline is valid? [False, False] Translation: X:-9.29, Y:-4.50, Z:-0.08 [[ 0.95216056 -0.25297195 -0.17145105 -9.2940094 ] [ 0.26073463 0.96511213 0.02400068 -4.49633328] [ 0.15939798 -0.06755573 0.98490025 -0.07842627] [ 0. 0. 0. 1. ]] SLAMing on 263.372414037 meters Centerline goodness : 0.779710 Centerline is valid? [False, False] Translation: X:-9.29, Y:-4.49, Z:-0.08 [[ 0.95202955 -0.25334619 -0.17162589 -9.29407681] [ 0.26103192 0.96504605 0.02341932 -4.49483599] [ 0.15969369 -0.06709572 0.9848838 -0.07810928] [ 0. 0. 0. 1. ]] SLAMing on 263.40241403699997 meters Centerline goodness : 0.779345 Centerline is valid? [False, False] Translation: X:-9.29, Y:-4.49, Z:-0.08 [[ 0.95209588 -0.25161384 -0.17379273 -9.29233444] [ 0.25994008 0.96525952 0.0265559 -4.49354663] [ 0.16107326 -0.07045946 0.98442413 -0.07712987] [ 0. 0. 0. 1. ]] SLAMing on 263.432414037 meters Centerline goodness : 0.779531 Centerline is valid? [False, False] Translation: X:-9.29, Y:-4.49, Z:-0.08 [[ 0.95200646 -0.25209378 -0.17358693 -9.29284831] [ 0.26032171 0.96517166 0.02600525 -4.4923468 ] [ 0.16098542 -0.06994561 0.98447514 -0.0771594 ] [ 0. 0. 0. 1. ]] SLAMing on 263.462414037 meters Centerline goodness : 0.780049 Centerline is valid? [False, False] Translation: X:-9.29, Y:-4.49, Z:-0.08 [[ 0.95170176 -0.25300917 -0.1739256 -9.29227902] [ 0.261125 0.96497875 0.02509493 -4.49038986] [ 0.16148526 -0.06929921 0.98443899 -0.07712178] [ 0. 0. 0. 1. ]] SLAMing on 263.492414037 meters Centerline goodness : 0.780753 Centerline is valid? [False, False] Translation: X:-9.29, Y:-4.49, Z:-0.08 [[ 0.95159444 -0.25352943 -0.17375515 -9.29284094] [ 0.2615532 0.96487645 0.02456325 -4.48934301] [ 0.16142474 -0.06882046 0.9844825 -0.07704306] [ 0. 0. 0. 1. ]] SLAMing on 263.522414037 meters Centerline goodness : 0.780072 Centerline is valid? [False, False] Translation: X:-9.29, Y:-4.49, Z:-0.08 [[ 0.95150686 -0.25394205 -0.17363216 -9.29325861] [ 0.26187713 0.96480176 0.02404017 -4.48825536] [ 0.1614158 -0.06834468 0.98451711 -0.07689938] [ 0. 0. 0. 1. ]] SLAMing on 263.552414037 meters Centerline goodness : 0.780715 Centerline is valid? [False, False] Translation: X:-9.29, Y:-4.49, Z:-0.08 [[ 0.95140078 -0.25450473 -0.17338947 -9.29404098] [ 0.26232564 0.96469567 0.0233994 -4.48701209] [ 0.16131281 -0.06774671 0.98457532 -0.07666759] [ 0. 0. 0. 1. ]] SLAMing on 263.582414037 meters Centerline goodness : 0.778992 Centerline is valid? [False, False] Translation: X:-9.29, Y:-4.49, Z:-0.08 [[ 0.95129211 -0.2551151 -0.17308843 -9.29490995] [ 0.2628175 0.96457729 0.02275128 -4.48557452] [ 0.16115297 -0.06713378 0.98464348 -0.07659865] [ 0. 0. 0. 1. ]] SLAMing on 263.612414037 meters Centerline goodness : 0.780802 Centerline is valid? [False, False] Translation: X:-9.30, Y:-4.48, Z:-0.08 [[ 0.95117592 -0.25562519 -0.17297434 -9.29564885] [ 0.26322726 0.96447971 0.02214272 -4.48461249] [ 0.16117 -0.06659319 0.9846774 -0.07610898] [ 0. 0. 0. 1. ]] SLAMing on 263.642414037 meters Centerline goodness : 0.781384 Centerline is valid? [False, False] Translation: X:-9.30, Y:-4.48, Z:-0.08 [[ 0.95108805 -0.25606869 -0.17280147 -9.29628396] [ 0.26357539 0.96439707 0.02159422 -4.48359484] [ 0.16111963 -0.06608422 0.98471993 -0.07584794] [ 0. 0. 0. 1. ]] SLAMing on 263.672414037 meters Centerline goodness : 0.781806 Centerline is valid? [False, False] Translation: X:-9.30, Y:-4.48, Z:-0.08 [[ 0.95098955 -0.25663234 -0.17250717 -9.29752494] [ 0.26398042 0.96430594 0.02069787 -4.48119358] [ 0.16103795 -0.06522197 0.98479078 -0.0754201 ] [ 0. 0. 0. 1. ]] SLAMing on 263.702414037 meters Centerline goodness : 0.781600 Centerline is valid? [False, False] Translation: X:-9.30, Y:-4.48, Z:-0.08 [[ 0.9509543 -0.25677216 -0.17249343 -9.29786504] [ 0.26404731 0.96429722 0.02024566 -4.479825 ] [ 0.16113641 -0.06479913 0.98480258 -0.07516142] [ 0. 0. 0. 1. ]] SLAMing on 263.732414037 meters Centerline goodness : 0.780460 Centerline is valid? [False, False] Translation: X:-9.30, Y:-4.48, Z:-0.07 [[ 0.95088565 -0.2570193 -0.17250377 -9.29824688] [ 0.26419552 0.96426964 0.01961593 -4.47820122] [ 0.16129848 -0.06422723 0.98481352 -0.0747544 ] [ 0. 0. 0. 1. ]] SLAMing on 263.762414037 meters Centerline goodness : 0.781830 Centerline is valid? [False, False] Translation: X:-9.30, Y:-4.48, Z:-0.07 [[ 0.95088745 -0.25706006 -0.17243314 -9.29838555] [ 0.26411861 0.96430457 0.01892259 -4.47550747] [ 0.16141382 -0.06353606 0.98483945 -0.07491394] [ 0. 0. 0. 1. ]] SLAMing on 263.79241403699996 meters Centerline goodness : 0.781371 Centerline is valid? [False, False] Translation: X:-9.30, Y:-4.47, Z:-0.08 [[ 0.95085566 -0.25715164 -0.1724719 -9.2982124 ] [ 0.26415898 0.96430003 0.01858698 -4.47421054] [ 0.16153499 -0.06323354 0.98483906 -0.07513786] [ 0. 0. 0. 1. ]] SLAMing on 263.822414037 meters Centerline goodness : 0.781392 Centerline is valid? [False, False] Translation: X:-9.30, Y:-4.47, Z:-0.08 [[ 0.95084221 -0.25708223 -0.17264941 -9.29768004] [ 0.26405442 0.964334 0.0183085 -4.47305433] [ 0.1617849 -0.06299734 0.98481317 -0.07530965] [ 0. 0. 0. 1. ]] SLAMing on 263.85241403699996 meters Centerline goodness : 0.781564 Centerline is valid? [False, False] Translation: X:-9.30, Y:-4.47, Z:-0.08 [[ 0.95082002 -0.25721148 -0.17257908 -9.2978525 ] [ 0.26407012 0.96434227 0.01763398 -4.47025237] [ 0.16188964 -0.06233972 0.98483781 -0.07554619] [ 0. 0. 0. 1. ]] SLAMing on 263.882414037 meters Centerline goodness : 0.782474 Centerline is valid? [False, False] Translation: X:-9.30, Y:-4.47, Z:-0.08 [[ 0.95074452 -0.25763761 -0.17235928 -9.29875679] [ 0.26438426 0.96426756 0.01700109 -4.46862151] [ 0.16182035 -0.06173278 0.98488742 -0.07519576] [ 0. 0. 0. 1. ]] SLAMing on 263.91241403699996 meters Centerline goodness : 0.781389 Centerline is valid? [False, False] Translation: X:-9.30, Y:-4.47, Z:-0.07 [[ 0.95066051 -0.25803089 -0.17223429 -9.29949511] [ 0.26466806 0.96420098 0.01634889 -4.46713876] [ 0.16184995 -0.06112716 0.98492033 -0.0747235 ] [ 0. 0. 0. 1. ]] SLAMing on 263.942414037 meters Centerline goodness : 0.780449 Centerline is valid? [False, False] Translation: X:-9.30, Y:-4.46, Z:-0.07 [[ 0.95056668 -0.25854383 -0.1719828 -9.30068834] [ 0.26502664 0.96411714 0.01546056 -4.46488632] [ 0.16181433 -0.06027632 0.98497862 -0.07413054] [ 0. 0. 0. 1. ]] SLAMing on 263.97241403699996 meters Centerline goodness : 0.779798 Centerline is valid? [False, False] Translation: X:-9.30, Y:-4.46, Z:-0.07 [[ 0.95052209 -0.25880214 -0.17184067 -9.30111122] [ 0.26521845 0.96407031 0.01508685 -4.46410457] [ 0.16176198 -0.0599157 0.98500922 -0.07400147] [ 0. 0. 0. 1. ]] SLAMing on 264.002414037 meters Centerline goodness : 0.779798 Centerline is valid? [False, False] Translation: X:-9.30, Y:-4.46, Z:-0.07 [[ 0.95052209 -0.25880214 -0.17184067 -9.30111122] [ 0.26521845 0.96407031 0.01508685 -4.46410457] [ 0.16176198 -0.0599157 0.98500922 -0.07400147] [ 0. 0. 0. 1. ]] SLAMing on 264.03241403699997 meters Centerline goodness : 0.781999 Centerline is valid? [False, False] Translation: X:-9.30, Y:-4.46, Z:-0.07 [[ 0.95046068 -0.25906089 -0.1717904 -9.30127768] [ 0.2654268 0.96401778 0.01477635 -4.46354692] [ 0.16178103 -0.05964211 0.9850227 -0.07390871] [ 0. 0. 0. 1. ]] SLAMing on 264.062414037 meters Centerline goodness : 0.782678 Centerline is valid? [False, False] Translation: X:-9.30, Y:-4.46, Z:-0.07 [[ 0.95032765 -0.2597754 -0.1714471 -9.30229406] [ 0.26601261 0.96386704 0.01405799 -4.46210899] [ 0.16160029 -0.05896679 0.98509302 -0.0737454 ] [ 0. 0. 0. 1. ]] SLAMing on 264.09241403699997 meters Centerline goodness : 0.782097 Centerline is valid? [False, False] Translation: X:-9.30, Y:-4.46, Z:-0.07 [[ 0.95027677 -0.26001424 -0.17136704 -9.30233949] [ 0.26620659 0.96381731 0.01379325 -4.46124923] [ 0.16158008 -0.05872644 0.9851107 -0.07399921] [ 0. 0. 0. 1. ]] SLAMing on 264.122414037 meters Centerline goodness : 0.783325 Centerline is valid? [False, False] Translation: X:-9.30, Y:-4.46, Z:-0.07 [[ 0.950235 -0.26020043 -0.17131604 -9.30229343] [ 0.26635328 0.96378016 0.01355508 -4.46041516] [ 0.16158397 -0.0585111 0.98512287 -0.07423072] [ 0. 0. 0. 1. ]] SLAMing on 264.15241403699997 meters Centerline goodness : 0.785555 Centerline is valid? [False, False] Translation: X:-9.30, Y:-4.46, Z:-0.07 [[ 0.95017525 -0.26056227 -0.17109731 -9.30237151] [ 0.26664045 0.96370638 0.01314828 -4.45864923] [ 0.16146163 -0.05811464 0.9851664 -0.07495098] [ 0. 0. 0. 1. ]] SLAMing on 264.182414037 meters Centerline goodness : 0.783430 Centerline is valid? [False, False] Translation: X:-9.30, Y:-4.46, Z:-0.08 [[ 0.95014637 -0.26078236 -0.17092231 -9.30256634] [ 0.26682477 0.96365772 0.01297462 -4.45810927] [ 0.16132706 -0.05793409 0.98519908 -0.07522545] [ 0. 0. 0. 1. ]] SLAMing on 264.212414037 meters Centerline goodness : 0.781727 Centerline is valid? [False, False] Translation: X:-9.30, Y:-4.46, Z:-0.08 [[ 0.95009576 -0.26104336 -0.17080517 -9.30293319] [ 0.26702593 0.96360659 0.01262905 -4.45748759] [ 0.16129226 -0.05760822 0.98522388 -0.07506842] [ 0. 0. 0. 1. ]] SLAMing on 264.242414037 meters Centerline goodness : 0.781289 Centerline is valid? [False, False] Translation: X:-9.30, Y:-4.46, Z:-0.07 [[ 0.94997216 -0.26171277 -0.17046795 -9.30416457] [ 0.26754961 0.96347181 0.01180167 -4.45569783] [ 0.16115241 -0.05681989 0.98529255 -0.0746297 ] [ 0. 0. 0. 1. ]] SLAMing on 264.272414037 meters Centerline goodness : 0.779077 Centerline is valid? [False, False] Translation: X:-9.30, Y:-4.45, Z:-0.07 [[ 0.94989268 -0.26208537 -0.17033834 -9.30486834] [ 0.26782872 0.96340093 0.0112438 -4.45435434] [ 0.16115728 -0.0563019 0.98532148 -0.07426436] [ 0. 0. 0. 1. ]] SLAMing on 264.302414037 meters Centerline goodness : 0.779994 Centerline is valid? [False, False] Translation: X:-9.31, Y:-4.45, Z:-0.07 [[ 0.94982503 -0.2624062 -0.17022163 -9.30565567] [ 0.26804615 0.96334748 0.01062493 -4.45293713] [ 0.16119453 -0.05571907 0.98534852 -0.07365783] [ 0. 0. 0. 1. ]] SLAMing on 264.332414037 meters Centerline goodness : 0.780092 Centerline is valid? [False, False] Translation: X:-9.31, Y:-4.45, Z:-0.07 [[ 0.94972765 -0.2629488 -0.16992739 -9.30708874] [ 0.2683998 0.96326052 0.00952471 -4.4499794 ] [ 0.16117984 -0.05465436 0.98541055 -0.07289446] [ 0. 0. 0. 1. ]] SLAMing on 264.362414037 meters Centerline goodness : 0.780360 Centerline is valid? [False, False] Translation: X:-9.31, Y:-4.45, Z:-0.07 [[ 9.49674289e-01 -2.63151175e-01 -1.69912343e-01 -9.30738982e+00] [ 2.68525245e-01 9.63230208e-01 9.04207526e-03 -4.44853702e+00] [ 1.61285269e-01 -5.42127800e-02 9.85417696e-01 -7.26839863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.392414037 meters Centerline goodness : 0.778111 Centerline is valid? [False, False] Translation: X:-9.31, Y:-4.45, Z:-0.07 [[ 9.49640693e-01 -2.63232181e-01 -1.69974623e-01 -9.30742390e+00] [ 2.68539138e-01 9.63230347e-01 8.60403355e-03 -4.44723936e+00] [ 1.61459857e-01 -5.38155791e-02 9.85410878e-01 -7.25076573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.422414037 meters Centerline goodness : 0.780710 Centerline is valid? [False, False] Translation: X:-9.31, Y:-4.44, Z:-0.07 [[ 9.49644581e-01 -2.63139741e-01 -1.70095990e-01 -9.30698017e+00] [ 2.68363617e-01 9.63283930e-01 8.06468339e-03 -4.44431460e+00] [ 1.61728595e-01 -5.33061579e-02 9.85394497e-01 -7.29896380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.452414037 meters Centerline goodness : 0.781594 Centerline is valid? [False, False] Translation: X:-9.31, Y:-4.44, Z:-0.07 [[ 9.49628077e-01 -2.63102159e-01 -1.70246202e-01 -9.30644547e+00] [ 2.68279880e-01 9.63309943e-01 7.73692099e-03 -4.44278567e+00] [ 1.61964258e-01 -5.30208280e-02 9.85371184e-01 -7.32880765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.482414037 meters Centerline goodness : 0.781781 Centerline is valid? [False, False] Translation: X:-9.31, Y:-4.44, Z:-0.07 [[ 9.49628427e-01 -2.63040203e-01 -1.70339960e-01 -9.30606095e+00] [ 2.68181847e-01 9.63339176e-01 7.49191903e-03 -4.44140652e+00] [ 1.62124481e-01 -5.27966244e-02 9.85356874e-01 -7.35809998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.512414037 meters Centerline goodness : 0.779421 Centerline is valid? [False, False] Translation: X:-9.31, Y:-4.44, Z:-0.07 [[ 9.49628201e-01 -2.63071965e-01 -1.70292163e-01 -9.30627831e+00] [ 2.68106469e-01 9.63364908e-01 6.85389394e-03 -4.43880345e+00] [ 1.62250426e-01 -5.21650814e-02 9.85369780e-01 -7.35819965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.54241403699996 meters Centerline goodness : 0.782897 Centerline is valid? [False, False] Translation: X:-9.31, Y:-4.44, Z:-0.07 [[ 9.49598318e-01 -2.63206860e-01 -1.70250352e-01 -9.30659175e+00] [ 2.68170591e-01 9.63350010e-01 6.42589285e-03 -4.43750026e+00] [ 1.62319339e-01 -5.17581546e-02 9.85379889e-01 -7.33749265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.572414037 meters Centerline goodness : 0.781697 Centerline is valid? [False, False] Translation: X:-9.31, Y:-4.44, Z:-0.07 [[ 9.49565311e-01 -2.63382236e-01 -1.70163213e-01 -9.30716328e+00] [ 2.68269598e-01 9.63325346e-01 5.97497334e-03 -4.43637619e+00] [ 1.62348834e-01 -5.13232441e-02 9.85397778e-01 -7.29389287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.60241403699996 meters Centerline goodness : 0.783918 Centerline is valid? [False, False] Translation: X:-9.31, Y:-4.43, Z:-0.07 [[ 9.49423906e-01 -2.64034470e-01 -1.69941300e-01 -9.30855717e+00] [ 2.68771238e-01 9.63190674e-01 5.07410297e-03 -4.43470807e+00] [ 1.62346138e-01 -5.04928084e-02 9.85441124e-01 -7.19585351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.632414037 meters Centerline goodness : 0.782698 Centerline is valid? [False, False] Translation: X:-9.31, Y:-4.43, Z:-0.07 [[ 9.49321519e-01 -2.64522369e-01 -1.69754438e-01 -9.30946189e+00] [ 2.69173242e-01 9.63080939e-01 4.56836103e-03 -4.43403562e+00] [ 1.62278830e-01 -5.00301958e-02 9.85475804e-01 -7.14208459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.66241403699996 meters Centerline goodness : 0.781938 Centerline is valid? [False, False] Translation: X:-9.31, Y:-4.43, Z:-0.07 [[ 9.49237678e-01 -2.64915630e-01 -1.69609960e-01 -9.31007967e+00] [ 2.69497798e-01 9.62992014e-01 4.16147369e-03 -4.43354182e+00] [ 1.62230598e-01 -4.96597383e-02 9.85502483e-01 -7.10577471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.692414037 meters Centerline goodness : 0.781197 Centerline is valid? [False, False] Translation: X:-9.31, Y:-4.43, Z:-0.07 [[ 9.49072783e-01 -2.65752816e-01 -1.69222613e-01 -9.31104754e+00] [ 2.70245467e-01 9.62784486e-01 3.66339483e-03 -4.43317064e+00] [ 1.61951349e-01 -4.92084726e-02 9.85571046e-01 -7.10251537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.72241403699996 meters Centerline goodness : 0.780220 Centerline is valid? [False, False] Translation: X:-9.31, Y:-4.43, Z:-0.07 [[ 9.48980119e-01 -2.66240019e-01 -1.68976289e-01 -9.31160994e+00] [ 2.70684655e-01 9.62662054e-01 3.40398668e-03 -4.43334661e+00] [ 1.61760784e-01 -4.89696041e-02 9.85614238e-01 -7.09367804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.752414037 meters Centerline goodness : 0.781752 Centerline is valid? [False, False] Translation: X:-9.31, Y:-4.43, Z:-0.07 [[ 9.48882960e-01 -2.66728794e-01 -1.68750934e-01 -9.31214697e+00] [ 2.71123929e-01 9.62539365e-01 3.12835311e-03 -4.43350498e+00] [ 1.61594995e-01 -4.87208573e-02 9.85653760e-01 -7.08230571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.78241403699997 meters Centerline goodness : 0.780298 Centerline is valid? [False, False] Translation: X:-9.31, Y:-4.43, Z:-0.07 [[ 9.48668768e-01 -2.67717422e-01 -1.68389282e-01 -9.31309431e+00] [ 2.72039761e-01 9.62282203e-01 2.70749920e-03 -4.43385060e+00] [ 1.61313164e-01 -4.83770998e-02 9.85716856e-01 -7.07295199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.812414037 meters Centerline goodness : 0.782178 Centerline is valid? [False, False] Translation: X:-9.31, Y:-4.43, Z:-0.07 [[ 9.48595836e-01 -2.68052341e-01 -1.68267294e-01 -9.31323062e+00] [ 2.72346566e-01 9.62195863e-01 2.54336019e-03 -4.43376669e+00] [ 1.61224340e-01 -4.82396405e-02 9.85738124e-01 -7.08601770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.84241403699997 meters Centerline goodness : 0.779598 Centerline is valid? [False, False] Translation: X:-9.31, Y:-4.43, Z:-0.07 [[ 9.48508809e-01 -2.68478103e-01 -1.68078994e-01 -9.31344505e+00] [ 2.72732061e-01 9.62087239e-01 2.31680440e-03 -4.43311773e+00] [ 1.61084644e-01 -4.80380399e-02 9.85770807e-01 -7.12357297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.872414037 meters Centerline goodness : 0.780552 Centerline is valid? [False, False] Translation: X:-9.31, Y:-4.43, Z:-0.07 [[ 9.48450156e-01 -2.68773426e-01 -1.67937927e-01 -9.31386432e+00] [ 2.72983023e-01 9.62016641e-01 2.06196675e-03 -4.43255440e+00] [ 1.61004879e-01 -4.77998758e-02 9.85795415e-01 -7.11920320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.90241403699997 meters Centerline goodness : 0.784815 Centerline is valid? [False, False] Translation: X:-9.31, Y:-4.43, Z:-0.07 [[ 9.48373515e-01 -2.69104912e-01 -1.67839870e-01 -9.31443235e+00] [ 2.73253056e-01 9.61940707e-01 1.68608133e-03 -4.43195658e+00] [ 1.60998271e-01 -4.74617924e-02 9.85812830e-01 -7.08390001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.932414037 meters Centerline goodness : 0.783250 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.43, Z:-0.07 [[ 9.48334549e-01 -2.69351156e-01 -1.67664956e-01 -9.31508569e+00] [ 2.73441320e-01 9.61887722e-01 1.36153217e-03 -4.43137278e+00] [ 1.60908133e-01 -4.71377150e-02 9.85843095e-01 -7.05166181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.962414037 meters Centerline goodness : 0.783157 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.43, Z:-0.07 [[ 9.48227780e-01 -2.69929097e-01 -1.67339059e-01 -9.31660656e+00] [ 2.73879066e-01 9.61763982e-01 5.47727110e-04 -4.42989187e+00] [ 1.60792833e-01 -4.63500354e-02 9.85899254e-01 -6.96053617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.992414037 meters Centerline goodness : 0.784946 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.43, Z:-0.07 [[ 9.48168211e-01 -2.70173743e-01 -1.67281775e-01 -9.31706310e+00] [ 2.74062701e-01 9.61711811e-01 1.68944082e-04 -4.42916282e+00] [ 1.60831215e-01 -4.60058826e-02 9.85909113e-01 -6.92145041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.022414037 meters Centerline goodness : 0.785267 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.43, Z:-0.07 [[ 9.48110039e-01 -2.70385729e-01 -1.67268982e-01 -9.31751006e+00] [ 2.74186808e-01 9.61676373e-01 -3.84421205e-04 -4.42783106e+00] [ 1.60962570e-01 -4.54984747e-02 9.85911223e-01 -6.87082083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.052414037 meters Centerline goodness : 0.782587 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.43, Z:-0.07 [[ 9.48092941e-01 -2.70451186e-01 -1.67260070e-01 -9.31747832e+00] [ 2.74227929e-01 9.61664575e-01 -5.36656108e-04 -4.42740174e+00] [ 1.60993223e-01 -4.53585826e-02 9.85912664e-01 -6.86943421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.082414037 meters Centerline goodness : 0.782249 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.43, Z:-0.07 [[ 9.48099827e-01 -2.70322923e-01 -1.67428297e-01 -9.31686629e+00] [ 2.74093706e-01 9.61702796e-01 -6.09909471e-04 -4.42709770e+00] [ 1.61181134e-01 -4.53127874e-02 9.85884067e-01 -6.88045847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.112414037 meters Centerline goodness : 0.782949 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.43, Z:-0.07 [[ 9.48079801e-01 -2.70319040e-01 -1.67547925e-01 -9.31654074e+00] [ 2.74075018e-01 9.61708036e-01 -7.34143264e-04 -4.42692156e+00] [ 1.61330638e-01 -4.52246740e-02 9.85863659e-01 -6.87404315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.142414037 meters Centerline goodness : 0.782299 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.43, Z:-0.07 [[ 9.48059988e-01 -2.70354125e-01 -1.67603421e-01 -9.31632382e+00] [ 2.74099807e-01 9.61700905e-01 -8.15895339e-04 -4.42685849e+00] [ 1.61404942e-01 -4.51665477e-02 9.85854161e-01 -6.87572573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.172414037 meters Centerline goodness : 0.782927 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.43, Z:-0.07 [[ 9.48022832e-01 -2.70497525e-01 -1.67582214e-01 -9.31643051e+00] [ 2.74221521e-01 9.61666078e-01 -9.54936205e-04 -4.42686707e+00] [ 1.61416438e-01 -4.50493483e-02 9.85857642e-01 -6.85975942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.202414037 meters Centerline goodness : 0.782897 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.43, Z:-0.07 [[ 9.47959109e-01 -2.70782097e-01 -1.67483085e-01 -9.31679038e+00] [ 2.74485317e-01 9.61590686e-01 -1.07883285e-03 -4.42729133e+00] [ 1.61342303e-01 -4.49489583e-02 9.85874359e-01 -6.83269606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.232414037 meters Centerline goodness : 0.781197 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.43, Z:-0.07 [[ 9.47880929e-01 -2.71138903e-01 -1.67348257e-01 -9.31735453e+00] [ 2.74812406e-01 9.61497046e-01 -1.25376629e-03 -4.42774102e+00] [ 1.61244800e-01 -4.48009560e-02 9.85897048e-01 -6.79207834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.262414037 meters Centerline goodness : 0.781184 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.43, Z:-0.07 [[ 9.47700546e-01 -2.72003307e-01 -1.66966691e-01 -9.31885220e+00] [ 2.75614028e-01 9.61267042e-01 -1.60660374e-03 -4.42899256e+00] [ 1.60936579e-01 -4.44957829e-02 9.85961228e-01 -6.69967363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.29241403699996 meters Centerline goodness : 0.781248 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.43, Z:-0.07 [[ 9.47627287e-01 -2.72399857e-01 -1.66735848e-01 -9.31952322e+00] [ 2.75982440e-01 9.61161086e-01 -1.74918448e-03 -4.42979007e+00] [ 1.60736487e-01 -4.43585913e-02 9.86000049e-01 -6.65963192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.322414037 meters Centerline goodness : 0.781120 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.43, Z:-0.07 [[ 9.47529869e-01 -2.72841457e-01 -1.66567362e-01 -9.32018064e+00] [ 2.76379210e-01 9.61046548e-01 -2.01590290e-03 -4.43039643e+00] [ 1.60629010e-01 -4.41256277e-02 9.86028017e-01 -6.60260993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.35241403699996 meters Centerline goodness : 0.781806 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.43, Z:-0.07 [[ 9.47446750e-01 -2.73235690e-01 -1.66393849e-01 -9.32076600e+00] [ 2.76734830e-01 9.60943713e-01 -2.23928290e-03 -4.43093106e+00] [ 1.60506975e-01 -4.39253722e-02 9.86056830e-01 -6.55939165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.382414037 meters Centerline goodness : 0.781070 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.43, Z:-0.07 [[ 9.47317712e-01 -2.73895787e-01 -1.66042918e-01 -9.32177303e+00] [ 2.77381302e-01 9.60757201e-01 -2.28332135e-03 -4.43251719e+00] [ 1.60152321e-01 -4.38941698e-02 9.86115884e-01 -6.51793405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.41241403699996 meters Centerline goodness : 0.781408 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.43, Z:-0.07 [[ 9.47272492e-01 -2.74051896e-01 -1.66043321e-01 -9.32167771e+00] [ 2.77536729e-01 9.60712271e-01 -2.30127106e-03 -4.43316931e+00] [ 1.60150524e-01 -4.39031894e-02 9.86115774e-01 -6.50701025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.442414037 meters Centerline goodness : 0.779324 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.43, Z:-0.06 [[ 9.47227451e-01 -2.74257013e-01 -1.65961579e-01 -9.32176879e+00] [ 2.77772188e-01 9.60644659e-01 -2.10948457e-03 -4.43494493e+00] [ 1.60008646e-01 -4.41013493e-02 9.86129963e-01 -6.48628270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.47241403699996 meters Centerline goodness : 0.780593 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.44, Z:-0.06 [[ 9.47193619e-01 -2.74396631e-01 -1.65923889e-01 -9.32191496e+00] [ 2.77910272e-01 9.60604697e-01 -2.12058869e-03 -4.43578970e+00] [ 1.59969149e-01 -4.41033449e-02 9.86136282e-01 -6.45517768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.502414037 meters Centerline goodness : 0.780815 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.44, Z:-0.06 [[ 9.47155699e-01 -2.74576365e-01 -1.65843002e-01 -9.32234874e+00] [ 2.78090247e-01 9.60552629e-01 -2.11216062e-03 -4.43686838e+00] [ 1.59880881e-01 -4.41187764e-02 9.86149906e-01 -6.40363964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.53241403699997 meters Centerline goodness : 0.780264 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.44, Z:-0.06 [[ 9.47169867e-01 -2.74587385e-01 -1.65743813e-01 -9.32254683e+00] [ 2.78104003e-01 9.60548741e-01 -2.06846675e-03 -4.43720454e+00] [ 1.59772986e-01 -4.41348285e-02 9.86166675e-01 -6.39140394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.562414037 meters Centerline goodness : 0.779450 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.44, Z:-0.06 [[ 9.47152414e-01 -2.74670856e-01 -1.65705238e-01 -9.32288668e+00] [ 2.78165475e-01 9.60530648e-01 -2.20074242e-03 -4.43729891e+00] [ 1.59769439e-01 -4.40090376e-02 9.86172871e-01 -6.34805237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.59241403699997 meters Centerline goodness : 0.781714 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.44, Z:-0.06 [[ 9.47146968e-01 -2.74724850e-01 -1.65646846e-01 -9.32322740e+00] [ 2.78208646e-01 9.60518016e-01 -2.25595900e-03 -4.43804484e+00] [ 1.59726547e-01 -4.39476599e-02 9.86182556e-01 -6.29204805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.622414037 meters Centerline goodness : 0.780556 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.44, Z:-0.06 [[ 9.47161670e-01 -2.74621609e-01 -1.65733950e-01 -9.32290434e+00] [ 2.78133786e-01 9.60540058e-01 -2.09609844e-03 -4.43876749e+00] [ 1.59769732e-01 -4.41108670e-02 9.86168274e-01 -6.29060222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.65241403699997 meters Centerline goodness : 0.779116 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.44, Z:-0.06 [[ 9.47187946e-01 -2.74452160e-01 -1.65864423e-01 -9.32224077e+00] [ 2.78022700e-01 9.60572896e-01 -1.75780038e-03 -4.44016153e+00] [ 1.59807301e-01 -4.44491073e-02 9.86146999e-01 -6.30549397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.682414037 meters Centerline goodness : 0.779084 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.44, Z:-0.06 [[ 9.47189014e-01 -2.74454829e-01 -1.65853908e-01 -9.32207609e+00] [ 2.78036910e-01 9.60568915e-01 -1.68383571e-03 -4.44073492e+00] [ 1.59776246e-01 -4.45185975e-02 9.86148896e-01 -6.30724688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.712414037 meters Centerline goodness : 0.780581 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.44, Z:-0.06 [[ 9.47170659e-01 -2.74504561e-01 -1.65876427e-01 -9.32198042e+00] [ 2.78094024e-01 9.60552442e-01 -1.64897975e-03 -4.44108781e+00] [ 1.59785660e-01 -4.45673780e-02 9.86145168e-01 -6.30262865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.742414037 meters Centerline goodness : 0.777847 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.44, Z:-0.06 [[ 9.47177678e-01 -2.74485754e-01 -1.65867470e-01 -9.32199705e+00] [ 2.78084814e-01 9.60555216e-01 -1.58557144e-03 -4.44155112e+00] [ 1.59760080e-01 -4.46234065e-02 9.86146778e-01 -6.28654963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.772414037 meters Centerline goodness : 0.780314 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.44, Z:-0.06 [[ 9.47167490e-01 -2.74591056e-01 -1.65751316e-01 -9.32226712e+00] [ 2.78185452e-01 9.60526066e-01 -1.59064013e-03 -4.44195708e+00] [ 1.59645235e-01 -4.46030021e-02 9.86166300e-01 -6.27036458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.802414037 meters Centerline goodness : 0.780084 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.44, Z:-0.06 [[ 9.47097212e-01 -2.75026716e-01 -1.65430274e-01 -9.32333483e+00] [ 2.78591338e-01 9.60408195e-01 -1.72176936e-03 -4.44334652e+00] [ 1.59354123e-01 -4.44567583e-02 9.86219986e-01 -6.19224201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.832414037 meters Centerline goodness : 0.779850 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.44, Z:-0.06 [[ 9.47043023e-01 -2.75298561e-01 -1.65288275e-01 -9.32386937e+00] [ 2.78850262e-01 9.60332934e-01 -1.78524293e-03 -4.44419767e+00] [ 1.59223249e-01 -4.43999770e-02 9.86243681e-01 -6.14827678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.862414037 meters Centerline goodness : 0.781956 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.45, Z:-0.06 [[ 9.46956179e-01 -2.75756622e-01 -1.65022063e-01 -9.32471264e+00] [ 2.79301680e-01 9.60201731e-01 -1.79087376e-03 -4.44597697e+00] [ 1.58948316e-01 -4.43950606e-02 9.86288250e-01 -6.08590147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.892414037 meters Centerline goodness : 0.781031 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.45, Z:-0.06 [[ 9.48611160e-01 -2.72718592e-01 -1.60503699e-01 -9.33905066e+00] [ 2.75335243e-01 9.61328642e-01 -6.14383872e-03 -4.45058546e+00] [ 1.55972342e-01 -3.83642111e-02 9.87016117e-01 -6.25903546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.922414037 meters Centerline goodness : 0.781031 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.45, Z:-0.06 [[ 9.48611160e-01 -2.72718592e-01 -1.60503699e-01 -9.33905066e+00] [ 2.75335243e-01 9.61328642e-01 -6.14383872e-03 -4.45058546e+00] [ 1.55972342e-01 -3.83642111e-02 9.87016117e-01 -6.25903546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.952414037 meters Centerline goodness : 0.780680 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.45, Z:-0.06 [[ 9.48569608e-01 -2.72866554e-01 -1.60497796e-01 -9.33909104e+00] [ 2.75486284e-01 9.61285422e-01 -6.13543422e-03 -4.45147818e+00] [ 1.55958346e-01 -3.83950549e-02 9.87017130e-01 -6.23219583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.982414037 meters Centerline goodness : 0.781767 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.45, Z:-0.06 [[ 9.48558255e-01 -2.72803130e-01 -1.60672614e-01 -9.33824101e+00] [ 2.75493569e-01 9.61285858e-01 -5.72650363e-03 -4.45338740e+00] [ 1.56014520e-01 -3.88323496e-02 9.86991144e-01 -6.25415930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.012414037 meters Centerline goodness : 0.781477 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.45, Z:-0.06 [[ 9.48575434e-01 -2.72726117e-01 -1.60701931e-01 -9.33776566e+00] [ 2.75459809e-01 9.61297119e-01 -5.45371568e-03 -4.45433136e+00] [ 1.55969674e-01 -3.90936624e-02 9.86987916e-01 -6.28652050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.04241403699996 meters Centerline goodness : 0.779149 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.46, Z:-0.06 [[ 9.48612597e-01 -2.72573301e-01 -1.60741834e-01 -9.33720296e+00] [ 2.75376425e-01 9.61323416e-01 -5.01146210e-03 -4.45620799e+00] [ 1.55890880e-01 -3.95105755e-02 9.86983763e-01 -6.30580903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.072414037 meters Centerline goodness : 0.777427 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.46, Z:-0.06 [[ 9.48634743e-01 -2.72434886e-01 -1.60845755e-01 -9.33696889e+00] [ 2.75280916e-01 9.61352073e-01 -4.75487876e-03 -4.45726740e+00] [ 1.55924795e-01 -3.97671235e-02 9.86968102e-01 -6.28968871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.10241403699996 meters Centerline goodness : 0.779555 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.46, Z:-0.06 [[ 9.48647644e-01 -2.72355748e-01 -1.60903676e-01 -9.33694167e+00] [ 2.75216244e-01 9.61370998e-01 -4.67159077e-03 -4.45799617e+00] [ 1.55960463e-01 -3.98516119e-02 9.86959058e-01 -6.25411783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.132414037 meters Centerline goodness : 0.780798 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.46, Z:-0.06 [[ 9.48654819e-01 -2.72295578e-01 -1.60963204e-01 -9.33694908e+00] [ 2.75165425e-01 9.61385781e-01 -4.62273689e-03 -4.45859237e+00] [ 1.56006486e-01 -3.99061268e-02 9.86949582e-01 -6.21958553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.16241403699996 meters Centerline goodness : 0.779668 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.46, Z:-0.06 [[ 9.48701604e-01 -2.72049186e-01 -1.61104023e-01 -9.33692855e+00] [ 2.74965913e-01 9.61444171e-01 -4.34192401e-03 -4.46029726e+00] [ 1.56073741e-01 -4.01789246e-02 9.86927881e-01 -6.15106395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.192414037 meters Centerline goodness : 0.780145 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.46, Z:-0.06 [[ 9.48705410e-01 -2.72035354e-01 -1.61104969e-01 -9.33700066e+00] [ 2.74963640e-01 9.61445153e-01 -4.26789959e-03 -4.46107542e+00] [ 1.56054611e-01 -4.02490291e-02 9.86928049e-01 -6.12328360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.22241403699996 meters Centerline goodness : 0.780650 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.46, Z:-0.06 [[ 9.48737556e-01 -2.71850981e-01 -1.61226838e-01 -9.33670480e+00] [ 2.74809263e-01 9.61490044e-01 -4.09449627e-03 -4.46190233e+00] [ 1.56131092e-01 -4.04220261e-02 9.86908882e-01 -6.10559665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.252414037 meters Centerline goodness : 0.779895 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.46, Z:-0.06 [[ 9.48781696e-01 -2.71575977e-01 -1.61430422e-01 -9.33617905e+00] [ 2.74594531e-01 9.61552821e-01 -3.74391588e-03 -4.46342644e+00] [ 1.56240636e-01 -4.07757523e-02 9.86876994e-01 -6.08495671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.28241403699997 meters Centerline goodness : 0.778686 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.46, Z:-0.06 [[ 9.48804036e-01 -2.71394843e-01 -1.61603653e-01 -9.33579890e+00] [ 2.74439544e-01 9.61597582e-01 -3.60931244e-03 -4.46418711e+00] [ 1.56377230e-01 -4.09259026e-02 9.86849144e-01 -6.06066344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.312414037 meters Centerline goodness : 0.778546 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.47, Z:-0.06 [[ 9.48836227e-01 -2.71158144e-01 -1.61811849e-01 -9.33537351e+00] [ 2.74247423e-01 9.61653284e-01 -3.36334498e-03 -4.46548180e+00] [ 1.56518895e-01 -4.11852191e-02 9.86815896e-01 -6.02863256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.34241403699997 meters Centerline goodness : 0.778601 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.47, Z:-0.06 [[ 9.48862187e-01 -2.71003810e-01 -1.61918140e-01 -9.33513213e+00] [ 2.74115901e-01 9.61691223e-01 -3.23479503e-03 -4.46600133e+00] [ 1.56591896e-01 -4.13149623e-02 9.86798891e-01 -6.01191551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.372414037 meters Centerline goodness : 0.779170 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.47, Z:-0.06 [[ 9.48871070e-01 -2.70866529e-01 -1.62095699e-01 -9.33484444e+00] [ 2.73990179e-01 9.61727173e-01 -3.19778068e-03 -4.46638840e+00] [ 1.56758010e-01 -4.13783481e-02 9.86769861e-01 -5.98222633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.40241403699997 meters Centerline goodness : 0.778377 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.47, Z:-0.06 [[ 9.48922955e-01 -2.70633009e-01 -1.62181995e-01 -9.33432100e+00] [ 2.73808829e-01 9.61779846e-01 -2.87263806e-03 -4.46736889e+00] [ 1.56760805e-01 -4.16809501e-02 9.86756681e-01 -6.00287458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.432414037 meters Centerline goodness : 0.778851 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.47, Z:-0.06 [[ 9.48942462e-01 -2.70455713e-01 -1.62363517e-01 -9.33383956e+00] [ 2.73652245e-01 9.61824694e-01 -2.77616710e-03 -4.46771093e+00] [ 1.56916070e-01 -4.17967181e-02 9.86727106e-01 -5.99726287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.462414037 meters Centerline goodness : 0.780338 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.47, Z:-0.06 [[ 9.48955094e-01 -2.70378820e-01 -1.62417743e-01 -9.33386325e+00] [ 2.73578501e-01 9.61845706e-01 -2.76443977e-03 -4.46813209e+00] [ 1.56968254e-01 -4.18106735e-02 9.86718214e-01 -5.96188208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.492414037 meters Centerline goodness : 0.778393 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.47, Z:-0.06 [[ 9.48950376e-01 -2.70376565e-01 -1.62449063e-01 -9.33391134e+00] [ 2.73560223e-01 9.61850585e-01 -2.87339805e-03 -4.46810496e+00] [ 1.57028625e-01 -4.17128896e-02 9.86712747e-01 -5.93533148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.522414037 meters Centerline goodness : 0.780891 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.47, Z:-0.06 [[ 9.48928533e-01 -2.70485616e-01 -1.62395107e-01 -9.33418054e+00] [ 2.73655132e-01 9.61823333e-01 -2.95707316e-03 -4.46826267e+00] [ 1.56995249e-01 -4.16342033e-02 9.86721382e-01 -5.90762429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.552414037 meters Centerline goodness : 0.780944 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.47, Z:-0.06 [[ 9.48922052e-01 -2.70501159e-01 -1.62407085e-01 -9.33420906e+00] [ 2.73668279e-01 9.61819532e-01 -2.97667586e-03 -4.46884095e+00] [ 1.57011501e-01 -4.16210341e-02 9.86719351e-01 -5.87864191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.582414037 meters Centerline goodness : 0.780993 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.47, Z:-0.06 [[ 9.48895468e-01 -2.70667102e-01 -1.62285890e-01 -9.33450913e+00] [ 2.73816227e-01 9.61777126e-01 -3.07143594e-03 -4.46915341e+00] [ 1.56914193e-01 -4.15220383e-02 9.86739001e-01 -5.86169727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.612414037 meters Centerline goodness : 0.781487 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.47, Z:-0.06 [[ 9.48838755e-01 -2.70985915e-01 -1.62085322e-01 -9.33498557e+00] [ 2.74117574e-01 9.61691012e-01 -3.15476648e-03 -4.47009069e+00] [ 1.56730895e-01 -4.14370706e-02 9.86771704e-01 -5.82874347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.642414037 meters Centerline goodness : 0.781868 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.47, Z:-0.06 [[ 9.48794530e-01 -2.71219494e-01 -1.61953470e-01 -9.33534244e+00] [ 2.74333088e-01 9.61629229e-01 -3.25315361e-03 -4.47048407e+00] [ 1.56621510e-01 -4.13426214e-02 9.86793033e-01 -5.80890361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.672414037 meters Centerline goodness : 0.780930 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.47, Z:-0.06 [[ 9.48760075e-01 -2.71378264e-01 -1.61889336e-01 -9.33547213e+00] [ 2.74491845e-01 9.61583936e-01 -3.24959961e-03 -4.47101517e+00] [ 1.56552055e-01 -4.13542122e-02 9.86803569e-01 -5.79804324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.702414037 meters Centerline goodness : 0.781113 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.47, Z:-0.06 [[ 9.48706881e-01 -2.71656912e-01 -1.61733658e-01 -9.33569216e+00] [ 2.74769163e-01 9.61504763e-01 -3.24001275e-03 -4.47199299e+00] [ 1.56387855e-01 -4.13655995e-02 9.86829127e-01 -5.78892004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.732414037 meters Centerline goodness : 0.781141 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.47, Z:-0.06 [[ 9.48653875e-01 -2.71884143e-01 -1.61662727e-01 -9.33588866e+00] [ 2.74984290e-01 9.61442999e-01 -3.31674097e-03 -4.47241453e+00] [ 1.56331266e-01 -4.13082711e-02 9.86840495e-01 -5.77279015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.762414037 meters Centerline goodness : 0.781217 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.47, Z:-0.06 [[ 9.48610722e-01 -2.72085216e-01 -1.61577639e-01 -9.33599798e+00] [ 2.75179433e-01 9.61387054e-01 -3.34850293e-03 -4.47286536e+00] [ 1.56249728e-01 -4.12864172e-02 9.86854323e-01 -5.77105260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.79241403699996 meters Centerline goodness : 0.781415 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.47, Z:-0.06 [[ 9.48521590e-01 -2.72477619e-01 -1.61439589e-01 -9.33630746e+00] [ 2.75553501e-01 9.61279507e-01 -3.46077507e-03 -4.47365079e+00] [ 1.56131553e-01 -4.12026241e-02 9.86876528e-01 -5.75133037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.822414037 meters Centerline goodness : 0.782884 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.47, Z:-0.06 [[ 9.48466708e-01 -2.72696266e-01 -1.61392843e-01 -9.33660674e+00] [ 2.75749846e-01 9.61222662e-01 -3.60785574e-03 -4.47386652e+00] [ 1.56118307e-01 -4.10821206e-02 9.86883647e-01 -5.71830235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.85241403699996 meters Centerline goodness : 0.783610 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.47, Z:-0.06 [[ 9.48320545e-01 -2.73399637e-01 -1.61061426e-01 -9.33781577e+00] [ 2.76382399e-01 9.61039306e-01 -4.02759412e-03 -4.47437481e+00] [ 1.55887503e-01 -4.06950930e-02 9.86936166e-01 -5.64429957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.882414037 meters Centerline goodness : 0.784187 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.47, Z:-0.06 [[ 9.48246142e-01 -2.73788033e-01 -1.60839567e-01 -9.33855183e+00] [ 2.76723297e-01 9.60940010e-01 -4.30290276e-03 -4.47449595e+00] [ 1.55735259e-01 -4.04278444e-02 9.86971184e-01 -5.60174748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.91241403699996 meters Centerline goodness : 0.784573 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.47, Z:-0.06 [[ 9.48181959e-01 -2.74122126e-01 -1.60648784e-01 -9.33914341e+00] [ 2.77015430e-01 9.60854710e-01 -4.54720488e-03 -4.47442109e+00] [ 1.55606631e-01 -4.01906144e-02 9.87001161e-01 -5.57578447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.942414037 meters Centerline goodness : 0.784771 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.47, Z:-0.06 [[ 9.48080264e-01 -2.74559665e-01 -1.60501722e-01 -9.33961615e+00] [ 2.77388597e-01 9.60745034e-01 -4.95434450e-03 -4.47407406e+00] [ 1.55561496e-01 -3.98242313e-02 9.87023126e-01 -5.54949564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.97241403699996 meters Centerline goodness : 0.786212 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.47, Z:-0.06 [[ 9.48011003e-01 -2.74865438e-01 -1.60387436e-01 -9.34000005e+00] [ 2.77639241e-01 9.60670785e-01 -5.30054671e-03 -4.47357955e+00] [ 1.55536461e-01 -3.95048693e-02 9.87039905e-01 -5.52798294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.002414037 meters Centerline goodness : 0.785278 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.47, Z:-0.06 [[ 9.47961060e-01 -2.75151454e-01 -1.60192092e-01 -9.34038521e+00] [ 2.77889336e-01 9.60597334e-01 -5.50266737e-03 -4.47325736e+00] [ 1.55394163e-01 -3.92993597e-02 9.87070521e-01 -5.53462475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.03241403699997 meters Centerline goodness : 0.784962 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.47, Z:-0.06 [[ 9.47875606e-01 -2.75607733e-01 -1.59913143e-01 -9.34115723e+00] [ 2.78270119e-01 9.60484429e-01 -5.94997201e-03 -4.47271059e+00] [ 1.55233943e-01 -3.88592161e-02 9.87113157e-01 -5.50538645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.062414037 meters Centerline goodness : 0.786631 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.47, Z:-0.05 [[ 9.47810304e-01 -2.75866617e-01 -1.59853797e-01 -9.34142876e+00] [ 2.78478226e-01 9.60422013e-01 -6.27973538e-03 -4.47215267e+00] [ 1.55259475e-01 -3.85638039e-02 9.87120726e-01 -5.48539527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.09241403699997 meters Centerline goodness : 0.788358 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.47, Z:-0.05 [[ 9.47739149e-01 -2.76209903e-01 -1.59682792e-01 -9.34199334e+00] [ 2.78750736e-01 9.60340003e-01 -6.71602780e-03 -4.47149255e+00] [ 1.55204807e-01 -3.81466534e-02 9.87145532e-01 -5.45502432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.122414037 meters Centerline goodness : 0.787935 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.47, Z:-0.05 [[ 9.47677059e-01 -2.76484672e-01 -1.59575746e-01 -9.34244669e+00] [ 2.78960898e-01 9.60276039e-01 -7.12365109e-03 -4.47050928e+00] [ 1.55206346e-01 -3.77644729e-02 9.87159984e-01 -5.43101712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.15241403699997 meters Centerline goodness : 0.786592 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.47, Z:-0.05 [[ 9.47632397e-01 -2.76714488e-01 -1.59442568e-01 -9.34274447e+00] [ 2.79155892e-01 9.60217804e-01 -7.33185793e-03 -4.47012331e+00] [ 1.55128424e-01 -3.75614263e-02 9.87179979e-01 -5.42853994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.182414037 meters Centerline goodness : 0.789277 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.47, Z:-0.05 [[ 9.47570929e-01 -2.77031475e-01 -1.59257328e-01 -9.34314355e+00] [ 2.79426090e-01 9.60137037e-01 -7.61120207e-03 -4.46973554e+00] [ 1.55017402e-01 -3.72884987e-02 9.87207766e-01 -5.42413731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.212414037 meters Centerline goodness : 0.788420 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.47, Z:-0.05 [[ 9.47469497e-01 -2.77547882e-01 -1.58961398e-01 -9.34404245e+00] [ 2.79854168e-01 9.60007963e-01 -8.14593875e-03 -4.46912486e+00] [ 1.54865096e-01 -3.67679812e-02 9.87251193e-01 -5.38575750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.242414037 meters Centerline goodness : 0.786619 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.47, Z:-0.05 [[ 9.47410128e-01 -2.77806737e-01 -1.58863040e-01 -9.34449060e+00] [ 2.80075755e-01 9.59941309e-01 -8.38179009e-03 -4.46872968e+00] [ 1.54827713e-01 -3.65526931e-02 9.87265051e-01 -5.36395946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.272414037 meters Centerline goodness : 0.788284 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.47, Z:-0.05 [[ 9.47349898e-01 -2.78145567e-01 -1.58629174e-01 -9.34511341e+00] [ 2.80336381e-01 9.59860994e-01 -8.85359422e-03 -4.46766467e+00] [ 1.54724545e-01 -3.60820771e-02 9.87298536e-01 -5.34564129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.302414037 meters Centerline goodness : 0.788469 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.47, Z:-0.05 [[ 9.47307741e-01 -2.78305896e-01 -1.58599724e-01 -9.34533845e+00] [ 2.80446277e-01 9.59825806e-01 -9.18192976e-03 -4.46683971e+00] [ 1.54783493e-01 -3.57805891e-02 9.87300268e-01 -5.32750201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.332414037 meters Centerline goodness : 0.789099 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.47, Z:-0.05 [[ 0.94724761 -0.27857414 -0.1584879 -9.34583385] [ 0.28064265 0.95976395 -0.00963697 -4.46582429] [ 0.15479559 -0.03534987 0.98731389 -0.05293929] [ 0. 0. 0. 1. ]] SLAMing on 267.362414037 meters Centerline goodness : 0.789040 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.47, Z:-0.05 [[ 0.94721969 -0.27874334 -0.15835724 -9.34597291] [ 0.28078646 0.9597204 -0.00978295 -4.46544195] [ 0.15470561 -0.03519797 0.98733342 -0.05308097] [ 0. 0. 0. 1. ]] SLAMing on 267.392414037 meters Centerline goodness : 0.787918 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.46, Z:-0.05 [[ 0.94715114 -0.27901 -0.15829762 -9.34622555] [ 0.2810009 0.95965409 -0.01012501 -4.46496083] [ 0.15473594 -0.03489186 0.98733953 -0.05289627] [ 0. 0. 0. 1. ]] SLAMing on 267.422414037 meters Centerline goodness : 0.783592 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.46, Z:-0.05 [[ 0.94708321 -0.2792964 -0.15819898 -9.34651288] [ 0.28124979 0.95957861 -0.01036606 -4.46469087] [ 0.15469956 -0.03467591 0.98735284 -0.05277806] [ 0. 0. 0. 1. ]] SLAMing on 267.452414037 meters Centerline goodness : 0.789255 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.46, Z:-0.05 [[ 0.9469629 -0.27987432 -0.15789756 -9.34754228] [ 0.28173625 0.95942962 -0.01093078 -4.46411504] [ 0.15455084 -0.03413442 0.987395 -0.05223629] [ 0. 0. 0. 1. ]] SLAMing on 267.482414037 meters Centerline goodness : 0.789402 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.46, Z:-0.05 [[ 0.94690257 -0.28019185 -0.15769609 -9.34805766] [ 0.28200979 0.95934622 -0.01119364 -4.46353178] [ 0.15442151 -0.03387255 0.98742425 -0.0522216 ] [ 0. 0. 0. 1. ]] SLAMing on 267.512414037 meters Centerline goodness : 0.791508 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.46, Z:-0.05 [[ 0.94686084 -0.28034494 -0.15767454 -9.34839086] [ 0.28209989 0.95931485 -0.01160447 -4.46220315] [ 0.15451278 -0.03349215 0.98742295 -0.05197781] [ 0. 0. 0. 1. ]] SLAMing on 267.54241403699996 meters Centerline goodness : 0.789911 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.46, Z:-0.05 [[ 0.94680798 -0.28049271 -0.15772914 -9.34838792] [ 0.28219774 0.95928186 -0.01194766 -4.46118171] [ 0.15465794 -0.03319867 0.98741013 -0.05185915] [ 0. 0. 0. 1. ]] SLAMing on 267.572414037 meters Centerline goodness : 0.791940 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.46, Z:-0.05 [[ 0.94675106 -0.28072437 -0.15765868 -9.34886595] [ 0.28237001 0.95922631 -0.01233104 -4.46045352] [ 0.15469198 -0.03284366 0.98741667 -0.05144561] [ 0. 0. 0. 1. ]] SLAMing on 267.60241403699996 meters Centerline goodness : 0.791361 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.46, Z:-0.05 [[ 0.946695 -0.28097672 -0.15754576 -9.34948956] [ 0.28253959 0.95916948 -0.01285641 -4.45903055] [ 0.15472544 -0.03234182 0.987428 -0.0510839 ] [ 0. 0. 0. 1. ]] SLAMing on 267.632414037 meters Centerline goodness : 0.793469 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.46, Z:-0.05 [[ 0.94660251 -0.28135459 -0.15742705 -9.35010717] [ 0.28283342 0.95907544 -0.01339953 -4.4580232 ] [ 0.15475444 -0.0318416 0.98743971 -0.05063446] [ 0. 0. 0. 1. ]] SLAMing on 267.66241403699996 meters Centerline goodness : 0.793731 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.46, Z:-0.05 [[ 0.94650342 -0.28182466 -0.15718185 -9.35109187] [ 0.28319991 0.95895799 -0.01404953 -4.45669288] [ 0.15469029 -0.03121596 0.98746974 -0.05011807] [ 0. 0. 0. 1. ]] SLAMing on 267.692414037 meters Centerline goodness : 0.795094 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.46, Z:-0.05 [[ 0.94642761 -0.28216224 -0.15703266 -9.35164664] [ 0.28347651 0.9588705 -0.01443682 -4.45598758] [ 0.15464751 -0.03085167 0.98748788 -0.04985192] [ 0. 0. 0. 1. ]] SLAMing on 267.72241403699996 meters Centerline goodness : 0.793233 Centerline is valid? [False, False] Translation: X:-9.36, Y:-4.46, Z:-0.05 [[ 0.94784121 -0.28038503 -0.15159574 -9.35795324] [ 0.28147495 0.95945646 -0.01466844 -4.45791612] [ 0.14956232 -0.02876705 0.98833373 -0.05346177] [ 0. 0. 0. 1. ]] SLAMing on 267.752414037 meters Centerline goodness : 0.795546 Centerline is valid? [False, False] Translation: X:-9.36, Y:-4.46, Z:-0.05 [[ 0.9477042 -0.28105539 -0.15121052 -9.35877606] [ 0.28209316 0.95926986 -0.01499293 -4.45794853] [ 0.14926554 -0.02844659 0.98838787 -0.05344637] [ 0. 0. 0. 1. ]] SLAMing on 267.78241403699997 meters Centerline goodness : 0.795969 Centerline is valid? [False, False] Translation: X:-9.36, Y:-4.46, Z:-0.05 [[ 0.94761284 -0.28149443 -0.1509662 -9.3593396 ] [ 0.28249711 0.9591475 -0.01521392 -4.45819111] [ 0.14908148 -0.02823061 0.98842185 -0.05327914] [ 0. 0. 0. 1. ]] SLAMing on 267.812414037 meters Centerline goodness : 0.795969 Centerline is valid? [False, False] Translation: X:-9.36, Y:-4.46, Z:-0.05 [[ 0.94761284 -0.28149443 -0.1509662 -9.3593396 ] [ 0.28249711 0.9591475 -0.01521392 -4.45819111] [ 0.14908148 -0.02823061 0.98842185 -0.05327914] [ 0. 0. 0. 1. ]] SLAMing on 267.84241403699997 meters Centerline goodness : 0.794756 Centerline is valid? [False, False] Translation: X:-9.36, Y:-4.46, Z:-0.06 [[ 0.94849681 -0.28091012 -0.14643533 -9.36464709] [ 0.28171816 0.95936998 -0.0156244 -4.4603726 ] [ 0.14487471 -0.02643379 0.98909685 -0.0559232 ] [ 0. 0. 0. 1. ]] SLAMing on 267.872414037 meters Centerline goodness : 0.798455 Centerline is valid? [False, False] Translation: X:-9.37, Y:-4.46, Z:-0.05 [[ 0.94814169 -0.28245641 -0.14575906 -9.36686289] [ 0.28314846 0.9589356 -0.01641512 -4.46117773] [ 0.14441011 -0.02570759 0.98918393 -0.05491502] [ 0. 0. 0. 1. ]] SLAMing on 267.90241403699997 meters Centerline goodness : 0.798680 Centerline is valid? [False, False] Translation: X:-9.37, Y:-4.46, Z:-0.05 [[ 0.94800314 -0.28310247 -0.14540645 -9.36791357] [ 0.28375887 0.95875116 -0.0166466 -4.4618094 ] [ 0.1441213 -0.02547934 0.98923195 -0.05450697] [ 0. 0. 0. 1. ]] SLAMing on 267.932414037 meters Centerline goodness : 0.797920 Centerline is valid? [False, False] Translation: X:-9.37, Y:-4.46, Z:-0.05 [[ 0.94764408 -0.28459084 -0.14484044 -9.36959316] [ 0.28515206 0.95832586 -0.01731635 -4.46315353] [ 0.14373242 -0.02489182 0.98930349 -0.05374409] [ 0. 0. 0. 1. ]] SLAMing on 267.962414037 meters Centerline goodness : 0.798508 Centerline is valid? [False, False] Translation: X:-9.37, Y:-4.46, Z:-0.05 [[ 0.94750307 -0.28517744 -0.14460897 -9.37034358] [ 0.28570834 0.95815627 -0.01753018 -4.46407836] [ 0.1435572 -0.02470609 0.98933358 -0.05322886] [ 0. 0. 0. 1. ]] SLAMing on 267.992414037 meters Centerline goodness : 0.795344 Centerline is valid? [False, False] Translation: X:-9.37, Y:-4.46, Z:-0.05 [[ 0.94740068 -0.28569455 -0.14425875 -9.3709998 ] [ 0.28621113 0.95800477 -0.01760812 -4.46488989] [ 0.14323112 -0.02460651 0.98938333 -0.05320052] [ 0. 0. 0. 1. ]] SLAMing on 268.022414037 meters Centerline goodness : 0.796917 Centerline is valid? [False, False] Translation: X:-9.37, Y:-4.47, Z:-0.05 [[ 0.94719608 -0.28656026 -0.14388467 -9.37184533] [ 0.2870377 0.95775239 -0.01788086 -4.46615173] [ 0.14292983 -0.02436364 0.98943291 -0.05286252] [ 0. 0. 0. 1. ]] SLAMing on 268.052414037 meters Centerline goodness : 0.794565 Centerline is valid? [False, False] Translation: X:-9.37, Y:-4.47, Z:-0.05 [[ 0.9471454 -0.28677144 -0.14379756 -9.37196082] [ 0.28725176 0.95768855 -0.01786225 -4.46659995] [ 0.14283566 -0.02438796 0.98944591 -0.05287422] [ 0. 0. 0. 1. ]] SLAMing on 268.082414037 meters Centerline goodness : 0.800862 Centerline is valid? [False, False] Translation: X:-9.37, Y:-4.47, Z:-0.05 [[ 0.947097 -0.28692087 -0.14381823 -9.37187504] [ 0.28740544 0.95764271 -0.01784787 -4.46713088] [ 0.14284741 -0.02443047 0.98944316 -0.05283602] [ 0. 0. 0. 1. ]] SLAMing on 268.112414037 meters Centerline goodness : 0.801781 Centerline is valid? [False, False] Translation: X:-9.37, Y:-4.47, Z:-0.05 [[ 0.94698126 -0.28743221 -0.1435591 -9.37254588] [ 0.28790465 0.95749128 -0.0179266 -4.4682814 ] [ 0.14260927 -0.02435518 0.98947937 -0.05250237] [ 0. 0. 0. 1. ]] SLAMing on 268.142414037 meters Centerline goodness : 0.799756 Centerline is valid? [False, False] Translation: X:-9.37, Y:-4.47, Z:-0.05 [[ 0.94694919 -0.28765222 -0.14332983 -9.37304922] [ 0.28812486 0.95742549 -0.01790251 -4.46908998] [ 0.14237733 -0.02434412 0.98951304 -0.05233891] [ 0. 0. 0. 1. ]] SLAMing on 268.172414037 meters Centerline goodness : 0.799279 Centerline is valid? [False, False] Translation: X:-9.37, Y:-4.47, Z:-0.05 [[ 0.94692386 -0.28780593 -0.14318849 -9.3734396 ] [ 0.28829314 0.95737696 -0.01778852 -4.47050218] [ 0.142205 -0.02443589 0.98953556 -0.05196204] [ 0. 0. 0. 1. ]] SLAMing on 268.202414037 meters Centerline goodness : 0.799991 Centerline is valid? [False, False] Translation: X:-9.37, Y:-4.47, Z:-0.05 [[ 0.94690835 -0.28789809 -0.14310578 -9.37377068] [ 0.28838721 0.95734901 -0.01776797 -4.4710745 ] [ 0.14211754 -0.02444523 0.98954789 -0.05168465] [ 0. 0. 0. 1. ]] SLAMing on 268.232414037 meters Centerline goodness : 0.798323 Centerline is valid? [False, False] Translation: X:-9.37, Y:-4.47, Z:-0.05 [[ 0.94689762 -0.28792678 -0.14311903 -9.37392257] [ 0.28841827 0.95733987 -0.01775597 -4.47153377] [ 0.14212597 -0.02446505 0.98954619 -0.0513566 ] [ 0. 0. 0. 1. ]] SLAMing on 268.262414037 meters Centerline goodness : 0.801050 Centerline is valid? [False, False] Translation: X:-9.37, Y:-4.47, Z:-0.05 [[ 0.94692571 -0.28781022 -0.14316769 -9.37388322] [ 0.28832309 0.9573713 -0.01760664 -4.47200032] [ 0.142132 -0.02460637 0.98954182 -0.05122668] [ 0. 0. 0. 1. ]] SLAMing on 268.29241403699996 meters Centerline goodness : 0.797005 Centerline is valid? [False, False] Translation: X:-9.37, Y:-4.47, Z:-0.05 [[ 0.94700449 -0.28744047 -0.14338921 -9.37371326] [ 0.28797088 0.95747935 -0.01749499 -4.47247034] [ 0.14232098 -0.02472408 0.98951173 -0.05059652] [ 0. 0. 0. 1. ]] SLAMing on 268.322414037 meters Centerline goodness : 0.795641 Centerline is valid? [False, False] Translation: X:-9.37, Y:-4.47, Z:-0.05 [[ 0.9470402 -0.28728661 -0.14346174 -9.37360856] [ 0.28781575 0.95752581 -0.01750472 -4.47248337] [ 0.14239719 -0.02471288 0.98950104 -0.05039173] [ 0. 0. 0. 1. ]] SLAMing on 268.35241403699996 meters Centerline goodness : 0.795588 Centerline is valid? [False, False] Translation: X:-9.37, Y:-4.47, Z:-0.05 [[ 0.94715899 -0.28672786 -0.14379492 -9.37306361] [ 0.28729096 0.95768739 -0.0172846 -4.47291487] [ 0.14266656 -0.02493971 0.98945655 -0.04996592] [ 0. 0. 0. 1. ]] SLAMing on 268.382414037 meters Centerline goodness : 0.794734 Centerline is valid? [False, False] Translation: X:-9.37, Y:-4.47, Z:-0.05 [[ 0.94720757 -0.28645222 -0.14402412 -9.37265716] [ 0.28703529 0.9577662 -0.01716559 -4.47304378] [ 0.14285856 -0.02508063 0.98942529 -0.04981788] [ 0. 0. 0. 1. ]] SLAMing on 268.41241403699996 meters Centerline goodness : 0.795904 Centerline is valid? [False, False] Translation: X:-9.37, Y:-4.47, Z:-0.05 [[ 0.94724946 -0.28617488 -0.14429967 -9.3720628 ] [ 0.28675713 0.95784892 -0.01719869 -4.47278793] [ 0.14313911 -0.02508751 0.98938456 -0.04966264] [ 0. 0. 0. 1. ]] SLAMing on 268.442414037 meters Centerline goodness : 0.793531 Centerline is valid? [False, False] Translation: X:-9.37, Y:-4.47, Z:-0.05 [[ 0.94741609 -0.28544258 -0.14465573 -9.37104022] [ 0.28606258 0.9580611 -0.01694469 -4.47233383] [ 0.14342577 -0.02532692 0.98933695 -0.04988806] [ 0. 0. 0. 1. ]] SLAMing on 268.47241403699996 meters Centerline goodness : 0.794395 Centerline is valid? [False, False] Translation: X:-9.38, Y:-4.48, Z:-0.05 [[ 0.94943967 -0.28183537 -0.13832258 -9.37801266] [ 0.28218613 0.95920041 -0.0174801 -4.47517767] [ 0.13760559 -0.02243641 0.99023296 -0.05440052] [ 0. 0. 0. 1. ]] SLAMing on 268.502414037 meters Centerline goodness : 0.795620 Centerline is valid? [False, False] Translation: X:-9.38, Y:-4.48, Z:-0.05 [[ 0.94948145 -0.2816024 -0.13851016 -9.37745736] [ 0.28196237 0.95926717 -0.01742757 -4.47501406] [ 0.13777589 -0.0225075 0.99020766 -0.05451164] [ 0. 0. 0. 1. ]] SLAMing on 268.53241403699997 meters Centerline goodness : 0.794888 Centerline is valid? [False, False] Translation: X:-9.38, Y:-4.47, Z:-0.05 [[ 0.94950941 -0.28147713 -0.13857312 -9.37722585] [ 0.28183845 0.95930374 -0.017419 -4.47491275] [ 0.13783677 -0.02251573 0.990199 -0.05455162] [ 0. 0. 0. 1. ]] SLAMing on 268.562414037 meters Centerline goodness : 0.796557 Centerline is valid? [False, False] Translation: X:-9.38, Y:-4.47, Z:-0.05 [[ 0.94946274 -0.28168422 -0.13847207 -9.37757225] [ 0.28201945 0.95924715 -0.01760516 -4.47489227] [ 0.13778803 -0.02233638 0.99020985 -0.05430401] [ 0. 0. 0. 1. ]] SLAMing on 268.59241403699997 meters Centerline goodness : 0.794352 Centerline is valid? [False, False] Translation: X:-9.38, Y:-4.48, Z:-0.05 [[ 0.94937917 -0.28208074 -0.13823765 -9.37823152] [ 0.28239991 0.95913325 -0.01771174 -4.47551266] [ 0.13758447 -0.02222314 0.9902407 -0.05400913] [ 0. 0. 0. 1. ]] SLAMing on 268.622414037 meters Centerline goodness : 0.793454 Centerline is valid? [False, False] Translation: X:-9.38, Y:-4.48, Z:-0.05 [[ 0.94931002 -0.2823502 -0.13816242 -9.37849377] [ 0.28265139 0.95905663 -0.01784878 -4.47553112] [ 0.13754519 -0.02210777 0.99024874 -0.05386052] [ 0. 0. 0. 1. ]] SLAMing on 268.65241403699997 meters Centerline goodness : 0.793461 Centerline is valid? [False, False] Translation: X:-9.38, Y:-4.48, Z:-0.05 [[ 0.94924686 -0.28263226 -0.13801956 -9.37884975] [ 0.2829012 0.95897866 -0.0180788 -4.47540186] [ 0.13746747 -0.02188465 0.99026449 -0.05371216] [ 0. 0. 0. 1. ]] SLAMing on 268.682414037 meters Centerline goodness : 0.793341 Centerline is valid? [False, False] Translation: X:-9.38, Y:-4.48, Z:-0.05 [[ 0.94919699 -0.28289884 -0.13781622 -9.37935577] [ 0.28313759 0.95890501 -0.01828354 -4.47511065] [ 0.13732506 -0.02166627 0.99028905 -0.05359319] [ 0. 0. 0. 1. ]] SLAMing on 268.712414037 meters Centerline goodness : 0.792394 Centerline is valid? [False, False] Translation: X:-9.38, Y:-4.47, Z:-0.05 [[ 0.94917139 -0.28304519 -0.13769201 -9.37949739] [ 0.2832733 0.95886363 -0.01835124 -4.4749376 ] [ 0.13722209 -0.021586 0.99030508 -0.05373273] [ 0. 0. 0. 1. ]] SLAMing on 268.742414037 meters Centerline goodness : 0.791075 Centerline is valid? [False, False] Translation: X:-9.38, Y:-4.47, Z:-0.05 [[ 0.94905311 -0.28354315 -0.13748268 -9.38016388] [ 0.28371496 0.95872511 -0.01876139 -4.47428631] [ 0.13712776 -0.02120033 0.99032647 -0.05352525] [ 0. 0. 0. 1. ]] SLAMing on 268.772414037 meters Centerline goodness : 0.791780 Centerline is valid? [False, False] Translation: X:-9.38, Y:-4.47, Z:-0.05 [[ 0.9489928 -0.28377708 -0.13741627 -9.38037678] [ 0.28392338 0.95865965 -0.01895253 -4.47416478] [ 0.13711373 -0.02102988 0.99033205 -0.05339447] [ 0. 0. 0. 1. ]] SLAMing on 268.802414037 meters Centerline goodness : 0.789864 Centerline is valid? [False, False] Translation: X:-9.38, Y:-4.47, Z:-0.05 [[ 0.94892556 -0.28405937 -0.13729733 -9.38067311] [ 0.28417844 0.95858011 -0.01915169 -4.47400684] [ 0.13705071 -0.02084342 0.99034472 -0.05328979] [ 0. 0. 0. 1. ]] SLAMing on 268.832414037 meters Centerline goodness : 0.790842 Centerline is valid? [False, False] Translation: X:-9.38, Y:-4.47, Z:-0.05 [[ 0.94872695 -0.2849798 -0.13676143 -9.3821586 ] [ 0.28503567 0.9583166 -0.01959513 -4.47405631] [ 0.13664496 -0.02039146 0.99041019 -0.05294115] [ 0. 0. 0. 1. ]] SLAMing on 268.862414037 meters Centerline goodness : 0.789450 Centerline is valid? [False, False] Translation: X:-9.38, Y:-4.47, Z:-0.05 [[ 0.94865228 -0.28525764 -0.13670015 -9.38235897] [ 0.28529368 0.95823664 -0.01974995 -4.47413089] [ 0.13662492 -0.02026386 0.99041557 -0.05278588] [ 0. 0. 0. 1. ]] SLAMing on 268.892414037 meters Centerline goodness : 0.788769 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.48, Z:-0.06 [[ 0.94984992 -0.28361217 -0.13171662 -9.38803273] [ 0.2835083 0.95876246 -0.01993954 -4.47612318] [ 0.13194005 -0.01840319 0.99108685 -0.05596336] [ 0. 0. 0. 1. ]] SLAMing on 268.922414037 meters Centerline goodness : 0.791183 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.48, Z:-0.06 [[ 0.94976551 -0.28394349 -0.13161142 -9.38840398] [ 0.28380339 0.95866927 -0.02022032 -4.47579107] [ 0.13191325 -0.0181472 0.99109514 -0.05574642] [ 0. 0. 0. 1. ]] SLAMing on 268.952414037 meters Centerline goodness : 0.786186 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.48, Z:-0.06 [[ 0.94964648 -0.2844119 -0.13145883 -9.38897882] [ 0.28421567 0.95853788 -0.02065413 -4.47506164] [ 0.13188254 -0.01774854 0.99110644 -0.05545326] [ 0. 0. 0. 1. ]] SLAMing on 268.982414037 meters Centerline goodness : 0.799666 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.46, Z:-0.05 [[ 9.47291343e-01 -2.91345000e-01 -1.33256151e-01 -9.35099177e+00] [ 2.89303864e-01 9.56602107e-01 -3.48666454e-02 -4.46173568e+00] [ 1.37631338e-01 -5.52264803e-03 9.90468129e-01 -4.54533939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.012414037 meters Centerline goodness : 0.788877 Centerline is valid? [False, False] Translation: X:-9.24, Y:-4.43, Z:-0.01 [[ 0.95124522 -0.28879707 -0.10829952 -9.24322081] [ 0.28053615 0.95604133 -0.085349 -4.43309861] [ 0.12818735 0.0508059 0.99044776 -0.01076231] [ 0. 0. 0. 1. ]] SLAMing on 269.04241403699996 meters Centerline goodness : 0.786221 Centerline is valid? [False, False] Translation: X:-9.24, Y:-4.43, Z:-0.01 [[ 0.95212027 -0.28559081 -0.10910949 -9.24397498] [ 0.27777747 0.95718687 -0.08144313 -4.43464991] [ 0.12769758 0.0472355 0.99068771 -0.01115698] [ 0. 0. 0. 1. ]] SLAMing on 269.072414037 meters Centerline goodness : 0.785462 Centerline is valid? [False, False] Translation: X:-9.27, Y:-4.44, Z:-0.02 [[ 0.95318961 -0.28248904 -0.10784018 -9.2714612 ] [ 0.27562174 0.95838892 -0.07431914 -4.44062326] [ 0.12434718 0.04111713 0.99138648 -0.02053096] [ 0. 0. 0. 1. ]] SLAMing on 269.10241403699996 meters Centerline goodness : 0.784585 Centerline is valid? [False, False] Translation: X:-9.27, Y:-4.44, Z:-0.02 [[ 0.95400775 -0.27950543 -0.1083786 -9.27285963] [ 0.27305352 0.95939779 -0.07069408 -4.44191303] [ 0.12373757 0.03784954 0.99159287 -0.02062184] [ 0. 0. 0. 1. ]] SLAMing on 269.132414037 meters Centerline goodness : 0.782964 Centerline is valid? [False, False] Translation: X:-9.27, Y:-4.44, Z:-0.02 [[ 0.95476872 -0.2766974 -0.10888176 -9.27457619] [ 0.27062814 0.96032569 -0.06734218 -4.44295157] [ 0.12319536 0.03482974 0.99177104 -0.02034051] [ 0. 0. 0. 1. ]] SLAMing on 269.16241403699996 meters Centerline goodness : 0.786302 Centerline is valid? [False, False] Translation: X:-9.28, Y:-4.44, Z:-0.02 [[ 0.95543993 -0.27425234 -0.10917962 -9.27715505] [ 0.26852705 0.96111912 -0.0643682 -4.44313279] [ 0.12258775 0.03218227 0.99193576 -0.01962043] [ 0. 0. 0. 1. ]] SLAMing on 269.192414037 meters Centerline goodness : 0.784643 Centerline is valid? [False, False] Translation: X:-9.31, Y:-4.45, Z:-0.03 [[ 0.95652653 -0.27136055 -0.10686652 -9.3075569 ] [ 0.26670612 0.96215271 -0.05594652 -4.45044033] [ 0.11800359 0.02501238 0.99269811 -0.02892785] [ 0. 0. 0. 1. ]] SLAMing on 269.22241403699996 meters Centerline goodness : 0.785083 Centerline is valid? [False, False] Translation: X:-9.31, Y:-4.45, Z:-0.03 [[ 0.95719919 -0.26887553 -0.1071245 -9.30999337] [ 0.26457235 0.96291895 -0.05280681 -4.45070486] [ 0.11735067 0.02220446 0.99284227 -0.02854755] [ 0. 0. 0. 1. ]] SLAMing on 269.252414037 meters Centerline goodness : 0.783645 Centerline is valid? [False, False] Translation: X:-9.31, Y:-4.45, Z:-0.03 [[ 0.95772498 -0.26683625 -0.10752339 -9.31137365] [ 0.26279398 0.96353367 -0.05042023 -4.45177558] [ 0.11705635 0.02003221 0.99292322 -0.02796818] [ 0. 0. 0. 1. ]] SLAMing on 269.28241403699997 meters Centerline goodness : 0.785152 Centerline is valid? [False, False] Translation: X:-9.31, Y:-4.45, Z:-0.03 [[ 0.95823235 -0.26493475 -0.10770488 -9.31333079] [ 0.26114217 0.96409773 -0.0481698 -4.45254861] [ 0.11659988 0.01803158 0.99301527 -0.02725611] [ 0. 0. 0. 1. ]] SLAMing on 269.312414037 meters Centerline goodness : 0.783350 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.45, Z:-0.03 [[ 0.95892599 -0.26228154 -0.10802467 -9.31538573] [ 0.25881886 0.96486924 -0.045168 -4.45202119] [ 0.11607641 0.01535395 0.99312161 -0.02697129] [ 0. 0. 0. 1. ]] SLAMing on 269.34241403699997 meters Centerline goodness : 0.787854 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.45, Z:-0.03 [[ 0.95966913 -0.25945566 -0.10824935 -9.31721649] [ 0.25635264 0.96567459 -0.04190349 -4.45245967] [ 0.11540574 0.01246348 0.99324024 -0.02698065] [ 0. 0. 0. 1. ]] SLAMing on 269.372414037 meters Centerline goodness : 0.784385 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.45, Z:-0.03 [[ 0.96044373 -0.25651354 -0.1083912 -9.31934728] [ 0.25375317 0.96649162 -0.03877202 -4.4512334 ] [ 0.11470474 0.00973374 0.99335194 -0.02712152] [ 0. 0. 0. 1. ]] SLAMing on 269.40241403699997 meters Centerline goodness : 0.785811 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.45, Z:-0.03 [[ 0.96040865 -0.25662924 -0.10842809 -9.31929256] [ 0.2538269 0.9664575 -0.03913837 -4.44964281] [ 0.11483519 0.01006686 0.99333355 -0.0271751 ] [ 0. 0. 0. 1. ]] SLAMing on 269.432414037 meters Centerline goodness : 0.781700 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.45, Z:-0.03 [[ 9.61044075e-01 -2.54271428e-01 -1.08352788e-01 -9.32221877e+00] [ 2.51779272e-01 9.67102827e-01 -3.63224483e-02 -4.44882072e+00] [ 1.14024049e-01 7.62648758e-03 9.93448717e-01 -2.68549566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.462414037 meters Centerline goodness : 0.780296 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.45, Z:-0.03 [[ 9.60928615e-01 -2.54774809e-01 -1.08194235e-01 -9.32304844e+00] [ 2.52215796e-01 9.66965543e-01 -3.69436122e-02 -4.44754916e+00] [ 1.14032399e-01 8.21187887e-03 9.93443092e-01 -2.62830865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.492414037 meters Centerline goodness : 0.779132 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.45, Z:-0.03 [[ 9.62046274e-01 -2.52133570e-01 -1.04382132e-01 -9.35085032e+00] [ 2.50034082e-01 9.67676241e-01 -3.29492065e-02 -4.45285006e+00] [ 1.09315710e-01 5.59957088e-03 9.93991308e-01 -3.27582777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.522414037 meters Centerline goodness : 0.779567 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.45, Z:-0.03 [[ 9.62349127e-01 -2.51060470e-01 -1.04176768e-01 -9.35414134e+00] [ 2.49118576e-01 9.67961731e-01 -3.14646285e-02 -4.45229131e+00] [ 1.08738649e-01 4.32758977e-03 9.94060953e-01 -3.14166507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.552414037 meters Centerline goodness : 0.778662 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.45, Z:-0.03 [[ 9.62313283e-01 -2.51173426e-01 -1.04235579e-01 -9.35407707e+00] [ 2.49194840e-01 9.67931028e-01 -3.18034195e-02 -4.45116989e+00] [ 1.08881025e-01 4.62988452e-03 9.94044006e-01 -3.12961627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.582414037 meters Centerline goodness : 0.778645 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.45, Z:-0.03 [[ 9.62288400e-01 -2.51268741e-01 -1.04235574e-01 -9.35407300e+00] [ 2.49257758e-01 9.67904899e-01 -3.21041665e-02 -4.45002529e+00] [ 1.08956897e-01 4.91194150e-03 9.94034339e-01 -3.12772978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.612414037 meters Centerline goodness : 0.776499 Centerline is valid? [False, False] Translation: X:-9.36, Y:-4.45, Z:-0.03 [[ 9.62990481e-01 -2.48396780e-01 -1.04634477e-01 -9.35549487e+00] [ 2.46717722e-01 9.68656268e-01 -2.89032877e-02 -4.44937228e+00] [ 1.08534325e-01 2.01841124e-03 9.94090653e-01 -3.15090877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.642414037 meters Centerline goodness : 0.775670 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.45, Z:-0.03 [[ 9.63011923e-01 -2.48209805e-01 -1.04880544e-01 -9.35469922e+00] [ 2.46508502e-01 9.68703886e-01 -2.90919165e-02 -4.44817194e+00] [ 1.08819089e-01 2.16191670e-03 9.94059220e-01 -3.17509756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.672414037 meters Centerline goodness : 0.777446 Centerline is valid? [False, False] Translation: X:-9.36, Y:-4.45, Z:-0.04 [[ 9.64838834e-01 -2.43906638e-01 -9.79570098e-02 -9.36305869e+00] [ 2.42079415e-01 9.69782957e-01 -3.03079878e-02 -4.45004464e+00] [ 1.02389358e-01 5.52894801e-03 9.94729034e-01 -3.66493831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.702414037 meters Centerline goodness : 0.775856 Centerline is valid? [False, False] Translation: X:-9.36, Y:-4.45, Z:-0.04 [[ 9.64874585e-01 -2.43656458e-01 -9.82271089e-02 -9.36226950e+00] [ 2.41803531e-01 9.69844819e-01 -3.05299857e-02 -4.44858830e+00] [ 1.02703881e-01 5.70594561e-03 9.94695609e-01 -3.67945608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.732414037 meters Centerline goodness : 0.777269 Centerline is valid? [False, False] Translation: X:-9.36, Y:-4.45, Z:-0.04 [[ 9.65689879e-01 -2.40220897e-01 -9.86761299e-02 -9.36357444e+00] [ 2.38688696e-01 9.70714384e-01 -2.72266717e-02 -4.44739013e+00] [ 1.02326754e-01 2.73964452e-03 9.94747068e-01 -3.68591400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.762414037 meters Centerline goodness : 0.777269 Centerline is valid? [False, False] Translation: X:-9.36, Y:-4.45, Z:-0.04 [[ 9.65689879e-01 -2.40220897e-01 -9.86761299e-02 -9.36357444e+00] [ 2.38688696e-01 9.70714384e-01 -2.72266717e-02 -4.44739013e+00] [ 1.02326754e-01 2.73964452e-03 9.94747068e-01 -3.68591400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.79241403699996 meters Centerline goodness : 0.778783 Centerline is valid? [False, False] Translation: X:-9.37, Y:-4.45, Z:-0.04 [[ 9.66472826e-01 -2.36914277e-01 -9.90045586e-02 -9.36509846e+00] [ 2.35732779e-01 9.71530432e-01 -2.36363345e-02 -4.44786237e+00] [ 1.01785727e-01 -4.94744777e-04 9.94806223e-01 -3.68707676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.822414037 meters Centerline goodness : 0.779296 Centerline is valid? [False, False] Translation: X:-9.37, Y:-4.45, Z:-0.04 [[ 9.67230915e-01 -2.33704116e-01 -9.92307602e-02 -9.36722624e+00] [ 2.32817640e-01 9.72302523e-01 -2.05851763e-02 -4.44674483e+00] [ 1.01293159e-01 -3.19205247e-03 9.94851500e-01 -3.62689541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.85241403699996 meters Centerline goodness : 0.778398 Centerline is valid? [False, False] Translation: X:-9.37, Y:-4.45, Z:-0.04 [[ 9.67226963e-01 -2.33686529e-01 -9.93106613e-02 -9.36714342e+00] [ 2.32755369e-01 9.72308019e-01 -2.10250995e-02 -4.44523281e+00] [ 1.01473835e-01 -2.77904655e-03 9.94834327e-01 -3.60255564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.882414037 meters Centerline goodness : 0.777682 Centerline is valid? [False, False] Translation: X:-9.37, Y:-4.44, Z:-0.04 [[ 9.67281000e-01 -2.33391357e-01 -9.94783487e-02 -9.36673917e+00] [ 2.32409675e-01 9.72380130e-01 -2.15087506e-02 -4.44340406e+00] [ 1.01750726e-01 -2.31472499e-03 9.94807233e-01 -3.56862308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.91241403699996 meters Centerline goodness : 0.777643 Centerline is valid? [False, False] Translation: X:-9.37, Y:-4.44, Z:-0.04 [[ 9.67288168e-01 -2.33277449e-01 -9.96756319e-02 -9.36626611e+00] [ 2.32271116e-01 9.72407917e-01 -2.17479072e-02 -4.44257643e+00] [ 1.01998670e-01 -2.11527691e-03 9.94782286e-01 -3.55661462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.942414037 meters Centerline goodness : 0.779659 Centerline is valid? [False, False] Translation: X:-9.37, Y:-4.44, Z:-0.04 [[ 9.67297724e-01 -2.33147334e-01 -9.98871063e-02 -9.36581311e+00] [ 2.32114572e-01 9.72439563e-01 -2.20027848e-02 -4.44179943e+00] [ 1.02264065e-01 -1.90200931e-03 9.94755469e-01 -3.53400617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.97241403699996 meters Centerline goodness : 0.780325 Centerline is valid? [False, False] Translation: X:-9.37, Y:-4.44, Z:-0.04 [[ 9.67326289e-01 -2.32949976e-01 -1.00070769e-01 -9.36534713e+00] [ 2.31909036e-01 9.72486953e-01 -2.20754368e-02 -4.44098752e+00] [ 1.02459989e-01 -1.85316508e-03 9.94735400e-01 -3.54128299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.002414037 meters Centerline goodness : 0.782753 Centerline is valid? [False, False] Translation: X:-9.37, Y:-4.44, Z:-0.04 [[ 9.68092546e-01 -2.29503420e-01 -1.00623075e-01 -9.36626573e+00] [ 2.28809601e-01 9.73294624e-01 -1.85402428e-02 -4.44103819e+00] [ 1.02190947e-01 -5.07485476e-03 9.94751857e-01 -3.53611745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.03241403699997 meters Centerline goodness : 0.784065 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.45, Z:-0.05 [[ 9.70293299e-01 -2.23908704e-01 -9.16286283e-02 -9.40425731e+00] [ 2.23397185e-01 9.74597252e-01 -1.59340625e-02 -4.44837607e+00] [ 9.28687846e-02 -5.00886350e-03 9.95665757e-01 -4.65948048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.062414037 meters Centerline goodness : 0.784140 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.45, Z:-0.05 [[ 9.70366560e-01 -2.23474480e-01 -9.19124377e-02 -9.40339167e+00] [ 2.22952680e-01 9.74697319e-01 -1.60386478e-02 -4.44742530e+00] [ 9.31710351e-02 -4.92875683e-03 9.95637919e-01 -4.66241283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.09241403699997 meters Centerline goodness : 0.785267 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.45, Z:-0.05 [[ 9.70397351e-01 -2.23265176e-01 -9.20958306e-02 -9.40267247e+00] [ 2.22755748e-01 9.74744511e-01 -1.59064469e-02 -4.44738247e+00] [ 9.33212610e-02 -5.07930171e-03 9.95623093e-01 -4.69507292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.122414037 meters Centerline goodness : 0.785732 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.45, Z:-0.05 [[ 9.70390656e-01 -2.23283914e-01 -9.21209488e-02 -9.40244456e+00] [ 2.22777708e-01 9.74740016e-01 -1.58743427e-02 -4.44748637e+00] [ 9.33384604e-02 -5.11817999e-03 9.95621281e-01 -4.71149789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.15241403699997 meters Centerline goodness : 0.788472 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.45, Z:-0.05 [[ 9.70298528e-01 -2.23779341e-01 -9.18889191e-02 -9.40323735e+00] [ 2.23262026e-01 9.74627077e-01 -1.60039893e-02 -4.44829949e+00] [ 9.31387909e-02 -4.98665897e-03 9.95640647e-01 -4.67192157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.182414037 meters Centerline goodness : 0.787822 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.45, Z:-0.05 [[ 9.70288489e-01 -2.24086565e-01 -9.12439578e-02 -9.40460931e+00] [ 2.23569305e-01 9.74556972e-01 -1.59835444e-02 -4.44902297e+00] [ 9.25041329e-02 -4.89069904e-03 9.95700289e-01 -4.65641191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.212414037 meters Centerline goodness : 0.788359 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.45, Z:-0.05 [[ 9.70238669e-01 -2.24362344e-01 -9.10959053e-02 -9.40501812e+00] [ 2.23837741e-01 9.74493966e-01 -1.60678800e-02 -4.44950501e+00] [ 9.23774372e-02 -4.80102312e-03 9.95712488e-01 -4.63805115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.242414037 meters Centerline goodness : 0.788926 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.45, Z:-0.05 [[ 9.70153573e-01 -2.24880332e-01 -9.07241987e-02 -9.40623862e+00] [ 2.24339181e-01 9.74375597e-01 -1.62520039e-02 -4.45092591e+00] [ 9.20542013e-02 -4.58605276e-03 9.95743437e-01 -4.55307732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.272414037 meters Centerline goodness : 0.789440 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.45, Z:-0.04 [[ 9.70081825e-01 -2.25288634e-01 -9.04780846e-02 -9.40709747e+00] [ 2.24727656e-01 9.74282347e-01 -1.64738788e-02 -4.45149034e+00] [ 9.18625783e-02 -4.35191745e-03 9.95762184e-01 -4.49940575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.302414037 meters Centerline goodness : 0.788124 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.45, Z:-0.04 [[ 9.70010571e-01 -2.25671052e-01 -9.02888098e-02 -9.40803425e+00] [ 2.25092552e-01 9.74194719e-01 -1.66730774e-02 -4.45306182e+00] [ 9.17215126e-02 -4.15027731e-03 9.95776049e-01 -4.39058869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.332414037 meters Centerline goodness : 0.790407 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.45, Z:-0.04 [[ 9.70002539e-01 -2.25725134e-01 -9.02398936e-02 -9.40814133e+00] [ 2.25163909e-01 9.74181418e-01 -1.64857009e-02 -4.45396636e+00] [ 9.16312646e-02 -4.32759541e-03 9.95783603e-01 -4.38688106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.362414037 meters Centerline goodness : 0.787746 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.45, Z:-0.04 [[ 9.70014488e-01 -2.25638937e-01 -9.03269752e-02 -9.40781560e+00] [ 2.25098450e-01 9.74200329e-01 -1.62605763e-02 -4.45495269e+00] [ 9.16655881e-02 -4.55946752e-03 9.95779409e-01 -4.39211609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.392414037 meters Centerline goodness : 0.788268 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.46, Z:-0.04 [[ 9.70086534e-01 -2.25198879e-01 -9.06508744e-02 -9.40646736e+00] [ 2.24717789e-01 9.74298805e-01 -1.56126230e-02 -4.45659788e+00] [ 9.18369838e-02 -5.22526878e-03 9.95760345e-01 -4.45734180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.422414037 meters Centerline goodness : 0.789012 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.46, Z:-0.04 [[ 9.70150167e-01 -2.24805131e-01 -9.09467257e-02 -9.40541791e+00] [ 2.24364627e-01 9.74387152e-01 -1.51720818e-02 -4.45757571e+00] [ 9.20280829e-02 -5.68603048e-03 9.95740177e-01 -4.49706173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.452414037 meters Centerline goodness : 0.786532 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.46, Z:-0.05 [[ 9.70208761e-01 -2.24451693e-01 -9.11942870e-02 -9.40458556e+00] [ 2.24039080e-01 9.74466718e-01 -1.48696461e-02 -4.45820614e+00] [ 9.22033147e-02 -6.00442324e-03 9.95722098e-01 -4.52145799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.482414037 meters Centerline goodness : 0.787888 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.46, Z:-0.05 [[ 9.70309911e-01 -2.23896702e-01 -9.14819296e-02 -9.40371294e+00] [ 2.23513187e-01 9.74592320e-01 -1.45487247e-02 -4.45882717e+00] [ 9.24149975e-02 -6.33064595e-03 9.95700453e-01 -4.52279048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.512414037 meters Centerline goodness : 0.788507 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.46, Z:-0.05 [[ 9.70360950e-01 -2.23629132e-01 -9.15949647e-02 -9.40340097e+00] [ 2.23251001e-01 9.74653349e-01 -1.44858242e-02 -4.45907776e+00] [ 9.25127914e-02 -6.39218942e-03 9.95690978e-01 -4.50457546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.54241403699996 meters Centerline goodness : 0.786703 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.46, Z:-0.04 [[ 9.70507530e-01 -2.22885520e-01 -9.18541131e-02 -9.40262947e+00] [ 2.22529258e-01 9.74822104e-01 -1.42335619e-02 -4.45985334e+00] [ 9.27138747e-02 -6.62644870e-03 9.95670743e-01 -4.46841211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.572414037 meters Centerline goodness : 0.787424 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.46, Z:-0.04 [[ 9.70574568e-01 -2.22473317e-01 -9.21446240e-02 -9.40190423e+00] [ 2.22129962e-01 9.74915160e-01 -1.40965097e-02 -4.46006842e+00] [ 9.29692880e-02 -6.78636805e-03 9.95645849e-01 -4.45781002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.60241403699996 meters Centerline goodness : 0.788966 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.46, Z:-0.04 [[ 9.70649974e-01 -2.22036597e-01 -9.24033450e-02 -9.40108829e+00] [ 2.21702008e-01 9.75013946e-01 -1.40009062e-02 -4.46012156e+00] [ 9.32032636e-02 -6.89602787e-03 9.95623220e-01 -4.46060280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.632414037 meters Centerline goodness : 0.789717 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.46, Z:-0.04 [[ 9.71375574e-01 -2.18867900e-01 -9.23381674e-02 -9.40108379e+00] [ 2.18753651e-01 9.75712565e-01 -1.14817910e-02 -4.46184994e+00] [ 9.26085056e-02 -9.04617992e-03 9.95661504e-01 -4.47662789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.66241403699996 meters Centerline goodness : 0.792061 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.46, Z:-0.04 [[ 9.71476920e-01 -2.18260436e-01 -9.27090923e-02 -9.40007267e+00] [ 2.18159569e-01 9.75847160e-01 -1.13455998e-02 -4.46161448e+00] [ 9.29462000e-02 -9.20338731e-03 9.95628596e-01 -4.47763102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.692414037 meters Centerline goodness : 0.792122 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.46, Z:-0.04 [[ 9.71553593e-01 -2.17782017e-01 -9.30301538e-02 -9.39922947e+00] [ 2.17683553e-01 9.75953651e-01 -1.13287654e-02 -4.46124376e+00] [ 9.32603197e-02 -9.24463178e-03 9.95598840e-01 -4.46733631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.72241403699996 meters Centerline goodness : 0.792975 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.46, Z:-0.04 [[ 9.72390179e-01 -2.13762231e-01 -9.36111556e-02 -9.39993777e+00] [ 2.14022022e-01 9.76801006e-01 -7.37358233e-03 -4.46294711e+00] [ 9.30156643e-02 -1.28648497e-02 9.95581529e-01 -4.43327844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.752414037 meters Centerline goodness : 0.792237 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.46, Z:-0.04 [[ 9.72430430e-01 -2.13472735e-01 -9.38533478e-02 -9.39944177e+00] [ 2.13730279e-01 9.76864553e-01 -7.41711786e-03 -4.46271211e+00] [ 9.32653611e-02 -1.28466711e-02 9.95558404e-01 -4.40824638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.78241403699997 meters Centerline goodness : 0.792316 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.46, Z:-0.04 [[ 9.72531404e-01 -2.12896018e-01 -9.41167020e-02 -9.39870908e+00] [ 2.13156106e-01 9.76990143e-01 -7.39830385e-03 -4.46239014e+00] [ 9.35261596e-02 -1.28664669e-02 9.95533682e-01 -4.38274786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.812414037 meters Centerline goodness : 0.793481 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.46, Z:-0.04 [[ 9.72583560e-01 -2.12539020e-01 -9.43842346e-02 -9.39789577e+00] [ 2.12809560e-01 9.77066375e-01 -7.30684015e-03 -4.46244841e+00] [ 9.37726506e-02 -1.29793548e-02 9.95509029e-01 -4.39042445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.84241403699997 meters Centerline goodness : 0.792089 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.46, Z:-0.04 [[ 9.72606340e-01 -2.12343086e-01 -9.45902772e-02 -9.39738873e+00] [ 2.12615989e-01 9.77108561e-01 -7.30084134e-03 -4.46247383e+00] [ 9.39752528e-02 -1.30105607e-02 9.95489516e-01 -4.38157285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.872414037 meters Centerline goodness : 0.794862 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.46, Z:-0.04 [[ 9.72661004e-01 -2.12000684e-01 -9.47959963e-02 -9.39666454e+00] [ 2.12293426e-01 9.77180153e-01 -7.10287504e-03 -4.46297762e+00] [ 9.41385805e-02 -1.32158772e-02 9.95471380e-01 -4.39199696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.90241403699997 meters Centerline goodness : 0.795640 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.46, Z:-0.04 [[ 9.72691814e-01 -2.11841611e-01 -9.48354745e-02 -9.39633655e+00] [ 2.12139096e-01 9.77214048e-01 -7.05049332e-03 -4.46289963e+00] [ 9.41681458e-02 -1.32603547e-02 9.95467992e-01 -4.40817333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.932414037 meters Centerline goodness : 0.797346 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.46, Z:-0.04 [[ 9.72716146e-01 -2.11681353e-01 -9.49436863e-02 -9.39614584e+00] [ 2.11967999e-01 9.77250288e-01 -7.17234536e-03 -4.46263407e+00] [ 9.43019966e-02 -1.31483670e-02 9.95456807e-01 -4.37411134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.962414037 meters Centerline goodness : 0.796143 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.46, Z:-0.04 [[ 9.72689388e-01 -2.11794858e-01 -9.49646950e-02 -9.39637118e+00] [ 2.12060778e-01 9.77228465e-01 -7.39953808e-03 -4.46248586e+00] [ 9.43693872e-02 -1.29408350e-02 9.95453140e-01 -4.32476524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.992414037 meters Centerline goodness : 0.799057 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.46, Z:-0.04 [[ 9.72660937e-01 -2.11911245e-01 -9.49964489e-02 -9.39661581e+00] [ 2.12161813e-01 9.77205218e-01 -7.57151240e-03 -4.46262676e+00] [ 9.44355141e-02 -1.27901045e-02 9.95448817e-01 -4.27245788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.022414037 meters Centerline goodness : 0.797261 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.46, Z:-0.04 [[ 9.72604165e-01 -2.12276621e-01 -9.47616729e-02 -9.39751572e+00] [ 2.12509138e-01 9.77128360e-01 -7.74821080e-03 -4.46360947e+00] [ 9.42390820e-02 -1.26017793e-02 9.95469834e-01 -4.19818485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.052414037 meters Centerline goodness : 0.797652 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.46, Z:-0.04 [[ 9.72576374e-01 -2.12411523e-01 -9.47446097e-02 -9.39771925e+00] [ 2.12625254e-01 9.77101470e-01 -7.95097943e-03 -4.46390885e+00] [ 9.42639771e-02 -1.24121620e-02 9.95469859e-01 -4.15211294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.082414037 meters Centerline goodness : 0.799127 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.46, Z:-0.04 [[ 9.72645177e-01 -2.11999105e-01 -9.49617774e-02 -9.39692503e+00] [ 2.12230412e-01 9.77188730e-01 -7.77416776e-03 -4.46396314e+00] [ 9.44436953e-02 -1.25922704e-02 9.95450563e-01 -4.16958850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.112414037 meters Centerline goodness : 0.800589 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.46, Z:-0.04 [[ 9.72677886e-01 -2.11740659e-01 -9.52030637e-02 -9.39625120e+00] [ 2.11964787e-01 9.77245622e-01 -7.86919930e-03 -4.46329500e+00] [ 9.47030067e-02 -1.25255010e-02 9.95426769e-01 -4.17553048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.142414037 meters Centerline goodness : 0.798441 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.46, Z:-0.04 [[ 9.72725067e-01 -2.11456876e-01 -9.53516314e-02 -9.39569015e+00] [ 2.11678187e-01 9.77307456e-01 -7.90445737e-03 -4.46263387e+00] [ 9.48593122e-02 -1.24949967e-02 9.95412269e-01 -4.19099594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.172414037 meters Centerline goodness : 0.799995 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.46, Z:-0.04 [[ 9.73550057e-01 -2.07358979e-01 -9.59298696e-02 -9.39598443e+00] [ 2.07942729e-01 9.78132898e-01 -3.98189482e-03 -4.46288135e+00] [ 9.46578429e-02 -1.60713450e-02 9.95380131e-01 -4.22740183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.202414037 meters Centerline goodness : 0.800291 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.46, Z:-0.04 [[ 9.74447224e-01 -2.02815564e-01 -9.65321487e-02 -9.39598018e+00] [ 2.03760559e-01 9.79020751e-01 -6.97666664e-05 -4.46195777e+00] [ 9.45211265e-02 -1.96014606e-02 9.95329865e-01 -4.28259476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.232414037 meters Centerline goodness : 0.803109 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.46, Z:-0.04 [[ 9.75219273e-01 -1.98854469e-01 -9.69756193e-02 -9.39669851e+00] [ 2.00144071e-01 9.79759648e-01 3.65835593e-03 -4.46186481e+00] [ 9.42853181e-02 -2.29767944e-02 9.95280034e-01 -4.29818709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.262414037 meters Centerline goodness : 0.802362 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.46, Z:-0.04 [[ 9.75986212e-01 -1.94840331e-01 -9.74071863e-02 -9.39741671e+00] [ 1.96474144e-01 9.80481240e-01 7.37898948e-03 -4.46158244e+00] [ 9.40681940e-02 -2.63397855e-02 9.95217258e-01 -4.30976298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.29241403699996 meters Centerline goodness : 0.803523 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.46, Z:-0.04 [[ 0.97673467 -0.19073322 -0.09803174 -9.39777563] [ 0.19271302 0.98119292 0.01105156 -4.46110566] [ 0.09408015 -0.02968643 0.99512192 -0.04307817] [ 0. 0. 0. 1. ]] SLAMing on 271.322414037 meters Centerline goodness : 0.804504 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.46, Z:-0.04 [[ 0.97779095 -0.18489453 -0.09868568 -9.39663436] [ 0.18723812 0.98220065 0.01495871 -4.45751386] [ 0.09416336 -0.03310422 0.99500622 -0.0441452 ] [ 0. 0. 0. 1. ]] SLAMing on 271.35241403699996 meters Centerline goodness : 0.799732 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.46, Z:-0.04 [[ 0.97854401 -0.18048393 -0.09938395 -9.39637507] [ 0.18318272 0.9829018 0.01865872 -4.45637226] [ 0.09431706 -0.0364638 0.9948742 -0.04452969] [ 0. 0. 0. 1. ]] SLAMing on 271.382414037 meters Centerline goodness : 0.800715 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.45, Z:-0.04 [[ 0.97927465 -0.17607915 -0.10008644 -9.39618262] [ 0.17912043 0.98357693 0.02218782 -4.45471195] [ 0.0945359 -0.0396555 0.99473132 -0.04474815] [ 0. 0. 0. 1. ]] SLAMing on 271.41241403699996 meters Centerline goodness : 0.803516 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.45, Z:-0.05 [[ 0.98077559 -0.16680775 -0.10126405 -9.39551354] [ 0.17056827 0.98490034 0.02962737 -4.45110418] [ 0.09479292 -0.04633024 0.99441833 -0.04596013] [ 0. 0. 0. 1. ]] SLAMing on 271.442414037 meters Centerline goodness : 0.805819 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.45, Z:-0.05 [[ 0.98144942 -0.16236471 -0.10195458 -9.39515381] [ 0.16647165 0.98549055 0.03309927 -4.44881742] [ 0.09510112 -0.04945781 0.99423825 -0.04636808] [ 0. 0. 0. 1. ]] SLAMing on 271.47241403699996 meters Centerline goodness : 0.808817 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.44, Z:-0.05 [[ 0.98279294 -0.15327216 -0.103081 -9.3943629 ] [ 0.15810865 0.98659234 0.04046258 -4.44451133] [ 0.09549713 -0.05606433 0.99384963 -0.04790061] [ 0. 0. 0. 1. ]] SLAMing on 271.502414037 meters Centerline goodness : 0.810470 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.44, Z:-0.05 [[ 0.98339129 -0.14910133 -0.10349086 -9.39442573] [ 0.15427875 0.98705049 0.04392502 -4.44232324] [ 0.09560143 -0.05916192 0.99366002 -0.04855733] [ 0. 0. 0. 1. ]] SLAMing on 271.53241403699997 meters Centerline goodness : 0.813542 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.44, Z:-0.05 [[ 0.98397534 -0.1448486 -0.10397796 -9.39415023] [ 0.15039504 0.98747908 0.04760669 -4.44056946] [ 0.0957803 -0.06248158 0.99343957 -0.04946209] [ 0. 0. 0. 1. ]] SLAMing on 271.562414037 meters Centerline goodness : 0.816382 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.44, Z:-0.05 [[ 0.9845871 -0.1406361 -0.10396982 -9.39459386] [ 0.14643858 0.98793388 0.05042208 -4.43516786] [ 0.09562414 -0.06487012 0.99330151 -0.05055418] [ 0. 0. 0. 1. ]] SLAMing on 271.59241403699997 meters Centerline goodness : 0.812774 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.43, Z:-0.05 [[ 0.98457134 -0.14081777 -0.10387318 -9.3948176 ] [ 0.14650242 0.98798319 0.04925713 -4.43131811] [ 0.09568868 -0.06371483 0.99337007 -0.0503283 ] [ 0. 0. 0. 1. ]] SLAMing on 271.622414037 meters Centerline goodness : 0.812774 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.43, Z:-0.05 [[ 0.98457134 -0.14081777 -0.10387318 -9.3948176 ] [ 0.14650242 0.98798319 0.04925713 -4.43131811] [ 0.09568868 -0.06371483 0.99337007 -0.0503283 ] [ 0. 0. 0. 1. ]] SLAMing on 271.65241403699997 meters Centerline goodness : 0.822479 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.42, Z:-0.05 [[ 0.984564 -0.14146445 -0.10306086 -9.39657332] [ 0.14689986 0.98802583 0.04717395 -4.42423679] [ 0.09515336 -0.0615854 0.99355577 -0.04998009] [ 0. 0. 0. 1. ]] SLAMing on 271.682414037 meters Centerline goodness : 0.820276 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.42, Z:-0.05 [[ 0.98449051 -0.14219029 -0.1027636 -9.3976882 ] [ 0.14747745 0.98800495 0.04578891 -4.4205975 ] [ 0.09502021 -0.06023406 0.99365136 -0.04935372] [ 0. 0. 0. 1. ]] SLAMing on 271.712414037 meters Centerline goodness : 0.823578 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.42, Z:-0.05 [[ 0.98439894 -0.14315801 -0.10229623 -9.39931613] [ 0.14827449 0.98795537 0.04425897 -4.41674254] [ 0.09472809 -0.05873641 0.9937689 -0.04862313] [ 0. 0. 0. 1. ]] SLAMing on 271.742414037 meters Centerline goodness : 0.820640 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.41, Z:-0.05 [[ 0.98422898 -0.14500791 -0.1013214 -9.40240429] [ 0.14981214 0.98784334 0.04149521 -4.40916517] [ 0.09407254 -0.05601996 0.99398799 -0.04759893] [ 0. 0. 0. 1. ]] SLAMing on 271.772414037 meters Centerline goodness : 0.823767 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.41, Z:-0.05 [[ 0.98412593 -0.14600465 -0.10088997 -9.40366429] [ 0.15066127 0.98776982 0.04014939 -4.40558054] [ 0.09379407 -0.05471227 0.99408714 -0.0474055 ] [ 0. 0. 0. 1. ]] SLAMing on 271.802414037 meters Centerline goodness : 0.825666 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.40, Z:-0.05 [[ 0.98396424 -0.1474647 -0.10034214 -9.40460025] [ 0.15191508 0.9876544 0.03821764 -4.39867723] [ 0.09346761 -0.05284827 0.99421872 -0.04837006] [ 0. 0. 0. 1. ]] SLAMing on 271.832414037 meters Centerline goodness : 0.824441 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.40, Z:-0.05 [[ 0.98386972 -0.14832621 -0.09999858 -9.40504878] [ 0.1526676 0.98757662 0.03721581 -4.39511569] [ 0.09323619 -0.05188205 0.99429134 -0.04918377] [ 0. 0. 0. 1. ]] SLAMing on 271.862414037 meters Centerline goodness : 0.830086 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.39, Z:-0.05 [[ 0.98377777 -0.14907891 -0.0997837 -9.40516367] [ 0.15332683 0.98750832 0.03630711 -4.39162054] [ 0.09312461 -0.05101765 0.99434652 -0.05005026] [ 0. 0. 0. 1. ]] SLAMing on 271.892414037 meters Centerline goodness : 0.826588 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.38, Z:-0.05 [[ 0.98356552 -0.15110038 -0.09883085 -9.40651854] [ 0.15510353 0.98730896 0.03411615 -4.38369466] [ 0.09242162 -0.04888448 0.99451926 -0.05178979] [ 0. 0. 0. 1. ]] SLAMing on 271.922414037 meters Centerline goodness : 0.837789 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.38, Z:-0.05 [[ 0.98343077 -0.15231885 -0.09829998 -9.40810137] [ 0.15616318 0.98719209 0.0326319 -4.37942517] [ 0.0920705 -0.04744205 0.99462167 -0.05166387] [ 0. 0. 0. 1. ]] SLAMing on 271.952414037 meters Centerline goodness : 0.835889 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.37, Z:-0.05 [[ 0.98314713 -0.15512702 -0.0967333 -9.4127427 ] [ 0.15862836 0.98689531 0.02957507 -4.37037315] [ 0.09087775 -0.04442129 0.99487084 -0.05124102] [ 0. 0. 0. 1. ]] SLAMing on 271.982414037 meters Centerline goodness : 0.837305 Centerline is valid? [False, False] Translation: X:-9.42, Y:-4.37, Z:-0.05 [[ 0.98297221 -0.15673882 -0.09590922 -9.41543314] [ 0.16003239 0.98672521 0.02762247 -4.36545653] [ 0.09030653 -0.0425007 0.99500674 -0.05048577] [ 0. 0. 0. 1. ]] SLAMing on 272.012414037 meters Centerline goodness : 0.831278 Centerline is valid? [False, False] Translation: X:-9.42, Y:-4.36, Z:-0.05 [[ 0.98278686 -0.15840438 -0.0950686 -9.41823693] [ 0.16150103 0.98653615 0.02576498 -4.36074463] [ 0.08970733 -0.04067516 0.99513724 -0.04976894] [ 0. 0. 0. 1. ]] SLAMing on 272.04241403699996 meters Centerline goodness : 0.835205 Centerline is valid? [False, False] Translation: X:-9.42, Y:-4.35, Z:-0.05 [[ 0.9823715 -0.16212408 -0.09307002 -9.42472067] [ 0.16482683 0.98607544 0.02207597 -4.35114287] [ 0.08819501 -0.03702724 0.9954148 -0.04854096] [ 0. 0. 0. 1. ]] SLAMing on 272.072414037 meters Centerline goodness : 0.836033 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.35, Z:-0.05 [[ 0.9821691 -0.1638345 -0.09220696 -9.42747442] [ 0.16635481 0.98585713 0.0202928 -4.34638927] [ 0.08757822 -0.03527004 0.99553306 -0.04809746] [ 0. 0. 0. 1. ]] SLAMing on 272.10241403699996 meters Centerline goodness : 0.836705 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.34, Z:-0.05 [[ 0.9817743 -0.16706203 -0.09060628 -9.43188283] [ 0.1692778 0.98541665 0.01729333 -4.33635411] [ 0.08639588 -0.03231578 0.99573663 -0.04881501] [ 0. 0. 0. 1. ]] SLAMing on 272.132414037 meters Centerline goodness : 0.840249 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.33, Z:-0.05 [[ 0.98162804 -0.16821504 -0.09005609 -9.43309729] [ 0.17030688 0.98526091 0.01601559 -4.33150792] [ 0.08603468 -0.03105852 0.99580791 -0.04948554] [ 0. 0. 0. 1. ]] SLAMing on 272.16241403699996 meters Centerline goodness : 0.839867 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.33, Z:-0.05 [[ 0.98145291 -0.16954303 -0.08947258 -9.43455803] [ 0.17150435 0.9850744 0.01465196 -4.32606031] [ 0.08565301 -0.02972514 0.99588151 -0.05022109] [ 0. 0. 0. 1. ]] SLAMing on 272.192414037 meters Centerline goodness : 0.835661 Centerline is valid? [False, False] Translation: X:-9.44, Y:-4.31, Z:-0.05 [[ 0.98108988 -0.17234987 -0.08808042 -9.43799438] [ 0.17405835 0.98466172 0.01204085 -4.3148526 ] [ 0.08465418 -0.02714429 0.99604059 -0.05181186] [ 0. 0. 0. 1. ]] SLAMing on 272.22241403699996 meters Centerline goodness : 0.834973 Centerline is valid? [False, False] Translation: X:-9.44, Y:-4.30, Z:-0.05 [[ 9.80631230e-01 -1.75903473e-01 -8.61415012e-02 -9.44354128e+00] [ 1.77323567e-01 9.84110896e-01 9.06070888e-03 -4.30365189e+00] [ 8.31789798e-02 -2.41601324e-02 9.96241710e-01 -5.27765224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.252414037 meters Centerline goodness : 0.835450 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.30, Z:-0.05 [[ 9.80380807e-01 -1.77754023e-01 -8.51879117e-02 -9.44668121e+00] [ 1.79002282e-01 9.83822428e-01 7.18420798e-03 -4.29824772e+00] [ 8.25327563e-02 -2.22920902e-02 9.96339002e-01 -5.23416593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.28241403699997 meters Centerline goodness : 0.836292 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.29, Z:-0.05 [[ 9.80131790e-01 -1.79595048e-01 -8.41860665e-02 -9.44986186e+00] [ 1.80682125e-01 9.83526644e-01 5.41394783e-03 -4.29303128e+00] [ 8.18269212e-02 -2.05172997e-02 9.96435344e-01 -5.20549371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.312414037 meters Centerline goodness : 0.835851 Centerline is valid? [False, False] Translation: X:-9.46, Y:-4.28, Z:-0.05 [[ 9.80097477e-01 -1.80725078e-01 -8.21424415e-02 -9.45750619e+00] [ 1.81796080e-01 9.83319794e-01 5.68929816e-03 -4.28433577e+00] [ 7.97440898e-02 -2.05092407e-02 9.96604360e-01 -5.28248627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.34241403699997 meters Centerline goodness : 0.835462 Centerline is valid? [False, False] Translation: X:-9.46, Y:-4.28, Z:-0.05 [[ 0.98143343 -0.17309219 -0.08262883 -9.46014244] [ 0.17469959 0.9845414 0.0125814 -4.27962122] [ 0.07917376 -0.02678303 0.99650097 -0.05303941] [ 0. 0. 0. 1. ]] SLAMing on 272.372414037 meters Centerline goodness : 0.843581 Centerline is valid? [False, False] Translation: X:-9.46, Y:-4.27, Z:-0.05 [[ 0.98333761 -0.16161177 -0.0832393 -9.46388406] [ 0.16400625 0.98619728 0.02273477 -4.27220254] [ 0.07841617 -0.03600772 0.99627022 -0.05324093] [ 0. 0. 0. 1. ]] SLAMing on 272.40241403699997 meters Centerline goodness : 0.843409 Centerline is valid? [False, False] Translation: X:-9.46, Y:-4.27, Z:-0.05 [[ 0.98401773 -0.15697573 -0.08406976 -9.46299437] [ 0.15965307 0.98682837 0.02608971 -4.26852269] [ 0.07886697 -0.03909473 0.99611827 -0.05360288] [ 0. 0. 0. 1. ]] SLAMing on 272.432414037 meters Centerline goodness : 0.841732 Centerline is valid? [False, False] Translation: X:-9.46, Y:-4.27, Z:-0.06 [[ 0.98481266 -0.15130359 -0.0851543 -9.4596355 ] [ 0.15439357 0.98752563 0.03091536 -4.26756269] [ 0.07941445 -0.04359311 0.99588804 -0.05623034] [ 0. 0. 0. 1. ]] SLAMing on 272.462414037 meters Centerline goodness : 0.836772 Centerline is valid? [False, False] Translation: X:-9.46, Y:-4.27, Z:-0.06 [[ 0.98491623 -0.15035963 -0.0856271 -9.45702338] [ 0.15354023 0.98762996 0.03181928 -4.26888933] [ 0.07978355 -0.04448653 0.99581903 -0.05787638] [ 0. 0. 0. 1. ]] SLAMing on 272.492414037 meters Centerline goodness : 0.830981 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.27, Z:-0.06 [[ 0.98453126 -0.15247897 -0.08630386 -9.45122617] [ 0.15549891 0.98739894 0.02938404 -4.27143263] [ 0.08073589 -0.04234966 0.99583544 -0.06020405] [ 0. 0. 0. 1. ]] SLAMing on 272.522414037 meters Centerline goodness : 0.828840 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.27, Z:-0.06 [[ 0.9845915 -0.15194045 -0.08656608 -9.44955596] [ 0.15503666 0.98744688 0.03020408 -4.2734684 ] [ 0.08089018 -0.0431596 0.99578814 -0.06141206] [ 0. 0. 0. 1. ]] SLAMing on 272.552414037 meters Centerline goodness : 0.823420 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.28, Z:-0.06 [[ 0.98462839 -0.15166468 -0.08663002 -9.44877273] [ 0.15481498 0.98746184 0.03084541 -4.2750351 ] [ 0.08086568 -0.04378289 0.99576292 -0.0622756 ] [ 0. 0. 0. 1. ]] SLAMing on 272.582414037 meters Centerline goodness : 0.826974 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.28, Z:-0.06 [[ 0.98459909 -0.15180428 -0.08671847 -9.44888329] [ 0.15496433 0.98743632 0.03091241 -4.27583863] [ 0.08093633 -0.0438746 0.99575315 -0.06197064] [ 0. 0. 0. 1. ]] SLAMing on 272.612414037 meters Centerline goodness : 0.825581 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.27, Z:-0.06 [[ 0.98458415 -0.15178802 -0.08691638 -9.44892129] [ 0.15491628 0.98745928 0.03041582 -4.27497871] [ 0.08120963 -0.0434117 0.99575118 -0.06087596] [ 0. 0. 0. 1. ]] SLAMing on 272.642414037 meters Centerline goodness : 0.830979 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.28, Z:-0.06 [[ 0.98506728 -0.14858564 -0.08697563 -9.45183441] [ 0.15199105 0.98780034 0.03389997 -4.27608332] [ 0.08087751 -0.04661327 0.99563348 -0.05919896] [ 0. 0. 0. 1. ]] SLAMing on 272.672414037 meters Centerline goodness : 0.831045 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.28, Z:-0.06 [[ 0.98506291 -0.14868756 -0.08685085 -9.45229571] [ 0.15207623 0.98779194 0.03376233 -4.27639765] [ 0.08077053 -0.04646597 0.99564905 -0.05871478] [ 0. 0. 0. 1. ]] SLAMing on 272.702414037 meters Centerline goodness : 0.825624 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.28, Z:-0.06 [[ 0.98507345 -0.14863978 -0.08681306 -9.45225551] [ 0.1520363 0.98779398 0.03388243 -4.27734528] [ 0.08071714 -0.04657542 0.99564827 -0.05863517] [ 0. 0. 0. 1. ]] SLAMing on 272.732414037 meters Centerline goodness : 0.826078 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.28, Z:-0.06 [[ 0.98513837 -0.14817002 -0.08687942 -9.45158734] [ 0.15158884 0.98785405 0.03413506 -4.27867867] [ 0.08076639 -0.04679771 0.99563385 -0.05854941] [ 0. 0. 0. 1. ]] SLAMing on 272.762414037 meters Centerline goodness : 0.824530 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.28, Z:-0.06 [[ 0.98517118 -0.14785425 -0.08704518 -9.45086195] [ 0.15129777 0.9878911 0.03435354 -4.27900649] [ 0.08091185 -0.04701386 0.99561186 -0.05880203] [ 0. 0. 0. 1. ]] SLAMing on 272.79241403699996 meters Centerline goodness : 0.821434 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.28, Z:-0.06 [[ 0.9852165 -0.14718961 -0.08765655 -9.44910062] [ 0.15065963 0.98798888 0.03434602 -4.27875758] [ 0.08154832 -0.04704456 0.99555848 -0.05858339] [ 0. 0. 0. 1. ]] SLAMing on 272.822414037 meters Centerline goodness : 0.823024 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.28, Z:-0.06 [[ 0.98525081 -0.14675566 -0.08799785 -9.44786693] [ 0.15025829 0.98804251 0.03456074 -4.2786529 ] [ 0.08187363 -0.04727341 0.99552094 -0.05897003] [ 0. 0. 0. 1. ]] SLAMing on 272.85241403699996 meters Centerline goodness : 0.817790 Centerline is valid? [False, False] Translation: X:-9.44, Y:-4.28, Z:-0.06 [[ 0.98538391 -0.14536982 -0.08880408 -9.44476042] [ 0.14893913 0.98822857 0.03494895 -4.27791953] [ 0.08267821 -0.04766454 0.99543579 -0.05961698] [ 0. 0. 0. 1. ]] SLAMing on 272.882414037 meters Centerline goodness : 0.820762 Centerline is valid? [False, False] Translation: X:-9.44, Y:-4.28, Z:-0.06 [[ 0.98600613 -0.14080097 -0.08925806 -9.44472456] [ 0.14474168 0.9886887 0.03930014 -4.27901282] [ 0.08271494 -0.05166954 0.99523289 -0.0598863 ] [ 0. 0. 0. 1. ]] SLAMing on 272.91241403699996 meters Centerline goodness : 0.820062 Centerline is valid? [False, False] Translation: X:-9.44, Y:-4.28, Z:-0.06 [[ 0.98669828 -0.1351556 -0.09032983 -9.44230196] [ 0.13954095 0.98923339 0.04410927 -4.28005276] [ 0.08339566 -0.05612725 0.99493462 -0.06075347] [ 0. 0. 0. 1. ]] SLAMing on 272.942414037 meters Centerline goodness : 0.820826 Centerline is valid? [False, False] Translation: X:-9.44, Y:-4.28, Z:-0.06 [[ 0.9867631 -0.13420853 -0.09103105 -9.43989102] [ 0.1386493 0.98934913 0.04432467 -4.2799577 ] [ 0.08411274 -0.05635934 0.99486113 -0.06102132] [ 0. 0. 0. 1. ]] SLAMing on 272.97241403699996 meters Centerline goodness : 0.816890 Centerline is valid? [False, False] Translation: X:-9.44, Y:-4.28, Z:-0.06 [[ 0.98682885 -0.13328693 -0.09167015 -9.43759255] [ 0.13778932 0.98945462 0.04465035 -4.28028168] [ 0.08475215 -0.05669342 0.99478788 -0.06139941] [ 0. 0. 0. 1. ]] SLAMing on 273.002414037 meters Centerline goodness : 0.813904 Centerline is valid? [False, False] Translation: X:-9.44, Y:-4.28, Z:-0.06 [[ 0.98691968 -0.13222806 -0.09222409 -9.43518975] [ 0.13679088 0.98957645 0.04501895 -4.28115821] [ 0.08531002 -0.0570455 0.99472007 -0.06173403] [ 0. 0. 0. 1. ]] SLAMing on 273.03241403699997 meters Centerline goodness : 0.813241 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.28, Z:-0.06 [[ 0.98694949 -0.13186117 -0.09243013 -9.43426561] [ 0.1364504 0.9896152 0.04519994 -4.28119192] [ 0.08551014 -0.05722219 0.99469274 -0.06207421] [ 0. 0. 0. 1. ]] SLAMing on 273.062414037 meters Centerline goodness : 0.812114 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.28, Z:-0.06 [[ 0.98697045 -0.13119257 -0.09315497 -9.43248789] [ 0.13580459 0.98971308 0.04500156 -4.28025695] [ 0.08629282 -0.05706608 0.99463411 -0.06150762] [ 0. 0. 0. 1. ]] SLAMing on 273.09241403699997 meters Centerline goodness : 0.812203 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.28, Z:-0.06 [[ 0.98696757 -0.13098165 -0.09348171 -9.43188965] [ 0.13558039 0.98976019 0.04464004 -4.27949344] [ 0.08667745 -0.05673255 0.99461975 -0.0607828 ] [ 0. 0. 0. 1. ]] SLAMing on 273.122414037 meters Centerline goodness : 0.813291 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.28, Z:-0.06 [[ 0.98697341 -0.13075775 -0.09373314 -9.43141637] [ 0.13532081 0.98982104 0.04407476 -4.27813109] [ 0.08701592 -0.05618467 0.99462129 -0.05992445] [ 0. 0. 0. 1. ]] SLAMing on 273.15241403699997 meters Centerline goodness : 0.810827 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.28, Z:-0.06 [[ 0.98696326 -0.13082266 -0.09374938 -9.43138281] [ 0.13536227 0.98982783 0.04379416 -4.27768605] [ 0.08706648 -0.05591335 0.99463216 -0.05970341] [ 0. 0. 0. 1. ]] SLAMing on 273.182414037 meters Centerline goodness : 0.808253 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.28, Z:-0.06 [[ 0.98693903 -0.13095091 -0.09382538 -9.4312796 ] [ 0.13546345 0.98982994 0.04343211 -4.27792717] [ 0.0871837 -0.05557475 0.99464086 -0.0591822 ] [ 0. 0. 0. 1. ]] SLAMing on 273.212414037 meters Centerline goodness : 0.812013 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.28, Z:-0.06 [[ 0.98693468 -0.13098058 -0.09382979 -9.43117804] [ 0.13548343 0.98983221 0.04331778 -4.27818986] [ 0.08720196 -0.0554642 0.99464543 -0.05904585] [ 0. 0. 0. 1. ]] SLAMing on 273.242414037 meters Centerline goodness : 0.810240 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.28, Z:-0.06 [[ 0.98693313 -0.13072133 -0.09420688 -9.43052346] [ 0.13520615 0.98988909 0.04288227 -4.27744326] [ 0.08764874 -0.05505928 0.99462866 -0.05807226] [ 0. 0. 0. 1. ]] SLAMing on 273.272414037 meters Centerline goodness : 0.809029 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.28, Z:-0.06 [[ 0.98692332 -0.13058145 -0.09450318 -9.43016018] [ 0.13506431 0.98991724 0.04267885 -4.27740943] [ 0.08797726 -0.05488476 0.9946093 -0.05730179] [ 0. 0. 0. 1. ]] SLAMing on 273.302414037 meters Centerline goodness : 0.806716 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.28, Z:-0.06 [[ 0.98692914 -0.13028919 -0.0948451 -9.42921946] [ 0.13481212 0.98994089 0.04292693 -4.27867474] [ 0.08829812 -0.05515211 0.99456608 -0.05717332] [ 0. 0. 0. 1. ]] SLAMing on 273.332414037 meters Centerline goodness : 0.811116 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.28, Z:-0.06 [[ 0.98691713 -0.13030111 -0.09495362 -9.42913372] [ 0.13482549 0.98994132 0.04287498 -4.27924627] [ 0.08841185 -0.05511622 0.99455797 -0.05676221] [ 0. 0. 0. 1. ]] SLAMing on 273.362414037 meters Centerline goodness : 0.807651 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.28, Z:-0.06 [[ 0.98690969 -0.13026536 -0.09507992 -9.4288348 ] [ 0.1347914 0.98994852 0.04281604 -4.27990176] [ 0.08854678 -0.05507152 0.99454844 -0.0564163 ] [ 0. 0. 0. 1. ]] SLAMing on 273.392414037 meters Centerline goodness : 0.812235 Centerline is valid? [False, False] Translation: X:-10.57, Y:-4.68, Z:-0.26 [[ 0.66621388 0.39156155 0.63469569 -10.57410581] [ -0.68363584 0.6607319 0.30996032 -4.67931895] [ -0.29799515 -0.64040058 0.70787427 -0.25632466] [ 0. 0. 0. 1. ]] SLAMing on 273.422414037 meters Centerline goodness : 0.807592 Centerline is valid? [False, False] Translation: X:-9.47, Y:-4.32, Z:0.43 [[ 0.93675427 0.34558797 -0.0553208 -9.47261966] [-0.29180095 0.68392164 -0.66865791 -4.31877777] [-0.19324504 0.64251081 0.74150941 0.43016696] [ 0. 0. 0. 1. ]] SLAMing on 273.452414037 meters Centerline goodness : 0.810664 Centerline is valid? [False, False] Translation: X:-9.47, Y:-4.32, Z:0.43 [[ 0.93671086 0.34563419 -0.05576527 -9.47001884] [-0.29263893 0.68553005 -0.66664159 -4.31996394] [-0.19218536 0.64076951 0.74328946 0.42616218] [ 0. 0. 0. 1. ]] SLAMing on 273.482414037 meters Centerline goodness : 0.811098 Centerline is valid? [False, False] Translation: X:-9.47, Y:-4.32, Z:0.42 [[ 0.93652652 0.34610089 -0.05596659 -9.4678082 ] [-0.29358257 0.68691314 -0.66480044 -4.32067704] [-0.19164384 0.63903405 0.74492155 0.42315939] [ 0. 0. 0. 1. ]] SLAMing on 273.512414037 meters Centerline goodness : 0.809461 Centerline is valid? [False, False] Translation: X:-9.46, Y:-4.32, Z:0.42 [[ 0.93585251 0.3480218 -0.05532542 -9.46491105] [-0.29613892 0.69161099 -0.65876853 -4.32265094] [-0.19100214 0.6328942 0.75030868 0.41680201] [ 0. 0. 0. 1. ]] SLAMing on 273.54241403699996 meters Centerline goodness : 0.809461 Centerline is valid? [False, False] Translation: X:-9.46, Y:-4.32, Z:0.42 [[ 0.93585251 0.3480218 -0.05532542 -9.46491105] [-0.29613892 0.69161099 -0.65876853 -4.32265094] [-0.19100214 0.6328942 0.75030868 0.41680201] [ 0. 0. 0. 1. ]] SLAMing on 273.572414037 meters Centerline goodness : 0.808990 Centerline is valid? [False, False] Translation: X:-9.46, Y:-4.32, Z:0.41 [[ 0.93492332 0.35058626 -0.05484212 -9.46252186] [-0.29870418 0.69411025 -0.65497082 -4.32395368] [-0.19155729 0.62872907 0.75366144 0.4131763 ] [ 0. 0. 0. 1. ]] SLAMing on 273.60241403699996 meters Centerline goodness : 0.812043 Centerline is valid? [False, False] Translation: X:-9.46, Y:-4.32, Z:0.41 [[ 0.93462112 0.35129492 -0.0554549 -9.45935583] [-0.30020983 0.69569036 -0.65260171 -4.32456807] [-0.19067622 0.62658344 0.75566909 0.41156728] [ 0. 0. 0. 1. ]] SLAMing on 273.632414037 meters Centerline goodness : 0.809709 Centerline is valid? [False, False] Translation: X:-9.46, Y:-4.33, Z:0.41 [[ 0.93337461 0.35461688 -0.05530555 -9.4556249 ] [-0.30356017 0.69780712 -0.64878074 -4.32555175] [-0.19147599 0.62234404 0.75896301 0.40781169] [ 0. 0. 0. 1. ]] SLAMing on 273.66241403699996 meters Centerline goodness : 0.811627 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.33, Z:0.40 [[ 0.9322004 0.3578174 -0.05448959 -9.45359947] [-0.306294 0.69967433 -0.64547642 -4.32657007] [-0.19283773 0.61840321 0.76183402 0.40419816] [ 0. 0. 0. 1. ]] SLAMing on 273.692414037 meters Centerline goodness : 0.816699 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.33, Z:0.40 [[ 0.93077609 0.36167665 -0.05334674 -9.45159912] [-0.30949472 0.70185508 -0.64157032 -4.32729264] [-0.19459932 0.61366884 0.76520694 0.40085382] [ 0. 0. 0. 1. ]] SLAMing on 273.72241403699996 meters Centerline goodness : 0.817438 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.33, Z:0.40 [[ 0.92972335 0.3645344 -0.05224137 -9.45100181] [-0.31182345 0.70381426 -0.63828804 -4.32889584] [-0.19590973 0.60972138 0.76802292 0.39803381] [ 0. 0. 0. 1. ]] SLAMing on 273.752414037 meters Centerline goodness : 0.820873 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.33, Z:0.39 [[ 0.92839089 0.36817987 -0.05033832 -9.45005293] [-0.31483782 0.70735825 -0.63286765 -4.33096543] [-0.1974019 0.60339696 0.7726219 0.39362756] [ 0. 0. 0. 1. ]] SLAMing on 273.78241403699997 meters Centerline goodness : 0.821181 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.33, Z:0.39 [[ 0.92822502 0.36857486 -0.05050629 -9.44902068] [-0.31542775 0.70775723 -0.63212739 -4.33141778] [-0.19724008 0.60268755 0.7732167 0.39296855] [ 0. 0. 0. 1. ]] SLAMing on 273.812414037 meters Centerline goodness : 0.824382 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.33, Z:0.39 [[ 0.92748495 0.37049226 -0.05007144 -9.44736887] [-0.3173072 0.70926793 -0.629488 -4.33300023] [-0.19770636 0.59972868 0.77539519 0.38930948] [ 0. 0. 0. 1. ]] SLAMing on 273.84241403699997 meters Centerline goodness : 0.825067 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.33, Z:0.39 [[ 0.92743094 0.37057424 -0.05046368 -9.44563318] [-0.31781003 0.70976834 -0.62866978 -4.33347071] [-0.19715131 0.59908566 0.77603333 0.38785022] [ 0. 0. 0. 1. ]] SLAMing on 273.872414037 meters Centerline goodness : 0.825193 Centerline is valid? [False, False] Translation: X:-9.44, Y:-4.34, Z:0.38 [[ 0.92689195 0.37193905 -0.05032549 -9.44210263] [-0.31993841 0.71286308 -0.62407183 -4.33545315] [-0.1962415 0.59454821 0.77974464 0.38255496] [ 0. 0. 0. 1. ]] SLAMing on 273.90241403699997 meters Centerline goodness : 0.825166 Centerline is valid? [False, False] Translation: X:-9.44, Y:-4.34, Z:0.38 [[ 0.92678599 0.37211724 -0.05095564 -9.43910531] [-0.32085173 0.7138707 -0.62244903 -4.33603827] [-0.19524828 0.59322625 0.78099982 0.38043558] [ 0. 0. 0. 1. ]] SLAMing on 273.932414037 meters Centerline goodness : 0.825851 Centerline is valid? [False, False] Translation: X:-9.44, Y:-4.34, Z:0.38 [[ 0.92673055 0.37217985 -0.05150381 -9.43617132] [-0.3218101 0.71550045 -0.62007852 -4.33705677] [-0.19392973 0.59122015 0.78284736 0.37838146] [ 0. 0. 0. 1. ]] SLAMing on 273.962414037 meters Centerline goodness : 0.826863 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.34, Z:0.38 [[ 0.926453 0.37284474 -0.05168783 -9.43359165] [-0.32308151 0.71720326 -0.61744459 -4.33817287] [-0.19314029 0.58873277 0.78491436 0.37609883] [ 0. 0. 0. 1. ]] SLAMing on 273.992414037 meters Centerline goodness : 0.827315 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.34, Z:0.37 [[ 0.92566823 0.37490838 -0.05081375 -9.43175053] [-0.32523239 0.71991168 -0.61314848 -4.33992932] [-0.19329309 0.58409835 0.78833172 0.37240483] [ 0. 0. 0. 1. ]] SLAMing on 274.022414037 meters Centerline goodness : 0.829536 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.34, Z:0.37 [[ 0.92474016 0.37730999 -0.04992813 -9.43075658] [-0.32748782 0.72197818 -0.60950737 -4.34196755] [-0.1939262 0.5799868 0.79120664 0.36967095] [ 0. 0. 0. 1. ]] SLAMing on 274.052414037 meters Centerline goodness : 0.832992 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.34, Z:0.37 [[ 0.9236705 0.38008584 -0.04865754 -9.43034404] [-0.32974335 0.72372456 -0.60621126 -4.34337892] [-0.19519766 0.57598396 0.7938138 0.36728787] [ 0. 0. 0. 1. ]] SLAMing on 274.082414037 meters Centerline goodness : 0.834778 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.34, Z:0.36 [[ 0.92278358 0.38262137 -0.0455121 -9.43122991] [-0.33121955 0.72731785 -0.60108432 -4.34317084] [-0.19688594 0.56974523 0.79788865 0.36120355] [ 0. 0. 0. 1. ]] SLAMing on 274.112414037 meters Centerline goodness : 0.834266 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.35, Z:0.36 [[ 0.92202564 0.38454433 -0.04465847 -9.43014408] [-0.33310607 0.72928458 -0.59764901 -4.34511547] [-0.19725381 0.56592372 0.80051313 0.35761732] [ 0. 0. 0. 1. ]] SLAMing on 274.142414037 meters Centerline goodness : 0.834862 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.35, Z:0.36 [[ 0.92199605 0.38457444 -0.04500868 -9.42886757] [-0.33359869 0.72996864 -0.5965381 -4.34700337] [-0.19655838 0.56502061 0.80132173 0.35518245] [ 0. 0. 0. 1. ]] SLAMing on 274.172414037 meters Centerline goodness : 0.833308 Centerline is valid? [False, False] Translation: X:-9.44, Y:-4.34, Z:0.35 [[ 0.92272181 0.3835984 -0.03790416 -9.43710822] [-0.3307961 0.7375344 -0.58874183 -4.33966448] [-0.1978848 0.55578348 0.80743193 0.34531555] [ 0. 0. 0. 1. ]] SLAMing on 274.202414037 meters Centerline goodness : 0.833516 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.34, Z:0.34 [[ 0.92278765 0.38341802 -0.03812574 -9.43499432] [-0.33142317 0.73937199 -0.58607827 -4.34194239] [-0.19652386 0.55346154 0.80935696 0.34168661] [ 0. 0. 0. 1. ]] SLAMing on 274.232414037 meters Centerline goodness : 0.834440 Centerline is valid? [False, False] Translation: X:-9.44, Y:-4.34, Z:0.34 [[ 0.92234875 0.38479892 -0.03467817 -9.43711323] [-0.33205929 0.74363771 -0.58029267 -4.34152477] [-0.19750799 0.54674743 0.81366937 0.33527154] [ 0. 0. 0. 1. ]] SLAMing on 274.262414037 meters Centerline goodness : 0.836372 Centerline is valid? [False, False] Translation: X:-9.44, Y:-4.34, Z:0.33 [[ 0.92187332 0.38598911 -0.03408794 -9.43571094] [-0.33398552 0.74689245 -0.57498291 -4.34479255] [-0.19647712 0.54144628 0.817455 0.33194531] [ 0. 0. 0. 1. ]] SLAMing on 274.29241403699996 meters Centerline goodness : 0.836513 Centerline is valid? [False, False] Translation: X:-9.44, Y:-4.34, Z:0.33 [[ 0.92201792 0.38607168 -0.02883786 -9.44158998] [-0.33272181 0.75211506 -0.56887532 -4.34071059] [-0.19793727 0.53410822 0.82191803 0.32547924] [ 0. 0. 0. 1. ]] SLAMing on 274.322414037 meters Centerline goodness : 0.835813 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.34, Z:0.32 [[ 0.92175384 0.38701373 -0.02429483 -9.44616413] [-0.33250259 0.75657835 -0.56305527 -4.33893641] [-0.19952918 0.52707644 0.82606206 0.31907734] [ 0. 0. 0. 1. ]] SLAMing on 274.35241403699996 meters Centerline goodness : 0.834809 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.34, Z:0.32 [[ 0.9218334 0.38685425 -0.02381114 -9.446001 ] [-0.33260997 0.75804394 -0.56101693 -4.34093802] [-0.19898189 0.52508397 0.8274618 0.31576626] [ 0. 0. 0. 1. ]] SLAMing on 274.382414037 meters Centerline goodness : 0.836819 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.34, Z:0.31 [[ 0.92203409 0.38666156 -0.01860042 -9.45200777] [-0.33110562 0.76283866 -0.55537937 -4.33766604] [-0.20055473 0.51823741 0.83138907 0.30820879] [ 0. 0. 0. 1. ]] SLAMing on 274.41241403699996 meters Centerline goodness : 0.839654 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.34, Z:0.31 [[ 0.92237537 0.38582742 -0.01899679 -9.45158995] [-0.33106693 0.76420948 -0.55351473 -4.34145232] [-0.19904363 0.51683756 0.8326227 0.3054058 ] [ 0. 0. 0. 1. ]] SLAMing on 274.442414037 meters Centerline goodness : 0.822509 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.34, Z:0.30 [[ 0.92244709 0.38566286 -0.01885529 -9.4509176 ] [-0.331278 0.7653912 -0.55175284 -4.34309252] [-0.19835891 0.51520915 0.83379451 0.30267164] [ 0. 0. 0. 1. ]] SLAMing on 274.47241403699996 meters Centerline goodness : 0.819216 Centerline is valid? [False, False] Translation: X:-9.47, Y:-4.33, Z:0.30 [[ 0.92450502 0.38101356 -0.01091498 -9.46661672] [-0.32571768 0.77481131 -0.54182601 -4.3323051 ] [-0.19798601 0.50447607 0.8404198 0.29511176] [ 0. 0. 0. 1. ]] SLAMing on 274.502414037 meters Centerline goodness : 0.819673 Centerline is valid? [False, False] Translation: X:-9.46, Y:-4.33, Z:0.29 [[ 0.92700438 0.37491534 -0.0100676 -9.45600399] [-0.32212445 0.7821529 -0.5333598 -4.33469751] [-0.19209037 0.49766989 0.84582857 0.28817289] [ 0. 0. 0. 1. ]] SLAMing on 274.53241403699997 meters Centerline goodness : 0.816653 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.34, Z:0.28 [[ 9.28954401e-01 3.70187346e-01 -2.24722460e-03 -9.44924319e+00] [-3.16983059e-01 7.92277734e-01 -5.21361423e-01 -4.33656367e+00] [-1.91220975e-01 4.85033320e-01 8.53333005e-01 2.75381313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.562414037 meters Centerline goodness : 0.821270 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.34, Z:0.27 [[ 9.28856023e-01 3.70439350e-01 1.08509560e-03 -9.45440624e+00] [-3.17462159e-01 7.97521381e-01 -5.13008211e-01 -4.33627980e+00] [-1.90903815e-01 4.76166290e-01 8.58383013e-01 2.67483885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.59241403699997 meters Centerline goodness : 0.820899 Centerline is valid? [False, False] Translation: X:-9.48, Y:-4.33, Z:0.26 [[ 9.30242299e-01 3.66869218e-01 7.49947011e-03 -9.47608572e+00] [-3.14440947e-01 8.07505633e-01 -4.99060661e-01 -4.32664953e+00] [-1.89145859e-01 4.61889196e-01 8.66534601e-01 2.61285753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.622414037 meters Centerline goodness : 0.846506 Centerline is valid? [False, False] Translation: X:-9.47, Y:-4.33, Z:0.25 [[ 0.93131734 0.36375839 0.01810679 -9.47457143] [-0.30998416 0.81777899 -0.48491993 -4.32918093] [-0.19120105 0.44600152 0.87437109 0.24735276] [ 0. 0. 0. 1. ]] SLAMing on 274.65241403699997 meters Centerline goodness : 0.821543 Centerline is valid? [False, False] Translation: X:-9.49, Y:-4.33, Z:0.24 [[ 0.93154267 0.36287928 0.02338562 -9.48659182] [-0.30905038 0.82396647 -0.47493907 -4.32580308] [-0.19161452 0.43519867 0.8797079 0.2397615 ] [ 0. 0. 0. 1. ]] SLAMing on 274.682414037 meters Centerline goodness : 0.828595 Centerline is valid? [False, False] Translation: X:-9.48, Y:-4.33, Z:0.23 [[ 0.93216431 0.36040935 0.03427537 -9.48241902] [-0.30453103 0.83177854 -0.46411779 -4.32912178] [-0.19578191 0.42219612 0.88511009 0.22680356] [ 0. 0. 0. 1. ]] SLAMing on 274.712414037 meters Centerline goodness : 0.830110 Centerline is valid? [False, False] Translation: X:-9.52, Y:-4.32, Z:0.22 [[ 0.93115631 0.36202725 0.04340741 -9.52270983] [-0.30665436 0.84196037 -0.44392098 -4.3208382 ] [-0.1972588 0.40004875 0.89501395 0.22050023] [ 0. 0. 0. 1. ]] SLAMing on 274.742414037 meters Centerline goodness : 0.827546 Centerline is valid? [False, False] Translation: X:-9.52, Y:-4.32, Z:0.21 [[ 0.93106631 0.36067699 0.05502394 -9.5195525 ] [-0.30372511 0.84977736 -0.43084742 -4.32387524] [-0.20215485 0.38443537 0.90074573 0.20730113] [ 0. 0. 0. 1. ]] SLAMing on 274.772414037 meters Centerline goodness : 0.839701 Centerline is valid? [False, False] Translation: X:-9.54, Y:-4.32, Z:0.20 [[ 0.93265737 0.35579433 0.05967094 -9.54288422] [-0.3025299 0.86144437 -0.4079084 -4.31681347] [-0.19653469 0.36238653 0.91107086 0.20144803] [ 0. 0. 0. 1. ]] SLAMing on 274.802414037 meters Centerline goodness : 0.839266 Centerline is valid? [False, False] Translation: X:-9.58, Y:-4.31, Z:0.20 [[ 0.93190291 0.35622623 0.06826307 -9.57965732] [-0.30387827 0.86955421 -0.38927301 -4.30869695] [-0.1980277 0.34202099 0.9185895 0.19558659] [ 0. 0. 0. 1. ]] SLAMing on 274.832414037 meters Centerline goodness : 0.838298 Centerline is valid? [False, False] Translation: X:-9.58, Y:-4.31, Z:0.18 [[ 0.93213228 0.35341506 0.07891268 -9.57663823] [-0.30057107 0.87664492 -0.37570031 -4.31212591] [-0.20195655 0.32648351 0.92337537 0.18337641] [ 0. 0. 0. 1. ]] SLAMing on 274.862414037 meters Centerline goodness : 0.840627 Centerline is valid? [False, False] Translation: X:-9.57, Y:-4.32, Z:0.17 [[ 0.93188321 0.35134635 0.09027422 -9.57376161] [-0.29785557 0.88313207 -0.36243593 -4.31574553] [-0.2070646 0.31085927 0.92762641 0.17110312] [ 0. 0. 0. 1. ]] SLAMing on 274.892414037 meters Centerline goodness : 0.837558 Centerline is valid? [False, False] Translation: X:-9.59, Y:-4.31, Z:0.16 [[ 0.93353442 0.34496266 0.09754099 -9.58518375] [-0.29426498 0.89278392 -0.34109382 -4.31422526] [-0.20474766 0.28971993 0.93495495 0.16289488] [ 0. 0. 0. 1. ]] SLAMing on 274.922414037 meters Centerline goodness : 0.839201 Centerline is valid? [False, False] Translation: X:-9.59, Y:-4.32, Z:0.16 [[ 0.93505227 0.34025963 0.09950194 -9.59009285] [-0.29333658 0.90021451 -0.32181904 -4.31529356] [-0.19907511 0.27173007 0.94155821 0.1566343 ] [ 0. 0. 0. 1. ]] SLAMing on 274.952414037 meters Centerline goodness : 0.839675 Centerline is valid? [False, False] Translation: X:-9.59, Y:-4.32, Z:0.15 [[ 0.93549654 0.33587728 0.10969354 -9.59210768] [-0.29003302 0.90726865 -0.30453974 -4.31706155] [-0.20180948 0.25308112 0.94616218 0.14562626] [ 0. 0. 0. 1. ]] SLAMing on 274.982414037 meters Centerline goodness : 0.841033 Centerline is valid? [False, False] Translation: X:-9.60, Y:-4.32, Z:0.14 [[ 0.93715461 0.33092867 0.11057781 -9.5959609 ] [-0.28879401 0.91354141 -0.28642647 -4.31831616] [-0.19580414 0.23649168 0.95169976 0.14129553] [ 0. 0. 0. 1. ]] SLAMing on 275.012414037 meters Centerline goodness : 0.841129 Centerline is valid? [False, False] Translation: X:-9.59, Y:-4.32, Z:0.13 [[ 0.93717506 0.32707276 0.12135204 -9.59466946] [-0.28545023 0.91891687 -0.27223142 -4.32008481] [-0.20055192 0.22048853 0.95454897 0.13070341] [ 0. 0. 0. 1. ]] SLAMing on 275.04241403699996 meters Centerline goodness : 0.839083 Centerline is valid? [False, False] Translation: X:-9.59, Y:-4.32, Z:0.12 [[ 0.93694687 0.32354574 0.13209361 -9.59394303] [-0.28285775 0.92407171 -0.25706607 -4.32331926] [-0.2052366 0.20349354 0.95732352 0.12019757] [ 0. 0. 0. 1. ]] SLAMing on 275.072414037 meters Centerline goodness : 0.835143 Centerline is valid? [False, False] Translation: X:-9.59, Y:-4.33, Z:0.11 [[ 0.93666581 0.3199308 0.14248317 -9.59208204] [-0.28018164 0.92861918 -0.2432379 -4.32633844] [-0.2101319 0.18791145 0.95944456 0.11049196] [ 0. 0. 0. 1. ]] SLAMing on 275.10241403699996 meters Centerline goodness : 0.837050 Centerline is valid? [False, False] Translation: X:-9.59, Y:-4.33, Z:0.10 [[ 0.93644597 0.31567607 0.15302799 -9.58952074] [-0.27679894 0.93286717 -0.23052373 -4.32759023] [-0.21552562 0.17351503 0.9609585 0.10080778] [ 0. 0. 0. 1. ]] SLAMing on 275.132414037 meters Centerline goodness : 0.836738 Centerline is valid? [False, False] Translation: X:-9.59, Y:-4.33, Z:0.09 [[ 0.93594361 0.31206661 0.1631686 -9.58603693] [-0.27437287 0.93667665 -0.21761524 -4.33049062] [-0.22074667 0.15890655 0.96229913 0.09093305] [ 0. 0. 0. 1. ]] SLAMing on 275.16241403699996 meters Centerline goodness : 0.831299 Centerline is valid? [False, False] Translation: X:-9.58, Y:-4.33, Z:0.08 [[ 0.9358516 0.30688464 0.17321544 -9.58319938] [-0.27024048 0.94046334 -0.20615236 -4.33215866] [-0.22616777 0.1461182 0.96306678 0.08171091] [ 0. 0. 0. 1. ]] SLAMing on 275.192414037 meters Centerline goodness : 0.831836 Centerline is valid? [False, False] Translation: X:-9.58, Y:-4.33, Z:0.08 [[ 0.93839176 0.30205978 0.16787136 -9.57559692] [-0.26727769 0.94231774 -0.20149421 -4.33281683] [-0.21905146 0.14421224 0.96499704 0.08382962] [ 0. 0. 0. 1. ]] SLAMing on 275.22241403699996 meters Centerline goodness : 0.830125 Centerline is valid? [False, False] Translation: X:-9.57, Y:-4.34, Z:0.07 [[ 0.93828917 0.29698085 0.17724507 -9.57122121] [-0.26344849 0.94576863 -0.19004367 -4.33596777] [-0.22407216 0.13162097 0.96564361 0.07334819] [ 0. 0. 0. 1. ]] SLAMing on 275.252414037 meters Centerline goodness : 0.832286 Centerline is valid? [False, False] Translation: X:-9.57, Y:-4.34, Z:0.07 [[ 0.93834855 0.29668482 0.17742636 -9.57136548] [-0.26315107 0.94587382 -0.18993215 -4.3356526 ] [-0.22417294 0.13153262 0.96563226 0.07253863] [ 0. 0. 0. 1. ]] SLAMing on 275.28241403699997 meters Centerline goodness : 0.829716 Centerline is valid? [False, False] Translation: X:-9.57, Y:-4.34, Z:0.07 [[ 0.93858993 0.29626438 0.17685122 -9.57040286] [-0.26282693 0.9459818 -0.18984318 -4.33578752] [-0.22354181 0.13170364 0.96575525 0.07182621] [ 0. 0. 0. 1. ]] SLAMing on 275.312414037 meters Centerline goodness : 0.828106 Centerline is valid? [False, False] Translation: X:-9.56, Y:-4.34, Z:0.07 [[ 0.94043587 0.29323233 0.1720325 -9.56284091] [-0.26091869 0.94693309 -0.18772096 -4.33640227] [-0.21794913 0.13165303 0.96703964 0.07194399] [ 0. 0. 0. 1. ]] SLAMing on 275.34241403699997 meters Centerline goodness : 0.827478 Centerline is valid? [False, False] Translation: X:-9.56, Y:-4.34, Z:0.07 [[ 0.94033063 0.29374651 0.1717303 -9.56118491] [-0.26153163 0.94681135 -0.18748195 -4.3360874 ] [-0.21766836 0.13138212 0.96713971 0.07105527] [ 0. 0. 0. 1. ]] SLAMing on 275.372414037 meters Centerline goodness : 0.827596 Centerline is valid? [False, False] Translation: X:-9.56, Y:-4.34, Z:0.07 [[ 0.94023472 0.29436129 0.17120191 -9.55919816] [-0.26221175 0.9466134 -0.18753152 -4.33545301] [-0.21726404 0.1314325 0.96722378 0.07082601] [ 0. 0. 0. 1. ]] SLAMing on 275.40241403699997 meters Centerline goodness : 0.820258 Centerline is valid? [False, False] Translation: X:-9.56, Y:-4.33, Z:0.07 [[ 0.93996358 0.29555885 0.17062662 -9.55618721] [-0.26346487 0.94623783 -0.18767052 -4.33438963] [-0.21692105 0.13144934 0.96729847 0.07042958] [ 0. 0. 0. 1. ]] SLAMing on 275.432414037 meters Centerline goodness : 0.820258 Centerline is valid? [False, False] Translation: X:-9.56, Y:-4.33, Z:0.07 [[ 0.93996358 0.29555885 0.17062662 -9.55618721] [-0.26346487 0.94623783 -0.18767052 -4.33438963] [-0.21692105 0.13144934 0.96729847 0.07042958] [ 0. 0. 0. 1. ]] SLAMing on 275.462414037 meters Centerline goodness : 0.818746 Centerline is valid? [False, False] Translation: X:-9.55, Y:-4.33, Z:0.07 [[ 0.93984907 0.29617415 0.17018987 -9.55433448] [-0.26417412 0.94606676 -0.18753593 -4.33406791] [-0.21655428 0.13129571 0.96740151 0.06987114] [ 0. 0. 0. 1. ]] SLAMing on 275.492414037 meters Centerline goodness : 0.814676 Centerline is valid? [False, False] Translation: X:-9.55, Y:-4.33, Z:0.07 [[ 0.9397042 0.29688761 0.16974619 -9.55231109] [-0.26501619 0.94588736 -0.18725255 -4.33392415] [-0.21615374 0.13097652 0.96753435 0.06906319] [ 0. 0. 0. 1. ]] SLAMing on 275.522414037 meters Centerline goodness : 0.814977 Centerline is valid? [False, False] Translation: X:-9.55, Y:-4.33, Z:0.07 [[ 0.93830394 0.30047612 0.17117188 -9.55147413] [-0.26945155 0.94551861 -0.18273045 -4.33413904] [-0.21675233 0.12533417 0.9681476 0.06706527] [ 0. 0. 0. 1. ]] SLAMing on 275.552414037 meters Centerline goodness : 0.814625 Centerline is valid? [False, False] Translation: X:-9.55, Y:-4.33, Z:0.07 [[ 0.93812517 0.30145016 0.17043757 -9.5486441 ] [-0.2705417 0.94521845 -0.1826726 -4.33361908] [-0.21616742 0.1252593 0.96828805 0.06670668] [ 0. 0. 0. 1. ]] SLAMing on 275.582414037 meters Centerline goodness : 0.814158 Centerline is valid? [False, False] Translation: X:-9.55, Y:-4.33, Z:0.06 [[ 0.9366445 0.30531797 0.17169161 -9.54725373] [-0.2753019 0.94471597 -0.17810277 -4.33399096] [-0.21657778 0.11955195 0.96891764 0.06488457] [ 0. 0. 0. 1. ]] SLAMing on 275.612414037 meters Centerline goodness : 0.815299 Centerline is valid? [False, False] Translation: X:-9.55, Y:-4.34, Z:0.06 [[ 0.93514534 0.30864704 0.1738971 -9.54848218] [-0.27954812 0.94442574 -0.17295336 -4.3365772 ] [-0.21761444 0.11312392 0.96945703 0.06180882] [ 0. 0. 0. 1. ]] SLAMing on 275.642414037 meters Centerline goodness : 0.810829 Centerline is valid? [False, False] Translation: X:-9.59, Y:-4.33, Z:0.06 [[ 0.93321626 0.30968045 0.18222356 -9.58650162] [-0.28540389 0.94696038 -0.14768432 -4.33198782] [-0.21829344 0.0858141 0.97210283 0.05509368] [ 0. 0. 0. 1. ]] SLAMing on 275.672414037 meters Centerline goodness : 0.808144 Centerline is valid? [False, False] Translation: X:-9.59, Y:-4.33, Z:0.05 [[ 0.93194936 0.31238618 0.18407953 -9.58724882] [-0.28913418 0.94660857 -0.14259607 -4.3345901 ] [-0.21879631 0.07966863 0.97251277 0.05186553] [ 0. 0. 0. 1. ]] SLAMing on 275.702414037 meters Centerline goodness : 0.808180 Centerline is valid? [False, False] Translation: X:-9.59, Y:-4.34, Z:0.05 [[ 0.93039426 0.315122 0.18725555 -9.58927027] [-0.29361373 0.94649191 -0.1339554 -4.33954022] [-0.21944816 0.06965054 0.97313478 0.04704142] [ 0. 0. 0. 1. ]] SLAMing on 275.732414037 meters Centerline goodness : 0.805360 Centerline is valid? [False, False] Translation: X:-9.59, Y:-4.34, Z:0.04 [[ 0.92872018 0.31891405 0.1891366 -9.58868825] [-0.29841537 0.94565059 -0.1292023 -4.34074178] [-0.22006157 0.06355152 0.97341364 0.04253907] [ 0. 0. 0. 1. ]] SLAMing on 275.762414037 meters Centerline goodness : 0.804398 Centerline is valid? [False, False] Translation: X:-9.59, Y:-4.34, Z:0.04 [[ 0.92842957 0.3197887 0.18908652 -9.58778161] [-0.29922689 0.94534424 -0.1295667 -4.33915394] [-0.22018582 0.06371378 0.97337493 0.041924 ] [ 0. 0. 0. 1. ]] SLAMing on 275.79241403699996 meters Centerline goodness : 0.803082 Centerline is valid? [False, False] Translation: X:-9.59, Y:-4.34, Z:0.04 [[ 0.92691386 0.32259897 0.19173054 -9.58795147] [-0.30359613 0.94493361 -0.12218784 -4.34211859] [-0.2205903 0.05504895 0.97381186 0.03725583] [ 0. 0. 0. 1. ]] SLAMing on 275.822414037 meters Centerline goodness : 0.803090 Centerline is valid? [False, False] Translation: X:-9.59, Y:-4.34, Z:0.03 [[ 0.92497557 0.32712589 0.19341369 -9.58764242] [-0.30884788 0.94364015 -0.11898009 -4.34184994] [-0.22143439 0.05031827 0.97387622 0.03467291] [ 0. 0. 0. 1. ]] SLAMing on 275.85241403699996 meters Centerline goodness : 0.804862 Centerline is valid? [False, False] Translation: X:-9.59, Y:-4.34, Z:0.03 [[ 0.92369793 0.32999492 0.19464197 -9.58682967] [-0.31260987 0.94288959 -0.11504039 -4.34282171] [-0.22148863 0.04541557 0.97410483 0.03146923] [ 0. 0. 0. 1. ]] SLAMing on 275.882414037 meters Centerline goodness : 0.803419 Centerline is valid? [False, False] Translation: X:-9.59, Y:-4.34, Z:0.03 [[ 0.92186332 0.33401968 0.19646594 -9.58691153] [-0.31741632 0.94169395 -0.11162162 -4.34343755] [-0.2222946 0.04053838 0.97413641 0.02801913] [ 0. 0. 0. 1. ]] SLAMing on 275.91241403699996 meters Centerline goodness : 0.804727 Centerline is valid? [False, False] Translation: X:-9.59, Y:-4.34, Z:0.03 [[ 0.92139697 0.33542475 0.1962597 -9.58548931] [-0.31904847 0.94123976 -0.11079613 -4.34386957] [-0.2218912 0.03947086 0.97427221 0.02655528] [ 0. 0. 0. 1. ]] SLAMing on 275.942414037 meters Centerline goodness : 0.802112 Centerline is valid? [False, False] Translation: X:-9.58, Y:-4.34, Z:0.03 [[ 0.92097719 0.33668609 0.19607011 -9.58447962] [-0.3204056 0.94081008 -0.11052893 -4.34399193] [-0.22167829 0.03897266 0.97434073 0.02532907] [ 0. 0. 0. 1. ]] SLAMing on 275.97241403699996 meters Centerline goodness : 0.802846 Centerline is valid? [False, False] Translation: X:-9.58, Y:-4.34, Z:0.02 [[ 0.92012028 0.3388573 0.19635276 -9.58361193] [-0.32279906 0.94008764 -0.10970863 -4.34472407] [-0.22176437 0.03756265 0.97437652 0.02274028] [ 0. 0. 0. 1. ]] SLAMing on 276.002414037 meters Centerline goodness : 0.804010 Centerline is valid? [False, False] Translation: X:-9.58, Y:-4.35, Z:0.02 [[ 0.9198459 0.33971007 0.19616471 -9.58241706] [-0.32378286 0.93980313 -0.1092462 -4.34508788] [-0.22146825 0.0369749 0.97446635 0.02081929] [ 0. 0. 0. 1. ]] SLAMing on 276.03241403699997 meters Centerline goodness : 0.802766 Centerline is valid? [False, False] Translation: X:-9.58, Y:-4.35, Z:0.02 [[ 0.91913588 0.34155742 0.1962849 -9.58138813] [-0.32585879 0.93918377 -0.10839695 -4.34547575] [-0.22137137 0.03567036 0.97453699 0.01866051] [ 0. 0. 0. 1. ]] SLAMing on 276.062414037 meters Centerline goodness : 0.802239 Centerline is valid? [False, False] Translation: X:-9.58, Y:-4.35, Z:0.02 [[ 0.91900347 0.34213947 0.19589081 -9.57980186] [-0.32673514 0.93901451 -0.10721893 -4.34586973] [-0.22062814 0.03453015 0.97474658 0.01763184] [ 0. 0. 0. 1. ]] SLAMing on 276.09241403699997 meters Centerline goodness : 0.804508 Centerline is valid? [False, False] Translation: X:-9.58, Y:-4.35, Z:0.02 [[ 0.91881019 0.3428626 0.1955328 -9.57820249] [-0.32781497 0.93880293 -0.1057658 -4.34659301] [-0.2198299 0.03308011 0.97497719 0.01655684] [ 0. 0. 0. 1. ]] SLAMing on 276.122414037 meters Centerline goodness : 0.805151 Centerline is valid? [False, False] Translation: X:-9.58, Y:-4.35, Z:0.02 [[ 0.91892096 0.34284752 0.19503807 -9.576405 ] [-0.32815314 0.93885225 -0.1042687 -4.34743177] [-0.21886019 0.03181234 0.9752375 0.01551688] [ 0. 0. 0. 1. ]] SLAMing on 276.15241403699997 meters Centerline goodness : 0.803107 Centerline is valid? [False, False] Translation: X:-9.57, Y:-4.35, Z:0.01 [[ 0.91906889 0.34287866 0.19428482 -9.5743479 ] [-0.32844096 0.93886575 -0.10323588 -4.3478394 ] [-0.21780474 0.0310698 0.9754977 0.01449233] [ 0. 0. 0. 1. ]] SLAMing on 276.182414037 meters Centerline goodness : 0.803558 Centerline is valid? [False, False] Translation: X:-9.57, Y:-4.35, Z:0.01 [[ 0.91929831 0.34276163 0.19340393 -9.5721312 ] [-0.32854195 0.93892488 -0.10237311 -4.34800973] [-0.21668133 0.03057013 0.97576363 0.01358606] [ 0. 0. 0. 1. ]] SLAMing on 276.212414037 meters Centerline goodness : 0.804162 Centerline is valid? [False, False] Translation: X:-9.57, Y:-4.35, Z:0.01 [[ 0.91936856 0.34308169 0.19250039 -9.56930089] [-0.32918272 0.93884016 -0.10108354 -4.34718553] [-0.21540701 0.02956523 0.9760767 0.01252415] [ 0. 0. 0. 1. ]] SLAMing on 276.242414037 meters Centerline goodness : 0.807081 Centerline is valid? [False, False] Translation: X:-9.57, Y:-4.35, Z:0.01 [[ 0.91945559 0.34328452 0.19172154 -9.5662907 ] [-0.32979891 0.938811 -0.09933071 -4.34652171] [-0.21408898 0.02810063 0.97640988 0.01108536] [ 0. 0. 0. 1. ]] SLAMing on 276.272414037 meters Centerline goodness : 0.809062 Centerline is valid? [False, False] Translation: X:-9.56, Y:-4.35, Z:0.01 [[ 0.91985636 0.34249847 0.19120429 -9.56466216] [-0.329253 0.93911877 -0.09822623 -4.34652106] [-0.21320587 0.02739944 0.97662302 0.01039738] [ 0. 0. 0. 1. ]] SLAMing on 276.302414037 meters Centerline goodness : 0.811960 Centerline is valid? [False, False] Translation: X:-9.56, Y:-4.34, Z:0.00 [[ 9.21440859e-01 3.33837351e-01 1.98744475e-01 -9.56027257e+00] [-3.20066822e-01 9.42232441e-01 -9.87687070e-02 -4.34281858e+00] [-2.20236175e-01 2.73980099e-02 9.75061730e-01 2.62800522e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.332414037 meters Centerline goodness : 0.814269 Centerline is valid? [False, False] Translation: X:-9.56, Y:-4.34, Z:0.00 [[ 9.23377042e-01 3.29330649e-01 1.97271796e-01 -9.55939496e+00] [-3.14950652e-01 9.43694401e-01 -1.01227286e-01 -4.34121409e+00] [-2.19501537e-01 3.13400713e-02 9.75108648e-01 3.76189371e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.362414037 meters Centerline goodness : 0.812813 Centerline is valid? [False, False] Translation: X:-9.56, Y:-4.34, Z:0.00 [[ 9.24151286e-01 3.27775726e-01 1.96233215e-01 -9.55720707e+00] [-3.13800913e-01 9.44269577e-01 -9.94180770e-02 -4.34310992e+00] [-2.17883887e-01 3.02991817e-02 9.75504265e-01 2.74538790e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.392414037 meters Centerline goodness : 0.819020 Centerline is valid? [False, False] Translation: X:-9.55, Y:-4.35, Z:0.00 [[ 9.25395668e-01 3.25183904e-01 1.94674820e-01 -9.55399465e+00] [-3.11715966e-01 9.45200637e-01 -9.71025885e-02 -4.34517258e+00] [-2.15582962e-01 2.91750653e-02 9.76049590e-01 1.55620393e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.422414037 meters Centerline goodness : 0.823173 Centerline is valid? [False, False] Translation: X:-9.55, Y:-4.34, Z:0.00 [[ 9.27675188e-01 3.15552817e-01 1.99612538e-01 -9.54752094e+00] [-2.99651240e-01 9.48117685e-01 -1.06216706e-01 -4.33725131e+00] [-2.22773158e-01 3.87204585e-02 9.74101045e-01 2.09082681e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.452414037 meters Centerline goodness : 0.825532 Centerline is valid? [False, False] Translation: X:-9.54, Y:-4.34, Z:0.00 [[ 9.28317929e-01 3.14377108e-01 1.98476336e-01 -9.54494340e+00] [-2.99051387e-01 9.48577664e-01 -1.03772265e-01 -4.33861059e+00] [-2.20893844e-01 3.69790305e-02 9.74596563e-01 1.87142599e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.482414037 meters Centerline goodness : 0.827870 Centerline is valid? [False, False] Translation: X:-9.54, Y:-4.33, Z:0.00 [[ 9.31270180e-01 3.03645168e-01 2.01334207e-01 -9.53555324e+00] [-2.86177582e-01 9.51661254e-01 -1.11549313e-01 -4.33160595e+00] [-2.25473374e-01 4.62652126e-02 9.73150188e-01 3.45910232e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.512414037 meters Centerline goodness : 0.826750 Centerline is valid? [False, False] Translation: X:-9.53, Y:-4.33, Z:0.00 [[ 9.31717192e-01 3.02862506e-01 2.00442949e-01 -9.53351335e+00] [-2.85932202e-01 9.51992279e-01 -1.09331955e-01 -4.33347695e+00] [-2.23932690e-01 4.45533679e-02 9.73585717e-01 2.88488039e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.54241403699996 meters Centerline goodness : 0.826591 Centerline is valid? [False, False] Translation: X:-9.53, Y:-4.33, Z:0.00 [[ 9.33398337e-01 2.99139520e-01 1.98199628e-01 -9.53174725e+00] [-2.81448255e-01 9.52925038e-01 -1.12786313e-01 -4.33169364e+00] [-2.22608231e-01 4.94916173e-02 9.73650941e-01 4.87385587e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.572414037 meters Centerline goodness : 0.828017 Centerline is valid? [False, False] Translation: X:-9.53, Y:-4.33, Z:0.00 [[ 9.33530683e-01 2.98780667e-01 1.98117585e-01 -9.53152656e+00] [-2.81131245e-01 9.53041939e-01 -1.12589011e-01 -4.33235173e+00] [-2.22453788e-01 4.94082532e-02 9.73690473e-01 4.26859314e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.60241403699996 meters Centerline goodness : 0.827458 Centerline is valid? [False, False] Translation: X:-9.53, Y:-4.33, Z:0.00 [[ 9.33733901e-01 2.98344937e-01 1.97816333e-01 -9.53105919e+00] [-2.80695360e-01 9.53166939e-01 -1.12618388e-01 -4.33249216e+00] [-2.22151114e-01 4.96294802e-02 9.73748323e-01 4.02993526e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.632414037 meters Centerline goodness : 0.829084 Centerline is valid? [False, False] Translation: X:-9.53, Y:-4.33, Z:0.00 [[ 9.33894678e-01 2.98281129e-01 1.97152476e-01 -9.52930384e+00] [-2.80734318e-01 9.53191517e-01 -1.12312846e-01 -4.33208047e+00] [-2.21424870e-01 4.95409033e-02 9.73918234e-01 3.63161586e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.66241403699996 meters Centerline goodness : 0.829890 Centerline is valid? [False, False] Translation: X:-9.53, Y:-4.33, Z:0.00 [[ 9.34033341e-01 2.98156947e-01 1.96682872e-01 -9.52807195e+00] [-2.80594120e-01 9.53213112e-01 -1.12479789e-01 -4.33070686e+00] [-2.21017323e-01 4.98718158e-02 9.73993914e-01 3.87200990e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.692414037 meters Centerline goodness : 0.825378 Centerline is valid? [False, False] Translation: X:-9.53, Y:-4.33, Z:0.00 [[ 9.32865536e-01 3.00953620e-01 1.97961641e-01 -9.52768829e+00] [-2.84372768e-01 9.52596366e-01 -1.08130901e-01 -4.33093343e+00] [-2.21119926e-01 4.45766912e-02 9.74227333e-01 2.52067112e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.72241403699996 meters Centerline goodness : 0.825935 Centerline is valid? [False, False] Translation: X:-9.53, Y:-4.33, Z:0.00 [[ 9.32970069e-01 3.01077745e-01 1.97279095e-01 -9.52576517e+00] [-2.84615846e-01 9.52566043e-01 -1.07757850e-01 -4.32946057e+00] [-2.20364857e-01 4.43860925e-02 9.74407104e-01 2.59619685e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.752414037 meters Centerline goodness : 0.828222 Centerline is valid? [False, False] Translation: X:-9.52, Y:-4.33, Z:-0.00 [[ 9.31559027e-01 3.04514576e-01 1.98667191e-01 -9.52493207e+00] [-2.89059463e-01 9.51714533e-01 -1.03363797e-01 -4.33059154e+00] [-2.20550236e-01 3.88628466e-02 9.74601084e-01 -4.00626393e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.78241403699997 meters Centerline goodness : 0.829196 Centerline is valid? [False, False] Translation: X:-9.52, Y:-4.33, Z:-0.00 [[ 9.31432400e-01 3.04949000e-01 1.98594539e-01 -9.52395349e+00] [-2.89552629e-01 9.51586859e-01 -1.03158732e-01 -4.32944090e+00] [-2.20438106e-01 3.85818140e-02 9.74637617e-01 -1.20614612e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.812414037 meters Centerline goodness : 0.827777 Centerline is valid? [False, False] Translation: X:-9.52, Y:-4.33, Z:-0.00 [[ 9.30762619e-01 3.06741465e-01 1.98973920e-01 -9.52370393e+00] [-2.91319174e-01 9.51023779e-01 -1.03377515e-01 -4.32874070e+00] [-2.20939100e-01 3.82550082e-02 9.74537053e-01 -2.01366224e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.84241403699997 meters Centerline goodness : 0.827070 Centerline is valid? [False, False] Translation: X:-9.52, Y:-4.33, Z:-0.00 [[ 9.30490280e-01 3.07486079e-01 1.99098343e-01 -9.52303190e+00] [-2.92126916e-01 9.50800814e-01 -1.03148811e-01 -4.32850686e+00] [-2.21019690e-01 3.78169813e-02 9.74535876e-01 -3.27051847e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.872414037 meters Centerline goodness : 0.825780 Centerline is valid? [False, False] Translation: X:-9.52, Y:-4.33, Z:-0.01 [[ 9.29733940e-01 3.09164177e-01 2.00030777e-01 -9.52162978e+00] [-2.94956470e-01 9.50463912e-01 -9.80766679e-02 -4.33065381e+00] [-2.20443827e-01 3.21848350e-02 9.74868532e-01 -6.76700199e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.90241403699997 meters Centerline goodness : 0.824602 Centerline is valid? [False, False] Translation: X:-9.52, Y:-4.33, Z:-0.01 [[ 0.92824444 0.31279394 0.20130128 -9.52101823] [-0.29926619 0.94940292 -0.09525672 -4.33232049] [-0.22091175 0.02817885 0.97488664 -0.01054763] [ 0. 0. 0. 1. ]] SLAMing on 276.932414037 meters Centerline goodness : 0.820852 Centerline is valid? [False, False] Translation: X:-9.52, Y:-4.34, Z:-0.01 [[ 0.92730562 0.32080539 0.19284242 -9.52018915] [-0.31014138 0.94697252 -0.08399627 -4.33935215] [-0.20956293 0.0180818 0.97762796 -0.01266371] [ 0. 0. 0. 1. ]] SLAMing on 276.962414037 meters Centerline goodness : 0.822482 Centerline is valid? [False, False] Translation: X:-9.52, Y:-4.34, Z:-0.01 [[ 0.9253698 0.32535006 0.19452013 -9.5228146 ] [-0.31459151 0.94543674 -0.08474403 -4.33918555] [-0.21147795 0.01722519 0.97723097 -0.01303874] [ 0. 0. 0. 1. ]] SLAMing on 276.992414037 meters Centerline goodness : 0.825989 Centerline is valid? [False, False] Translation: X:-9.52, Y:-4.34, Z:-0.01 [[ 0.92453231 0.32757293 0.19477164 -9.52197447] [-0.31712719 0.94469985 -0.08350171 -4.3398139 ] [-0.21135364 0.01543264 0.97728782 -0.01455719] [ 0. 0. 0. 1. ]] SLAMing on 277.022414037 meters Centerline goodness : 0.826233 Centerline is valid? [False, False] Translation: X:-9.52, Y:-4.34, Z:-0.01 [[ 0.92332903 0.33005103 0.19629014 -9.52456635] [-0.31960192 0.94385156 -0.08365903 -4.33971781] [-0.21288051 0.01451011 0.97697049 -0.01351597] [ 0. 0. 0. 1. ]] SLAMing on 277.052414037 meters Centerline goodness : 0.823086 Centerline is valid? [False, False] Translation: X:-9.53, Y:-4.34, Z:-0.02 [[ 9.22027976e-01 3.32486596e-01 1.98285337e-01 -9.52617956e+00] [-3.23139190e-01 9.43069369e-01 -7.87478849e-02 -4.34184797e+00] [-2.13179444e-01 8.53398979e-03 9.76975791e-01 -1.54594075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.082414037 meters Centerline goodness : 0.823238 Centerline is valid? [False, False] Translation: X:-9.52, Y:-4.34, Z:-0.02 [[ 9.21865681e-01 3.33170887e-01 1.97890946e-01 -9.52432184e+00] [-3.24196131e-01 9.42840909e-01 -7.71225535e-02 -4.34263169e+00] [-2.12274669e-01 6.94115623e-03 9.77185389e-01 -1.67145905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.112414037 meters Centerline goodness : 0.822956 Centerline is valid? [False, False] Translation: X:-9.52, Y:-4.34, Z:-0.02 [[ 9.21841306e-01 3.33194810e-01 1.97964202e-01 -9.52436835e+00] [-3.24255237e-01 9.42833810e-01 -7.69606909e-02 -4.34277642e+00] [-2.12290246e-01 6.75461448e-03 9.77183313e-01 -1.69068450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.142414037 meters Centerline goodness : 0.824035 Centerline is valid? [False, False] Translation: X:-9.53, Y:-4.34, Z:-0.02 [[ 9.21918969e-01 3.32823213e-01 1.98227456e-01 -9.52531077e+00] [-3.23940431e-01 9.42967161e-01 -7.66520041e-02 -4.34331412e+00] [-2.12433548e-01 6.45304893e-03 9.77154208e-01 -1.72028561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.172414037 meters Centerline goodness : 0.823794 Centerline is valid? [False, False] Translation: X:-9.52, Y:-4.35, Z:-0.04 [[ 0.92360746 0.32946296 0.19596791 -9.51501392] [-0.32543842 0.94405711 -0.053348 -4.351892 ] [-0.20258109 -0.01450288 0.97915809 -0.03645669] [ 0. 0. 0. 1. ]] SLAMing on 277.202414037 meters Centerline goodness : 0.823332 Centerline is valid? [False, False] Translation: X:-9.51, Y:-4.35, Z:-0.04 [[ 0.92476057 0.32729585 0.19415282 -9.5119585 ] [-0.32330726 0.94481919 -0.05281198 -4.35282808] [-0.20072446 -0.01393258 0.97954866 -0.03662421] [ 0. 0. 0. 1. ]] SLAMing on 277.23241403699996 meters Centerline goodness : 0.825342 Centerline is valid? [False, False] Translation: X:-9.51, Y:-4.35, Z:-0.04 [[ 0.92579629 0.32515411 0.19281089 -9.50878806] [-0.32145394 0.94554684 -0.05107377 -4.35429385] [-0.19891858 -0.01469591 0.97990583 -0.03805969] [ 0. 0. 0. 1. ]] SLAMing on 277.262414037 meters Centerline goodness : 0.826026 Centerline is valid? [False, False] Translation: X:-9.50, Y:-4.36, Z:-0.04 [[ 0.92847228 0.31889683 0.19037864 -9.50486772] [-0.31535047 0.94768458 -0.04947742 -4.35676914] [-0.1961971 -0.01409758 0.98046313 -0.03820945] [ 0. 0. 0. 1. ]] SLAMing on 277.29241403699996 meters Centerline goodness : 0.826501 Centerline is valid? [False, False] Translation: X:-9.50, Y:-4.35, Z:-0.04 [[ 9.29927061e-01 3.10050744e-01 1.97747811e-01 -9.50229930e+00] [-3.04548574e-01 9.50701876e-01 -5.84474889e-02 -4.35230675e+00] [-2.06120902e-01 -5.87191233e-03 9.78508914e-01 -3.84275176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.322414037 meters Centerline goodness : 0.830020 Centerline is valid? [False, False] Translation: X:-9.50, Y:-4.35, Z:-0.04 [[ 9.31875200e-01 3.05215238e-01 1.96092506e-01 -9.50204816e+00] [-2.99119925e-01 9.52281154e-01 -6.07278639e-02 -4.35351092e+00] [-2.05270267e-01 -2.06438540e-03 9.78703150e-01 -3.62299469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.35241403699996 meters Centerline goodness : 0.830020 Centerline is valid? [False, False] Translation: X:-9.50, Y:-4.35, Z:-0.04 [[ 9.31875200e-01 3.05215238e-01 1.96092506e-01 -9.50204816e+00] [-2.99119925e-01 9.52281154e-01 -6.07278639e-02 -4.35351092e+00] [-2.05270267e-01 -2.06438540e-03 9.78703150e-01 -3.62299469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.382414037 meters Centerline goodness : 0.828680 Centerline is valid? [False, False] Translation: X:-9.50, Y:-4.35, Z:-0.04 [[ 9.33172943e-01 2.97401468e-01 2.01843072e-01 -9.49696678e+00] [-2.89052879e-01 9.54724549e-01 -7.03524585e-02 -4.34861648e+00] [-2.13627460e-01 7.30768965e-03 9.76887868e-01 -3.72899801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.41241403699996 meters Centerline goodness : 0.827415 Centerline is valid? [False, False] Translation: X:-9.50, Y:-4.35, Z:-0.04 [[ 0.93450896 0.29437396 0.20009241 -9.49617842] [-0.2853173 0.95562154 -0.07335873 -4.34827251] [-0.21280752 0.01146456 0.97702688 -0.03513006] [ 0. 0. 0. 1. ]] SLAMing on 277.442414037 meters Centerline goodness : 0.825543 Centerline is valid? [False, False] Translation: X:-9.50, Y:-4.35, Z:-0.03 [[ 0.93637806 0.2896728 0.19820644 -9.49524528] [-0.28007102 0.95700517 -0.07550718 -4.3494176 ] [-0.21155696 0.01519138 0.9772476 -0.0337719 ] [ 0. 0. 0. 1. ]] SLAMing on 277.47241403699996 meters Centerline goodness : 0.830389 Centerline is valid? [False, False] Translation: X:-9.49, Y:-4.35, Z:-0.03 [[ 0.93778952 0.28624017 0.19651307 -9.49479026] [-0.27583932 0.95795161 -0.07900243 -4.34821589] [-0.21086368 0.01988162 0.97731327 -0.03109077] [ 0. 0. 0. 1. ]] SLAMing on 277.502414037 meters Centerline goodness : 0.827683 Centerline is valid? [False, False] Translation: X:-9.49, Y:-4.35, Z:-0.03 [[ 0.93969308 0.28143001 0.19435553 -9.49335975] [-0.27066534 0.95930632 -0.08044659 -4.34940022] [-0.20908657 0.0229898 0.97762686 -0.02935782] [ 0. 0. 0. 1. ]] SLAMing on 277.53241403699997 meters Centerline goodness : 0.828524 Centerline is valid? [False, False] Translation: X:-9.48, Y:-4.35, Z:-0.03 [[ 0.94162427 0.27392175 0.19573097 -9.48174743] [-0.26312651 0.96146375 -0.07969881 -4.34954994] [-0.21001947 0.02354433 0.97741367 -0.03438678] [ 0. 0. 0. 1. ]] SLAMing on 277.562414037 meters Centerline goodness : 0.828310 Centerline is valid? [False, False] Translation: X:-9.48, Y:-4.35, Z:-0.03 [[ 0.94294766 0.27051608 0.19408956 -9.48111976] [-0.25883687 0.96228803 -0.08369726 -4.34757585] [-0.20941151 0.0286846 0.97740678 -0.03225298] [ 0. 0. 0. 1. ]] SLAMing on 277.59241403699997 meters Centerline goodness : 0.825476 Centerline is valid? [False, False] Translation: X:-9.48, Y:-4.35, Z:-0.03 [[ 0.94462803 0.26598438 0.19217232 -9.48059568] [-0.25343893 0.96337542 -0.08761566 -4.34562301] [-0.20843848 0.03406026 0.97744222 -0.02950878] [ 0. 0. 0. 1. ]] SLAMing on 277.622414037 meters Centerline goodness : 0.826100 Centerline is valid? [False, False] Translation: X:-9.48, Y:-4.34, Z:-0.03 [[ 0.94646353 0.26126156 0.18960271 -9.47850173] [-0.24820969 0.96451407 -0.09002526 -4.34283086] [-0.20639463 0.03814439 0.97772504 -0.02708308] [ 0. 0. 0. 1. ]] SLAMing on 277.65241403699997 meters Centerline goodness : 0.827409 Centerline is valid? [False, False] Translation: X:-9.48, Y:-4.34, Z:-0.03 [[ 0.94660846 0.2606184 0.18976426 -9.47926201] [-0.24753822 0.96468238 -0.09007076 -4.3425078 ] [-0.20653633 0.03828784 0.97768951 -0.02728883] [ 0. 0. 0. 1. ]] SLAMing on 277.682414037 meters Centerline goodness : 0.821903 Centerline is valid? [False, False] Translation: X:-9.48, Y:-4.34, Z:-0.03 [[ 0.94688685 0.25917779 0.19034747 -9.48135095] [-0.24596238 0.96504814 -0.09046879 -4.34073246] [-0.20714198 0.03884539 0.97753938 -0.02734385] [ 0. 0. 0. 1. ]] SLAMing on 277.712414037 meters Centerline goodness : 0.821087 Centerline is valid? [False, False] Translation: X:-9.48, Y:-4.34, Z:-0.03 [[ 0.94701274 0.25867322 0.19040756 -9.48174062] [-0.24539984 0.96517104 -0.09068509 -4.34003737] [-0.20723367 0.03915395 0.97750763 -0.02737347] [ 0. 0. 0. 1. ]] SLAMing on 277.742414037 meters Centerline goodness : 0.818784 Centerline is valid? [False, False] Translation: X:-9.48, Y:-4.34, Z:-0.03 [[ 0.947515 0.25676574 0.19049063 -9.48385919] [-0.24326103 0.96562718 -0.09158719 -4.33838305] [-0.20745938 0.04044129 0.97740734 -0.02630164] [ 0. 0. 0. 1. ]] SLAMing on 277.772414037 meters Centerline goodness : 0.821915 Centerline is valid? [False, False] Translation: X:-9.48, Y:-4.34, Z:-0.03 [[ 0.94766492 0.25604331 0.19071714 -9.48493366] [-0.2424818 0.96580823 -0.09174447 -4.33803207] [-0.20768674 0.04069758 0.97734842 -0.02625059] [ 0. 0. 0. 1. ]] SLAMing on 277.802414037 meters Centerline goodness : 0.820353 Centerline is valid? [False, False] Translation: X:-9.49, Y:-4.34, Z:-0.03 [[ 0.94814464 0.25404625 0.19100324 -9.48746516] [-0.24032217 0.9662977 -0.09227137 -4.33711482] [-0.20800718 0.0415843 0.97724294 -0.02584387] [ 0. 0. 0. 1. ]] SLAMing on 277.832414037 meters Centerline goodness : 0.818207 Centerline is valid? [False, False] Translation: X:-9.49, Y:-4.34, Z:-0.03 [[ 0.94827455 0.25334184 0.19129373 -9.48863238] [-0.2396013 0.96648103 -0.09222603 -4.33718333] [-0.20824648 0.04162137 0.97719039 -0.02606815] [ 0. 0. 0. 1. ]] SLAMing on 277.862414037 meters Centerline goodness : 0.819129 Centerline is valid? [False, False] Translation: X:-9.49, Y:-4.34, Z:-0.03 [[ 0.94839967 0.25267909 0.19154983 -9.48982027] [-0.23889894 0.96664783 -0.09229986 -4.33745092] [-0.20848348 0.04177611 0.97713325 -0.0260616 ] [ 0. 0. 0. 1. ]] SLAMing on 277.892414037 meters Centerline goodness : 0.819219 Centerline is valid? [False, False] Translation: X:-9.49, Y:-4.34, Z:-0.03 [[ 0.94849738 0.25214519 0.19176947 -9.49067924] [-0.23839421 0.96679433 -0.0920702 -4.33789995] [-0.20861669 0.04161161 0.97711184 -0.02650268] [ 0. 0. 0. 1. ]] SLAMing on 277.922414037 meters Centerline goodness : 0.812839 Centerline is valid? [False, False] Translation: X:-9.49, Y:-4.34, Z:-0.03 [[ 0.94885253 0.25064453 0.19197966 -9.49256705] [-0.23682941 0.96716723 -0.09219203 -4.33767319] [-0.20878386 0.04201021 0.97705908 -0.02657252] [ 0. 0. 0. 1. ]] SLAMing on 277.952414037 meters Centerline goodness : 0.813812 Centerline is valid? [False, False] Translation: X:-9.49, Y:-4.34, Z:-0.03 [[ 0.94892653 0.25038155 0.19195706 -9.4926758 ] [-0.23658746 0.96723765 -0.09207444 -4.33783421] [-0.20872184 0.04195724 0.97707461 -0.02688285] [ 0. 0. 0. 1. ]] SLAMing on 277.98241403699996 meters Centerline goodness : 0.815105 Centerline is valid? [False, False] Translation: X:-9.49, Y:-4.34, Z:-0.03 [[ 0.94894444 0.25037047 0.19188296 -9.4923219 ] [-0.23662072 0.96724791 -0.091881 -4.33814998] [-0.20860268 0.04178648 0.97710737 -0.02745566] [ 0. 0. 0. 1. ]] SLAMing on 278.012414037 meters Centerline goodness : 0.815034 Centerline is valid? [False, False] Translation: X:-9.49, Y:-4.34, Z:-0.03 [[ 0.94899084 0.25029671 0.19174968 -9.49178822] [-0.23655216 0.96726504 -0.0918772 -4.33748296] [-0.20846932 0.04183182 0.97713389 -0.02779823] [ 0. 0. 0. 1. ]] SLAMing on 278.04241403699996 meters Centerline goodness : 0.810901 Centerline is valid? [False, False] Translation: X:-9.49, Y:-4.34, Z:-0.03 [[ 0.94896135 0.25037363 0.1917952 -9.49142529] [-0.23669329 0.96725928 -0.09157388 -4.3373254 ] [-0.20844337 0.04150343 0.97715343 -0.02857689] [ 0. 0. 0. 1. ]] SLAMing on 278.072414037 meters Centerline goodness : 0.811040 Centerline is valid? [False, False] Translation: X:-9.49, Y:-4.34, Z:-0.03 [[ 0.94895477 0.25058895 0.19154639 -9.49042049] [-0.23691438 0.96720108 -0.09161687 -4.33647397] [-0.20822205 0.04156017 0.9771982 -0.02877646] [ 0. 0. 0. 1. ]] SLAMing on 278.10241403699996 meters Centerline goodness : 0.808568 Centerline is valid? [False, False] Translation: X:-9.49, Y:-4.34, Z:-0.03 [[ 0.94890572 0.25090519 0.19137535 -9.48946934] [-0.23729038 0.96712947 -0.09139948 -4.33640955] [-0.20801734 0.04131796 0.97725207 -0.0294125 ] [ 0. 0. 0. 1. ]] SLAMing on 278.132414037 meters Centerline goodness : 0.808167 Centerline is valid? [False, False] Translation: X:-9.49, Y:-4.34, Z:-0.03 [[ 0.94884077 0.25156481 0.19083063 -9.48732595] [-0.23803514 0.96696824 -0.09116848 -4.33611803] [-0.20746194 0.04107997 0.97738016 -0.03016975] [ 0. 0. 0. 1. ]] SLAMing on 278.16241403699996 meters Centerline goodness : 0.808167 Centerline is valid? [False, False] Translation: X:-9.49, Y:-4.34, Z:-0.03 [[ 0.94884077 0.25156481 0.19083063 -9.48732595] [-0.23803514 0.96696824 -0.09116848 -4.33611803] [-0.20746194 0.04107997 0.97738016 -0.03016975] [ 0. 0. 0. 1. ]] SLAMing on 278.192414037 meters Centerline goodness : 0.756197 Centerline is valid? [False, False] Translation: X:-9.48, Y:-4.34, Z:-0.03 [[ 0.94873462 0.25260995 0.1899759 -9.48424662] [-0.23915264 0.96669955 -0.09109331 -4.33558158] [-0.2066607 0.04099014 0.97755366 -0.0306277 ] [ 0. 0. 0. 1. ]] SLAMing on 278.22241403699996 meters Centerline goodness : 0.751129 Centerline is valid? [False, False] Translation: X:-9.48, Y:-4.34, Z:-0.03 [[ 0.9486242 0.25346451 0.18938814 -9.48184652] [-0.2401705 0.96650159 -0.09051412 -4.33599495] [-0.20598605 0.04037844 0.9777215 -0.03184504] [ 0. 0. 0. 1. ]] SLAMing on 278.252414037 meters Centerline goodness : 0.748022 Centerline is valid? [False, False] Translation: X:-9.48, Y:-4.34, Z:-0.03 [[ 0.94832746 0.25521678 0.18851905 -9.47751784] [-0.24212572 0.96607308 -0.08987732 -4.3357591 ] [-0.20506138 0.03958782 0.97794818 -0.03358133] [ 0. 0. 0. 1. ]] SLAMing on 278.28241403699997 meters Centerline goodness : 0.791249 Centerline is valid? [False, False] Translation: X:-9.47, Y:-4.34, Z:-0.03 [[ 0.94822449 0.25611232 0.18782117 -9.47476704] [-0.243151 0.96585299 -0.089474 -4.33569302] [-0.20432303 0.03917254 0.97811943 -0.03465837] [ 0. 0. 0. 1. ]] SLAMing on 278.312414037 meters Centerline goodness : 0.792798 Centerline is valid? [False, False] Translation: X:-9.47, Y:-4.34, Z:-0.04 [[ 0.94811285 0.25709443 0.1870414 -9.47177402] [-0.24429404 0.96561377 -0.08894077 -4.33579969] [-0.20347593 0.03863278 0.97831746 -0.03586306] [ 0. 0. 0. 1. ]] SLAMing on 278.34241403699997 meters Centerline goodness : 0.748906 Centerline is valid? [False, False] Translation: X:-9.47, Y:-4.34, Z:-0.04 [[ 0.94686822 0.26089138 0.18808581 -9.47027133] [-0.24911372 0.96480909 -0.08417707 -4.33674247] [-0.20342797 0.03284984 0.97853868 -0.0381246 ] [ 0. 0. 0. 1. ]] SLAMing on 278.372414037 meters Centerline goodness : 0.801952 Centerline is valid? [False, False] Translation: X:-9.47, Y:-4.34, Z:-0.04 [[ 0.94674958 0.26177976 0.18744755 -9.46780348] [-0.2500901 0.96457724 -0.08393868 -4.33662068] [-0.20278108 0.03259013 0.97868162 -0.03869282] [ 0. 0. 0. 1. ]] SLAMing on 278.40241403699997 meters Centerline goodness : 0.805883 Centerline is valid? [False, False] Translation: X:-9.47, Y:-4.34, Z:-0.04 [[ 0.94617114 0.26404841 0.18718603 -9.46536294] [-0.25292442 0.96405135 -0.08145073 -4.33690167] [-0.20196388 0.02972241 0.97894186 -0.03939626] [ 0. 0. 0. 1. ]] SLAMing on 278.432414037 meters Centerline goodness : 0.803447 Centerline is valid? [False, False] Translation: X:-9.47, Y:-4.34, Z:-0.04 [[ 0.94489271 0.26692499 0.18954897 -9.46750737] [-0.25725407 0.96347703 -0.07437976 -4.34164156] [-0.2024799 0.02151865 0.97904997 -0.04220155] [ 0. 0. 0. 1. ]] SLAMing on 278.462414037 meters Centerline goodness : 0.810041 Centerline is valid? [False, False] Translation: X:-9.47, Y:-4.34, Z:-0.04 [[ 0.94459713 0.26797565 0.18953974 -9.46651746] [-0.25829305 0.96318685 -0.07453714 -4.3418113 ] [-0.20253633 0.02145077 0.97903979 -0.04312581] [ 0. 0. 0. 1. ]] SLAMing on 278.492414037 meters Centerline goodness : 0.809454 Centerline is valid? [False, False] Translation: X:-9.47, Y:-4.34, Z:-0.04 [[ 0.94447528 0.26850915 0.18939186 -9.46582083] [-0.25873941 0.96302915 -0.07502518 -4.34163915] [-0.20253483 0.02185629 0.97903113 -0.04315643] [ 0. 0. 0. 1. ]] SLAMing on 278.522414037 meters Centerline goodness : 0.809915 Centerline is valid? [False, False] Translation: X:-9.46, Y:-4.34, Z:-0.04 [[ 0.94439437 0.26908041 0.18898415 -9.46419932] [-0.25956491 0.9628946 -0.07389211 -4.34236827] [-0.20185474 0.02072964 0.97919607 -0.04396124] [ 0. 0. 0. 1. ]] SLAMing on 278.552414037 meters Centerline goodness : 0.810126 Centerline is valid? [False, False] Translation: X:-9.46, Y:-4.34, Z:-0.04 [[ 0.9442797 0.26976414 0.18858194 -9.46304448] [-0.26020445 0.96269722 -0.07421393 -4.34219272] [-0.20156756 0.02100884 0.97924928 -0.04377685] [ 0. 0. 0. 1. ]] SLAMing on 278.582414037 meters Centerline goodness : 0.808427 Centerline is valid? [False, False] Translation: X:-9.46, Y:-4.34, Z:-0.05 [[ 0.94319163 0.27312695 0.18918568 -9.46114792] [-0.26475351 0.96186545 -0.06870541 -4.34453497] [-0.20073647 0.01471479 0.97953476 -0.04613694] [ 0. 0. 0. 1. ]] SLAMing on 278.612414037 meters Centerline goodness : 0.809013 Centerline is valid? [False, False] Translation: X:-9.46, Y:-4.34, Z:-0.05 [[ 0.94310222 0.27395578 0.18843148 -9.45950914] [-0.26549316 0.96162043 -0.06927871 -4.3434242 ] [-0.20017886 0.01530964 0.97963975 -0.04514427] [ 0. 0. 0. 1. ]] SLAMing on 278.642414037 meters Centerline goodness : 0.812364 Centerline is valid? [False, False] Translation: X:-9.46, Y:-4.35, Z:-0.05 [[ 9.42271225e-01 2.76411449e-01 1.89001720e-01 -9.45766091e+00] [-2.69065295e-01 9.60992872e-01 -6.40044315e-02 -4.34531871e+00] [-1.99320863e-01 9.45573067e-03 9.79888658e-01 -4.82371981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.672414037 meters Centerline goodness : 0.810018 Centerline is valid? [False, False] Translation: X:-9.46, Y:-4.34, Z:-0.05 [[ 9.41672740e-01 2.78581151e-01 1.88798817e-01 -9.45590081e+00] [-2.71196807e-01 9.60366150e-01 -6.44138960e-02 -4.34336021e+00] [-1.99260490e-01 9.45517380e-03 9.79900942e-01 -4.91764741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.702414037 meters Centerline goodness : 0.815024 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.34, Z:-0.05 [[ 9.41410897e-01 2.79775131e-01 1.88338524e-01 -9.45379757e+00] [-2.72572172e-01 9.60027105e-01 -6.36582250e-02 -4.34371865e+00] [-1.98620076e-01 8.59270619e-03 9.80038893e-01 -5.10258292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.73241403699996 meters Centerline goodness : 0.808850 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.35, Z:-0.06 [[ 9.40059100e-01 2.83529196e-01 1.89473174e-01 -9.45235500e+00] [-2.77210106e-01 9.58957098e-01 -5.96308777e-02 -4.34562364e+00] [-1.98603740e-01 3.53267047e-03 9.80073505e-01 -5.57016441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.762414037 meters Centerline goodness : 0.798354 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.35, Z:-0.06 [[ 9.39155932e-01 2.86246637e-01 1.89865738e-01 -9.44985024e+00] [-2.80967393e-01 9.58154042e-01 -5.47554242e-02 -4.34793434e+00] [-1.97594181e-01 -1.92220008e-03 9.80282023e-01 -5.96561432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.79241403699996 meters Centerline goodness : 0.800070 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.35, Z:-0.06 [[ 9.38592527e-01 2.88015028e-01 1.89977398e-01 -9.44980386e+00] [-2.82671932e-01 9.57624115e-01 -5.52506418e-02 -4.34761125e+00] [-1.97839953e-01 -1.84343858e-03 9.80232602e-01 -5.90606715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.822414037 meters Centerline goodness : 0.797712 Centerline is valid? [False, False] Translation: X:-9.45, Y:-4.35, Z:-0.06 [[ 9.36910779e-01 2.92753651e-01 1.91032698e-01 -9.44747253e+00] [-2.88623023e-01 9.56149828e-01 -4.97419115e-02 -4.34915804e+00] [-1.97218008e-01 -8.53270180e-03 9.80322524e-01 -6.32665134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.85241403699996 meters Centerline goodness : 0.796916 Centerline is valid? [False, False] Translation: X:-9.44, Y:-4.35, Z:-0.07 [[ 0.93615474 0.29523798 0.19091577 -9.44463188] [-0.29186664 0.95534239 -0.04620371 -4.35037149] [-0.19603102 -0.01246813 0.98051843 -0.06626226] [ 0. 0. 0. 1. ]] SLAMing on 278.882414037 meters Centerline goodness : 0.795621 Centerline is valid? [False, False] Translation: X:-9.44, Y:-4.36, Z:-0.07 [[ 0.935485 0.30430221 0.17963292 -9.43956611] [-0.30284676 0.95235323 -0.03615481 -4.3577323 ] [-0.18207598 -0.02057896 0.98306909 -0.06677664] [ 0. 0. 0. 1. ]] SLAMing on 278.91241403699996 meters Centerline goodness : 0.796632 Centerline is valid? [False, False] Translation: X:-9.44, Y:-4.36, Z:-0.07 [[ 0.93532016 0.30519033 0.1789834 -9.43717143] [-0.30384 0.95205785 -0.03559645 -4.35887933] [-0.18126624 -0.02108824 0.98320793 -0.06768543] [ 0. 0. 0. 1. ]] SLAMing on 278.942414037 meters Centerline goodness : 0.797763 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.36, Z:-0.07 [[ 0.93514587 0.30610137 0.17833718 -9.43472075] [-0.30487875 0.95175105 -0.0349125 -4.36005448] [-0.18041936 -0.02172294 0.98334987 -0.06879956] [ 0. 0. 0. 1. ]] SLAMing on 278.97241403699996 meters Centerline goodness : 0.797707 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.36, Z:-0.07 [[ 0.93467824 0.30812062 0.17730843 -9.4298726 ] [-0.3071081 0.95107322 -0.03382812 -4.36186521] [-0.17905644 -0.02283445 0.98357378 -0.07094295] [ 0. 0. 0. 1. ]] SLAMing on 279.002414037 meters Centerline goodness : 0.796771 Centerline is valid? [False, False] Translation: X:-9.43, Y:-4.36, Z:-0.07 [[ 0.93429548 0.3092661 0.17733144 -9.42761574] [-0.30842397 0.95067625 -0.03300494 -4.3623968 ] [-0.1787921 -0.0238569 0.9835976 -0.07241086] [ 0. 0. 0. 1. ]] SLAMing on 279.03241403699997 meters Centerline goodness : 0.795133 Centerline is valid? [False, False] Translation: X:-9.42, Y:-4.36, Z:-0.07 [[ 0.93412457 0.31020507 0.17659018 -9.42493049] [-0.30941609 0.95036432 -0.03270089 -4.36289385] [-0.17796899 -0.02409314 0.9837411 -0.0730695 ] [ 0. 0. 0. 1. ]] SLAMing on 279.062414037 meters Centerline goodness : 0.798679 Centerline is valid? [False, False] Translation: X:-9.42, Y:-4.36, Z:-0.07 [[ 0.93384197 0.31136594 0.17604099 -9.42224648] [-0.31066049 0.9499729 -0.0322732 -4.36300841] [-0.17728295 -0.02455091 0.98385365 -0.07365989] [ 0. 0. 0. 1. ]] SLAMing on 279.09241403699997 meters Centerline goodness : 0.799874 Centerline is valid? [False, False] Translation: X:-9.42, Y:-4.36, Z:-0.07 [[ 0.93370926 0.31213068 0.17538946 -9.42018435] [-0.31144913 0.94971978 -0.03212132 -4.36361991] [-0.17659689 -0.02463292 0.98397498 -0.07376783] [ 0. 0. 0. 1. ]] SLAMing on 279.122414037 meters Centerline goodness : 0.798507 Centerline is valid? [False, False] Translation: X:-9.42, Y:-4.36, Z:-0.07 [[ 0.93338165 0.31266529 0.17617921 -9.41979323] [-0.31213544 0.94951715 -0.03144279 -4.36423805] [-0.17711625 -0.02564365 0.9838558 -0.07479319] [ 0. 0. 0. 1. ]] SLAMing on 279.15241403699997 meters Centerline goodness : 0.793703 Centerline is valid? [False, False] Translation: X:-9.42, Y:-4.36, Z:-0.08 [[ 0.93321634 0.31339004 0.17576676 -9.417974 ] [-0.31289906 0.94927264 -0.03123504 -4.36462398] [-0.17663933 -0.0258482 0.98393619 -0.07526906] [ 0. 0. 0. 1. ]] SLAMing on 279.182414037 meters Centerline goodness : 0.795242 Centerline is valid? [False, False] Translation: X:-9.42, Y:-4.37, Z:-0.08 [[ 0.93321531 0.31368925 0.17523766 -9.41648074] [-0.31381174 0.94907973 -0.02774627 -4.36664182] [-0.17501822 -0.02909839 0.98413511 -0.0760507 ] [ 0. 0. 0. 1. ]] SLAMing on 279.212414037 meters Centerline goodness : 0.795695 Centerline is valid? [False, False] Translation: X:-9.42, Y:-4.37, Z:-0.08 [[ 0.93318012 0.3139724 0.17491766 -9.4159072 ] [-0.31412743 0.94898142 -0.0275358 -4.36787652] [-0.17463909 -0.02925058 0.98419794 -0.07577156] [ 0. 0. 0. 1. ]] SLAMing on 279.242414037 meters Centerline goodness : 0.795695 Centerline is valid? [False, False] Translation: X:-9.42, Y:-4.37, Z:-0.08 [[ 0.93318012 0.3139724 0.17491766 -9.4159072 ] [-0.31412743 0.94898142 -0.0275358 -4.36787652] [-0.17463909 -0.02925058 0.98419794 -0.07577156] [ 0. 0. 0. 1. ]] SLAMing on 279.272414037 meters Centerline goodness : 0.792215 Centerline is valid? [False, False] Translation: X:-9.42, Y:-4.37, Z:-0.08 [[ 0.93291926 0.31446177 0.17542931 -9.41547394] [-0.31478668 0.94878643 -0.02671449 -4.36912362] [-0.17484563 -0.03030035 0.98412951 -0.07682119] [ 0. 0. 0. 1. ]] SLAMing on 279.302414037 meters Centerline goodness : 0.795117 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.37, Z:-0.08 [[ 0.93278955 0.31500423 0.17514561 -9.41423275] [-0.3154442 0.94858603 -0.02606719 -4.37058661] [-0.17435195 -0.03093346 0.9841974 -0.0775309 ] [ 0. 0. 0. 1. ]] SLAMing on 279.332414037 meters Centerline goodness : 0.796622 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.37, Z:-0.08 [[ 0.9326938 0.31539808 0.17494661 -9.41322677] [-0.31590858 0.94844231 -0.02567018 -4.37162217] [-0.17402309 -0.03132471 0.98424322 -0.07803554] [ 0. 0. 0. 1. ]] SLAMing on 279.362414037 meters Centerline goodness : 0.792338 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.37, Z:-0.08 [[ 0.93318704 0.31473988 0.17349568 -9.40936903] [-0.31548776 0.94862645 -0.02398609 -4.37241454] [-0.17213197 -0.03235226 0.98454249 -0.0801573 ] [ 0. 0. 0. 1. ]] SLAMing on 279.392414037 meters Centerline goodness : 0.795144 Centerline is valid? [False, False] Translation: X:-9.41, Y:-4.37, Z:-0.08 [[ 0.93400539 0.31306968 0.1721084 -9.40634356] [-0.31379061 0.94919589 -0.02371958 -4.37332063] [-0.17079046 -0.03185179 0.9847924 -0.08206054] [ 0. 0. 0. 1. ]] SLAMing on 279.422414037 meters Centerline goodness : 0.793653 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.37, Z:-0.08 [[ 0.93470836 0.31182211 0.17054985 -9.40419035] [-0.31246429 0.94963216 -0.02376619 -4.3743363 ] [-0.16937044 -0.03107628 0.98506239 -0.08171792] [ 0. 0. 0. 1. ]] SLAMing on 279.452414037 meters Centerline goodness : 0.792350 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.37, Z:-0.08 [[ 0.93531052 0.30506828 0.17924168 -9.40320147] [-0.30447326 0.95199957 -0.0315096 -4.37003527] [-0.18025058 -0.02510304 0.98330034 -0.08234523] [ 0. 0. 0. 1. ]] SLAMing on 279.48241403699996 meters Centerline goodness : 0.794081 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.37, Z:-0.08 [[ 0.93584832 0.30410263 0.17807164 -9.39987777] [-0.30389496 0.95226043 -0.02911926 -4.37181065] [-0.17842582 -0.02686386 0.98358658 -0.08383192] [ 0. 0. 0. 1. ]] SLAMing on 279.512414037 meters Centerline goodness : 0.794981 Centerline is valid? [False, False] Translation: X:-9.40, Y:-4.37, Z:-0.08 [[ 0.93661294 0.30238203 0.17697827 -9.3974701 ] [-0.30238173 0.95278623 -0.02763498 -4.37238845] [-0.17697878 -0.02763172 0.98382671 -0.08440269] [ 0. 0. 0. 1. ]] SLAMing on 279.54241403699996 meters Centerline goodness : 0.800985 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.37, Z:-0.09 [[ 0.93742894 0.29561952 0.18394586 -9.39263169] [-0.29483158 0.95500448 -0.0322612 -4.3691577 ] [-0.18520616 -0.02399047 0.98240681 -0.08674045] [ 0. 0. 0. 1. ]] SLAMing on 279.572414037 meters Centerline goodness : 0.802330 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.37, Z:-0.09 [[ 0.93780928 0.29496735 0.18305193 -9.39142531] [-0.29415379 0.95521501 -0.03221538 -4.36922827] [-0.18435644 -0.02363354 0.98257527 -0.08553221] [ 0. 0. 0. 1. ]] SLAMing on 279.60241403699996 meters Centerline goodness : 0.801920 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.36, Z:-0.09 [[ 0.93838103 0.28767434 0.19153204 -9.38904362] [-0.28532509 0.95758115 -0.0403477 -4.36181811] [-0.19501447 -0.01678738 0.98065669 -0.08762293] [ 0. 0. 0. 1. ]] SLAMing on 279.632414037 meters Centerline goodness : 0.803494 Centerline is valid? [False, False] Translation: X:-9.39, Y:-4.36, Z:-0.09 [[ 0.93873963 0.2866261 0.19134623 -9.38865487] [-0.28437053 0.95788997 -0.0397519 -4.36172882] [-0.19468256 -0.01709654 0.98071729 -0.08749848] [ 0. 0. 0. 1. ]] SLAMing on 279.66241403699996 meters Centerline goodness : 0.802001 Centerline is valid? [False, False] Translation: X:-9.38, Y:-4.36, Z:-0.09 [[ 9.40478635e-01 2.77665821e-01 1.95963338e-01 -9.38207575e+00] [-2.73188087e-01 9.60656168e-01 -5.00798988e-02 -4.35506498e+00] [-2.02158866e-01 -6.43577456e-03 9.79331595e-01 -8.72661610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.692414037 meters Centerline goodness : 0.804583 Centerline is valid? [False, False] Translation: X:-9.38, Y:-4.36, Z:-0.09 [[ 9.40908283e-01 2.76832254e-01 1.95078203e-01 -9.38084184e+00] [-2.72395228e-01 9.60897529e-01 -4.97672354e-02 -4.35629727e+00] [-2.01227339e-01 -6.31196748e-03 9.79524230e-01 -8.70472697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.72241403699996 meters Centerline goodness : 0.803403 Centerline is valid? [False, False] Translation: X:-9.38, Y:-4.35, Z:-0.09 [[ 9.41933687e-01 2.74212529e-01 1.93825745e-01 -9.38043330e+00] [-2.68879377e-01 9.61668089e-01 -5.38364788e-02 -4.35477962e+00] [-2.01158671e-01 -1.40535257e-03 9.79557663e-01 -8.57506824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.752414037 meters Centerline goodness : 0.803869 Centerline is valid? [False, False] Translation: X:-9.38, Y:-4.35, Z:-0.09 [[ 9.42208852e-01 2.73581923e-01 1.93378930e-01 -9.38008225e+00] [-2.68182692e-01 9.61848289e-01 -5.40917150e-02 -4.35484253e+00] [-2.00799708e-01 -8.95189313e-04 9.79631908e-01 -8.50081646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.78241403699997 meters Centerline goodness : 0.805299 Centerline is valid? [False, False] Translation: X:-9.38, Y:-4.36, Z:-0.08 [[ 9.42419539e-01 2.73251341e-01 1.92818872e-01 -9.37938342e+00] [-2.67905298e-01 9.61942194e-01 -5.37956035e-02 -4.35519850e+00] [-2.00180329e-01 -9.59169406e-04 9.79758601e-01 -8.40738347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.812414037 meters Centerline goodness : 0.803917 Centerline is valid? [False, False] Translation: X:-9.38, Y:-4.36, Z:-0.08 [[ 9.42773792e-01 2.72591538e-01 1.92019349e-01 -9.37829743e+00] [-2.67345120e-01 9.62129170e-01 -5.32357710e-02 -4.35513113e+00] [-1.99259038e-01 -1.14614626e-03 9.79946183e-01 -8.27124835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.84241403699997 meters Centerline goodness : 0.804724 Centerline is valid? [False, False] Translation: X:-9.38, Y:-4.36, Z:-0.08 [[ 9.42985314e-01 2.72293142e-01 1.91403086e-01 -9.37748501e+00] [-2.67081590e-01 9.62213700e-01 -5.30303634e-02 -4.35553972e+00] [-1.98610476e-01 -1.11338655e-03 9.80077874e-01 -8.17731446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.872414037 meters Centerline goodness : 0.808954 Centerline is valid? [False, False] Translation: X:-9.38, Y:-4.36, Z:-0.08 [[ 9.43388263e-01 2.71486716e-01 1.90561139e-01 -9.37657565e+00] [-2.66396551e-01 9.62441191e-01 -5.23434024e-02 -4.35667258e+00] [-1.97614428e-01 -1.38467853e-03 9.80278848e-01 -8.05099492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.90241403699997 meters Centerline goodness : 0.810786 Centerline is valid? [False, False] Translation: X:-9.38, Y:-4.36, Z:-0.08 [[ 9.43699604e-01 2.70932167e-01 1.89807320e-01 -9.37508812e+00] [-2.66047788e-01 9.62596094e-01 -5.12575263e-02 -4.35819253e+00] [-1.96595097e-01 -2.12611015e-03 9.80482456e-01 -8.09175712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.932414037 meters Centerline goodness : 0.811860 Centerline is valid? [False, False] Translation: X:-9.37, Y:-4.36, Z:-0.08 [[ 9.44781964e-01 2.68277203e-01 1.88187095e-01 -9.37447018e+00] [-2.62539529e-01 9.63337687e-01 -5.52584553e-02 -4.35652309e+00] [-1.96112304e-01 2.80064084e-03 9.80577442e-01 -7.84532781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.962414037 meters Centerline goodness : 0.811752 Centerline is valid? [False, False] Translation: X:-9.37, Y:-4.36, Z:-0.08 [[ 9.46075151e-01 2.65018817e-01 1.86297709e-01 -9.37352972e+00] [-2.58497578e-01 9.64213409e-01 -5.89194644e-02 -4.35625292e+00] [-1.95245516e-01 7.58473445e-03 9.80725069e-01 -7.60781560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.992414037 meters Centerline goodness : 0.811084 Centerline is valid? [False, False] Translation: X:-9.37, Y:-4.36, Z:-0.08 [[ 9.46344256e-01 2.64252977e-01 1.86018583e-01 -9.37358110e+00] [-2.57862318e-01 9.64427195e-01 -5.81997395e-02 -4.35754792e+00] [-1.94780835e-01 7.10980616e-03 9.80821022e-01 -7.57584098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.022414037 meters Centerline goodness : 0.815304 Centerline is valid? [False, False] Translation: X:-9.37, Y:-4.36, Z:-0.07 [[ 0.94783329 0.26040636 0.18384933 -9.37187387] [-0.25346655 0.96543706 -0.06071233 -4.35630287] [-0.19330483 0.01094552 0.98107769 -0.07379259] [ 0. 0. 0. 1. ]] SLAMing on 280.052414037 meters Centerline goodness : 0.816431 Centerline is valid? [False, False] Translation: X:-9.37, Y:-4.35, Z:-0.07 [[ 0.94897265 0.25741081 0.18218282 -9.37055537] [-0.24976957 0.96618029 -0.06411562 -4.35348894] [-0.1925255 0.01534024 0.98117206 -0.07193444] [ 0. 0. 0. 1. ]] SLAMing on 280.082414037 meters Centerline goodness : 0.815319 Centerline is valid? [False, False] Translation: X:-9.37, Y:-4.35, Z:-0.07 [[ 0.94913037 0.25710563 0.18179174 -9.36964058] [-0.24974005 0.96628015 -0.06271025 -4.35493199] [-0.1917849 0.01411952 0.98133541 -0.07233998] [ 0. 0. 0. 1. ]] SLAMing on 280.112414037 meters Centerline goodness : 0.818445 Centerline is valid? [False, False] Translation: X:-9.36, Y:-4.35, Z:-0.08 [[ 0.95096249 0.2507793 0.18105274 -9.35645481] [-0.24340491 0.96792636 -0.06223025 -4.3539075 ] [-0.19085177 0.0151095 0.98150257 -0.07508106] [ 0. 0. 0. 1. ]] SLAMing on 280.142414037 meters Centerline goodness : 0.815423 Centerline is valid? [False, False] Translation: X:-9.36, Y:-4.36, Z:-0.08 [[ 0.95046712 0.25188211 0.1821199 -9.35907071] [-0.24530022 0.96769957 -0.05818371 -4.35567108] [-0.19089278 0.01062765 0.98155336 -0.07531241] [ 0. 0. 0. 1. ]] SLAMing on 280.172414037 meters Centerline goodness : 0.816877 Centerline is valid? [False, False] Translation: X:-9.36, Y:-4.35, Z:-0.07 [[ 0.95064155 0.25144619 0.18181161 -9.35976178] [-0.24472487 0.96780321 -0.05887856 -4.35357363] [-0.19076265 0.01147858 0.98156908 -0.07177156] [ 0. 0. 0. 1. ]] SLAMing on 280.202414037 meters Centerline goodness : 0.821367 Centerline is valid? [False, False] Translation: X:-9.36, Y:-4.35, Z:-0.07 [[ 0.95069777 0.25143136 0.18153793 -9.35948126] [-0.24458357 0.96779813 -0.05954534 -4.35246003] [-0.19066364 0.01220843 0.98157951 -0.07070797] [ 0. 0. 0. 1. ]] SLAMing on 280.23241403699996 meters Centerline goodness : 0.822979 Centerline is valid? [False, False] Translation: X:-9.36, Y:-4.35, Z:-0.07 [[ 0.95068084 0.25164133 0.18133556 -9.35893549] [-0.24484395 0.96774624 -0.05931821 -4.35268578] [-0.19041372 0.01199377 0.98163067 -0.07075867] [ 0. 0. 0. 1. ]] SLAMing on 280.262414037 meters Centerline goodness : 0.820467 Centerline is valid? [False, False] Translation: X:-9.36, Y:-4.35, Z:-0.07 [[ 0.95074241 0.25160828 0.18105841 -9.3582103 ] [-0.24478984 0.96775235 -0.05944174 -4.35227723] [-0.19017573 0.01219252 0.98167435 -0.0707727 ] [ 0. 0. 0. 1. ]] SLAMing on 280.29241403699996 meters Centerline goodness : 0.818899 Centerline is valid? [False, False] Translation: X:-9.36, Y:-4.35, Z:-0.07 [[ 0.95087513 0.25148729 0.18052873 -9.35700853] [-0.24464242 0.96777976 -0.05960222 -4.35237096] [-0.18970125 0.01250928 0.98176217 -0.07098182] [ 0. 0. 0. 1. ]] SLAMing on 280.322414037 meters Centerline goodness : 0.820444 Centerline is valid? [False, False] Translation: X:-9.36, Y:-4.35, Z:-0.07 [[ 0.95093093 0.25142445 0.18032226 -9.3562727 ] [-0.24462244 0.96779796 -0.05938827 -4.35253924] [-0.18944718 0.01236327 0.98181307 -0.0716467 ] [ 0. 0. 0. 1. ]] SLAMing on 280.35241403699996 meters Centerline goodness : 0.820397 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.35, Z:-0.07 [[ 0.95104003 0.25130023 0.17991959 -9.3545938 ] [-0.24460328 0.9678352 -0.05885797 -4.35327796] [-0.18892353 0.01196736 0.98191888 -0.07381964] [ 0. 0. 0. 1. ]] SLAMing on 280.382414037 meters Centerline goodness : 0.817378 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.35, Z:-0.07 [[ 0.95107163 0.25124413 0.17983088 -9.35409876] [-0.24452312 0.96784781 -0.05898362 -4.35358881] [-0.18886821 0.01212484 0.98192759 -0.07457847] [ 0. 0. 0. 1. ]] SLAMing on 280.41241403699996 meters Centerline goodness : 0.821888 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.35, Z:-0.08 [[ 0.95117368 0.25120426 0.1793462 -9.35256775] [-0.24478628 0.96787468 -0.05743071 -4.35498331] [-0.18801148 0.0107251 0.98210827 -0.07581132] [ 0. 0. 0. 1. ]] SLAMing on 280.442414037 meters Centerline goodness : 0.816954 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.35, Z:-0.07 [[ 0.95172737 0.24958855 0.17866326 -9.35258476] [-0.24227615 0.96822437 -0.06199862 -4.35303359] [-0.18846027 0.01571994 0.98195499 -0.07459757] [ 0. 0. 0. 1. ]] SLAMing on 280.47241403699996 meters Centerline goodness : 0.818598 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.35, Z:-0.07 [[ 0.95178295 0.24937716 0.1786624 -9.35277309] [-0.24210239 0.96828159 -0.06178348 -4.35327799] [-0.1884029 0.01554986 0.98196871 -0.07433876] [ 0. 0. 0. 1. ]] SLAMing on 280.502414037 meters Centerline goodness : 0.814404 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.35, Z:-0.07 [[ 0.95183146 0.24906112 0.17884471 -9.35348549] [-0.2416966 0.96835585 -0.06220686 -4.35290641] [-0.18867864 0.01598429 0.98190879 -0.07370698] [ 0. 0. 0. 1. ]] SLAMing on 280.53241403699997 meters Centerline goodness : 0.812031 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.35, Z:-0.07 [[ 0.95207371 0.24824077 0.17869573 -9.35432047] [-0.24084664 0.96856162 -0.0622999 -4.35273012] [-0.1885432 0.01627583 0.98193002 -0.07167721] [ 0. 0. 0. 1. ]] SLAMing on 280.562414037 meters Centerline goodness : 0.810038 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.35, Z:-0.07 [[ 0.95230188 0.24762413 0.17833514 -9.35440499] [-0.24022979 0.96871625 -0.06227738 -4.35299147] [-0.18817753 0.01646545 0.981997 -0.07040453] [ 0. 0. 0. 1. ]] SLAMing on 280.59241403699997 meters Centerline goodness : 0.813822 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.35, Z:-0.07 [[ 0.95250039 0.2469913 0.17815246 -9.35462323] [-0.23964324 0.96887963 -0.06199497 -4.35388531] [-0.18792051 0.0163572 0.98204803 -0.06981836] [ 0. 0. 0. 1. ]] SLAMing on 280.622414037 meters Centerline goodness : 0.809512 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.35, Z:-0.07 [[ 0.95374496 0.24333598 0.17651673 -9.35421457] [-0.23515001 0.96970032 -0.06622513 -4.35288385] [-0.18728328 0.02165397 0.98206725 -0.06764462] [ 0. 0. 0. 1. ]] SLAMing on 280.65241403699997 meters Centerline goodness : 0.806852 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.35, Z:-0.07 [[ 0.95405433 0.24228386 0.17629199 -9.35431183] [-0.23427164 0.96997922 -0.0652465 -4.35436922] [-0.18680774 0.0209485 0.98217312 -0.06812434] [ 0. 0. 0. 1. ]] SLAMing on 280.682414037 meters Centerline goodness : 0.808321 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.35, Z:-0.07 [[ 0.95536081 0.23829827 0.17464153 -9.35354678] [-0.22956052 0.97085016 -0.06893429 -4.35397499] [-0.18597768 0.02576631 0.98221607 -0.06712988] [ 0. 0. 0. 1. ]] SLAMing on 280.712414037 meters Centerline goodness : 0.807744 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.35, Z:-0.07 [[ 0.95655172 0.23471946 0.17296122 -9.35272113] [-0.22508732 0.97155274 -0.0736273 -4.35195226] [-0.18532271 0.03149695 0.98217281 -0.06514433] [ 0. 0. 0. 1. ]] SLAMing on 280.742414037 meters Centerline goodness : 0.806949 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.35, Z:-0.07 [[ 0.95677335 0.23414576 0.17251236 -9.35209931] [-0.22462017 0.97170131 -0.07309129 -4.3533549 ] [-0.1847445 0.03118204 0.98229178 -0.06562432] [ 0. 0. 0. 1. ]] SLAMing on 280.772414037 meters Centerline goodness : 0.805849 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.35, Z:-0.07 [[ 0.95688975 0.23384635 0.17227273 -9.35163968] [-0.22429781 0.97176534 -0.07322986 -4.35345839] [-0.1845332 0.03143251 0.98232352 -0.06589214] [ 0. 0. 0. 1. ]] SLAMing on 280.802414037 meters Centerline goodness : 0.808604 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.35, Z:-0.07 [[ 0.95696822 0.23347323 0.17234292 -9.35185306] [-0.22383804 0.97183976 -0.07364783 -4.35217356] [-0.1846845 0.03190173 0.98227996 -0.06577285] [ 0. 0. 0. 1. ]] SLAMing on 280.832414037 meters Centerline goodness : 0.808368 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.35, Z:-0.06 [[ 0.9572195 0.23274206 0.17193591 -9.35183667] [-0.22297479 0.97198374 -0.07436301 -4.35065235] [-0.18442631 0.03284435 0.9822974 -0.06434078] [ 0. 0. 0. 1. ]] SLAMing on 280.862414037 meters Centerline goodness : 0.815174 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.35, Z:-0.06 [[ 0.95758284 0.2313023 0.17185562 -9.35376607] [-0.2213503 0.97228723 -0.07524356 -4.3496563 ] [-0.18449703 0.03401165 0.9822444 -0.06219843] [ 0. 0. 0. 1. ]] SLAMing on 280.892414037 meters Centerline goodness : 0.810114 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.35, Z:-0.06 [[ 0.95761761 0.23121037 0.17178557 -9.35367793] [-0.22123416 0.97230324 -0.07537806 -4.34922376] [-0.18445585 0.03417852 0.98224634 -0.06202856] [ 0. 0. 0. 1. ]] SLAMing on 280.922414037 meters Centerline goodness : 0.813225 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.35, Z:-0.06 [[ 0.95767918 0.23108031 0.17161724 -9.35326805] [-0.22104811 0.97232074 -0.07569757 -4.34838354] [-0.18435922 0.03455832 0.98225119 -0.06200143] [ 0. 0. 0. 1. ]] SLAMing on 280.952414037 meters Centerline goodness : 0.814894 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.35, Z:-0.06 [[ 0.95774338 0.23088988 0.17151523 -9.35265218] [-0.22077449 0.97234798 -0.07614487 -4.34639425] [-0.18435356 0.03506106 0.98223444 -0.06234062] [ 0. 0. 0. 1. ]] SLAMing on 280.98241403699996 meters Centerline goodness : 0.816482 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.35, Z:-0.06 [[ 0.95777213 0.2309326 0.17129708 -9.35171961] [-0.22079527 0.9723305 -0.07630753 -4.34529948] [-0.18417927 0.03526364 0.98225988 -0.06281024] [ 0. 0. 0. 1. ]] SLAMing on 281.012414037 meters Centerline goodness : 0.815166 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.34, Z:-0.06 [[ 0.95782254 0.23083197 0.17115078 -9.35095159] [-0.22063928 0.97234108 -0.07662327 -4.34377796] [-0.18410403 0.03562891 0.9822608 -0.06326392] [ 0. 0. 0. 1. ]] SLAMing on 281.04241403699996 meters Centerline goodness : 0.815794 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.34, Z:-0.06 [[ 0.95793092 0.23042047 0.17109869 -9.35034729] [-0.22015204 0.97242141 -0.0770044 -4.34120011] [-0.18412342 0.03609717 0.98224007 -0.06401426] [ 0. 0. 0. 1. ]] SLAMing on 281.072414037 meters Centerline goodness : 0.822110 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.34, Z:-0.06 [[ 0.95801525 0.23012287 0.17102704 -9.35020384] [-0.21981118 0.97248098 -0.07722552 -4.34008117] [-0.1840919 0.03638957 0.98223519 -0.06407778] [ 0. 0. 0. 1. ]] SLAMing on 281.10241403699996 meters Centerline goodness : 0.821370 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.34, Z:-0.06 [[ 0.95811076 0.22963472 0.17114811 -9.35070751] [-0.21924932 0.9725816 -0.07755491 -4.33898237] [-0.1842648 0.03678209 0.98218815 -0.06390539] [ 0. 0. 0. 1. ]] SLAMing on 281.132414037 meters Centerline goodness : 0.822859 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.34, Z:-0.06 [[ 0.9583646 0.22834697 0.1714496 -9.35248304] [-0.21772687 0.97283656 -0.0786386 -4.33668449] [-0.18474932 0.03803527 0.98204939 -0.06275223] [ 0. 0. 0. 1. ]] SLAMing on 281.16241403699996 meters Centerline goodness : 0.822859 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.34, Z:-0.06 [[ 0.9583646 0.22834697 0.1714496 -9.35248304] [-0.21772687 0.97283656 -0.0786386 -4.33668449] [-0.18474932 0.03803527 0.98204939 -0.06275223] [ 0. 0. 0. 1. ]] SLAMing on 281.192414037 meters Centerline goodness : 0.826585 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.34, Z:-0.06 [[ 0.95847957 0.22771919 0.17164175 -9.35349001] [-0.21697584 0.97295861 -0.07920241 -4.33565513] [-0.18503623 0.03867178 0.98197051 -0.06206869] [ 0. 0. 0. 1. ]] SLAMing on 281.22241403699996 meters Centerline goodness : 0.828112 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.33, Z:-0.06 [[ 0.95962987 0.22410766 0.16995961 -9.35440825] [-0.21268582 0.97359701 -0.08290724 -4.33176544] [-0.18405232 0.04341227 0.98195729 -0.05798159] [ 0. 0. 0. 1. ]] SLAMing on 281.252414037 meters Centerline goodness : 0.832206 Centerline is valid? [False, False] Translation: X:-9.36, Y:-4.33, Z:-0.06 [[ 0.95981682 0.22313012 0.17018993 -9.35632773] [-0.2116088 0.97379761 -0.08330628 -4.33185207] [-0.18431869 0.04394509 0.98188362 -0.05681545] [ 0. 0. 0. 1. ]] SLAMing on 281.28241403699997 meters Centerline goodness : 0.831395 Centerline is valid? [False, False] Translation: X:-9.36, Y:-4.33, Z:-0.06 [[ 0.95996346 0.22254173 0.17013326 -9.35732074] [-0.21092997 0.97390628 -0.08375625 -4.33174211] [-0.18433311 0.04451674 0.98185516 -0.05543642] [ 0. 0. 0. 1. ]] SLAMing on 281.312414037 meters Centerline goodness : 0.834593 Centerline is valid? [False, False] Translation: X:-9.36, Y:-4.33, Z:-0.06 [[ 0.95994768 0.22292246 0.16972339 -9.35627825] [-0.21132645 0.97381637 -0.08380222 -4.33144481] [-0.18396082 0.04457871 0.98192217 -0.05502904] [ 0. 0. 0. 1. ]] SLAMing on 281.34241403699997 meters Centerline goodness : 0.834760 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.33, Z:-0.06 [[ 0.95975115 0.22419582 0.16915662 -9.35321126] [-0.21282134 0.97357196 -0.0828536 -4.33256806] [-0.18326157 0.0435187 0.98210046 -0.05737013] [ 0. 0. 0. 1. ]] SLAMing on 281.372414037 meters Centerline goodness : 0.831789 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.33, Z:-0.06 [[ 0.95960768 0.2250471 0.1688399 -9.35122273] [-0.21387003 0.97341984 -0.08193553 -4.33415922] [-0.18279146 0.04251617 0.98223198 -0.0594566 ] [ 0. 0. 0. 1. ]] SLAMing on 281.40241403699997 meters Centerline goodness : 0.831605 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.34, Z:-0.06 [[ 0.95933406 0.22641443 0.16856651 -9.3483173 ] [-0.21559754 0.97318606 -0.08016602 -4.3366548 ] [-0.18219732 0.04056347 0.98242493 -0.06336115] [ 0. 0. 0. 1. ]] SLAMing on 281.432414037 meters Centerline goodness : 0.833291 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.34, Z:-0.06 [[ 0.95925722 0.22696812 0.16825891 -9.34685837] [-0.21626339 0.97307882 -0.07967277 -4.33728324] [-0.18181236 0.04003844 0.98251778 -0.06445239] [ 0. 0. 0. 1. ]] SLAMing on 281.462414037 meters Centerline goodness : 0.837458 Centerline is valid? [False, False] Translation: X:-9.35, Y:-4.34, Z:-0.06 [[ 0.95921559 0.22759827 0.16764389 -9.34519467] [-0.21685982 0.97291574 -0.08004238 -4.33636186] [-0.18132089 0.04042268 0.98259287 -0.06345898] [ 0. 0. 0. 1. ]] SLAMing on 281.492414037 meters Centerline goodness : 0.834264 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.34, Z:-0.06 [[ 0.95920902 0.22780558 0.16739975 -9.3446436 ] [-0.21703657 0.97285678 -0.08027954 -4.33584818] [-0.18114411 0.04067299 0.98261514 -0.06276738] [ 0. 0. 0. 1. ]] SLAMing on 281.522414037 meters Centerline goodness : 0.835262 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.34, Z:-0.06 [[ 0.95923625 0.22781052 0.16723689 -9.34454278] [-0.21698291 0.97283935 -0.08063513 -4.33529313] [-0.18106415 0.04106059 0.98261376 -0.06190654] [ 0. 0. 0. 1. ]] SLAMing on 281.552414037 meters Centerline goodness : 0.820763 Centerline is valid? [False, False] Translation: X:-9.34, Y:-4.34, Z:-0.06 [[ 0.95923876 0.22790348 0.16709578 -9.34449804] [-0.21707837 0.97281589 -0.08066117 -4.33560241] [-0.18093639 0.04110045 0.98263563 -0.06131428] [ 0. 0. 0. 1. ]] SLAMing on 281.582414037 meters Centerline goodness : 0.824111 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.33, Z:-0.07 [[ 0.96000529 0.22182887 0.17082679 -9.33237608] [-0.21094927 0.97424772 -0.07963536 -4.33390505] [-0.18409304 0.04041458 0.9820776 -0.06623697] [ 0. 0. 0. 1. ]] SLAMing on 281.612414037 meters Centerline goodness : 0.824199 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.34, Z:-0.07 [[ 0.95992411 0.22235902 0.17059359 -9.33142547] [-0.21160491 0.97415248 -0.07905886 -4.3352229 ] [-0.18376362 0.03979206 0.98216471 -0.06690559] [ 0. 0. 0. 1. ]] SLAMing on 281.642414037 meters Centerline goodness : 0.824402 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.34, Z:-0.07 [[ 0.95989703 0.22256898 0.17047211 -9.33071857] [-0.2117702 0.97409362 -0.07934105 -4.33549341] [-0.18371465 0.04005833 0.98216305 -0.06774137] [ 0. 0. 0. 1. ]] SLAMing on 281.672414037 meters Centerline goodness : 0.823548 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.34, Z:-0.07 [[ 0.95993181 0.22255026 0.17030063 -9.3297003 ] [-0.21180848 0.97410713 -0.0790725 -4.33583226] [-0.18348866 0.03983309 0.98221445 -0.06942663] [ 0. 0. 0. 1. ]] SLAMing on 281.702414037 meters Centerline goodness : 0.824040 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.34, Z:-0.07 [[ 0.95991313 0.22275161 0.1701426 -9.3283512 ] [-0.21218537 0.97409696 -0.07818233 -4.3365279 ] [-0.18315063 0.03894647 0.9823131 -0.07166804] [ 0. 0. 0. 1. ]] SLAMing on 281.73241403699996 meters Centerline goodness : 0.822905 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.34, Z:-0.07 [[ 0.95986288 0.22293718 0.17018306 -9.32747084] [-0.21234139 0.97404975 -0.07834674 -4.33716981] [-0.18323317 0.03906522 0.98229299 -0.07393637] [ 0. 0. 0. 1. ]] SLAMing on 281.762414037 meters Centerline goodness : 0.825292 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.34, Z:-0.07 [[ 0.95984225 0.2229611 0.17026803 -9.32746221] [-0.21237537 0.97404801 -0.07827634 -4.33745325] [-0.18330182 0.0389722 0.98228388 -0.07418423] [ 0. 0. 0. 1. ]] SLAMing on 281.79241403699996 meters Centerline goodness : 0.821621 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.33, Z:-0.08 [[ 0.96094763 0.21492838 0.17431419 -9.31902197] [-0.20436394 0.97588855 -0.07666104 -4.33484108] [-0.18658786 0.03804371 0.9817014 -0.0788354 ] [ 0. 0. 0. 1. ]] SLAMing on 281.822414037 meters Centerline goodness : 0.823807 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.33, Z:-0.08 [[ 0.96105941 0.21445407 0.17428216 -9.31986104] [-0.20383113 0.97597829 -0.07693664 -4.3347427 ] [-0.18659498 0.03841656 0.98168553 -0.07710573] [ 0. 0. 0. 1. ]] SLAMing on 281.85241403699996 meters Centerline goodness : 0.827597 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.34, Z:-0.08 [[ 0.96105277 0.2143896 0.17439803 -9.32065168] [-0.20385852 0.97601284 -0.07642406 -4.33582845] [-0.18659924 0.03789503 0.98170499 -0.07598811] [ 0. 0. 0. 1. ]] SLAMing on 281.882414037 meters Centerline goodness : 0.824409 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.34, Z:-0.08 [[ 0.96105582 0.21426789 0.17453075 -9.32125121] [-0.20369162 0.97603199 -0.07662432 -4.33612792] [-0.18676573 0.0380898 0.98166579 -0.07535839] [ 0. 0. 0. 1. ]] SLAMing on 281.91241403699996 meters Centerline goodness : 0.822189 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.34, Z:-0.08 [[ 0.96105263 0.21416636 0.17467288 -9.32138109] [-0.20366181 0.97607066 -0.07620978 -4.33633876] [-0.18681464 0.03766741 0.98167278 -0.07583293] [ 0. 0. 0. 1. ]] SLAMing on 281.942414037 meters Centerline goodness : 0.826190 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.34, Z:-0.08 [[ 0.96096745 0.21456893 0.17464746 -9.32054938] [-0.20429906 0.97603013 -0.0750139 -4.33753255] [-0.18655683 0.0364056 0.98176941 -0.07735756] [ 0. 0. 0. 1. ]] SLAMing on 281.97241403699996 meters Centerline goodness : 0.822968 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.34, Z:-0.07 [[ 0.96115302 0.22037648 0.16618988 -9.32649181] [-0.20907481 0.97437932 -0.08290156 -4.33671111] [-0.18020153 0.04493497 0.9826028 -0.06727351] [ 0. 0. 0. 1. ]] SLAMing on 282.002414037 meters Centerline goodness : 0.820422 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.34, Z:-0.07 [[ 0.9604963 0.22231942 0.16739455 -9.32624512] [-0.2122625 0.97425455 -0.07597836 -4.3411856 ] [-0.17997636 0.03744535 0.98295796 -0.0715832 ] [ 0. 0. 0. 1. ]] SLAMing on 282.03241403699997 meters Centerline goodness : 0.819718 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.34, Z:-0.07 [[ 0.96055861 0.22224659 0.16713353 -9.32534311] [-0.21214758 0.97425773 -0.07625802 -4.34112128] [-0.17977922 0.03779332 0.98298072 -0.07249259] [ 0. 0. 0. 1. ]] SLAMing on 282.062414037 meters Centerline goodness : 0.820978 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.34, Z:-0.07 [[ 0.96060095 0.22204886 0.16715295 -9.32539281] [-0.21190895 0.97429367 -0.07646206 -4.34114622] [-0.17983437 0.03802832 0.98296157 -0.0725634 ] [ 0. 0. 0. 1. ]] SLAMing on 282.09241403699997 meters Centerline goodness : 0.819282 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.34, Z:-0.07 [[ 0.9605698 0.22224215 0.16707507 -9.32462569] [-0.2123437 0.97429937 -0.07517245 -4.34236046] [-0.17948762 0.03673104 0.98307427 -0.07363628] [ 0. 0. 0. 1. ]] SLAMing on 282.122414037 meters Centerline goodness : 0.820362 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.34, Z:-0.07 [[ 0.96044904 0.22246911 0.16746683 -9.32535894] [-0.21259278 0.97425924 -0.07498834 -4.3438328 ] [-0.1798387 0.03642024 0.98302167 -0.0737934 ] [ 0. 0. 0. 1. ]] SLAMing on 282.15241403699997 meters Centerline goodness : 0.816205 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.34, Z:-0.07 [[ 0.96037407 0.22257225 0.16775945 -9.3261909 ] [-0.21259759 0.97422077 -0.07547287 -4.34381503] [-0.18023291 0.03681693 0.98293469 -0.0730647 ] [ 0. 0. 0. 1. ]] SLAMing on 282.182414037 meters Centerline goodness : 0.814027 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.34, Z:-0.07 [[ 0.96029072 0.2227055 0.16805947 -9.32654452] [-0.21283169 0.97421601 -0.07487211 -4.34364575] [-0.18040066 0.03613061 0.98292939 -0.07339637] [ 0. 0. 0. 1. ]] SLAMing on 282.212414037 meters Centerline goodness : 0.814933 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.34, Z:-0.07 [[ 0.95998692 0.22356415 0.16865404 -9.32775469] [-0.21348592 0.97399102 -0.07592933 -4.34192628] [-0.18124259 0.0368859 0.98274643 -0.07233725] [ 0. 0. 0. 1. ]] SLAMing on 282.242414037 meters Centerline goodness : 0.817091 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.34, Z:-0.07 [[ 0.95989471 0.22376639 0.16891046 -9.328158 ] [-0.21356058 0.97392347 -0.07658296 -4.34011786] [-0.18164255 0.03743897 0.98265167 -0.07196684] [ 0. 0. 0. 1. ]] SLAMing on 282.272414037 meters Centerline goodness : 0.818001 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.34, Z:-0.07 [[ 0.95958491 0.22483118 0.16925645 -9.32834773] [-0.21427748 0.97361566 -0.07847101 -4.33609708] [-0.18243346 0.03903175 0.98244316 -0.07146006] [ 0. 0. 0. 1. ]] SLAMing on 282.302414037 meters Centerline goodness : 0.814716 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.34, Z:-0.07 [[ 0.95870602 0.2278248 0.1702311 -9.3274905 ] [-0.21802107 0.97309835 -0.0744742 -4.33749367] [-0.18261868 0.0342849 0.98258586 -0.07461959] [ 0. 0. 0. 1. ]] SLAMing on 282.332414037 meters Centerline goodness : 0.813962 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.34, Z:-0.08 [[ 0.95852982 0.22848473 0.17033882 -9.32675036] [-0.21854996 0.97292301 -0.07521123 -4.33516906] [-0.18291117 0.03486466 0.98251105 -0.07552684] [ 0. 0. 0. 1. ]] SLAMing on 282.362414037 meters Centerline goodness : 0.813583 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.33, Z:-0.08 [[ 0.95744573 0.23196228 0.17172994 -9.32576525] [-0.22265843 0.97224443 -0.07186092 -4.33304007] [-0.1836325 0.03056582 0.98251964 -0.07966402] [ 0. 0. 0. 1. ]] SLAMing on 282.392414037 meters Centerline goodness : 0.813901 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.33, Z:-0.08 [[ 0.95740365 0.23205464 0.17183975 -9.32566103] [-0.22274173 0.97222257 -0.07189845 -4.33155474] [-0.18375085 0.03055995 0.98249769 -0.08004006] [ 0. 0. 0. 1. ]] SLAMing on 282.422414037 meters Centerline goodness : 0.815799 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.33, Z:-0.08 [[ 0.95755077 0.23181615 0.17134116 -9.32469707] [-0.22261932 0.97229169 -0.0713408 -4.33164575] [-0.18313153 0.03016859 0.98262541 -0.07979418] [ 0. 0. 0. 1. ]] SLAMing on 282.452414037 meters Centerline goodness : 0.815635 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.33, Z:-0.08 [[ 0.95734776 0.23249949 0.17154959 -9.32459369] [-0.22307992 0.97209623 -0.07255524 -4.32861123] [-0.18363176 0.03119133 0.98250012 -0.07966445] [ 0. 0. 0. 1. ]] SLAMing on 282.48241403699996 meters Centerline goodness : 0.817743 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.33, Z:-0.08 [[ 0.9572751 0.2324639 0.1720027 -9.3253263 ] [-0.22295852 0.97209587 -0.07293234 -4.32746662] [-0.18415725 0.03146684 0.98239297 -0.07973672] [ 0. 0. 0. 1. ]] SLAMing on 282.512414037 meters Centerline goodness : 0.818299 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.33, Z:-0.08 [[ 0.95718257 0.23282663 0.17202699 -9.32461814] [-0.22344598 0.97203173 -0.07229257 -4.32781665] [-0.18404733 0.03075845 0.982436 -0.08083231] [ 0. 0. 0. 1. ]] SLAMing on 282.54241403699996 meters Centerline goodness : 0.817199 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.33, Z:-0.08 [[ 0.95812395 0.22992253 0.17068721 -9.32440771] [-0.21984967 0.97256882 -0.07600014 -4.32679788] [-0.1834792 0.03529203 0.98238987 -0.07820654] [ 0. 0. 0. 1. ]] SLAMing on 282.572414037 meters Centerline goodness : 0.819790 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.33, Z:-0.08 [[ 0.9582028 0.22967746 0.17057448 -9.32428108] [-0.21963745 0.97263033 -0.07582634 -4.3275546 ] [-0.18332151 0.03519247 0.98242288 -0.07834945] [ 0. 0. 0. 1. ]] SLAMing on 282.60241403699996 meters Centerline goodness : 0.814939 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.33, Z:-0.08 [[ 0.95808209 0.23015688 0.17060632 -9.32350267] [-0.22012304 0.97252059 -0.07582579 -4.32773014] [-0.18336999 0.03509295 0.98241739 -0.07993394] [ 0. 0. 0. 1. ]] SLAMing on 282.632414037 meters Centerline goodness : 0.814818 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.33, Z:-0.08 [[ 0.95813171 0.23002609 0.17050402 -9.32286551] [-0.22022119 0.97259264 -0.07460689 -4.32831413] [-0.18299249 0.03393462 0.98252847 -0.08072938] [ 0. 0. 0. 1. ]] SLAMing on 282.66241403699996 meters Centerline goodness : 0.815673 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.33, Z:-0.08 [[ 0.95912595 0.22694576 0.16903558 -9.32235379] [-0.2165139 0.97315635 -0.07802858 -4.32661582] [-0.1822063 0.03824068 0.98251642 -0.07775481] [ 0. 0. 0. 1. ]] SLAMing on 282.692414037 meters Centerline goodness : 0.817612 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.33, Z:-0.08 [[ 0.95940478 0.22628926 0.16833194 -9.32143903] [-0.21600255 0.9733248 -0.07734165 -4.32756882] [-0.18134324 0.03784182 0.98269152 -0.07712016] [ 0. 0. 0. 1. ]] SLAMing on 282.72241403699996 meters Centerline goodness : 0.815253 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.33, Z:-0.08 [[ 0.95978107 0.22529235 0.1675221 -9.32066551] [-0.21512821 0.97356376 -0.07676885 -4.32848984] [-0.18038888 0.03764256 0.98287481 -0.07596327] [ 0. 0. 0. 1. ]] SLAMing on 282.752414037 meters Centerline goodness : 0.812966 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.33, Z:-0.07 [[ 0.96027677 0.22384815 0.16661493 -9.31985983] [-0.21391953 0.97392466 -0.07555914 -4.33078666] [-0.17918416 0.0369155 0.98312272 -0.07498628] [ 0. 0. 0. 1. ]] SLAMing on 282.78241403699997 meters Centerline goodness : 0.814576 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.33, Z:-0.08 [[ 0.96043625 0.22337537 0.16632995 -9.31943932] [-0.21358302 0.97405459 -0.0748328 -4.33162461] [-0.17873025 0.03634688 0.98322653 -0.07502987] [ 0. 0. 0. 1. ]] SLAMing on 282.812414037 meters Centerline goodness : 0.812978 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.33, Z:-0.08 [[ 0.96055428 0.22319985 0.16588341 -9.31839268] [-0.21346549 0.97409885 -0.07459168 -4.33213616] [-0.17823569 0.03623897 0.98332028 -0.07554288] [ 0. 0. 0. 1. ]] SLAMing on 282.84241403699997 meters Centerline goodness : 0.809567 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.33, Z:-0.08 [[ 0.96072037 0.2228088 0.16544672 -9.31700794] [-0.2132525 0.97421591 -0.0736664 -4.33363647] [-0.17759435 0.03549088 0.9834636 -0.07752072] [ 0. 0. 0. 1. ]] SLAMing on 282.872414037 meters Centerline goodness : 0.808722 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.33, Z:-0.08 [[ 0.96078275 0.22281689 0.16507314 -9.31548719] [-0.21343191 0.97424236 -0.07279173 -4.33449215] [-0.17704047 0.03470517 0.98359149 -0.07930246] [ 0. 0. 0. 1. ]] SLAMing on 282.90241403699997 meters Centerline goodness : 0.808013 Centerline is valid? [False, False] Translation: X:-9.31, Y:-4.33, Z:-0.08 [[ 0.96141676 0.22089118 0.16396616 -9.31478828] [-0.21081901 0.97451146 -0.07669911 -4.33314807] [-0.17672906 0.03917262 0.98347971 -0.07801338] [ 0. 0. 0. 1. ]] SLAMing on 282.932414037 meters Centerline goodness : 0.809920 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.33, Z:-0.08 [[ 0.96146407 0.22065933 0.1640009 -9.31500895] [-0.21064772 0.97457696 -0.07633667 -4.33374139] [-0.1766759 0.03884855 0.98350212 -0.07779334] [ 0. 0. 0. 1. ]] SLAMing on 282.962414037 meters Centerline goodness : 0.811241 Centerline is valid? [False, False] Translation: X:-9.31, Y:-4.33, Z:-0.08 [[ 0.96159361 0.22031932 0.16369829 -9.31489311] [-0.21030653 0.97464685 -0.07638515 -4.33404192] [-0.17637715 0.03902465 0.98354877 -0.07666941] [ 0. 0. 0. 1. ]] SLAMing on 282.992414037 meters Centerline goodness : 0.813106 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.34, Z:-0.08 [[ 0.9616321 0.22024341 0.16357426 -9.31503 ] [-0.21058322 0.97473783 -0.07443707 -4.33631535] [-0.17583629 0.03713509 0.98371875 -0.07574806] [ 0. 0. 0. 1. ]] SLAMing on 283.022414037 meters Centerline goodness : 0.807142 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.34, Z:-0.07 [[ 0.96179218 0.21974888 0.16329799 -9.31515468] [-0.21013285 0.97485223 -0.07421132 -4.33723038] [-0.17549927 0.0370616 0.98378171 -0.07469383] [ 0. 0. 0. 1. ]] SLAMing on 283.052414037 meters Centerline goodness : 0.807142 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.34, Z:-0.07 [[ 0.96179218 0.21974888 0.16329799 -9.31515468] [-0.21013285 0.97485223 -0.07421132 -4.33723038] [-0.17549927 0.0370616 0.98378171 -0.07469383] [ 0. 0. 0. 1. ]] SLAMing on 283.082414037 meters Centerline goodness : 0.805346 Centerline is valid? [False, False] Translation: X:-9.31, Y:-4.34, Z:-0.07 [[ 0.96284932 0.21632862 0.16162647 -9.31379831] [-0.20624516 0.97546912 -0.07696064 -4.33720403] [-0.17431042 0.04076682 0.9838465 -0.0736803 ] [ 0. 0. 0. 1. ]] SLAMing on 283.112414037 meters Centerline goodness : 0.806106 Centerline is valid? [False, False] Translation: X:-9.31, Y:-4.34, Z:-0.07 [[ 0.96380344 0.21327034 0.15999589 -9.31198919] [-0.2026928 0.97597389 -0.07994125 -4.33622483] [-0.17320091 0.04461764 0.98387535 -0.07328205] [ 0. 0. 0. 1. ]] SLAMing on 283.142414037 meters Centerline goodness : 0.805840 Centerline is valid? [False, False] Translation: X:-9.31, Y:-4.33, Z:-0.07 [[ 0.96484241 0.20988006 0.1582071 -9.31017848] [-0.19867751 0.97647934 -0.08375762 -4.33466067] [-0.17206502 0.04938071 0.98384713 -0.07215472] [ 0. 0. 0. 1. ]] SLAMing on 283.172414037 meters Centerline goodness : 0.804123 Centerline is valid? [False, False] Translation: X:-9.31, Y:-4.34, Z:-0.07 [[ 0.96611126 0.20595352 0.15560261 -9.30656708] [-0.19443594 0.97712967 -0.08609461 -4.3358953 ] [-0.16977542 0.05292223 0.98406074 -0.07236396] [ 0. 0. 0. 1. ]] SLAMing on 283.202414037 meters Centerline goodness : 0.802385 Centerline is valid? [False, False] Translation: X:-9.31, Y:-4.34, Z:-0.07 [[ 0.96613866 0.20550399 0.15602628 -9.30772957] [-0.19406097 0.97725639 -0.08550024 -4.33687875] [-0.17004832 0.05232647 0.98404548 -0.07318437] [ 0. 0. 0. 1. ]] SLAMing on 283.23241403699996 meters Centerline goodness : 0.802892 Centerline is valid? [False, False] Translation: X:-9.31, Y:-4.34, Z:-0.07 [[ 0.9661815 0.20515658 0.15621807 -9.30837215] [-0.19378015 0.97735293 -0.08503232 -4.3378662 ] [-0.17012513 0.0518847 0.9840556 -0.0738447 ] [ 0. 0. 0. 1. ]] SLAMing on 283.262414037 meters Centerline goodness : 0.798476 Centerline is valid? [False, False] Translation: X:-9.31, Y:-4.34, Z:-0.07 [[ 0.96649908 0.20345643 0.15647689 -9.31114016] [-0.19197242 0.97767231 -0.08546023 -4.33841454] [-0.17037055 0.05255799 0.98397741 -0.07264207] [ 0. 0. 0. 1. ]] SLAMing on 283.29241403699996 meters Centerline goodness : 0.805124 Centerline is valid? [False, False] Translation: X:-9.31, Y:-4.34, Z:-0.07 [[ 0.96657234 0.20283684 0.15682832 -9.31263114] [-0.19135459 0.97780748 -0.08529917 -4.33908754] [-0.17064972 0.052438 0.98393543 -0.07244363] [ 0. 0. 0. 1. ]] SLAMing on 283.322414037 meters Centerline goodness : 0.807479 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.34, Z:-0.07 [[ 0.96692337 0.20115655 0.15682866 -9.31511228] [-0.18954359 0.97810403 -0.08594033 -4.33944658] [-0.1706822 0.05337184 0.98387958 -0.07059776] [ 0. 0. 0. 1. ]] SLAMing on 283.35241403699996 meters Centerline goodness : 0.805534 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.34, Z:-0.07 [[ 0.96700249 0.2006572 0.1569805 -9.31598335] [-0.18904255 0.97820728 -0.08586875 -4.34000141] [-0.17078965 0.0533593 0.98386162 -0.07057642] [ 0. 0. 0. 1. ]] SLAMing on 283.382414037 meters Centerline goodness : 0.801585 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.34, Z:-0.07 [[ 0.96707042 0.20022116 0.15711871 -9.31677321] [-0.18862455 0.97830345 -0.08569206 -4.3406684 ] [-0.17086714 0.05323381 0.98385496 -0.07064039] [ 0. 0. 0. 1. ]] SLAMing on 283.41241403699996 meters Centerline goodness : 0.808268 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.34, Z:-0.07 [[ 0.9671497 0.19975328 0.15722623 -9.31743736] [-0.188191 0.97840993 -0.08542931 -4.3414163 ] [-0.17089649 0.05303437 0.98386063 -0.0709907 ] [ 0. 0. 0. 1. ]] SLAMing on 283.442414037 meters Centerline goodness : 0.807407 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.34, Z:-0.07 [[ 0.96743161 0.19831915 0.15730731 -9.31902234] [-0.18678125 0.97870287 -0.08516727 -4.342021 ] [-0.17084741 0.05301145 0.98387039 -0.07138192] [ 0. 0. 0. 1. ]] SLAMing on 283.47241403699996 meters Centerline goodness : 0.807690 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.34, Z:-0.07 [[ 0.9677096 0.19689881 0.15738168 -9.32042557] [-0.18533401 0.9789748 -0.08520352 -4.34204687] [-0.17084917 0.05328409 0.98385536 -0.07166268] [ 0. 0. 0. 1. ]] SLAMing on 283.502414037 meters Centerline goodness : 0.809235 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.34, Z:-0.07 [[ 0.96774981 0.19644904 0.15769617 -9.32120973] [-0.18494241 0.97908911 -0.08473975 -4.34273585] [-0.17104564 0.05284217 0.98384506 -0.07258888] [ 0. 0. 0. 1. ]] SLAMing on 283.53241403699997 meters Centerline goodness : 0.804927 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.34, Z:-0.07 [[ 0.96785394 0.19563587 0.15806758 -9.3226548 ] [-0.18415546 0.97926519 -0.08441838 -4.3437069 ] [-0.17130534 0.05259565 0.98381308 -0.07319251] [ 0. 0. 0. 1. ]] SLAMing on 283.562414037 meters Centerline goodness : 0.803025 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.34, Z:-0.07 [[ 0.96794521 0.19491658 0.15839694 -9.3238204 ] [-0.18345252 0.97941818 -0.08417368 -4.34426813] [-0.17154369 0.05241719 0.98378107 -0.07379521] [ 0. 0. 0. 1. ]] SLAMing on 283.59241403699997 meters Centerline goodness : 0.802091 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.34, Z:-0.07 [[ 0.96883564 0.19129142 0.15736928 -9.32359342] [-0.17907294 0.97983848 -0.088597 -4.34301405] [-0.17114432 0.05765535 0.98355756 -0.07312657] [ 0. 0. 0. 1. ]] SLAMing on 283.622414037 meters Centerline goodness : 0.800342 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.34, Z:-0.07 [[ 0.96894104 0.19056178 0.15760543 -9.32478981] [-0.17831534 0.97997371 -0.08862942 -4.34325933] [-0.17133856 0.05777322 0.98351683 -0.07303842] [ 0. 0. 0. 1. ]] SLAMing on 283.65241403699997 meters Centerline goodness : 0.798422 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.34, Z:-0.07 [[ 0.96931409 0.18849346 0.15779866 -9.32764957] [-0.1760441 0.98029676 -0.089592 -4.34223516] [-0.17157702 0.05906326 0.98339863 -0.07126672] [ 0. 0. 0. 1. ]] SLAMing on 283.682414037 meters Centerline goodness : 0.804615 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.34, Z:-0.07 [[ 0.96941152 0.18790388 0.15790327 -9.3285907 ] [-0.17538995 0.980387 -0.08988715 -4.34190182] [-0.17169645 0.05944299 0.9833549 -0.07061694] [ 0. 0. 0. 1. ]] SLAMing on 283.712414037 meters Centerline goodness : 0.799473 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.34, Z:-0.07 [[ 0.96945529 0.18806965 0.15743648 -9.32761258] [-0.17551004 0.98032535 -0.09032406 -4.34050055] [-0.17132618 0.05993345 0.98338971 -0.06974867] [ 0. 0. 0. 1. ]] SLAMing on 283.742414037 meters Centerline goodness : 0.801710 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.34, Z:-0.07 [[ 0.96873191 0.19077754 0.15862668 -9.32883593] [-0.17890906 0.98008764 -0.08613805 -4.34072519] [-0.17190125 0.05506493 0.983574 -0.07041253] [ 0. 0. 0. 1. ]] SLAMing on 283.772414037 meters Centerline goodness : 0.800271 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.34, Z:-0.07 [[ 0.96869259 0.19132229 0.15821012 -9.32717551] [-0.17953233 0.97999811 -0.0858595 -4.34066577] [-0.17147246 0.05476763 0.98366544 -0.07120499] [ 0. 0. 0. 1. ]] SLAMing on 283.802414037 meters Centerline goodness : 0.799084 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.34, Z:-0.07 [[ 0.9686352 0.19194225 0.15781005 -9.3254201 ] [-0.18024518 0.97989899 -0.08549641 -4.34076839] [-0.17104829 0.05437033 0.98376133 -0.07217347] [ 0. 0. 0. 1. ]] SLAMing on 283.832414037 meters Centerline goodness : 0.799269 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.34, Z:-0.07 [[ 0.96854511 0.19290886 0.15718314 -9.32284791] [-0.18133914 0.97973789 -0.08502811 -4.3410026 ] [-0.17040095 0.05385011 0.98390227 -0.07339098] [ 0. 0. 0. 1. ]] SLAMing on 283.862414037 meters Centerline goodness : 0.796245 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.34, Z:-0.07 [[ 0.9684858 0.19334569 0.15701181 -9.32180553] [-0.1818708 0.97967952 -0.08456389 -4.34137792] [-0.17017131 0.05334306 0.98396963 -0.07435587] [ 0. 0. 0. 1. ]] SLAMing on 283.892414037 meters Centerline goodness : 0.796058 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.34, Z:-0.07 [[ 0.96844784 0.1937592 0.15673592 -9.32083978] [-0.18239364 0.9796269 -0.08404581 -4.34215865] [-0.16982737 0.05280635 0.984058 -0.07498234] [ 0. 0. 0. 1. ]] SLAMing on 283.922414037 meters Centerline goodness : 0.793552 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.34, Z:-0.08 [[ 0.96843711 0.19395338 0.15656198 -9.32051182] [-0.18266253 0.9796081 -0.08368013 -4.34309518] [-0.16959943 0.05244093 0.98411685 -0.07509492] [ 0. 0. 0. 1. ]] SLAMing on 283.952414037 meters Centerline goodness : 0.797524 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.34, Z:-0.08 [[ 0.96843004 0.1939995 0.15654855 -9.32065638] [-0.18275444 0.979613 -0.08342168 -4.34408707] [-0.16954076 0.05217812 0.98414093 -0.07512499] [ 0. 0. 0. 1. ]] SLAMing on 283.98241403699996 meters Centerline goodness : 0.792731 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.35, Z:-0.08 [[ 0.96840106 0.19416251 0.15652576 -9.32054179] [-0.18299532 0.97960491 -0.08298752 -4.34517661] [-0.16944647 0.05172172 0.98418126 -0.07549992] [ 0. 0. 0. 1. ]] SLAMing on 284.012414037 meters Centerline goodness : 0.792767 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.35, Z:-0.08 [[ 0.96836015 0.19434216 0.15655588 -9.32099175] [-0.18328015 0.979603 -0.08237935 -4.34736029] [-0.16937239 0.0510793 0.98422757 -0.07543685] [ 0. 0. 0. 1. ]] SLAMing on 284.04241403699996 meters Centerline goodness : 0.792564 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.35, Z:-0.08 [[ 0.96832025 0.19432878 0.15681909 -9.32157948] [-0.18338024 0.97964619 -0.08163961 -4.34944254] [-0.16949215 0.05029576 0.9842473 -0.07639006] [ 0. 0. 0. 1. ]] SLAMing on 284.072414037 meters Centerline goodness : 0.790085 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.35, Z:-0.08 [[ 0.96815426 0.19538634 0.15652959 -9.32007789] [-0.18476455 0.9795298 -0.07989643 -4.35340579] [-0.16893607 0.04843095 0.98443641 -0.07854159] [ 0. 0. 0. 1. ]] SLAMing on 284.10241403699996 meters Centerline goodness : 0.790546 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.36, Z:-0.08 [[ 0.96807951 0.19596554 0.15626762 -9.319106 ] [-0.18549553 0.97945417 -0.07912611 -4.35513455] [-0.16856296 0.04761342 0.98454024 -0.07937438] [ 0. 0. 0. 1. ]] SLAMing on 284.132414037 meters Centerline goodness : 0.789701 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.36, Z:-0.08 [[ 0.96801357 0.19646009 0.15605502 -9.3184451 ] [-0.1861499 0.97939754 -0.07828582 -4.35755059] [-0.16821995 0.04673211 0.98464113 -0.08014852] [ 0. 0. 0. 1. ]] SLAMing on 284.16241403699996 meters Centerline goodness : 0.789790 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.36, Z:-0.08 [[ 0.96792784 0.19689357 0.15604047 -9.31810647] [-0.18675705 0.97936005 -0.0773027 -4.36022863] [-0.1680402 0.04568178 0.98472111 -0.08129439] [ 0. 0. 0. 1. ]] SLAMing on 284.192414037 meters Centerline goodness : 0.791949 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.36, Z:-0.08 [[ 0.9679104 0.19684572 0.15620893 -9.31907951] [-0.18689372 0.97942256 -0.07617211 -4.36424988] [-0.1679887 0.04453331 0.9847825 -0.08202549] [ 0. 0. 0. 1. ]] SLAMing on 284.22241403699996 meters Centerline goodness : 0.791017 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.37, Z:-0.08 [[ 0.96788335 0.19685564 0.15636392 -9.31965017] [-0.18700784 0.97945121 -0.07552076 -4.36641513] [-0.16801751 0.043854 0.98480807 -0.08249441] [ 0. 0. 0. 1. ]] SLAMing on 284.252414037 meters Centerline goodness : 0.792164 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.37, Z:-0.08 [[ 0.96861526 0.19417304 0.15518156 -9.31907706] [-0.18379778 0.97980366 -0.07876011 -4.36912282] [-0.16734055 0.04776621 0.98474135 -0.08217214] [ 0. 0. 0. 1. ]] SLAMing on 284.28241403699997 meters Centerline goodness : 0.793781 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.37, Z:-0.08 [[ 0.96862419 0.19397082 0.15537856 -9.3199814 ] [-0.18368035 0.97987127 -0.07819098 -4.37132912] [-0.16741775 0.04719769 0.98475564 -0.08253797] [ 0. 0. 0. 1. ]] SLAMing on 284.312414037 meters Centerline goodness : 0.791926 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.38, Z:-0.08 [[ 0.96874068 0.19321668 0.1555918 -9.32198393] [-0.18307838 0.98006375 -0.07718394 -4.37550155] [-0.16740311 0.04628573 0.98480142 -0.08282767] [ 0. 0. 0. 1. ]] SLAMing on 284.34241403699997 meters Centerline goodness : 0.790760 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.38, Z:-0.08 [[ 0.96872418 0.19314742 0.15578039 -9.32265254] [-0.18313062 0.98011446 -0.07641215 -4.37797254] [-0.16744142 0.04549414 0.98483179 -0.08352547] [ 0. 0. 0. 1. ]] SLAMing on 284.372414037 meters Centerline goodness : 0.789311 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.38, Z:-0.08 [[ 0.96868919 0.19323074 0.15589465 -9.32292145] [-0.18331737 0.98012875 -0.07577842 -4.37981643] [-0.16743955 0.04482754 0.98486268 -0.08414103] [ 0. 0. 0. 1. ]] SLAMing on 284.40241403699997 meters Centerline goodness : 0.791605 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.38, Z:-0.08 [[ 0.96863307 0.19358789 0.1558002 -9.32285547] [-0.18385127 0.98010481 -0.07478811 -4.38284189] [-0.1671786 0.04379817 0.98495332 -0.08472824] [ 0. 0. 0. 1. ]] SLAMing on 284.432414037 meters Centerline goodness : 0.796227 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.38, Z:-0.09 [[ 0.96864174 0.19395169 0.15529302 -9.32153485] [-0.18436162 0.98006257 -0.07408206 -4.38401797] [-0.16656522 0.0431289 0.98508676 -0.08505295] [ 0. 0. 0. 1. ]] SLAMing on 284.462414037 meters Centerline goodness : 0.795319 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.39, Z:-0.09 [[ 0.96853498 0.19465533 0.15507835 -9.32071545] [-0.18526416 0.97997289 -0.07300902 -4.38638432] [-0.16618418 0.04198133 0.98520068 -0.08590445] [ 0. 0. 0. 1. ]] SLAMing on 284.492414037 meters Centerline goodness : 0.793241 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.39, Z:-0.09 [[ 0.96849318 0.19496021 0.15495637 -9.32020507] [-0.18580049 0.97996891 -0.07168754 -4.38803936] [-0.16582864 0.04063793 0.98531691 -0.08660315] [ 0. 0. 0. 1. ]] SLAMing on 284.522414037 meters Centerline goodness : 0.791004 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.39, Z:-0.09 [[ 0.96800716 0.1968341 0.15562289 -9.32044891] [-0.18873627 0.97985098 -0.0653505 -4.39327074] [-0.16535044 0.03388807 0.98565249 -0.08852005] [ 0. 0. 0. 1. ]] SLAMing on 284.552414037 meters Centerline goodness : 0.791124 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.39, Z:-0.09 [[ 0.96866785 0.19452687 0.15440822 -9.31931477] [-0.18567576 0.98011798 -0.06995184 -4.39141785] [-0.16494579 0.03909023 0.9855277 -0.0873276 ] [ 0. 0. 0. 1. ]] SLAMing on 284.582414037 meters Centerline goodness : 0.791324 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.40, Z:-0.09 [[ 0.96864462 0.19458135 0.15448528 -9.31941125] [-0.1860603 0.98018493 -0.06796376 -4.39578156] [-0.16464863 0.03708915 0.98565472 -0.08880089] [ 0. 0. 0. 1. ]] SLAMing on 284.612414037 meters Centerline goodness : 0.794594 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.40, Z:-0.09 [[ 0.96860104 0.19472775 0.15457403 -9.31954768] [-0.18666263 0.9802567 -0.06522164 -4.40010755] [-0.16422269 0.03432055 0.98582605 -0.08954883] [ 0. 0. 0. 1. ]] SLAMing on 284.642414037 meters Centerline goodness : 0.791268 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.40, Z:-0.09 [[ 0.96866608 0.19444266 0.15452535 -9.31985555] [-0.18640533 0.98031743 -0.06504446 -4.40057908] [-0.16413131 0.03420201 0.98584539 -0.08898335] [ 0. 0. 0. 1. ]] SLAMing on 284.672414037 meters Centerline goodness : 0.794698 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.40, Z:-0.09 [[ 0.96932292 0.19214251 0.15327864 -9.31887017] [-0.18341488 0.98058879 -0.06931523 -4.3984329 ] [-0.16362172 0.03907526 0.98574898 -0.08706088] [ 0. 0. 0. 1. ]] SLAMing on 284.702414037 meters Centerline goodness : 0.795156 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.40, Z:-0.09 [[ 0.96942751 0.19188353 0.15294124 -9.31866449] [-0.18328316 0.980663 -0.06861028 -4.39954055] [-0.16314899 0.03848114 0.9858507 -0.08653544] [ 0. 0. 0. 1. ]] SLAMing on 284.73241403699996 meters Centerline goodness : 0.797074 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.40, Z:-0.08 [[ 0.97033044 0.18865839 0.1512179 -9.31753416] [-0.17967923 0.98115123 -0.07111712 -4.39901889] [-0.16178447 0.04183639 0.98593889 -0.08429855] [ 0. 0. 0. 1. ]] SLAMing on 284.762414037 meters Centerline goodness : 0.797375 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.40, Z:-0.08 [[ 0.97035494 0.18853112 0.15121938 -9.31778895] [-0.17962428 0.9811938 -0.07066719 -4.40083628] [-0.16169848 0.04140958 0.98597102 -0.08439288] [ 0. 0. 0. 1. ]] SLAMing on 284.79241403699996 meters Centerline goodness : 0.795052 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.40, Z:-0.08 [[ 0.97119714 0.18547384 0.14958463 -9.31582311] [-0.17595576 0.98156346 -0.07465079 -4.39941137] [-0.16067258 0.04618036 0.98592682 -0.08373882] [ 0. 0. 0. 1. ]] SLAMing on 284.822414037 meters Centerline goodness : 0.793724 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.40, Z:-0.08 [[ 0.97115502 0.18581602 0.14943336 -9.31521906] [-0.17653236 0.9815635 -0.07327639 -4.40268823] [-0.16029426 0.04478291 0.98605286 -0.08496854] [ 0. 0. 0. 1. ]] SLAMing on 284.85241403699996 meters Centerline goodness : 0.797585 Centerline is valid? [False, False] Translation: X:-9.31, Y:-4.40, Z:-0.09 [[ 0.97111606 0.1861132 0.14931666 -9.31470643] [-0.17703913 0.9815639 -0.0720379 -4.40465123] [-0.15997105 0.04352227 0.98616179 -0.08577292] [ 0. 0. 0. 1. ]] SLAMing on 284.882414037 meters Centerline goodness : 0.796552 Centerline is valid? [False, False] Translation: X:-9.31, Y:-4.41, Z:-0.09 [[ 0.97109921 0.18647112 0.14897934 -9.31357232] [-0.17777969 0.9815926 -0.0697879 -4.40814282] [-0.15925044 0.04128547 0.98637458 -0.08723325] [ 0. 0. 0. 1. ]] SLAMing on 284.91241403699996 meters Centerline goodness : 0.799450 Centerline is valid? [False, False] Translation: X:-9.31, Y:-4.41, Z:-0.09 [[ 0.97153108 0.1847178 0.14834656 -9.31337864] [-0.17528482 0.98169959 -0.07443884 -4.40604401] [-0.15938194 0.04631674 0.98612989 -0.08600329] [ 0. 0. 0. 1. ]] SLAMing on 284.942414037 meters Centerline goodness : 0.798177 Centerline is valid? [False, False] Translation: X:-9.31, Y:-4.41, Z:-0.09 [[ 0.97105879 0.18679771 0.1488336 -9.31319566] [-0.17844452 0.98161483 -0.0677487 -4.41149829] [-0.15875257 0.03922943 0.98653873 -0.08752505] [ 0. 0. 0. 1. ]] SLAMing on 284.97241403699996 meters Centerline goodness : 0.798177 Centerline is valid? [False, False] Translation: X:-9.31, Y:-4.41, Z:-0.09 [[ 0.97105879 0.18679771 0.1488336 -9.31319566] [-0.17844452 0.98161483 -0.0677487 -4.41149829] [-0.15875257 0.03922943 0.98653873 -0.08752505] [ 0. 0. 0. 1. ]] SLAMing on 285.002414037 meters Centerline goodness : 0.800787 Centerline is valid? [False, False] Translation: X:-9.31, Y:-4.41, Z:-0.09 [[ 0.97162053 0.18458896 0.14792047 -9.31307841] [-0.17560997 0.98184277 -0.07173505 -4.41043752] [-0.15847614 0.04372293 0.98639425 -0.08540266] [ 0. 0. 0. 1. ]] SLAMing on 285.03241403699997 meters Centerline goodness : 0.800820 Centerline is valid? [False, False] Translation: X:-9.31, Y:-4.41, Z:-0.09 [[ 0.97158986 0.18471529 0.1479642 -9.31302236] [-0.1758881 0.98186186 -0.07078608 -4.41220814] [-0.15835567 0.04274989 0.98645625 -0.08589259] [ 0. 0. 0. 1. ]] SLAMing on 285.062414037 meters Centerline goodness : 0.798394 Centerline is valid? [False, False] Translation: X:-9.31, Y:-4.42, Z:-0.09 [[ 0.97160262 0.18481985 0.14774971 -9.31265185] [-0.17637162 0.98193835 -0.06848452 -4.41603641] [-0.1577384 0.04048089 0.98665085 -0.08653156] [ 0. 0. 0. 1. ]] SLAMing on 285.09241403699997 meters Centerline goodness : 0.799375 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.41, Z:-0.07 [[ 0.97242534 0.1879964 0.13800839 -9.31641799] [-0.1779655 0.98062668 -0.08185104 -4.41229844] [-0.15072241 0.05503329 0.9870431 -0.07410779] [ 0. 0. 0. 1. ]] SLAMing on 285.122414037 meters Centerline goodness : 0.798152 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.41, Z:-0.07 [[ 0.97245448 0.1880069 0.13778856 -9.31593111] [-0.17814194 0.9806782 -0.08084375 -4.41423865] [-0.15032542 0.05407095 0.98715683 -0.07468945] [ 0. 0. 0. 1. ]] SLAMing on 285.15241403699997 meters Centerline goodness : 0.801205 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.42, Z:-0.09 [[ 0.97163417 0.18515013 0.14712737 -9.31663053] [-0.1783507 0.98224118 -0.05825193 -4.42474258] [-0.15529992 0.03035929 0.98740075 -0.08720966] [ 0. 0. 0. 1. ]] SLAMing on 285.182414037 meters Centerline goodness : 0.805403 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.42, Z:-0.09 [[ 0.97230654 0.18264324 0.14581304 -9.31534019] [-0.17521181 0.9825521 -0.06238749 -4.42343055] [-0.15466356 0.03511159 0.98734308 -0.0858992 ] [ 0. 0. 0. 1. ]] SLAMing on 285.212414037 meters Centerline goodness : 0.799442 Centerline is valid? [False, False] Translation: X:-9.31, Y:-4.42, Z:-0.09 [[ 0.97236486 0.18253633 0.1455578 -9.31495911] [-0.17515097 0.98257835 -0.06214438 -4.42437634] [-0.15436555 0.03493242 0.98739607 -0.08581438] [ 0. 0. 0. 1. ]] SLAMing on 285.242414037 meters Centerline goodness : 0.803165 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.43, Z:-0.09 [[ 0.97236066 0.18242613 0.14572387 -9.31557785] [-0.17512546 0.98261982 -0.06155773 -4.42647984] [-0.15442091 0.03433636 0.98740832 -0.08627852] [ 0. 0. 0. 1. ]] SLAMing on 285.272414037 meters Centerline goodness : 0.802326 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.43, Z:-0.09 [[ 0.97233146 0.18250375 0.14582148 -9.31571752] [-0.17530423 0.98262928 -0.06089435 -4.42826472] [-0.15440191 0.03364637 0.98743505 -0.08697978] [ 0. 0. 0. 1. ]] SLAMing on 285.302414037 meters Centerline goodness : 0.803143 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.43, Z:-0.09 [[ 0.97234842 0.18207125 0.14624846 -9.31710204] [-0.17497519 0.98273615 -0.06011112 -4.43103586] [-0.15466815 0.0328591 0.98741989 -0.08771685] [ 0. 0. 0. 1. ]] SLAMing on 285.332414037 meters Centerline goodness : 0.803885 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.43, Z:-0.09 [[ 0.97234295 0.18199806 0.14637585 -9.31742013] [-0.1749682 0.9827651 -0.05965635 -4.43249912] [-0.15471042 0.03239532 0.98742859 -0.0882316 ] [ 0. 0. 0. 1. ]] SLAMing on 285.362414037 meters Centerline goodness : 0.805067 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.43, Z:-0.09 [[ 0.9723697 0.18174657 0.14651058 -9.31815116] [-0.174744 0.98281831 -0.0594366 -4.43372103] [-0.15479568 0.03219251 0.98742186 -0.08813753] [ 0. 0. 0. 1. ]] SLAMing on 285.392414037 meters Centerline goodness : 0.803850 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.44, Z:-0.09 [[ 0.9724428 0.18106599 0.14686767 -9.32002601] [-0.17409657 0.98295326 -0.05910387 -4.43560143] [-0.15506575 0.03190597 0.98738879 -0.08767011] [ 0. 0. 0. 1. ]] SLAMing on 285.422414037 meters Centerline goodness : 0.806837 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.44, Z:-0.09 [[ 0.97244686 0.18100465 0.14691639 -9.32030171] [-0.17408565 0.9829753 -0.0587685 -4.43662287] [-0.15505256 0.0315732 0.98740156 -0.08779656] [ 0. 0. 0. 1. ]] SLAMing on 285.452414037 meters Centerline goodness : 0.807066 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.44, Z:-0.09 [[ 0.97246293 0.18091928 0.14691514 -9.32049924] [-0.17404685 0.9830002 -0.05846626 -4.43772002] [-0.15499529 0.03128616 0.98741969 -0.08794463] [ 0. 0. 0. 1. ]] SLAMing on 285.48241403699996 meters Centerline goodness : 0.806392 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.44, Z:-0.09 [[ 0.97244602 0.1808923 0.14706022 -9.32061144] [-0.17409277 0.98302142 -0.05797068 -4.43880654] [-0.1550498 0.03077124 0.98742731 -0.08871672] [ 0. 0. 0. 1. ]] SLAMing on 285.512414037 meters Centerline goodness : 0.806786 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.44, Z:-0.09 [[ 0.97241983 0.18088177 0.14724628 -9.32060124] [-0.17421188 0.98305083 -0.05710765 -4.44083103] [-0.15508031 0.02988056 0.98744987 -0.09023765] [ 0. 0. 0. 1. ]] SLAMing on 285.54241403699996 meters Centerline goodness : 0.809546 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.44, Z:-0.09 [[ 0.97238627 0.18105488 0.14725515 -9.32007414] [-0.17447878 0.98303742 -0.05652063 -4.44184975] [-0.15499066 0.02926699 0.98748232 -0.09143106] [ 0. 0. 0. 1. ]] SLAMing on 285.572414037 meters Centerline goodness : 0.805819 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.44, Z:-0.09 [[ 0.97234394 0.18121249 0.14734075 -9.31956155] [-0.17472053 0.98302546 -0.05597935 -4.44232871] [-0.15498387 0.02868772 0.98750039 -0.09272186] [ 0. 0. 0. 1. ]] SLAMing on 285.60241403699996 meters Centerline goodness : 0.806144 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.44, Z:-0.09 [[ 0.97233526 0.18135201 0.14722629 -9.31896236] [-0.1748872 0.98300389 -0.05583745 -4.44205167] [-0.15485025 0.02854472 0.98752549 -0.09316093] [ 0. 0. 0. 1. ]] SLAMing on 285.632414037 meters Centerline goodness : 0.810112 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.44, Z:-0.09 [[ 0.97235182 0.18142027 0.1470327 -9.31849086] [-0.17495495 0.98298932 -0.05588163 -4.44138613] [-0.15466964 0.0286125 0.98755184 -0.09304967] [ 0. 0. 0. 1. ]] SLAMing on 285.66241403699996 meters Centerline goodness : 0.810823 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.44, Z:-0.09 [[ 0.97235398 0.18143744 0.14699723 -9.31843696] [-0.1749348 0.98297889 -0.05612774 -4.44018787] [-0.15467884 0.0288611 0.98754316 -0.09256644] [ 0. 0. 0. 1. ]] SLAMing on 285.692414037 meters Centerline goodness : 0.805820 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.44, Z:-0.09 [[ 0.97237435 0.18135488 0.1469644 -9.31848346] [-0.17485016 0.98299316 -0.05614148 -4.43997001] [-0.15464653 0.02889379 0.98754726 -0.09243258] [ 0. 0. 0. 1. ]] SLAMing on 285.72241403699996 meters Centerline goodness : 0.807074 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.44, Z:-0.09 [[ 0.97238751 0.18119711 0.14707188 -9.31873718] [-0.17469165 0.98302286 -0.05611491 -4.43999024] [-0.15474288 0.02887321 0.98753277 -0.09251132] [ 0. 0. 0. 1. ]] SLAMing on 285.752414037 meters Centerline goodness : 0.808133 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.44, Z:-0.09 [[ 0.97241917 0.18094187 0.14717675 -9.31914819] [-0.17444432 0.98307181 -0.05602681 -4.44011337] [-0.15482291 0.0288074 0.98752215 -0.09259873] [ 0. 0. 0. 1. ]] SLAMing on 285.78241403699997 meters Centerline goodness : 0.807728 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.44, Z:-0.09 [[ 0.97256302 0.17985757 0.14755482 -9.32105598] [-0.17326418 0.983254 -0.0564898 -4.440007 ] [-0.15524398 0.02937392 0.98743935 -0.09185501] [ 0. 0. 0. 1. ]] SLAMing on 285.812414037 meters Centerline goodness : 0.810276 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.44, Z:-0.09 [[ 0.9725925 0.17955624 0.14772738 -9.32144583] [-0.17298659 0.98331463 -0.05628482 -4.44050046] [-0.15536879 0.02918734 0.98742526 -0.09236187] [ 0. 0. 0. 1. ]] SLAMing on 285.84241403699997 meters Centerline goodness : 0.810380 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.44, Z:-0.09 [[ 0.9726767 0.17866521 0.14825239 -9.32273659] [-0.17214949 0.98349022 -0.05578117 -4.44144405] [-0.15577093 0.02873547 0.98737515 -0.09374788] [ 0. 0. 0. 1. ]] SLAMing on 285.872414037 meters Centerline goodness : 0.809687 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.44, Z:-0.09 [[ 0.97270662 0.17821969 0.14859195 -9.32342238] [-0.17173365 0.9835789 -0.05549872 -4.44212041] [-0.15604287 0.02846574 0.98734002 -0.09462739] [ 0. 0. 0. 1. ]] SLAMing on 285.90241403699997 meters Centerline goodness : 0.811094 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.44, Z:-0.10 [[ 0.97273877 0.17781134 0.14887049 -9.32410963] [-0.17134379 0.98365798 -0.05530173 -4.44283629] [-0.15627092 0.0282861 0.98730912 -0.09519817] [ 0. 0. 0. 1. ]] SLAMing on 285.932414037 meters Centerline goodness : 0.812197 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.44, Z:-0.10 [[ 0.97285692 0.17684779 0.14924566 -9.32539961] [-0.17031867 0.98382185 -0.05555283 -4.44235824] [-0.15665554 0.02862563 0.98723838 -0.09533007] [ 0. 0. 0. 1. ]] SLAMing on 285.962414037 meters Centerline goodness : 0.812349 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.44, Z:-0.10 [[ 0.9728827 0.1767047 0.14924712 -9.32530958] [-0.17016578 0.9838454 -0.05560421 -4.44170809] [-0.15666162 0.02869962 0.98723527 -0.09549084] [ 0. 0. 0. 1. ]] SLAMing on 285.992414037 meters Centerline goodness : 0.811850 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.44, Z:-0.10 [[ 0.97291439 0.17656123 0.14921032 -9.32512087] [-0.17000211 0.98386669 -0.05572812 -4.44073762] [-0.15664249 0.02885262 0.98723384 -0.09557856] [ 0. 0. 0. 1. ]] SLAMing on 286.022414037 meters Centerline goodness : 0.811323 Centerline is valid? [False, False] Translation: X:-9.33, Y:-4.44, Z:-0.09 [[ 0.97299649 0.17614537 0.14916646 -9.32527992] [-0.16948463 0.9839207 -0.05634728 -4.43851892] [-0.15669328 0.02954429 0.98720532 -0.09492437] [ 0. 0. 0. 1. ]] SLAMing on 286.052414037 meters Centerline goodness : 0.815431 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.44, Z:-0.10 [[ 0.97300792 0.17616808 0.14906508 -9.32485761] [-0.16950662 0.98391545 -0.05637274 -4.43776174] [-0.15659851 0.0295836 0.98721918 -0.09508702] [ 0. 0. 0. 1. ]] SLAMing on 286.082414037 meters Centerline goodness : 0.811675 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.44, Z:-0.10 [[ 0.97303801 0.17608886 0.14896223 -9.32446546] [-0.16940109 0.98392329 -0.05655281 -4.43657105] [-0.15652573 0.02979367 0.98722441 -0.09521877] [ 0. 0. 0. 1. ]] SLAMing on 286.112414037 meters Centerline goodness : 0.814768 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.43, Z:-0.10 [[ 0.97307191 0.17619464 0.14861529 -9.32310371] [-0.16945691 0.98389118 -0.05694292 -4.43412526] [-0.15625431 0.03022567 0.98725427 -0.09550944] [ 0. 0. 0. 1. ]] SLAMing on 286.142414037 meters Centerline goodness : 0.816402 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.43, Z:-0.10 [[ 0.97308496 0.17636772 0.14832425 -9.32187541] [-0.16963348 0.98385803 -0.05699009 -4.4329105 ] [-0.15598121 0.03029544 0.98729532 -0.09609661] [ 0. 0. 0. 1. ]] SLAMing on 286.172414037 meters Centerline goodness : 0.808675 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.43, Z:-0.10 [[ 0.97308544 0.17680328 0.14780166 -9.31947823] [-0.17007928 0.98377709 -0.05705855 -4.43042321] [-0.15549203 0.03038485 0.98736973 -0.09730438] [ 0. 0. 0. 1. ]] SLAMing on 286.202414037 meters Centerline goodness : 0.813654 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.43, Z:-0.10 [[ 0.97309399 0.17696104 0.14755638 -9.31828195] [-0.17023189 0.98374534 -0.05715079 -4.42913455] [-0.15527136 0.03049429 0.98740108 -0.09797058] [ 0. 0. 0. 1. ]] SLAMing on 286.23241403699996 meters Centerline goodness : 0.808721 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.43, Z:-0.10 [[ 0.97310833 0.17717262 0.14720746 -9.31685911] [-0.17043122 0.98370138 -0.05731306 -4.4276398 ] [-0.15496248 0.03068307 0.98744376 -0.09851393] [ 0. 0. 0. 1. ]] SLAMing on 286.262414037 meters Centerline goodness : 0.808552 Centerline is valid? [False, False] Translation: X:-9.32, Y:-4.42, Z:-0.10 [[ 0.97317821 0.17718166 0.14673386 -9.31542744] [-0.17030897 0.98366766 -0.05824757 -4.42355613] [-0.15465775 0.03169517 0.98745957 -0.09788432] [ 0. 0. 0. 1. ]] SLAMing on 286.29241403699996 meters Centerline goodness : 0.807165 Centerline is valid? [False, False] Translation: X:-9.31, Y:-4.42, Z:-0.10 [[ 0.973223 0.17712901 0.1465002 -9.31482279] [-0.17017622 0.98365751 -0.05880443 -4.42157006] [-0.15452199 0.03229897 0.98746125 -0.09744277] [ 0. 0. 0. 1. ]] SLAMing on 286.322414037 meters Centerline goodness : 0.802882 Centerline is valid? [False, False] Translation: X:-9.31, Y:-4.42, Z:-0.10 [[ 0.97323678 0.17724679 0.14626604 -9.31403608] [-0.17026248 0.98362704 -0.05906385 -4.42013427] [-0.15434011 0.0325795 0.98748048 -0.09738739] [ 0. 0. 0. 1. ]] SLAMing on 286.35241403699996 meters Centerline goodness : 0.803223 Centerline is valid? [False, False] Translation: X:-9.31, Y:-4.42, Z:-0.10 [[ 0.97327441 0.17724973 0.14601181 -9.31327459] [-0.17021521 0.98361256 -0.05944005 -4.41834811] [-0.15415479 0.03299805 0.98749553 -0.09723503] [ 0. 0. 0. 1. ]] SLAMing on 286.382414037 meters Centerline goodness : 0.808722 Centerline is valid? [False, False] Translation: X:-9.31, Y:-4.41, Z:-0.10 [[ 0.97332373 0.17730913 0.1456104 -9.3119584 ] [-0.17016442 0.98357277 -0.06023857 -4.41477844] [-0.15389927 0.03385392 0.98750642 -0.0968246 ] [ 0. 0. 0. 1. ]] SLAMing on 286.41241403699996 meters Centerline goodness : 0.804790 Centerline is valid? [False, False] Translation: X:-9.31, Y:-4.41, Z:-0.10 [[ 0.97336878 0.17733195 0.1452811 -9.31110484] [-0.17014864 0.98355565 -0.06056168 -4.41314033] [-0.15363157 0.03422947 0.98753516 -0.09663203] [ 0. 0. 0. 1. ]] SLAMing on 286.442414037 meters Centerline goodness : 0.802920 Centerline is valid? [False, False] Translation: X:-9.31, Y:-4.41, Z:-0.10 [[ 0.97339956 0.17757335 0.14477915 -9.30927803] [-0.17034418 0.98349553 -0.06098696 -4.41038677] [-0.1532193 0.03470239 0.9875827 -0.09684465] [ 0. 0. 0. 1. ]] SLAMing on 286.47241403699996 meters Centerline goodness : 0.860391 Centerline is valid? [False, False] Translation: X:-9.31, Y:-4.41, Z:-0.10 [[ 0.9734067 0.17774177 0.14452423 -9.30828573] [-0.17050244 0.9834597 -0.06112231 -4.40919323] [-0.15299774 0.03485513 0.98761167 -0.09710816] [ 0. 0. 0. 1. ]] SLAMing on 286.502414037 meters Centerline goodness : 0.858479 Centerline is valid? [False, False] Translation: X:-9.31, Y:-4.41, Z:-0.10 [[ 0.97341745 0.17799462 0.14414018 -9.30691434] [-0.17075643 0.98340953 -0.06122038 -4.40793467] [-0.15264573 0.03498012 0.98766172 -0.09746846] [ 0. 0. 0. 1. ]] SLAMing on 286.53241403699997 meters Centerline goodness : 0.792606 Centerline is valid? [False, False] Translation: X:-9.30, Y:-4.40, Z:-0.10 [[ 0.97340374 0.17856538 0.14352549 -9.30442044] [-0.17127286 0.98328636 -0.06175391 -4.40484655] [-0.15215377 0.03552947 0.98771802 -0.09778136] [ 0. 0. 0. 1. ]] SLAMing on 286.562414037 meters Centerline goodness : 0.791285 Centerline is valid? [False, False] Translation: X:-9.30, Y:-4.40, Z:-0.10 [[ 0.97337334 0.17917222 0.14297435 -9.30222897] [-0.17190097 0.98317474 -0.06178579 -4.40355794] [-0.15163906 0.03556322 0.98779596 -0.09847531] [ 0. 0. 0. 1. ]] SLAMing on 286.59241403699997 meters Centerline goodness : 0.795598 Centerline is valid? [False, False] Translation: X:-9.30, Y:-4.40, Z:-0.10 [[ 0.97332638 0.17984354 0.14245016 -9.29996435] [-0.17260545 0.98305433 -0.06173765 -4.40230493] [-0.15113937 0.03550321 0.9878747 -0.09931332] [ 0. 0. 0. 1. ]] SLAMing on 286.622414037 meters Centerline goodness : 0.787950 Centerline is valid? [False, False] Translation: X:-9.30, Y:-4.40, Z:-0.10 [[ 0.97329768 0.18045691 0.14186941 -9.29775726] [-0.17322948 0.98293775 -0.06184598 -4.40079912] [-0.15060934 0.03561858 0.98795149 -0.09979728] [ 0. 0. 0. 1. ]] SLAMing on 286.65241403699997 meters Centerline goodness : 0.788175 Centerline is valid? [False, False] Translation: X:-9.30, Y:-4.40, Z:-0.10 [[ 0.97327525 0.18106084 0.14125244 -9.29548099] [-0.17376401 0.98280266 -0.06248995 -4.39768205] [-0.15013776 0.03627533 0.98799937 -0.0994739 ] [ 0. 0. 0. 1. ]] SLAMing on 286.682414037 meters Centerline goodness : 0.794965 Centerline is valid? [False, False] Translation: X:-9.29, Y:-4.40, Z:-0.10 [[ 0.97328553 0.18117638 0.14103332 -9.29473867] [-0.17386783 0.9827755 -0.06262817 -4.39665341] [-0.14995084 0.03643393 0.98802192 -0.09949857] [ 0. 0. 0. 1. ]] SLAMing on 286.712414037 meters Centerline goodness : 0.795202 Centerline is valid? [False, False] Translation: X:-9.29, Y:-4.39, Z:-0.10 [[ 0.97332736 0.18114209 0.14078848 -9.29414275] [-0.17376202 0.98276031 -0.06315805 -4.3948664 ] [-0.14980191 0.03700976 0.98802311 -0.09901341] [ 0. 0. 0. 1. ]] SLAMing on 286.742414037 meters Centerline goodness : 0.794070 Centerline is valid? [False, False] Translation: X:-9.29, Y:-4.39, Z:-0.10 [[ 0.97333683 0.18117906 0.14067541 -9.29373899] [-0.17379161 0.98274997 -0.06323735 -4.3944292 ] [-0.14970604 0.03710304 0.98803414 -0.09914971] [ 0. 0. 0. 1. ]] SLAMing on 286.772414037 meters Centerline goodness : 0.788828 Centerline is valid? [False, False] Translation: X:-9.29, Y:-4.39, Z:-0.10 [[ 0.97334241 0.18119047 0.14062205 -9.29333575] [-0.1737989 0.98274603 -0.06327867 -4.39406071] [-0.14966126 0.03715186 0.98803909 -0.09952377] [ 0. 0. 0. 1. ]] SLAMing on 286.802414037 meters Centerline goodness : 0.788582 Centerline is valid? [False, False] Translation: X:-9.29, Y:-4.39, Z:-0.10 [[ 0.97333486 0.18138279 0.14042624 -9.29228737] [-0.17402186 0.98271565 -0.06313749 -4.39363449] [-0.14945112 0.03701668 0.98807597 -0.10041955] [ 0. 0. 0. 1. ]] SLAMing on 286.832414037 meters Centerline goodness : 0.792584 Centerline is valid? [False, False] Translation: X:-9.29, Y:-4.39, Z:-0.10 [[ 0.97333054 0.18151126 0.1402901 -9.29161268] [-0.1741752 0.98269633 -0.06301523 -4.39342516] [-0.14930054 0.03689959 0.98810312 -0.10092416] [ 0. 0. 0. 1. ]] SLAMing on 286.862414037 meters Centerline goodness : 0.792584 Centerline is valid? [False, False] Translation: X:-9.29, Y:-4.39, Z:-0.10 [[ 0.97333054 0.18151126 0.1402901 -9.29161268] [-0.1741752 0.98269633 -0.06301523 -4.39342516] [-0.14930054 0.03689959 0.98810312 -0.10092416] [ 0. 0. 0. 1. ]] SLAMing on 286.892414037 meters Centerline goodness : 0.790707 Centerline is valid? [False, False] Translation: X:-9.29, Y:-4.39, Z:-0.10 [[ 0.97332767 0.18176965 0.13997517 -9.29061511] [-0.17445466 0.98264961 -0.06297071 -4.39282736] [-0.14899271 0.03687182 0.98815062 -0.10107804] [ 0. 0. 0. 1. ]] SLAMing on 286.922414037 meters Centerline goodness : 0.791582 Centerline is valid? [False, False] Translation: X:-9.29, Y:-4.39, Z:-0.10 [[ 0.97329205 0.18229927 0.13953339 -9.28908556] [-0.17501999 0.98255505 -0.06287743 -4.39232624] [-0.14856175 0.03677697 0.98821903 -0.10132035] [ 0. 0. 0. 1. ]] SLAMing on 286.952414037 meters Centerline goodness : 0.794903 Centerline is valid? [False, False] Translation: X:-9.29, Y:-4.39, Z:-0.10 [[ 0.97324406 0.18291662 0.13905941 -9.28738371] [-0.17566232 0.98244098 -0.06286859 -4.39177355] [-0.14811738 0.03675898 0.98828641 -0.10149383] [ 0. 0. 0. 1. ]] SLAMing on 286.98241403699996 meters Centerline goodness : 0.796365 Centerline is valid? [False, False] Translation: X:-9.29, Y:-4.39, Z:-0.10 [[ 0.97318333 0.18358731 0.13859983 -9.28559056] [-0.17638499 0.98232365 -0.06267844 -4.3915193 ] [-0.14765686 0.03655069 0.98836304 -0.10198182] [ 0. 0. 0. 1. ]] SLAMing on 287.012414037 meters Centerline goodness : 0.794934 Centerline is valid? [False, False] Translation: X:-9.28, Y:-4.39, Z:-0.10 [[ 0.97305715 0.18468534 0.13802577 -9.28294074] [-0.17760431 0.98214217 -0.06207624 -4.39170847] [-0.1470255 0.03588976 0.98848137 -0.10323721] [ 0. 0. 0. 1. ]] SLAMing on 287.04241403699996 meters Centerline goodness : 0.797931 Centerline is valid? [False, False] Translation: X:-9.28, Y:-4.39, Z:-0.10 [[ 0.97296653 0.18538154 0.13773093 -9.28134862] [-0.17841376 0.98203612 -0.0614296 -4.39262815] [-0.14664466 0.03519585 0.98856289 -0.10449017] [ 0. 0. 0. 1. ]] SLAMing on 287.072414037 meters Centerline goodness : 0.799634 Centerline is valid? [False, False] Translation: X:-9.28, Y:-4.39, Z:-0.10 [[ 0.97293459 0.18572434 0.13749453 -9.28045781] [-0.17881171 0.98198205 -0.06113605 -4.39312577] [-0.14637162 0.03489575 0.988614 -0.10494965] [ 0. 0. 0. 1. ]] SLAMing on 287.10241403699996 meters Centerline goodness : 0.802239 Centerline is valid? [False, False] Translation: X:-9.28, Y:-4.39, Z:-0.11 [[ 0.97290633 0.18618531 0.13707041 -9.27918627] [-0.17933382 0.98190441 -0.06085312 -4.39358407] [-0.14592 0.03462302 0.98869035 -0.10522505] [ 0. 0. 0. 1. ]] SLAMing on 287.132414037 meters Centerline goodness : 0.798542 Centerline is valid? [False, False] Translation: X:-9.28, Y:-4.39, Z:-0.11 [[ 0.9728721 0.18661019 0.13673523 -9.27810192] [-0.17980222 0.98183041 -0.0606647 -4.39372872] [-0.14557145 0.03443369 0.98874834 -0.10541291] [ 0. 0. 0. 1. ]] SLAMing on 287.16241403699996 meters Centerline goodness : 0.800483 Centerline is valid? [False, False] Translation: X:-9.28, Y:-4.39, Z:-0.11 [[ 0.97275096 0.1875377 0.13632748 -9.2761909 ] [-0.1808496 0.98167866 -0.06000356 -4.3949472 ] [-0.1450827 0.03371375 0.98884498 -0.10650014] [ 0. 0. 0. 1. ]] SLAMing on 287.192414037 meters Centerline goodness : 0.796428 Centerline is valid? [False, False] Translation: X:-9.27, Y:-4.40, Z:-0.11 [[ 0.97267572 0.1881125 0.13607219 -9.27496387] [-0.18151327 0.98158727 -0.05949253 -4.3960503 ] [-0.14475802 0.03316803 0.98891102 -0.10738419] [ 0. 0. 0. 1. ]] SLAMing on 287.22241403699996 meters Centerline goodness : 0.796717 Centerline is valid? [False, False] Translation: X:-9.27, Y:-4.40, Z:-0.11 [[ 0.97258348 0.1887916 0.13579064 -9.27349863] [-0.18232761 0.9814856 -0.05867423 -4.39746194] [-0.14435376 0.0323072 0.9889986 -0.10873632] [ 0. 0. 0. 1. ]] SLAMing on 287.252414037 meters Centerline goodness : 0.794591 Centerline is valid? [False, False] Translation: X:-9.27, Y:-4.40, Z:-0.11 [[ 0.97246865 0.18980186 0.13520347 -9.27136012] [-0.18343713 0.9813078 -0.05818777 -4.39838656] [-0.14372037 0.03178444 0.98910778 -0.10930495] [ 0. 0. 0. 1. ]] SLAMing on 287.28241403699997 meters Centerline goodness : 0.793773 Centerline is valid? [False, False] Translation: X:-9.27, Y:-4.40, Z:-0.11 [[ 0.97243352 0.19023978 0.13484021 -9.27029768] [-0.18390238 0.98122546 -0.05810784 -4.39844413] [-0.14336307 0.03170858 0.98916207 -0.10920592] [ 0. 0. 0. 1. ]] SLAMing on 287.312414037 meters Centerline goodness : 0.800315 Centerline is valid? [False, False] Translation: X:-9.27, Y:-4.40, Z:-0.11 [[ 0.97236281 0.19111312 0.13411319 -9.26826849] [-0.18481303 0.98105678 -0.05806672 -4.39802713] [-0.14266996 0.03167606 0.98926332 -0.10866393] [ 0. 0. 0. 1. ]] SLAMing on 287.34241403699997 meters Centerline goodness : 0.801900 Centerline is valid? [False, False] Translation: X:-9.27, Y:-4.40, Z:-0.11 [[ 0.97232748 0.19163164 0.13362851 -9.26675096] [-0.18536616 0.98095831 -0.057967 -4.39787887] [-0.14219231 0.0315927 0.98933475 -0.10875754] [ 0. 0. 0. 1. ]] SLAMing on 287.372414037 meters Centerline goodness : 0.802816 Centerline is valid? [False, False] Translation: X:-9.27, Y:-4.40, Z:-0.11 [[ 0.97226485 0.1921988 0.13326918 -9.26540255] [-0.18600319 0.98085962 -0.05759525 -4.39810043] [-0.14178809 0.03120934 0.98940493 -0.10922306] [ 0. 0. 0. 1. ]] SLAMing on 287.40241403699997 meters Centerline goodness : 0.807019 Centerline is valid? [False, False] Translation: X:-9.26, Y:-4.40, Z:-0.11 [[ 0.97222486 0.19267677 0.13287014 -9.26404911] [-0.18652826 0.98077229 -0.05738404 -4.39834054] [-0.14137192 0.03100615 0.98947087 -0.10957466] [ 0. 0. 0. 1. ]] SLAMing on 287.432414037 meters Centerline goodness : 0.805225 Centerline is valid? [False, False] Translation: X:-9.26, Y:-4.40, Z:-0.11 [[ 0.97209972 0.19362437 0.13240749 -9.26184126] [-0.18761153 0.98061168 -0.05659197 -4.39961993] [-0.14079791 0.03017186 0.9895785 -0.11109122] [ 0. 0. 0. 1. ]] SLAMing on 287.462414037 meters Centerline goodness : 0.802543 Centerline is valid? [False, False] Translation: X:-9.26, Y:-4.40, Z:-0.11 [[ 0.97204369 0.19402476 0.13223257 -9.26080914] [-0.18809017 0.98054804 -0.05610369 -4.40037514] [-0.1405459 0.02966359 0.98962969 -0.1121107 ] [ 0. 0. 0. 1. ]] SLAMing on 287.492414037 meters Centerline goodness : 0.804730 Centerline is valid? [False, False] Translation: X:-9.26, Y:-4.40, Z:-0.11 [[ 0.97210143 0.19392887 0.13194852 -9.26017064] [-0.18809201 0.98058382 -0.05546865 -4.40215682] [-0.14014355 0.0291027 0.9897034 -0.11270825] [ 0. 0. 0. 1. ]] SLAMing on 287.522414037 meters Centerline goodness : 0.803806 Centerline is valid? [False, False] Translation: X:-9.26, Y:-4.40, Z:-0.11 [[ 0.97286107 0.19093411 0.13071154 -9.25920363] [-0.18443165 0.98099516 -0.06027824 -4.39908703] [-0.13973656 0.03453501 0.98958629 -0.11111273] [ 0. 0. 0. 1. ]] SLAMing on 287.552414037 meters Centerline goodness : 0.806811 Centerline is valid? [False, False] Translation: X:-9.26, Y:-4.40, Z:-0.11 [[ 0.97285601 0.19101025 0.13063794 -9.25930906] [-0.18456734 0.98099409 -0.05987906 -4.4006455 ] [-0.13959256 0.03414221 0.98962024 -0.11116524] [ 0. 0. 0. 1. ]] SLAMing on 287.582414037 meters Centerline goodness : 0.805418 Centerline is valid? [False, False] Translation: X:-9.26, Y:-4.40, Z:-0.11 [[ 0.97282179 0.19129704 0.13047298 -9.25884056] [-0.18492746 0.98095441 -0.05941622 -4.40142957] [-0.13935419 0.03367335 0.9896699 -0.11142965] [ 0. 0. 0. 1. ]] SLAMing on 287.612414037 meters Centerline goodness : 0.806196 Centerline is valid? [False, False] Translation: X:-9.26, Y:-4.40, Z:-0.11 [[ 0.97288903 0.1911382 0.13020419 -9.25867684] [-0.18474051 0.98097408 -0.05967246 -4.40130256] [-0.13913262 0.0340007 0.98968988 -0.11062511] [ 0. 0. 0. 1. ]] SLAMing on 287.642414037 meters Centerline goodness : 0.806196 Centerline is valid? [False, False] Translation: X:-9.26, Y:-4.40, Z:-0.11 [[ 0.97290954 0.19111132 0.13009035 -9.25856935] [-0.1847033 0.980975 -0.05977247 -4.40151333] [-0.13903858 0.03412509 0.98969882 -0.11033991] [ 0. 0. 0. 1. ]] SLAMing on 287.672414037 meters Centerline goodness : 0.807420 Centerline is valid? [False, False] Translation: X:-9.26, Y:-4.41, Z:-0.11 [[ 0.97223087 0.19370084 0.1313283 -9.25921085] [-0.18844126 0.98073432 -0.05147904 -4.40817603] [-0.13876971 0.02530184 0.99000141 -0.11343812] [ 0. 0. 0. 1. ]] SLAMing on 287.702414037 meters Centerline goodness : 0.805779 Centerline is valid? [False, False] Translation: X:-9.26, Y:-4.41, Z:-0.11 [[ 0.97228043 0.19387068 0.13070933 -9.25772427] [-0.18864907 0.98070207 -0.05133207 -4.40857536] [-0.13813869 0.02525097 0.99009095 -0.11356555] [ 0. 0. 0. 1. ]] SLAMing on 287.73241403699996 meters Centerline goodness : 0.802908 Centerline is valid? [False, False] Translation: X:-9.26, Y:-4.41, Z:-0.11 [[ 0.97231967 0.19394578 0.13030536 -9.25665247] [-0.18870962 0.98068077 -0.05151606 -4.40837514] [-0.13777928 0.0255002 0.99013464 -0.11376675] [ 0. 0. 0. 1. ]] SLAMing on 287.762414037 meters Centerline goodness : 0.805695 Centerline is valid? [False, False] Translation: X:-9.26, Y:-4.41, Z:-0.12 [[ 0.97156844 0.19682721 0.13158195 -9.25719554] [-0.19240225 0.98025313 -0.0456638 -4.41260701] [-0.1379715 0.01904884 0.990253 -0.11637436] [ 0. 0. 0. 1. ]] SLAMing on 287.79241403699996 meters Centerline goodness : 0.809176 Centerline is valid? [False, False] Translation: X:-9.26, Y:-4.41, Z:-0.12 [[ 0.97152956 0.19714626 0.13139129 -9.2561298 ] [-0.19288157 0.98020981 -0.04455811 -4.41359733] [-0.13757549 0.01794656 0.99032868 -0.11751777] [ 0. 0. 0. 1. ]] SLAMing on 287.822414037 meters Centerline goodness : 0.805432 Centerline is valid? [False, False] Translation: X:-9.26, Y:-4.41, Z:-0.12 [[ 0.97149819 0.1973426 0.13132848 -9.25576333] [-0.19309184 0.98017202 -0.0444787 -4.41472725] [-0.13750205 0.01785252 0.99034059 -0.11802861] [ 0. 0. 0. 1. ]] SLAMing on 287.85241403699996 meters Centerline goodness : 0.808616 Centerline is valid? [False, False] Translation: X:-9.26, Y:-4.42, Z:-0.12 [[ 0.97149746 0.19739211 0.13125944 -9.25563947] [-0.19315237 0.98016314 -0.04441158 -4.41520197] [-0.13742216 0.01779266 0.99035275 -0.11802279] [ 0. 0. 0. 1. ]] SLAMing on 287.882414037 meters Centerline goodness : 0.803431 Centerline is valid? [False, False] Translation: X:-9.26, Y:-4.42, Z:-0.12 [[ 0.97156369 0.19733311 0.13085733 -9.25555905] [-0.19311538 0.98017541 -0.0443014 -4.41567703] [-0.13700527 0.01777107 0.9904109 -0.11660176] [ 0. 0. 0. 1. ]] SLAMing on 287.91241403699996 meters Centerline goodness : 0.811465 Centerline is valid? [False, False] Translation: X:-9.26, Y:-4.42, Z:-0.12 [[ 0.97156115 0.19747156 0.13066718 -9.25529935] [-0.193278 0.98014973 -0.04416028 -4.41608176] [-0.1367938 0.01764932 0.9904423 -0.11633568] [ 0. 0. 0. 1. ]] SLAMing on 287.942414037 meters Centerline goodness : 0.812214 Centerline is valid? [False, False] Translation: X:-9.26, Y:-4.42, Z:-0.12 [[ 0.97154946 0.19764032 0.13049889 -9.25500992] [-0.19347639 0.98011877 -0.04397817 -4.41675141] [-0.13659627 0.01747852 0.99047259 -0.11621384] [ 0. 0. 0. 1. ]] SLAMing on 287.97241403699996 meters Centerline goodness : 0.810008 Centerline is valid? [False, False] Translation: X:-9.25, Y:-4.42, Z:-0.12 [[ 0.97148339 0.19806687 0.13034396 -9.25423093] [-0.19400737 0.98004546 -0.04326706 -4.41851263] [-0.13631278 0.01674555 0.99052431 -0.11707872] [ 0. 0. 0. 1. ]] SLAMing on 288.002414037 meters Centerline goodness : 0.811276 Centerline is valid? [False, False] Translation: X:-9.25, Y:-4.42, Z:-0.12 [[ 0.97144703 0.19833888 0.13020119 -9.25361334] [-0.1943525 0.97999889 -0.04277017 -4.41985074] [-0.13608001 0.01624403 0.99056467 -0.11778084] [ 0. 0. 0. 1. ]] SLAMing on 288.03241403699997 meters Centerline goodness : 0.805924 Centerline is valid? [False, False] Translation: X:-9.25, Y:-4.42, Z:-0.12 [[ 0.97137692 0.19895364 0.12978571 -9.25211789] [-0.19507786 0.97988585 -0.04205177 -4.42161019] [-0.13554154 0.0155298 0.99064995 -0.11874393] [ 0. 0. 0. 1. ]] SLAMing on 288.062414037 meters Centerline goodness : 0.812186 Centerline is valid? [False, False] Translation: X:-9.25, Y:-4.42, Z:-0.12 [[ 0.9713361 0.19913876 0.12980728 -9.25189773] [-0.19533548 0.97985673 -0.04153114 -4.42259812] [-0.135463 0.01498472 0.99066908 -0.11937456] [ 0. 0. 0. 1. ]] SLAMing on 288.09241403699997 meters Centerline goodness : 0.809932 Centerline is valid? [False, False] Translation: X:-9.25, Y:-4.42, Z:-0.12 [[ 0.97132909 0.19917285 0.12980748 -9.25194656] [-0.19541243 0.97985453 -0.04121988 -4.42372185] [-0.13540233 0.01467207 0.99068206 -0.11959188] [ 0. 0. 0. 1. ]] SLAMing on 288.122414037 meters Centerline goodness : 0.816650 Centerline is valid? [False, False] Translation: X:-9.25, Y:-4.43, Z:-0.12 [[ 0.9713276 0.19916658 0.12982823 -9.25207441] [-0.19546459 0.97986214 -0.04078954 -4.42536584] [-0.13533768 0.01424318 0.99069715 -0.12001596] [ 0. 0. 0. 1. ]] SLAMing on 288.15241403699997 meters Centerline goodness : 0.813186 Centerline is valid? [False, False] Translation: X:-9.25, Y:-4.43, Z:-0.12 [[ 0.97140278 0.19845949 0.13034746 -9.25399733] [-0.19485544 0.98001704 -0.03997447 -4.42833839] [-0.13567605 0.0134324 0.99066219 -0.12073694] [ 0. 0. 0. 1. ]] SLAMing on 288.182414037 meters Centerline goodness : 0.810821 Centerline is valid? [False, False] Translation: X:-9.26, Y:-4.43, Z:-0.12 [[ 0.97144563 0.19803471 0.13067384 -9.2551461 ] [-0.19446193 0.9801069 -0.03968657 -4.42995279] [-0.13593365 0.01314226 0.99063077 -0.12098272] [ 0. 0. 0. 1. ]] SLAMing on 288.212414037 meters Centerline goodness : 0.815768 Centerline is valid? [False, False] Translation: X:-9.25, Y:-4.43, Z:-0.12 [[ 0.97229547 0.19460851 0.12949533 -9.2549754 ] [-0.19050343 0.98072285 -0.0434872 -4.43134073] [-0.13546201 0.0176131 0.99062598 -0.12023525] [ 0. 0. 0. 1. ]] SLAMing on 288.242414037 meters Centerline goodness : 0.818299 Centerline is valid? [False, False] Translation: X:-9.26, Y:-4.43, Z:-0.12 [[ 0.97234467 0.19419768 0.12974248 -9.25598295] [-0.19012551 0.98080938 -0.04318849 -4.43283903] [-0.13563975 0.01732674 0.9906067 -0.12040921] [ 0. 0. 0. 1. ]] SLAMing on 288.272414037 meters Centerline goodness : 0.815659 Centerline is valid? [False, False] Translation: X:-9.26, Y:-4.43, Z:-0.12 [[ 0.97240243 0.19380856 0.12989132 -9.2568859 ] [-0.18975494 0.98088902 -0.04300918 -4.43406597] [-0.13574452 0.01717471 0.990595 -0.12028902] [ 0. 0. 0. 1. ]] SLAMing on 288.302414037 meters Centerline goodness : 0.813978 Centerline is valid? [False, False] Translation: X:-9.26, Y:-4.43, Z:-0.12 [[ 0.97322701 0.1904459 0.12868389 -9.25670511] [-0.18580249 0.98144868 -0.04728552 -4.43389857] [-0.13530197 0.02210976 0.99055769 -0.11872358] [ 0. 0. 0. 1. ]] SLAMing on 288.332414037 meters Centerline goodness : 0.817010 Centerline is valid? [False, False] Translation: X:-9.26, Y:-4.43, Z:-0.12 [[ 0.97324371 0.19025171 0.12884471 -9.25736277] [-0.18563042 0.98149087 -0.04708518 -4.43469385] [-0.13541794 0.02190785 0.99054633 -0.11867498] [ 0. 0. 0. 1. ]] SLAMing on 288.362414037 meters Centerline goodness : 0.819921 Centerline is valid? [False, False] Translation: X:-9.26, Y:-4.44, Z:-0.12 [[ 0.97329534 0.19007892 0.1287097 -9.25745922] [-0.18544739 0.98152133 -0.04717153 -4.43513297] [-0.13529763 0.02204295 0.99055977 -0.11831524] [ 0. 0. 0. 1. ]] SLAMing on 288.392414037 meters Centerline goodness : 0.817519 Centerline is valid? [False, False] Translation: X:-9.26, Y:-4.44, Z:-0.12 [[ 0.97332879 0.1898739 0.12875933 -9.25775973] [-0.18526522 0.98156475 -0.04698346 -4.43574116] [-0.13530655 0.02187573 0.99056226 -0.1184864 ] [ 0. 0. 0. 1. ]] SLAMing on 288.422414037 meters Centerline goodness : 0.820705 Centerline is valid? [False, False] Translation: X:-9.26, Y:-4.44, Z:-0.12 [[ 0.97331728 0.19005885 0.12857336 -9.25702722] [-0.1855135 0.98153799 -0.04656086 -4.43649895] [-0.13504894 0.02146639 0.99060637 -0.11920279] [ 0. 0. 0. 1. ]] SLAMing on 288.452414037 meters Centerline goodness : 0.821911 Centerline is valid? [False, False] Translation: X:-9.26, Y:-4.44, Z:-0.12 [[ 0.97327788 0.19028522 0.12853678 -9.25605211] [-0.18584325 0.98151039 -0.04582192 -4.43717868] [-0.13487942 0.02070977 0.99064557 -0.12092468] [ 0. 0. 0. 1. ]] SLAMing on 288.48241403699996 meters Centerline goodness : 0.828063 Centerline is valid? [False, False] Translation: X:-9.26, Y:-4.44, Z:-0.12 [[ 0.97325631 0.19049505 0.1283892 -9.25521519] [-0.18610334 0.98147663 -0.04548817 -4.43741237] [-0.13467627 0.02037799 0.99068009 -0.12171391] [ 0. 0. 0. 1. ]] SLAMing on 288.512414037 meters Centerline goodness : 0.828055 Centerline is valid? [False, False] Translation: X:-9.25, Y:-4.44, Z:-0.12 [[ 0.97324763 0.1906642 0.1282038 -9.25440628] [-0.18629785 0.98144658 -0.04534016 -4.43722559] [-0.13446992 0.02024312 0.99071088 -0.12219782] [ 0. 0. 0. 1. ]] SLAMing on 288.54241403699996 meters Centerline goodness : 0.826842 Centerline is valid? [False, False] Translation: X:-9.25, Y:-4.44, Z:-0.12 [[ 0.97324049 0.19072835 0.12816258 -9.25393401] [-0.18637573 0.98143599 -0.04524922 -4.43684147] [-0.13441367 0.02015198 0.99072038 -0.12266676] [ 0. 0. 0. 1. ]] SLAMing on 288.572414037 meters Centerline goodness : 0.827995 Centerline is valid? [False, False] Translation: X:-9.25, Y:-4.44, Z:-0.12 [[ 0.97328187 0.19058017 0.12806876 -9.25375136] [-0.18619069 0.9814583 -0.04552606 -4.43603278] [-0.13437052 0.02046448 0.99071982 -0.12249706] [ 0. 0. 0. 1. ]] SLAMing on 288.60241403699996 meters Centerline goodness : 0.826760 Centerline is valid? [False, False] Translation: X:-9.25, Y:-4.44, Z:-0.12 [[ 0.9733172 0.1903584 0.12813001 -9.2540213 ] [-0.18596373 0.98150063 -0.04554124 -4.43574741] [-0.13442885 0.02049853 0.99071121 -0.12253763] [ 0. 0. 0. 1. ]] SLAMing on 288.632414037 meters Centerline goodness : 0.830632 Centerline is valid? [False, False] Translation: X:-9.25, Y:-4.43, Z:-0.12 [[ 0.97341817 0.18981743 0.12816558 -9.25461098] [-0.18536235 0.98159546 -0.04594724 -4.43456208] [-0.13452834 0.02096881 0.99068786 -0.12198556] [ 0. 0. 0. 1. ]] SLAMing on 288.66241403699996 meters Centerline goodness : 0.827521 Centerline is valid? [False, False] Translation: X:-10.12, Y:-4.25, Z:-0.05 [[ 0.96603747 0.19947012 0.1642659 -10.11663367] [ -0.21807972 0.97035202 0.10420265 -4.24992925] [ -0.13861043 -0.13648673 0.98089679 -0.05026905] [ 0. 0. 0. 1. ]] SLAMing on 288.692414037 meters Centerline goodness : 0.829384 Centerline is valid? [False, False] Translation: X:-9.79, Y:-4.18, Z:-0.00 [[ 9.89864647e-01 9.65268691e-02 1.04165945e-01 -9.78552902e+00] [-9.30205261e-02 9.94937972e-01 -3.80212277e-02 -4.18317769e+00] [-1.07308724e-01 2.79462982e-02 9.93832905e-01 -3.67405717e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.72241403699996 meters Centerline goodness : 0.831924 Centerline is valid? [False, False] Translation: X:-9.78, Y:-4.18, Z:-0.00 [[ 9.89902504e-01 9.64070340e-02 1.03916873e-01 -9.78484616e+00] [-9.28399693e-02 9.94930825e-01 -3.86444631e-02 -4.18071973e+00] [-1.07115699e-01 2.86066115e-02 9.93834940e-01 -3.45032187e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.752414037 meters Centerline goodness : 0.833060 Centerline is valid? [False, False] Translation: X:-9.78, Y:-4.18, Z:-0.00 [[ 9.89924583e-01 9.65558029e-02 1.03567840e-01 -9.78372805e+00] [-9.29793450e-02 9.94910472e-01 -3.88329056e-02 -4.17952483e+00] [-1.06790271e-01 2.88119779e-02 9.93864029e-01 -3.67607051e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.78241403699997 meters Centerline goodness : 0.833060 Centerline is valid? [False, False] Translation: X:-9.78, Y:-4.18, Z:-0.00 [[ 9.89924583e-01 9.65558029e-02 1.03567840e-01 -9.78372805e+00] [-9.29793450e-02 9.94910472e-01 -3.88329056e-02 -4.17952483e+00] [-1.06790271e-01 2.88119779e-02 9.93864029e-01 -3.67607051e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.812414037 meters Centerline goodness : 0.834148 Centerline is valid? [False, False] Translation: X:-9.78, Y:-4.18, Z:-0.00 [[ 9.89918449e-01 9.70480931e-02 1.03165552e-01 -9.78184881e+00] [-9.34506735e-02 9.94853444e-01 -3.91611715e-02 -4.17676654e+00] [-1.06435121e-01 2.91254759e-02 9.93892988e-01 -4.22588592e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.84241403699997 meters Centerline goodness : 0.835810 Centerline is valid? [False, False] Translation: X:-9.78, Y:-4.18, Z:-0.00 [[ 9.89936387e-01 9.73736401e-02 1.02685562e-01 -9.78039504e+00] [-9.37674753e-02 9.94814563e-01 -3.93909284e-02 -4.17522738e+00] [-1.05988731e-01 2.93659475e-02 9.93933615e-01 -4.27367325e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.872414037 meters Centerline goodness : 0.832157 Centerline is valid? [False, False] Translation: X:-9.78, Y:-4.17, Z:-0.00 [[ 9.89954178e-01 9.75437412e-02 1.02352055e-01 -9.77938257e+00] [-9.39119370e-02 9.94787329e-01 -3.97330892e-02 -4.17338732e+00] [-1.05694242e-01 2.97218579e-02 9.93954395e-01 -4.16110086e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.90241403699997 meters Centerline goodness : 0.832816 Centerline is valid? [False, False] Translation: X:-9.78, Y:-4.17, Z:-0.00 [[ 9.89596364e-01 1.00318223e-01 1.03127545e-01 -9.78050324e+00] [-9.70287759e-02 9.94614047e-01 -3.64460323e-02 -4.17099570e+00] [-1.06228306e-01 2.60605216e-02 9.94000199e-01 -3.98358591e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.932414037 meters Centerline goodness : 0.834052 Centerline is valid? [False, False] Translation: X:-9.78, Y:-4.17, Z:-0.00 [[ 9.89605919e-01 1.00624323e-01 1.02736902e-01 -9.77927197e+00] [-9.73075878e-02 9.94573277e-01 -3.68134358e-02 -4.16910043e+00] [-1.05883704e-01 2.64337139e-02 9.94027112e-01 -3.86485000e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.962414037 meters Centerline goodness : 0.832153 Centerline is valid? [False, False] Translation: X:-9.78, Y:-4.17, Z:-0.00 [[ 9.89416341e-01 1.02457549e-01 1.02750936e-01 -9.77811029e+00] [-9.93677797e-02 9.94443288e-01 -3.47648121e-02 -4.16653973e+00] [-1.05741896e-01 2.41867409e-02 9.94099418e-01 -4.92663967e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.992414037 meters Centerline goodness : 0.834212 Centerline is valid? [False, False] Translation: X:-9.78, Y:-4.17, Z:-0.01 [[ 9.89421566e-01 1.02951539e-01 1.02205405e-01 -9.77635903e+00] [-9.98691621e-02 9.94390268e-01 -3.48445932e-02 -4.16533867e+00] [-1.05219365e-01 2.42688238e-02 9.94152860e-01 -5.15619029e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.022414037 meters Centerline goodness : 0.834788 Centerline is valid? [False, False] Translation: X:-9.77, Y:-4.16, Z:-0.01 [[ 9.89397660e-01 1.03647108e-01 1.01732726e-01 -9.77411509e+00] [-1.00531076e-01 9.94307261e-01 -3.53068338e-02 -4.16214985e+00] [-1.04813039e-01 2.47051983e-02 9.94185033e-01 -5.54712852e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.052414037 meters Centerline goodness : 0.832991 Centerline is valid? [False, False] Translation: X:-9.77, Y:-4.16, Z:-0.01 [[ 9.89410438e-01 1.03926945e-01 1.01322138e-01 -9.77284688e+00] [-1.00796926e-01 9.94271653e-01 -3.55508155e-02 -4.16075916e+00] [-1.04436418e-01 2.49613879e-02 9.94218268e-01 -5.57100413e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.082414037 meters Centerline goodness : 0.831946 Centerline is valid? [False, False] Translation: X:-9.77, Y:-4.16, Z:-0.01 [[ 9.89421402e-01 1.04195075e-01 1.00938967e-01 -9.77170259e+00] [-1.01043832e-01 9.94235543e-01 -3.58584693e-02 -4.15920424e+00] [-1.04093385e-01 2.52798769e-02 9.94246194e-01 -5.42022538e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.112414037 meters Centerline goodness : 0.827452 Centerline is valid? [False, False] Translation: X:-9.77, Y:-4.16, Z:-0.01 [[ 9.89050836e-01 1.06727233e-01 1.01920273e-01 -9.77348249e+00] [-1.03935808e-01 9.94058339e-01 -3.23321213e-02 -4.15780035e+00] [-1.04765415e-01 2.13849457e-02 9.94267012e-01 -5.44867984e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.142414037 meters Centerline goodness : 0.830611 Centerline is valid? [False, False] Translation: X:-9.77, Y:-4.16, Z:-0.01 [[ 9.89073324e-01 1.06910078e-01 1.01509580e-01 -9.77257545e+00] [-1.04098771e-01 9.94032048e-01 -3.26149148e-02 -4.15667790e+00] [-1.04390639e-01 2.16915197e-02 9.94299790e-01 -5.03604620e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.172414037 meters Centerline goodness : 0.833646 Centerline is valid? [False, False] Translation: X:-9.77, Y:-4.16, Z:-0.00 [[ 9.89086614e-01 1.07037585e-01 1.01245374e-01 -9.77188911e+00] [-1.04205872e-01 9.94012386e-01 -3.28711524e-02 -4.15546674e+00] [-1.04157604e-01 2.19620543e-02 9.94318290e-01 -4.78688134e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.202414037 meters Centerline goodness : 0.848583 Centerline is valid? [False, False] Translation: X:-9.77, Y:-4.15, Z:-0.00 [[ 9.89101935e-01 1.07366687e-01 1.00745997e-01 -9.77031739e+00] [-1.04504555e-01 9.93967262e-01 -3.32848412e-02 -4.15330636e+00] [-1.03711906e-01 2.23936852e-02 9.94355250e-01 -4.73817539e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.23241403699996 meters Centerline goodness : 0.846425 Centerline is valid? [False, False] Translation: X:-9.77, Y:-4.15, Z:-0.01 [[ 9.89104895e-01 1.07712618e-01 1.00346890e-01 -9.76902581e+00] [-1.04866456e-01 9.93930834e-01 -3.32343819e-02 -4.15271132e+00] [-1.03317631e-01 2.23492671e-02 9.94397294e-01 -5.09994441e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.262414037 meters Centerline goodness : 0.847132 Centerline is valid? [False, False] Translation: X:-9.77, Y:-4.15, Z:-0.01 [[ 9.89097297e-01 1.08018081e-01 1.00093116e-01 -9.76782794e+00] [-1.05193879e-01 9.93900980e-01 -3.30921395e-02 -4.15223659e+00] [-1.03057196e-01 2.22021625e-02 9.94427613e-01 -5.84352254e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.29241403699996 meters Centerline goodness : 0.847939 Centerline is valid? [False, False] Translation: X:-9.77, Y:-4.15, Z:-0.01 [[ 9.89074590e-01 1.08708831e-01 9.95682984e-02 -9.76550506e+00] [-1.05899224e-01 9.93825909e-01 -3.30970966e-02 -4.15074760e+00] [-1.02551501e-01 2.21912917e-02 9.94480134e-01 -6.69874765e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.322414037 meters Centerline goodness : 0.849499 Centerline is valid? [False, False] Translation: X:-9.76, Y:-4.15, Z:-0.01 [[ 9.89076195e-01 1.08876621e-01 9.93688206e-02 -9.76468562e+00] [-1.06051916e-01 9.93803014e-01 -3.32950388e-02 -4.14985679e+00] [-1.02378085e-01 2.23930765e-02 9.94493478e-01 -6.81917045e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.35241403699996 meters Centerline goodness : 0.852724 Centerline is valid? [False, False] Translation: X:-9.76, Y:-4.15, Z:-0.01 [[ 9.89082584e-01 1.08916304e-01 9.92616753e-02 -9.76418858e+00] [-1.06065985e-01 9.93792280e-01 -3.35694822e-02 -4.14876411e+00] [-1.02301751e-01 2.26747028e-02 9.94494952e-01 -6.85505839e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.382414037 meters Centerline goodness : 0.855878 Centerline is valid? [False, False] Translation: X:-9.76, Y:-4.15, Z:-0.01 [[ 9.89120699e-01 1.08745565e-01 9.90688851e-02 -9.76396814e+00] [-1.05816914e-01 9.93791564e-01 -3.43672530e-02 -4.14681042e+00] [-1.02191109e-01 2.35101976e-02 9.94486927e-01 -5.83722326e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.41241403699996 meters Centerline goodness : 0.863857 Centerline is valid? [False, False] Translation: X:-9.76, Y:-4.15, Z:-0.01 [[ 9.89142487e-01 1.08540573e-01 9.90761527e-02 -9.76406905e+00] [-1.05559404e-01 9.93801539e-01 -3.48670899e-02 -4.14582447e+00] [-1.02246527e-01 2.40301003e-02 9.94468804e-01 -5.38054844e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.442414037 meters Centerline goodness : 0.865846 Centerline is valid? [False, False] Translation: X:-9.76, Y:-4.15, Z:-0.01 [[ 9.89151270e-01 1.08500764e-01 9.90320588e-02 -9.76386084e+00] [-1.05488923e-01 9.93798204e-01 -3.51740925e-02 -4.14526399e+00] [-1.02234298e-01 2.43457131e-02 9.94462385e-01 -5.21655985e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.47241403699996 meters Centerline goodness : 0.867345 Centerline is valid? [False, False] Translation: X:-9.76, Y:-4.15, Z:-0.01 [[ 9.89171025e-01 1.08624640e-01 9.86983841e-02 -9.76284475e+00] [-1.05602883e-01 9.93779624e-01 -3.53566194e-02 -4.14507384e+00] [-1.01925043e-01 2.45509095e-02 9.94489084e-01 -5.19630628e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.502414037 meters Centerline goodness : 0.868464 Centerline is valid? [False, False] Translation: X:-9.76, Y:-4.15, Z:-0.01 [[ 9.89159756e-01 1.08720812e-01 9.87054337e-02 -9.76235441e+00] [-1.05714070e-01 9.93772909e-01 -3.52127916e-02 -4.14526611e+00] [-1.01919149e-01 2.43965232e-02 9.94493487e-01 -5.87492155e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.53241403699997 meters Centerline goodness : 0.808819 Centerline is valid? [False, False] Translation: X:-9.76, Y:-4.15, Z:-0.01 [[ 9.89165381e-01 1.08706674e-01 9.86646204e-02 -9.76194281e+00] [-1.05708389e-01 9.93776111e-01 -3.51394116e-02 -4.14561410e+00] [-1.01870431e-01 2.43290114e-02 9.94500133e-01 -6.36971122e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.562414037 meters Centerline goodness : 0.857920 Centerline is valid? [False, False] Translation: X:-9.76, Y:-4.15, Z:-0.01 [[ 9.89189548e-01 1.08567660e-01 9.85753594e-02 -9.76136047e+00] [-1.05594609e-01 9.93796365e-01 -3.49079357e-02 -4.14609157e+00] [-1.01753707e-01 2.41215386e-02 9.94517136e-01 -7.21573750e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.59241403699997 meters Centerline goodness : 0.132695 Centerline is valid? [False, False] Translation: X:-9.76, Y:-4.15, Z:-0.01 [[ 9.89191126e-01 1.08511300e-01 9.86215728e-02 -9.76122461e+00] [-1.05555182e-01 9.93806825e-01 -3.47289267e-02 -4.14663031e+00] [-1.01779273e-01 2.39435280e-02 9.94518822e-01 -7.71403913e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.622414037 meters Centerline goodness : 0.127808 Centerline is valid? [False, False] Translation: X:-9.76, Y:-4.15, Z:-0.01 [[ 9.89622289e-01 1.05624487e-01 9.74227564e-02 -9.75881925e+00] [-1.02249243e-01 9.93993048e-01 -3.90245179e-02 -4.14546236e+00] [-1.00959487e-01 2.86581296e-02 9.94477699e-01 -7.15019684e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.65241403699997 meters Centerline goodness : 0.127615 Centerline is valid? [False, False] Translation: X:-9.76, Y:-4.15, Z:-0.01 [[ 9.89626950e-01 1.05558472e-01 9.74469565e-02 -9.75882520e+00] [-1.02183936e-01 9.94000421e-01 -3.90077678e-02 -4.14616901e+00] [-1.00979916e-01 2.86456246e-02 9.94475985e-01 -7.18040385e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.682414037 meters Centerline goodness : 0.128595 Centerline is valid? [False, False] Translation: X:-9.76, Y:-4.15, Z:-0.01 [[ 9.89635179e-01 1.05346135e-01 9.75930596e-02 -9.75915150e+00] [-1.01966670e-01 9.94022824e-01 -3.90054212e-02 -4.14703137e+00] [-1.01118799e-01 2.86498977e-02 9.94461750e-01 -7.27269673e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.712414037 meters Centerline goodness : 0.126469 Centerline is valid? [False, False] Translation: X:-9.76, Y:-4.15, Z:-0.01 [[ 9.90057669e-01 1.02507331e-01 9.63226844e-02 -9.75668141e+00] [-9.87082512e-02 9.94168523e-01 -4.34238402e-02 -4.14569249e+00] [-1.00212243e-01 3.34842623e-02 9.94402489e-01 -6.56497105e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.742414037 meters Centerline goodness : 0.129385 Centerline is valid? [False, False] Translation: X:-9.76, Y:-4.15, Z:-0.01 [[ 9.90072318e-01 1.02284257e-01 9.64092093e-02 -9.75686107e+00] [-9.84740114e-02 9.94188583e-01 -4.34963361e-02 -4.14629038e+00] [-1.00297926e-01 3.35707168e-02 9.94390936e-01 -6.60125518e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.772414037 meters Centerline goodness : 0.128510 Centerline is valid? [False, False] Translation: X:-9.75, Y:-4.15, Z:-0.01 [[ 9.90498536e-01 9.91744073e-02 9.52737514e-02 -9.75467327e+00] [-9.49786517e-02 9.94339726e-01 -4.76189652e-02 -4.14587024e+00] [-9.94570584e-02 3.81175428e-02 9.94311494e-01 -6.16964611e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.802414037 meters Centerline goodness : 0.123695 Centerline is valid? [False, False] Translation: X:-9.75, Y:-4.14, Z:-0.01 [[ 9.90915265e-01 9.61688347e-02 9.40132615e-02 -9.75237891e+00] [-9.16001978e-02 9.94449270e-01 -5.17692211e-02 -4.14461366e+00] [-9.84700050e-02 4.26872781e-02 9.94224046e-01 -5.59841850e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.832414037 meters Centerline goodness : 0.119381 Centerline is valid? [False, False] Translation: X:-9.75, Y:-4.14, Z:-0.00 [[ 9.91368188e-01 9.26092647e-02 9.28043096e-02 -9.75074440e+00] [-8.76882690e-02 9.94585132e-01 -5.57779850e-02 -4.14430163e+00] [-9.74673447e-02 4.71586706e-02 9.94120806e-01 -4.64776149e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 26191.24 sec! =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= Saving Lidar 3D alignment track ... Completed! Saving Lidar 2D alignment track ... Completed! Writing Lidar 2D slices PTD file in binary format... Completed! Filtering the 2D slices ... |- Filtering the 2D slices ... 0%| | 0/9662 [00:00